version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 175
start: 1 14 117 4 38 22
data:
$ID,573
$MISSION,15
$DIVE,175
$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,-31817.994
$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,35
$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
$GPS1,140117,043034,-4539.409,536.731,40,1.0,40,-24.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-63.7
$GPS2,140117,043757,-4539.366,536.732,17,0.9,17,-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,228.4,82653,-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,-150.8,192,1876,602,417,0.0,0.0,0,149,0.00,0.00,-131.02,0.000,16386,0.000,0.000,190,1877,3289,3302,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,151,-0.77,-150.8,190,1877,3303,3277,3.1,-2.2,21,192,10.57,2.38,-22.67,0.000,18948,0.247,0.075,2697,453,3862,3996,3729,0,0,0,0,0,0,25.17,25.58,26.09
$GC,331,-0.85,-150.8,1728,454,4002,3727,16.4,-8.9,54,339,0.00,2.30,0.00,0.000,5126,0.000,0.047,2688,1864,3865,4003,3727,0,0,0,0,0,0,28.83,25.76,28.83
$GC,381,-0.95,-150.8,1712,1863,4003,3726,20.7,-8.6,63,389,0.12,0.00,0.00,0.000,4102,0.080,0.000,2610,1864,3866,4004,3728,0,0,0,0,0,0,25.98,28.83,28.83
$GC,513,-0.88,-150.8,1664,1862,4003,3726,35.9,-11.7,88,521,0.17,2.30,0.00,0.000,2308,0.160,0.063,2652,3276,3865,4005,3726,0,0,0,0,0,0,25.60,25.70,28.83
$GC,549,-0.92,-150.8,1696,3275,4005,3725,39.7,-10.0,94,556,0.00,2.28,0.00,0.000,1030,0.000,0.049,2657,1857,3865,4006,3725,0,0,0,0,0,0,28.83,25.85,28.83
$GC,681,-0.96,-150.8,1680,1856,4005,3725,51.8,-8.9,119,686,0.00,0.00,0.00,0.000,4102,0.000,0.000,2657,1858,3866,4007,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1005,-1.00,-150.8,2657,1857,4007,3726,82.7,-10.3,180,1011,0.08,2.28,0.00,0.000,4612,0.123,0.062,2616,467,3866,4007,3726,0,0,0,0,0,0,26.21,25.86,28.83
$GC,1047,-1.00,-150.8,1792,467,4006,3725,87.3,-11.2,182,1052,0.05,2.25,0.00,0.000,3078,0.167,0.046,2625,1864,3866,4006,3726,0,0,0,0,0,0,25.77,25.99,28.83
$GC,1365,-1.00,-150.8,2625,1864,4007,3726,122.7,-10.8,198,1371,0.00,2.30,0.00,0.000,2564,0.000,0.063,2625,461,3866,4007,3726,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1479,-0.95,-150.8,2625,461,4007,3726,134.3,-11.7,203,1489,0.12,2.25,0.00,0.000,3078,0.168,0.046,2648,1874,3866,4007,3726,0,0,0,0,0,0,25.80,26.06,28.83
$GC,1788,-0.98,-150.8,2647,1874,4007,3726,167.4,-9.9,219,1789,0.00,0.00,0.00,0.000,4102,0.000,0.000,2648,1874,3866,4007,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2086,-1.01,-150.8,2648,1874,4007,3726,195.6,-9.0,234,2088,0.08,0.00,0.00,0.000,4102,0.122,0.000,2603,1874,3866,4007,3726,0,0,0,0,0,0,26.34,28.83,28.83
$GC,2387,-0.96,-150.8,2603,1874,4007,3726,227.5,-10.3,249,2393,0.12,2.30,0.00,0.000,2564,0.160,0.061,2641,466,3867,4008,3726,0,0,0,0,0,0,26.03,26.01,28.83
$GC,2426,-0.92,-150.8,2640,466,4007,3726,231.3,-10.1,251,2432,0.10,2.22,0.00,0.000,3078,0.174,0.046,2656,1868,3866,4007,3726,0,0,0,0,0,0,25.93,26.13,28.83
$GC,2749,-0.97,-150.8,2656,1869,4008,3726,257.7,-8.4,267,2750,0.00,0.00,0.00,0.000,4102,0.000,0.000,2656,1869,3867,4008,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,-1.02,-150.8,2656,1869,4007,3725,285.0,-9.4,282,3048,0.10,0.00,0.00,0.000,4102,0.096,0.000,2600,1869,3867,4008,3726,0,0,0,0,0,0,26.39,28.83,28.83
$GC,3346,-0.96,-150.8,2600,1869,4008,3726,321.6,-12.2,297,3348,0.15,0.00,0.00,0.000,2054,0.158,0.000,2640,1869,3866,4007,3725,0,0,0,0,0,0,26.04,28.83,28.83
