version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 163
start: 1 11 117 8 5 22
data:
$ID,573
$MISSION,15
$DIVE,163
$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,-31802.557
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,110117,075732,-4537.714,547.516,33,0.9,33,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-55.1
$GPS2,110117,080457,-4537.636,547.616,14,1.3,15,-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,235.6,92029,-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,-150.8,190,1878,605,413,0.0,0.0,0,150,0.00,0.00,-131.90,0.000,16386,0.000,0.000,188,1879,3287,3296,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.77,-150.8,187,1879,3296,3278,3.0,-1.4,21,190,10.77,2.40,-18.70,0.000,19204,0.255,0.080,2700,453,3861,3996,3727,0,0,0,0,0,0,25.10,25.56,26.10
$GC,420,-0.85,-150.8,1712,452,4002,3725,22.6,-8.3,71,428,0.00,2.33,0.00,0.000,5126,0.000,0.047,2691,1879,3865,4004,3726,0,0,0,0,0,0,28.83,25.82,28.83
$GC,553,-0.94,-150.8,1696,1878,4004,3724,32.7,-7.0,96,561,0.12,2.35,0.00,0.000,4612,0.086,0.062,2621,459,3865,4005,3726,0,0,0,0,0,0,26.03,25.77,28.83
$GC,772,-0.86,-150.8,2620,460,4005,3725,58.3,-11.4,138,780,0.17,2.28,0.00,0.000,3078,0.150,0.046,2676,1872,3865,4005,3725,0,0,0,0,0,0,25.56,25.96,28.83
$GC,1086,-0.92,-150.8,2676,1872,4006,3725,85.7,-9.1,190,1088,0.05,0.00,0.00,0.000,4102,0.161,0.000,2639,1872,3865,4006,3725,0,0,0,0,0,0,26.24,28.83,28.83
$GC,1385,-0.92,-150.8,2639,1873,4006,3725,117.8,-10.3,205,1392,0.08,2.35,0.00,0.000,2564,0.184,0.063,2659,451,3865,4006,3725,0,0,0,0,0,0,26.19,25.94,28.83
$GC,1444,-0.92,-150.8,2659,451,4006,3725,124.0,-10.1,208,1449,0.00,2.28,0.00,0.000,3078,0.000,0.046,2650,1886,3865,4006,3725,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1761,-0.95,-150.8,2650,1886,4006,3725,158.2,-11.2,224,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1886,3866,4007,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-0.98,-150.8,2650,1886,4007,3725,190.4,-10.8,239,2067,0.00,2.33,0.00,0.000,4612,0.000,0.064,2650,465,3865,4006,3725,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2129,-0.98,-150.8,2650,465,4007,3725,197.6,-11.5,242,2133,0.00,2.22,0.00,0.000,1030,0.000,0.046,2642,1871,3865,4006,3725,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2441,-0.98,-150.8,2641,1872,4006,3725,234.5,-11.6,258,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1872,3866,4007,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2743,-0.98,-150.8,2641,1872,4007,3725,265.5,-9.5,273,2748,0.00,2.30,0.00,0.000,516,0.000,0.063,2641,461,3866,4007,3725,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2782,-0.98,-150.8,2641,461,4007,3725,269.5,-9.7,275,2788,0.00,2.22,0.00,0.000,3078,0.000,0.047,2632,1868,3866,4007,3725,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3105,-0.98,-150.8,2631,1869,4008,3725,300.5,-9.6,291,3106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1869,3866,4007,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-0.98,-150.8,2631,1868,4007,3725,329.6,-9.9,306,3405,0.00,2.35,0.00,0.000,2564,0.000,0.065,2632,449,3866,4007,3725,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3440,-0.98,-150.8,2631,449,4007,3725,333.3,-10.1,308,3444,0.00,2.28,0.00,0.000,3078,0.000,0.047,2622,1880,3866,4007,3725,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3759,-0.98,-150.8,2622,1880,4007,3724,365.8,-10.1,324,3760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1880,3865,4007,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4059,-0.98,-150.8,2622,1880,4007,3724,395.6,-9.8,339,4061,0.03,0.00,0.00,0.000,2054,0.278,0.000,2631,1880,3865,4007,3724,0,0,0,0,0,0,26.44,28.83,28.83
