version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 93
start: 12 25 116 8 12 52
data:
$ID,573
$MISSION,15
$DIVE,93
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,340
$T_MISSION,380
$T_ABORT,400
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,155
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52758
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,670
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31713.793
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3858
$C_PITCH,2954
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1869
$C_ROLL_CLIMB,1333
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3250
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.331184
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,5
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,131
$DEVICE4,151
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$GPS1,251216,080433,-4532.790,539.548,26,1.1,26,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-59.4
$GPS2,251216,081228,-4532.728,539.711,17,1.7,17,-24.0
$SPEED_LIMITS,0.170,0.262
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,227.5,95437,-17.6,-9.804,-20.49,2356
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.77,-150.8,207,1883,610,401,0.0,0.0,0,156,0.00,0.00,-137.45,0.000,16386,0.000,0.000,205,1881,3374,3386,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-150.8,205,1882,3388,3362,3.1,-2.4,22,193,10.48,2.28,-16.00,0.000,18692,0.256,0.076,2685,3269,3865,3999,3732,0,0,0,0,0,0,25.32,25.67,26.01
$GC,297,-0.87,-150.8,1696,3268,4006,3729,14.1,-8.7,47,305,0.00,2.28,0.00,0.000,5126,0.000,0.050,2686,1860,3868,4006,3730,0,0,0,0,0,0,28.83,25.83,28.83
$GC,349,-0.96,-150.8,1728,1859,4005,3728,18.6,-8.7,56,357,0.12,2.30,0.00,0.000,4612,0.086,0.064,2619,465,3868,4006,3730,0,0,0,0,0,0,25.92,25.80,28.83
$GC,374,-0.96,-150.8,2619,465,4006,3730,21.5,-11.4,60,382,0.08,2.28,0.00,0.000,3078,0.161,0.049,2646,1863,3868,4006,3730,0,0,0,0,0,0,25.68,25.86,28.83
$GC,508,-0.96,-150.8,1664,1862,4006,3728,35.3,-10.0,85,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1863,3868,4007,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,639,-0.96,-150.8,1712,1862,4006,3729,49.0,-10.5,110,645,0.00,2.33,0.00,0.000,516,0.000,0.065,2646,467,3867,4006,3729,0,0,0,0,0,0,28.83,25.94,28.83
$GC,683,-0.96,-150.8,2646,468,4007,3730,53.5,-10.6,118,689,0.00,2.25,0.00,0.000,3078,0.000,0.049,2638,1868,3868,4007,3730,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1012,-0.96,-150.8,2637,1869,4006,3730,86.8,-10.9,173,1013,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1869,3868,4007,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.96,-150.8,2637,1869,4007,3730,118.4,-9.6,188,1311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1869,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,-0.96,-150.8,2638,1869,4008,3730,149.9,-11.0,203,1611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1869,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,-0.96,-150.8,2637,1869,4008,3730,181.0,-10.0,218,1910,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1869,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.96,-150.8,2637,1869,4008,3730,210.2,-9.7,233,2213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1869,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2510,-0.96,-150.8,2638,1869,4008,3730,238.1,-8.8,248,2511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2638,1869,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,-0.96,-150.8,2638,1869,4008,3730,263.5,-8.4,263,2816,0.00,2.28,0.00,0.000,2564,0.000,0.066,2638,467,3868,4008,3729,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2850,-0.96,-150.8,2637,466,4008,3730