$GC,3644,-0.96,-150.8,2640,1869,4008,3726,352.9,-10.4,312,3645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2640,1869,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,-1.00,-150.8,2640,1869,4008,3725,384.1,-10.3,327,3946,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1869,3866,4008,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4245,-1.03,-150.8,2640,1869,4008,3724,414.3,-9.7,342,4246,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1869,3866,4008,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4546,-1.06,-150.8,2640,1870,4008,3724,443.6,-9.6,357,4547,0.10,0.00,0.00,0.000,4102,0.096,0.000,2590,1869,3865,4008,3723,0,0,0,0,0,0,26.45,28.83,28.83
$GC,4846,-0.99,-150.8,2590,1869,4008,3723,477.5,-11.2,372,4847,0.15,0.00,0.00,0.000,2054,0.162,0.000,2630,1869,3865,4008,3723,0,0,0,0,0,0,26.06,28.83,28.83
$GC,5145,-0.99,-150.8,2630,1869,4008,3723,505.0,-9.0,387,5146,0.00,0.00,0.00,0.000,2054,0.000,0.000,2630,1869,3865,4008,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5446,-0.99,-150.8,2630,1869,4008,3722,530.0,-8.5,402,5452,0.00,2.30,0.00,0.000,2564,0.000,0.066,2630,471,3865,4008,3722,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5506,-0.99,-150.8,2630,471,4008,3722,535.4,-8.9,405,5511,0.00,2.22,0.00,0.000,3078,0.000,0.049,2621,1868,3864,4007,3722,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5826,-0.99,-150.8,2621,1868,4007,3722,563.4,-8.9,421,5827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1868,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,-0.99,-150.8,2621,1867,4007,3720,591.3,-9.7,436,6129,0.00,2.33,0.00,0.000,2564,0.000,0.065,2621,461,3864,4008,3721,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6169,-0.99,-150.8,2621,461,4008,3721,595.1,-10.0,438,6174,0.08,2.25,0.00,0.000,3078,0.187,0.049,2628,1869,3864,4007,3721,0,0,0,0,0,0,26.03,26.17,28.83
$GC,6484,-0.99,-150.8,2628,1869,4008,3721,626.5,-9.6,454,6485,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1869,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6783,-0.99,-150.8,2628,1869,4008,3721,656.0,-10.3,469,6784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1870,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7083,-0.99,-150.8,2628,1869,4007,3720,686.7,-10.1,484,7088,0.00,2.30,0.00,0.000,2564,0.000,0.066,2628,469,3863,4007,3720,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7129,-0.99,-150.8,2628,469,4008,3721,691.0,-10.1,486,7133,0.00,2.25,0.00,0.000,3078,0.000,0.050,2619,1878,3864,4008,3720,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7440,-0.99,-150.8,2619,1878,4008,3720,723.2,-9.8,502,7445,0.00,2.35,0.00,0.000,2564,0.000,0.066,2619,460,3863,4008,3719,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7485,-0.99,-150.8,2618,460,4007,3720,726.9,-9.9,504,7489,0.05,2.28,0.00,0.000,3078,0.160,0.049,2627,1866,3863,4007,3720,0,0,0,0,0,0,25.96,26.17,28.83
$GC,7799,-0.99,-150.8,2627,1866,4007,3718,756.5,-9.2,520,7805,0.00,2.28,0.00,0.000,2308,0.000,0.068,2617,3273,3863,4008,3719,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7865,-1.02,-150.8,2617,3273,4008,3718,762.2,-9.4,523,7870,0.00,2.22,0.00,0.000,3078,0.000,0.051,2618,1865,3862,4007,3718,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8171,-1.02,-150.8,2618,1865,4007,3718,793.6,-10.3,538,8175,0.00,2.30,0.00,0.000,2308,0.000,0.067,2609,3275,3862,4007,3718,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8222,-1.02,-150.8,2609,3275,4008,3717,797.1,-10.3,540,8228,0.00,2.22,0.00,0.000,3078,0.000,0.051,2613,1862,3862,4007,3717,