version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 165
start: 1 11 117 19 51 39
data:
$ID,573
$MISSION,15
$DIVE,165
$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,-31805.16
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,110117,193950,-4537.982,545.680,45,1.0,45,-24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-57.3
$GPS2,110117,195115,-4537.861,545.854,18,0.9,19,-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,234.5,90511,-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,-150.8,179,1894,619,417,0.0,0.0,0,156,0.00,0.00,-137.57,0.000,16386,0.000,0.000,175,1894,3442,3456,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-150.8,175,1895,3464,3426,3.0,-1.3,22,190,10.73,2.33,-12.65,0.000,18692,0.251,0.084,2690,3272,3865,3997,3733,0,0,0,0,0,0,25.16,25.51,26.04
$GC,215,-0.92,-150.8,2689,3272,4005,3731,8.5,-8.5,30,223,0.05,2.28,0.00,0.000,5126,0.073,0.047,2640,1860,3867,4004,3731,0,0,0,0,0,0,25.62,25.67,28.83
$GC,266,-0.92,-150.8,1680,1858,4004,3730,13.1,-8.8,39,273,0.05,0.00,0.00,0.000,2054,0.213,0.000,2651,1860,3868,4005,3731,0,0,0,0,0,0,25.84,28.83,28.83
$GC,317,-0.96,-150.8,1696,1858,4005,3729,19.2,-9.6,48,324,0.00,2.35,0.00,0.000,4612,0.000,0.067,2659,467,3868,4005,3731,0,0,0,0,0,0,28.83,25.65,28.83
$GC,388,-0.96,-150.8,2659,467,4006,3731,26.9,-12.1,61,395,0.00,2.30,0.00,0.000,5126,0.000,0.049,2651,1872,3868,4006,3731,0,0,0,0,0,0,28.83,25.76,28.83
$GC,518,-0.96,-150.8,1712,1871,4005,3729,43.6,-13.5,86,523,0.00,0.00,0.00,0.000,4102,0.000,0.000,2650,1873,3868,4006,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.96,-150.8,2650,1872,4007,3730,76.7,-11.5,147,838,0.00,2.35,0.00,0.000,4612,0.000,0.066,2650,471,3868,4007,3730,0,0,0,0,0,0,28.83,25.85,28.83
$GC,937,-0.96,-150.8,2650,471,4007,3730,89.2,-12.1,157,943,0.00,2.25,0.00,0.000,3078,0.000,0.047,2641,1881,3868,4007,3730,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1260,-0.96,-150.8,2641,1881,4007,3730,126.2,-11.1,173,1261,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1881,3868,4007,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-0.96,-150.8,2641,1881,4008,3729,157.5,-11.0,188,1558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1881,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-0.96,-150.8,2641,1881,4008,3730,194.3,-12.6,203,1859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1881,3869,4008,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2157,-0.96,-150.8,2641,1881,4008,3730,231.8,-12.1,218,2158,0.00,0.00,0.00,0.000,2054,0.000,0.000,2641,1881,3868,4008,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,-0.96,-150.8,2641,1881,4009,3730,265.7,-10.7,233,2463,0.00,2.30,0.00,0.000,2564,0.000,0.065,2641,465,3869,4008,3730,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2505,-0.96,-150.8,2641,465,4008,3730,270.1,-10.7,235,2509,0.00,2.25,0.00,0.000,3078,0.000,0.047,2632,1868,3869,4008,3730,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2819,-0.96,-150.8,2631,1869,4008,3730,301.9,-9.7,251,2824,0.00,2.28,0.00,0.000,2564,0.000,0.067,2632,468,3869,4008,3730,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2870,-0.96,-150.8,2632,468,4008,3729,306.0,-9.9,253,2877,0.08,2.22,0.00,0.000,3078,0.195,0.047,2638,1870,3869,4008,3730,0,0,0,0,0,0,26.02,26.17,28.83