,267.2,-8.7,265,2856,0.00,2.20,0.00,0.000,3078,0.000,0.049,2628,1870,3869,4008,3730,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3172,-0.96,-150.8,2628,1871,4008,3729,294.5,-8.7,281,3174,0.05,0.00,0.00,0.000,2054,0.237,0.000,2639,1870,3868,4008,3729,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3470,-0.96,-150.8,2639,1871,4008,3729,319.5,-8.4,296,3471,0.00,0.00,0.00,0.000,2054,0.000,0.000,2639,1871,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-0.96,-150.8,2639,1871,4008,3729,345.7,-9.0,311,3776,0.00,2.28,0.00,0.000,2564,0.000,0.066,2641,467,3868,4008,3729,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3818,-0.96,-150.8,2641,467,4008,3729,349.3,-9.1,313,3822,0.00,2.22,0.00,0.000,3078,0.000,0.049,2632,1879,3868,4008,3729,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4125,-0.96,-150.8,2632,1879,4008,3728,378.3,-9.4,328,4126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1880,3868,4008,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4427,-0.96,-150.8,2631,1880,4007,3728,405.2,-8.7,343,4428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1880,3868,4008,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-0.96,-150.8,2631,1880,4007,3728,432.0,-9.2,358,4728,0.00,2.33,0.00,0.000,2564,0.000,0.066,2632,458,3868,4008,3728,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4768,-0.96,-150.8,2631,458,4008,3728,435.6,-9.4,360,4773,0.08,2.25,0.00,0.000,3078,0.196,0.049,2638,1878,3868,4008,3728,0,0,0,0,0,0,26.27,26.39,28.83
$GC,5083,-0.96,-150.8,2637,1878,4008,3727,465.6,-9.4,376,5088,0.00,2.20,0.00,0.000,2308,0.000,0.065,2628,3271,3867,4008,3727,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5114,-0.96,-150.8,2627,3272,4009,3726,467.6,-9.5,377,5120,0.05,2.20,0.00,0.000,3078,0.216,0.052,2640,1866,3868,4010,3726,0,0,0,0,0,0,26.30,26.39,28.83
$GC,5421,-1.00,-150.8,2639,1866,4009,3726,499.0,-10.2,393,5427,0.00,2.25,0.00,0.000,4612,0.000,0.069,2640,468,3867,4009,3726,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5503,-1.00,-150.8,1792,468,4007,3725,507.6,-10.8,397,5507,0.00,2.25,0.00,0.000,1030,0.000,0.050,2631,1867,3867,4008,3726,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5821,-1.00,-150.8,2631,1867,4008,3726,542.4,-10.9,413,5822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1867,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,-1.00,-150.8,2631,1867,4008,3725,575.1,-11.1,428,6124,0.00,2.28,0.00,0.000,2308,0.000,0.069,2620,3282,3866,4008,3725,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6169,-1.00,-150.8,2620,3282,4008,3725,579.2,-11.0,430,6176,0.00,2.22,0.00,0.000,3078,0.000,0.051,2620,1867,3866,4008,3725,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6476,-1.00,-150.8,2620,1867,4009,3724,615.4,-11.2,446,6481,0.00,2.25,0.00,0.000,2564,0.000,0.068,2620,468,3866,4008,3724,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6577,-0.96,-150.8,1712,468,4007,3723,626.6,-11.8,451,6582,0.12,2.22,0.00,0.000,3078,0.171,0.051,2643,1871,3865,4007,3723,0,0,0,0,0,0,26.24,26.40,28.83
$GC,6890,-1.01,-150.8,2642,1871,4008,3724,658.5,-9.7,467,6891,0.00,0.00,0.00,0.000,4102,0.000,0.000,2642,1871,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7191,-1.05,-150.8,2643,1871,4008,3723,685.7,-8.7,482,7197,0.10,2.22,0.00,0.000,4356,0.100,0.066,2584,3273,3865,4008,3723,0,0,0,0,0,0,26.50,26.35,28.83
$GC,7249,-1.05,-150.8,2583,3273,4008,3723,691.9,-9.8,485,7256,0.10,2.20,0.00,0.000,3078,0.177,0.053,2610,1868,3865,4007,3723,0,0,0,0,0,0,26.26,26.41,28.83