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8527,-1.02,-150.8,2613,1862,4007,3717,830.9,-10.7,556,8528,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1862,3862,4007,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8827,-1.02,-150.8,2613,1862,4008,3717,863.3,-11.1,571,8831,0.00,2.30,0.00,0.000,2564,0.000,0.067,2614,465,3861,4007,3716,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8863,-1.02,-150.8,2613,465,4007,3717,867.4,-11.1,573,8868,0.08,2.25,0.00,0.000,3078,0.195,0.050,2620,1871,3862,4007,3717,0,0,0,0,0,0,26.00,26.14,28.83
$GC,9180,-1.02,-150.8,2619,1872,4007,3717,900.8,-10.1,589,9184,0.00,2.28,0.00,0.000,2308,0.000,0.067,2609,3272,3861,4007,3716,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9204,-1.02,-150.8,2609,3271,4006,3716,902.4,-10.1,590,9208,0.00,2.22,0.00,0.000,3078,0.000,0.050,2610,1865,3861,4007,3716,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9517,-1.02,-150.8,2610,1865,4007,3716,933.9,-9.5,606,9522,0.00,2.30,0.00,0.000,2564,0.000,0.067,2610,467,3861,4007,3716,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9578,-1.02,-150.8,2610,467,4007,3716,939.8,-9.6,609,9584,0.10,2.25,0.00,0.000,3078,0.181,0.050,2624,1880,3861,4007,3716,0,0,0,0,0,0,25.91,26.13,28.83
$GC,9901,-1.06,-150.8,2624,1880,4007,3716,965.4,-7.7,625,9906,0.00,2.25,0.00,0.000,4356,0.000,0.067,2614,3274,3861,4007,3716,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9979,-1.09,-150.8,2614,3274,4007,3716,971.6,-7.6,629,9985,0.00,2.22,0.00,0.000,5126,0.000,0.051,2617,1861,3861,4007,3716,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10299,-1.09,-150.8,2617,1862,4007,3715,994.5,-6.9,645,10305,0.00,2.30,0.00,0.000,4612,0.000,0.068,2617,466,3861,4007,3715,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10340,-1.09,-150.8,2616,466,4006,3715,997.6,-7.2,647,10345,0.00,2.25,0.00,0.000,5126,0.000,0.050,2608,1870,3860,4006,3715,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,10378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10378,begin apogee
$GC,10383,-0.19,0.0,2608,1327,4006,3715,1000.5,-7.4,649,10519,0.90,0.00,128.75,1.291,10246,0.135,0.000,2885,1326,3250,3379,3122,0,0,0,0,0,0,25.62,28.83,23.26
$STATE,10520,end apogee,CONTROL_FINISHED_OK
$STATE,10520,begin climb
$GC,10522,0.77,150.8,2885,1326,3379,3122,1001.4,0.0,656,10665,0.93,2.15,134.65,1.247,10756,0.063,0.072,3215,166,2635,2730,2541,0,0,0,0,0,0,24.32,23.58,22.75
$GC,10821,0.51,150.8,3215,166,2721,2541,962.4,16.2,671,10826,0.35,1.95,0.00,0.000,5126,0.158,0.050,3121,1345,2631,2721,2541,0,0,0,0,0,0,24.93,25.21,28.83
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$STATE,19768,end climb,SURFACE_DEPTH_REACHED
$STATE,19768,begin surface coast
$FINISH,1.7,1.018475
$STATE,19797,end surface coast,CONTROL_FINISHED_OK
$STATE,19797,begin surface
$SM_CCo,19812,179.93,0.053,0,0,516,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,49.01
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.8,28.560
$10V_AH,10.2,17.279
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.700,153.125,383.700,179.925,0.000,27.366,21.539,276.512,25.000,0.000,18.396,3013.665,13516.478,728.361,3004.600,170.708,0.000,2041.955,0.000,2557.436,0.000,149.664,0.000
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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,70307,1213
$CAP_FILE_SIZE,200695,0
$CFSIZE,2097086464,2068643840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140117,101250,-4540.118,535.584,40,0.8,40,-24.0