version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 162
start: 1 11 117 2 20 28
data:
$ID,573
$MISSION,15
$DIVE,162
$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,-31801.303
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,110117,021232,-4537.472,548.036,34,0.8,34,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-55.0
$GPS2,110117,022003,-4537.421,548.169,16,0.9,17,-24.1
$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,235.9,92738,-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,13,begin dive
$GC,15,-0.77,-150.8,210,1873,603,416,0.0,0.0,0,156,0.00,0.00,-137.85,0.000,16386,0.000,0.000,209,1870,3385,3397,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-150.8,209,1870,3403,3374,3.2,-2.4,22,193,10.73,2.33,-16.20,0.000,18692,0.257,0.074,2685,3281,3866,4000,3733,0,0,0,0,0,0,25.15,25.57,26.08
$GC,321,-0.87,-150.8,1696,3280,4006,3729,13.7,-7.5,52,329,0.00,2.28,0.00,0.000,5126,0.000,0.049,2685,1867,3868,4007,3730,0,0,0,0,0,0,28.83,25.77,28.83
$GC,374,-0.96,-150.8,1712,1866,4006,3729,17.6,-7.4,61,381,0.12,2.33,0.00,0.000,4612,0.086,0.065,2616,464,3868,4007,3730,0,0,0,0,0,0,25.96,25.70,28.83
$GC,409,-0.87,-150.8,1664,463,4006,3729,21.1,-10.3,67,417,0.17,2.30,0.00,0.000,3078,0.149,0.049,2674,1872,3868,4007,3730,0,0,0,0,0,0,25.46,25.79,28.83
$GC,541,-0.92,-150.8,1696,1871,4007,3729,32.7,-8.2,92,548,0.00,0.00,0.00,0.000,4102,0.000,0.000,2674,1872,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.97,-150.8,2674,1872,4008,3730,44.4,-8.0,117,678,0.10,0.00,0.00,0.000,4102,0.102,0.000,2617,1872,3869,4008,3730,0,0,0,0,0,0,26.09,28.83,28.83
$GC,993,-0.92,-150.8,2617,1872,4008,3730,83.5,-13.7,177,999,0.12,2.33,0.00,0.000,2564,0.166,0.065,2659,464,3869,4008,3730,0,0,0,0,0,0,25.87,25.89,28.83
$GC,1036,-0.88,-150.8,2659,464,4008,3730,88.4,-13.1,179,1041,0.08,2.28,0.00,0.000,3078,0.197,0.048,2666,1881,3869,4008,3730,0,0,0,0,0,0,25.84,25.98,28.83
$GC,1350,-0.95,-150.8,2666,1881,4009,3730,117.1,-8.9,195,1355,0.00,2.22,0.00,0.000,4356,0.000,0.067,2655,3275,3869,4009,3730,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1391,-1.02,-150.8,2655,3275,4010,3730,121.0,-9.4,197,1396,0.10,2.22,0.00,0.000,5126,0.097,0.049,2608,1865,3870,4010,3730,0,0,0,0,0,0,26.04,26.05,28.83
$GC,1705,-0.97,-150.8,2607,1865,4010,3729,159.8,-12.7,213,1711,0.12,2.28,0.00,0.000,2564,0.168,0.066,2645,470,3869,4010,3729,0,0,0,0,0,0,25.96,25.98,28.83
$GC,1806,-0.97,-150.8,1760,469,4009,3728,172.0,-11.9,218,1811,0.00,2.25,0.00,0.000,3078,0.000,0.047,2637,1865,3869,4010,3729,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2124,-0.97,-150.8,2637,1865,4010,3730,208.4,-11.3,234,2125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1866,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-0.97,-150.8,2637,1866,4010,3730,241.8,-11.2,249,2426,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1866,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.97,-150.8,2637,1865,4010,3730,273.7,-10.5,264,2725,0.00,0.00,0.00,0.000,2054,0.000,0.000,2636,1866,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.97,-150.8,2636,1866,4010,3729,304.6,-10.3,279,3028,0.00,2.30,0.00,0.000,2564,0.000,0.067,2637,461,3869,4010,3729,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3102,-0.97,-150.8,1792,461,4010,3728,312.8,-10.9,283,3106,0.00