$GC,7570,-1.05,-150.8,2610,1868,4008,3723,721.9,-9.1,501,7572,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1868,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7869,-1.05,-150.8,2610,1868,4008,3722,749.3,-9.1,516,7873,0.00,2.25,0.00,0.000,2564,0.000,0.069,2613,469,3865,4008,3722,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7934,-1.05,-150.8,2613,469,4007,3722,755.1,-10.4,519,7939,0.00,2.25,0.00,0.000,3078,0.000,0.051,2604,1885,3865,4008,3722,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8246,-1.05,-150.8,2604,1886,4008,3722,787.9,-10.0,535,8248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1886,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8546,-1.05,-150.8,2604,1885,4008,3722,818.0,-10.0,550,8550,0.00,2.33,0.00,0.000,2564,0.000,0.068,2605,466,3864,4008,3721,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8585,-1.02,-150.8,2604,466,4007,3722,821.8,-10.5,552,8590,0.10,2.22,0.00,0.000,3078,0.191,0.050,2619,1868,3865,4008,3722,0,0,0,0,0,0,26.25,26.41,28.83
$GC,8897,-1.02,-150.8,2619,1868,4008,3721,852.4,-9.9,568,8898,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1867,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9197,-1.02,-150.8,2619,1868,4008,3721,881.2,-9.9,583,9198,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1868,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9496,-1.02,-150.8,2619,1868,4007,3721,910.5,-9.9,598,9500,0.00,2.25,0.00,0.000,2308,0.000,0.068,2609,3272,3864,4008,3721,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9561,-1.02,-150.8,2609,3272,4008,3721,916.2,-10.1,601,9565,0.00,2.20,0.00,0.000,3078,0.000,0.053,2610,1868,3864,4008,3721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9867,-1.02,-150.8,2609,1868,4008,3721,949.0,-10.3,616,9872,0.03,2.28,0.00,0.000,2564,0.265,0.068,2619,469,3864,4008,3721,0,0,0,0,0,0,26.54,26.36,28.83
$GC,9916,-1.02,-150.8,2618,469,4007,3721,953.0,-10.6,618,9923,0.00,2.22,0.00,0.000,3078,0.000,0.052,2610,1868,3864,4007,3721,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10224,-1.02,-150.8,2610,1868,4007,3721,985.7,-10.1,634,10226,0.03,0.00,0.00,0.000,2054,0.287,0.000,2618,1869,3864,4007,3721,0,0,0,0,0,0,26.49,28.83,28.83
$STATE,10383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10383,begin apogee
$GC,10388,-0.19,0.0,2618,1338,4007,3720,1001.4,-9.8,642,10524,0.85,0.00,128.77,1.301,10246,0.140,0.000,2886,1338,3250,3378,3123,0,0,0,0,0,0,26.22,28.83,23.39
$STATE,10525,end apogee,CONTROL_FINISHED_OK
$STATE,10525,begin climb
$GC,10526,0.77,150.8,2885,1338,3378,3123,1005.9,0.0,649,10670,0.93,2.30,134.65,1.252,10756,0.065,0.075,3216,162,2634,2729,2540,0,0,0,0,0,0,24.39,23.26,22.49
$GC,10810,0.50,150.8,3216,162,2722,2540,975.6,15.0,663,10815,0.38,1.98,0.00,0.000,5126,0.164,0.051,3118,1339,2630,2721,2540,0,0,0,0,0,0,24.68,24.82,28.83
$GC,11118,0.46,161.8,3118,1339,2717,2539,944.6,9.3,678,11130,0.00,0.00,10.10,1.052,12294,0.000,0.000,3118,1339,2589,2676,2503,0,0,0,0,0,0,28.83,28.83,24.42
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$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19490,begin surface coast
$FINISH,1.8,1.023276
$STATE,19513,end surface coast,CONTROL_FINISHED_OK
$STATE,19513,begin surface
$SM_CCo,19528,155.43,0.054,0,0,515,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,49.29
$INTERNAL_PRESSURE,8.87419
$TCM_TEMP,12.90
$XPDR_PINGS,0
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$10V_AH,10.3,9.610
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,119.900,434.175,155.425,0.000,26.896,40.453,292.083,25.000,0.000,19.398,2878.095,13577.248,757.696,2810.491,132.791,0.000,1938.569,0.000,2332.011,0.000,148.399,0.000
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$MEM,353672
$DATA_FILE_SIZE,70168,1182
$CAP_FILE_SIZE,184274,0
$CFSIZE,2097086464,2079424512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,251216,134205,-4532.608,538.971,34,0.8,34,-24.0