$GC,3178,-0.96,-150.8,2638,1871,4008,3729,334.4,-8.6,269,3183,0.00,2.30,0.00,0.000,2564,0.000,0.065,2639,461,3869,4009,3729,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3240,-0.96,-150.8,2638,461,4008,3729,340.1,-9.1,272,3245,0.00,2.25,0.00,0.000,3078,0.000,0.048,2630,1875,3868,4008,3729,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3552,-0.96,-150.8,2630,1876,4009,3729,367.6,-8.6,288,3558,0.00,2.33,0.00,0.000,2564,0.000,0.064,2630,461,3868,4008,3728,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3605,-0.96,-150.8,2629,461,4008,3728,371.3,-9.0,290,3612,0.10,2.25,0.00,0.000,3078,0.180,0.047,2644,1877,3868,4009,3728,0,0,0,0,0,0,25.98,26.19,28.83
$GC,3913,-1.00,-150.8,2643,1878,4008,3728,396.4,-7.5,306,3919,0.00,2.30,0.00,0.000,4612,0.000,0.065,2644,469,3868,4008,3728,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3952,-1.00,-150.8,2644,469,4008,3728,399.5,-7.7,308,3956,0.00,2.22,0.00,0.000,1030,0.000,0.048,2636,1871,3868,4009,3728,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4268,-1.00,-150.8,2635,1871,4009,3727,424.0,-7.7,324,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1871,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4568,-1.00,-150.8,2635,1871,4008,3726,449.4,-9.0,339,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1871,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,-1.00,-150.8,2635,1871,4008,3726,477.8,-9.6,354,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1871,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5168,-1.00,-150.8,2635,1872,4009,3724,508.3,-10.5,369,5172,0.00,2.33,0.00,0.000,516,0.000,0.066,2636,459,3866,4009,3724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5227,-1.00,-150.8,2635,459,4009,3724,514.6,-10.9,372,5231,0.00,2.25,0.00,0.000,3078,0.000,0.050,2626,1869,3867,4009,3725,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5544,-1.00,-150.8,2626,1869,4009,3724,549.9,-10.8,388,5545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1870,3866,4009,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5844,-1.00,-150.8,2626,1869,4009,3723,582.5,-11.0,403,5848,0.00,2.30,0.00,0.000,2564,0.000,0.066,2626,468,3866,4009,3723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5873,-1.00,-150.8,2625,468,4009,3723,584.4,-11.2,404,5883,0.00,2.25,0.00,0.000,3078,0.000,0.050,2617,1873,3866,4009,3723,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6181,-1.00,-150.8,2616,1874,4009,3722,620.9,-11.1,420,6183,0.03,0.00,0.00,0.000,2054,0.280,0.000,2626,1873,3865,4009,3722,0,0,0,0,0,0,26.47,28.83,28.83
$GC,6480,-1.00,-150.8,2626,1874,4009,3722,652.4,-10.1,435,6481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1874,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6780,-1.00,-150.8,2626,1874,4009,3721,681.2,-9.3,450,6781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1874,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7080,-1.00,-150.8,2626,1874,4009,3720,707.9,-8.5,465,7086,0.00,2.33,0.00,0.000,2564,0.000,0.066,2627,464,3865,4009,3721,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7139,-1.00,-150.8,2626,464,4009,3721,713.2,-8.8,468,7144,0.00,2.25,0.00,0.000,3078,0.000,0.050,2617,1872,3865,4009,3721,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7456,-1.00,-150.8,2617,1872,4009,3721,740.1,-8.4,484,7457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1872,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7757,-1.00,-150.8,2617,1872,4009,3720,765.5,-8.6,499,7763,0.03,2.33,0.00,0.000,2564,0.282,0.065,2626,464,3864,4009,3720,0,0,0,0,0,0,26.48,26.06,28.83