$GC,4357,-0.98,-150.8,2631,1880,4007,3723,423.8,-9.5,354,4358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1880,3865,4007,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4657,-0.98,-150.8,2631,1880,4007,3723,453.7,-10.1,369,4661,0.00,2.35,0.00,0.000,2564,0.000,0.065,2631,452,3865,4007,3723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4707,-0.98,-150.8,2631,452,4007,3723,457.6,-10.3,371,4713,0.00,2.25,0.00,0.000,3078,0.000,0.048,2622,1868,3865,4007,3723,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5013,-0.98,-150.8,2622,1869,4007,3722,491.0,-10.6,387,5014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2622,1869,3864,4007,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5313,-0.98,-150.8,2622,1869,4007,3722,522.7,-10.5,402,5317,0.00,2.30,0.00,0.000,2564,0.000,0.067,2622,461,3864,4007,3722,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5351,-0.98,-150.8,1792,460,4006,3721,526.7,-10.7,404,5356,0.05,2.28,0.00,0.000,3078,0.158,0.049,2630,1868,3864,4007,3722,0,0,0,0,0,0,26.01,26.21,28.83
$GC,5669,-0.98,-150.8,2629,1869,4008,3720,559.4,-10.3,420,5675,0.00,2.33,0.00,0.000,2564,0.000,0.066,2630,459,3864,4008,3720,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5731,-0.98,-150.8,2630,460,4008,3720,565.7,-10.6,423,5736,0.00,2.22,0.00,0.000,3078,0.000,0.049,2621,1867,3864,4008,3720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6050,-0.98,-150.8,2621,1868,4008,3720,599.4,-10.5,439,6056,0.05,2.33,0.00,0.000,2564,0.227,0.065,2632,461,3864,4008,3720,0,0,0,0,0,0,26.44,26.06,28.83
$GC,6082,-0.98,-150.8,2632,460,4007,3720,601.4,-10.6,440,6089,0.00,2.25,0.00,0.000,3078,0.000,0.050,2624,1871,3864,4008,3720,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6388,-0.98,-150.8,2623,1871,4008,3720,634.5,-10.0,456,6393,0.00,2.33,0.00,0.000,2564,0.000,0.065,2624,459,3864,4008,3720,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6427,-0.98,-150.8,2624,459,4008,3719,638.2,-10.1,458,6432,0.10,2.25,0.00,0.000,3078,0.179,0.050,2637,1869,3864,4008,3720,0,0,0,0,0,0,25.99,26.20,28.83
$GC,6745,-1.02,-150.8,2637,1869,4008,3719,668.1,-9.1,474,6752,0.00,2.35,0.00,0.000,4612,0.000,0.067,2641,450,3863,4008,3719,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6813,-1.02,-150.8,2641,451,4008,3719,673.9,-9.6,477,6817,0.00,2.28,0.00,0.000,5126,0.000,0.050,2633,1871,3863,4008,3719,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7120,-1.02,-150.8,2632,1871,4008,3718,704.3,-9.6,492,7126,0.00,2.35,0.00,0.000,4612,0.000,0.066,2632,449,3862,4007,3718,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7162,-1.02,-150.8,2632,449,4008,3718,708.4,-10.0,494,7166,0.00,2.28,0.00,0.000,3078,0.000,0.050,2623,1869,3863,4008,3718,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7479,-1.02,-150.8,2622,1869,4008,3717,740.3,-10.0,510,7483,0.00,2.33,0.00,0.000,2564,0.000,0.065,2623,459,3862,4008,3717,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7537,-1.02,-150.8,2622,459,4008,3718,746.0,-10.3,513,7542,0.00,2.25,0.00,0.000,3078,0.000,0.050,2613,1870,3862,4008,3717,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7856,-1.02,-150.8,2613,1871,4008,3717,777.6,-9.6,529,7857,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1871,3862,4008,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,-1.02,-150.8,2613,1871,4008,3717,805.9,-9.4,544,8158,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1871,3861,4007,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,-1.02,-150.8,2613,1871,4008,3716,833.4,-8.9,559,8461,0.00,2.33,0.00,0.000,2564,0.000,0.065,2613,461,3861,4007,3716,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8503,-1.02,-150.8,2613,461,4007,3716,837.4,-9.4,561,8508,0.08,2.25,0.00,0.000,3078,0.202,0.050,2619,1870,3861,4007,3716,0,0,0,0,0,0,26.03,26.19,28.83