,2.28,0.00,0.000,3078,0.000,0.048,2628,1871,3870,4011,3729,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3422,-0.97,-150.8,2627,1872,4010,3730,345.8,-9.9,299,3423,0.00,0.00,0.00,0.000,2054,0.000,0.000,2627,1872,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3721,-0.97,-150.8,2628,1872,4010,3729,376.5,-10.4,314,3722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1872,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,-0.97,-150.8,2627,1872,4010,3729,406.6,-9.9,329,4023,0.00,0.00,0.00,0.000,2054,0.000,0.000,2627,1872,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-0.97,-150.8,2627,1873,4011,3727,435.7,-9.8,344,4327,0.00,2.30,0.00,0.000,2564,0.000,0.067,2627,472,3869,4011,3727,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4362,-0.97,-150.8,2627,472,4012,3727,439.9,-10.1,346,4367,0.10,2.25,0.00,0.000,3078,0.182,0.049,2642,1877,3868,4010,3727,0,0,0,0,0,0,26.00,26.20,28.83
$GC,4681,-1.00,-150.8,2641,1878,4011,3727,469.3,-9.0,362,4682,0.00,0.00,0.00,0.000,4102,0.000,0.000,2642,1878,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4982,-1.04,-150.8,2641,1878,4010,3726,496.5,-9.2,377,4988,0.08,2.30,0.00,0.000,4612,0.120,0.066,2597,473,3868,4010,3727,0,0,0,0,0,0,26.46,26.09,28.83
$GC,5014,-1.04,-150.8,2597,473,4010,3726,498.7,-9.4,378,5021,0.12,2.22,0.00,0.000,3078,0.178,0.049,2618,1870,3868,4010,3726,0,0,0,0,0,0,25.94,26.20,28.83
$GC,5321,-1.04,-150.8,2618,1869,4011,3726,531.6,-10.1,394,5322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1869,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5621,-1.04,-150.8,2618,1869,4011,3726,560.3,-9.6,409,5626,0.00,2.33,0.00,0.000,2564,0.000,0.069,2619,464,3868,4011,3726,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5669,-1.04,-150.8,2618,463,4010,3726,564.4,-9.7,411,5673,0.00,2.25,0.00,0.000,3078,0.000,0.050,2610,1872,3868,4010,3726,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5976,-1.04,-150.8,2609,1873,4011,3725,594.8,-9.5,426,5977,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1872,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6276,-1.04,-150.8,2610,1872,4010,3725,623.1,-9.3,441,6277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1872,3867,4011,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6575,-1.04,-150.8,2609,1872,4010,3723,651.4,-9.4,456,6576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1872,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-1.04,-150.8,2609,1873,4010,3723,679.3,-9.5,471,6877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1873,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7175,-1.04,-150.8,2609,1873,4011,3723,708.5,-9.7,486,7179,0.00,2.35,0.00,0.000,2564,0.000,0.068,2609,464,3866,4010,3723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7220,-1.01,-150.8,2610,464,4010,3723,712.0,-9.6,488,7225,0.10,2.25,0.00,0.000,3078,0.183,0.050,2624,1868,3866,4010,3723,0,0,0,0,0,0,25.99,26.20,28.83
$GC,7527,-1.01,-150.8,2623,1868,4010,3722,739.8,-8.6,503,7533,0.00,2.33,0.00,0.000,2564,0.000,0.069,2624,468,3866,4010,3722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7580,-1.01,-150.8,2624,468,4010,3722,743.2,-8.6,505,7586,0.00,2.22,0.00,0.000,3078,0.000,0.051,2615,1869,3866,4010,3722,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7887,-1.01,-150.8,2615,1869,4010,3722,770.0,-8.4,521,7892,0.00,2.33,0.00,0.000,2564,0.000,0.068,2615,468,3866,4010,3722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7956,-1.01,-150.8,2615,467,4010,3722,775.4,-9.1,524,7961,0.10,2.25,0.00,0.000,3078,0.179,0.051,2629,1871,3866,4010,3722,0,0,0,0,0,0,25.99,26.18,28.83