$GC,7796,-1.00,-150.8,2626,464,4008,3720,769.2,-8.9,501,7801,0.00,2.25,0.00,0.000,3078,0.000,0.050,2617,1872,3864,4008,3720,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8117,-1.00,-150.8,2617,1872,4008,3720,798.8,-9.4,517,8122,0.00,2.30,0.00,0.000,2564,0.000,0.066,2617,468,3864,4008,3720,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8156,-1.00,-150.8,2617,468,4008,3720,802.8,-9.7,519,8162,0.10,2.22,0.00,0.000,3078,0.180,0.051,2631,1869,3864,4008,3720,0,0,0,0,0,0,25.98,26.18,28.83
$GC,8477,-1.04,-150.8,2631,1869,4008,3720,830.1,-8.4,535,8478,0.00,0.00,0.00,0.000,4102,0.000,0.000,2631,1869,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8776,-1.07,-150.8,2631,1869,4008,3719,854.3,-7.9,550,8778,0.08,0.00,0.00,0.000,4102,0.118,0.000,2589,1870,3863,4008,3719,0,0,0,0,0,0,26.51,28.83,28.83
$GC,9077,-1.03,-150.8,2589,1870,4008,3719,882.6,-9.5,565,9083,0.12,2.30,0.00,0.000,2564,0.170,0.064,2626,470,3863,4009,3718,0,0,0,0,0,0,26.10,26.05,28.83
$GC,9170,-1.03,-150.8,2626,470,4008,3717,890.0,-9.4,569,9175,0.00,2.25,0.00,0.000,3078,0.000,0.050,2617,1877,3862,4008,3717,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9476,-1.03,-150.8,2616,1877,4008,3717,919.1,-9.3,585,9477,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1877,3862,4008,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9775,-1.03,-150.8,2616,1877,4008,3717,948.7,-9.9,600,9779,0.00,2.33,0.00,0.000,2564,0.000,0.067,2617,468,3862,4007,3717,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9834,-1.03,-150.8,2616,468,4008,3717,954.8,-10.8,603,9838,0.00,2.25,0.00,0.000,3078,0.000,0.050,2608,1873,3862,4008,3717,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10152,-1.03,-150.8,2607,1874,4008,3716,988.7,-10.5,619,10158,0.03,2.33,0.00,0.000,2564,0.284,0.065,2618,467,3863,4009,3717,0,0,0,0,0,0,26.48,26.03,28.83
$GC,10194,-1.03,-150.8,2617,467,4008,3717,992.9,-10.5,621,10198,0.00,2.25,0.00,0.000,3078,0.000,0.050,2608,1871,3862,4008,3717,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10270,begin apogee
$GC,10275,-0.19,0.0,2608,1326,4008,3717,1001.2,-10.3,625,10404,0.90,0.00,125.43,1.291,10246,0.135,0.000,2888,1326,3250,3378,3122,0,0,0,0,0,0,25.72,28.83,23.32
$STATE,10405,end apogee,CONTROL_FINISHED_OK
$STATE,10405,begin climb
$GC,10407,0.77,150.8,2887,1326,3379,3125,1005.3,0.0,631,10553,0.93,2.20,134.48,1.254,10756,0.063,0.075,3218,161,2635,2730,2541,0,0,0,0,0,0,24.30,23.55,22.74
$GC,10696,0.50,150.8,3218,161,2724,2541,975.5,14.0,646,10702,0.35,1.95,0.00,0.000,5126,0.158,0.050,3123,1343,2632,2724,2540,0,0,0,0,0,0,24.91,25.15,28.83
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$STATE,19362,end climb,SURFACE_DEPTH_REACHED
$STATE,19362,begin surface coast
$FINISH,1.8,1.004002
$STATE,19383,end surface coast,CONTROL_FINISHED_OK
$STATE,19383,begin surface
$SM_CCo,19399,177.60,0.051,0,0,515,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,49.40
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.7,27.021
$10V_AH,10.2,16.362
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.375,149.100,377.975,177.600,0.000,58.947,76.628,333.883,25.000,0.000,20.328,2891.677,13401.443,735.475,3058.536,172.511,0.000,2008.654,0.000,2434.211,0.000,148.399,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.994,544.726,633.751,102.779,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353616
$DATA_FILE_SIZE,70333,1184
$CAP_FILE_SIZE,198045,0
$CFSIZE,2097086464,2069954560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120117,011904,-4537.584,544.926,33,1.5,33,-24.0