$GC,8816,-1.02,-150.8,2619,1871,4007,3716,868.2,-9.9,577,8817,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3862,4008,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9115,-1.02,-150.8,2619,1871,4008,3716,897.6,-9.6,592,9116,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3861,4007,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9415,-1.02,-150.8,2619,1871,4007,3715,926.8,-9.6,607,9417,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1871,3861,4008,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,-1.02,-150.8,2619,1871,4007,3715,954.6,-9.0,622,9719,0.00,2.33,0.00,0.000,2564,0.000,0.067,2619,454,3861,4007,3715,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9754,-1.02,-150.8,2619,453,4007,3715,958.0,-9.2,624,9759,0.00,2.28,0.00,0.000,3078,0.000,0.050,2610,1871,3860,4006,3715,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10067,-1.02,-150.8,2610,1871,4007,3715,987.6,-9.3,640,10068,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1871,3861,4007,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10206,begin apogee
$GC,10211,-0.19,0.0,2610,1326,4007,3715,1000.5,-9.2,647,10346,0.90,0.00,128.23,1.291,10246,0.134,0.000,2890,1325,3251,3379,3123,0,0,0,0,0,0,25.73,28.83,23.30
$STATE,10347,end apogee,CONTROL_FINISHED_OK
$STATE,10347,begin climb
$GC,10349,0.77,150.8,2889,1325,3379,3123,1003.7,0.0,654,10492,0.90,2.15,134.90,1.250,10756,0.063,0.073,3212,165,2634,2729,2539,0,0,0,0,0,0,24.34,23.55,22.73
$GC,10587,0.51,150.8,3212,165,2722,2539,978.2,15.1,666,10592,0.35,1.98,0.00,0.000,5126,0.161,0.049,3119,1344,2630,2721,2539,0,0,0,0,0,0,24.70,24.89,28.83
$GC,10900,0.47,150.8,3119,1344,2711,2541,946.4,9.9,682,10905,0.00,2.00,0.00,0.000,4612,0.000,0.076,3128,164,2626,2711,2541,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10939,0.42,150.8,3128,163,2710,2542,942.0,10.4,684,10944,0.15,1.90,0.00,0.000,5126,0.156,0.051,3089,1340,2626,2710,2542,0,0,0,0,0,0,25.46,25.70,28.83
$GC,11257,0.46,166.3,3089,1340,2709,2541,913.9,9.1,700,11277,0.00,2.28,13.35,1.110,10500,0.000,0.057,3087,2730,2571,2656,2487,0,0,0,0,0,0,28.83,25.54,24.58
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$STATE,19708,end climb,SURFACE_DEPTH_REACHED
$STATE,19708,begin surface coast
$FINISH,1.6,1.023227
$STATE,19726,end surface coast,CONTROL_FINISHED_OK
$STATE,19726,begin surface
$SM_CCo,19744,163.38,0.052,0,0,516,670.15
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$IRIDIUM_FIX,-4517.96,545.39,071109,151528
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.7,26.717
$10V_AH,10.2,16.175
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.125,165.675,418.250,163.375,0.000,27.849,22.527,278.637,25.000,0.000,16.008,2975.852,13501.479,745.015,2966.941,162.157,0.000,2046.784,0.000,2514.404,0.000,148.422,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
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$MEM,353616
$DATA_FILE_SIZE,70265,1205
$CAP_FILE_SIZE,198117,0
$CFSIZE,2097086464,2070216704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110117,133826,-4537.306,546.497,41,0.8,41,-24.1