$GC,8264,-1.04,-150.8,2629,1871,4010,3721,801.4,-8.2,539,8269,0.00,2.30,0.00,0.000,4612,0.000,0.068,2630,465,3865,4010,3721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8311,-1.04,-150.8,2629,465,4010,3721,804.8,-8.4,541,8315,0.00,2.28,0.00,0.000,1030,0.000,0.051,2621,1878,3865,4010,3721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8618,-1.04,-150.8,2621,1879,4009,3721,831.6,-8.4,556,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1879,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8918,-1.04,-150.8,2621,1880,4010,3720,856.3,-8.2,571,8924,0.00,2.35,0.00,0.000,516,0.000,0.068,2621,465,3865,4009,3721,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8991,-1.04,-150.8,2621,465,4010,3721,861.6,-8.7,574,8997,0.00,2.22,0.00,0.000,3078,0.000,0.050,2611,1869,3865,4010,3721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9297,-1.04,-150.8,2611,1869,4009,3720,889.0,-8.7,590,9299,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,1869,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9598,-1.04,-150.8,2611,1869,4009,3721,916.0,-8.8,605,9604,0.00,2.33,0.00,0.000,2564,0.000,0.069,2612,467,3864,4009,3720,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9685,-1.04,-150.8,2611,467,4009,3720,923.8,-9.8,609,9690,0.03,2.28,0.00,0.000,3078,0.189,0.050,2612,1868,3864,4009,3720,0,0,0,0,0,0,26.05,26.17,28.83
$GC,10000,-1.04,-150.8,2612,1868,4009,3720,953.4,-9.2,625,10005,0.00,2.33,0.00,0.000,2564,0.000,0.069,2612,467,3864,4009,3720,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10038,-1.04,-150.8,2612,467,4009,3720,957.3,-9.4,627,10044,0.05,2.25,0.00,0.000,3078,0.226,0.051,2614,1868,3864,4009,3720,0,0,0,0,0,0,26.08,26.16,28.83
$GC,10359,-1.04,-150.8,2613,1869,4009,3720,985.5,-8.6,643,10360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1869,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10536,begin apogee
$GC,10541,-0.19,0.0,2613,1330,4009,3719,1001.1,-8.7,652,10672,0.88,0.00,127.38,1.298,10246,0.132,0.000,2887,1330,3250,3379,3122,0,0,0,0,0,0,25.76,28.83,23.31
$STATE,10673,end apogee,CONTROL_FINISHED_OK
$STATE,10673,begin climb
$GC,10674,0.77,150.8,2887,1330,3379,3122,1003.4,0.0,658,10819,0.93,2.17,134.57,1.251,10756,0.064,0.076,3215,165,2634,2729,2540,0,0,0,0,0,0,24.28,23.53,22.73
$GC,10950,0.52,150.8,3215,165,2721,2539,970.5,16.3,672,10955,0.35,1.92,0.00,0.000,5126,0.161,0.050,3122,1340,2630,2720,2540,0,0,0,0,0,0,24.86,25.08,28.83
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$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$FINISH,1.6,1.019648
$STATE,19935,end surface coast,CONTROL_FINISHED_OK
$STATE,19935,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,49.13
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,26.559
$10V_AH,10.2,16.082
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353636
$DATA_FILE_SIZE,70239,1219
$CAP_FILE_SIZE,196825,0
$CFSIZE,2097086464,2070347776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110117,075732,-4537.714,547.516,33,0.9,33,-24.1