version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 192
start: 1 18 117 6 45 40
data:
$ID,573
$MISSION,15
$DIVE,192
$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,-31839.305
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,180117,063802,-4548.033,524.476,25,1.1,25,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-57.8
$GPS2,180117,064515,-4547.989,524.587,15,1.0,16,-23.9
$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,221.4,62150,-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,-150.8,185,1887,605,416,0.0,0.0,0,150,0.00,0.00,-131.80,0.000,16386,0.000,0.000,184,1887,3298,3307,3289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.77,-150.8,184,1887,3308,3289,3.0,-1.1,21,186,10.90,0.00,-19.62,0.000,18694,0.256,0.000,2696,1883,3865,3997,3733,0,0,0,0,0,0,25.11,28.83,26.08
$GC,229,-0.91,-150.8,1728,1882,4004,3731,9.2,-10.1,34,237,0.10,2.30,0.00,0.000,4356,0.101,0.060,2636,3280,3869,4006,3733,0,0,0,0,0,0,25.86,25.52,28.83
$GC,281,-0.95,-150.8,1664,3278,4006,3730,15.2,-12.1,43,289,0.00,2.28,0.00,0.000,3078,0.000,0.048,2637,1869,3869,4008,3731,0,0,0,0,0,0,28.83,25.68,28.83
$GC,331,-0.95,-150.8,1680,1867,4006,3731,20.5,-10.6,52,338,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1870,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,461,-0.95,-150.8,1664,1867,4007,3730,35.1,-13.4,77,467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1869,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,589,-0.95,-150.8,2637,1869,4008,3731,49.9,-12.1,102,596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1869,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-0.95,-150.8,2637,1869,4009,3731,88.0,-12.9,154,905,0.00,2.30,0.00,0.000,2564,0.000,0.063,2637,461,3870,4009,3732,0,0,0,0,0,0,28.83,25.79,28.83
$GC,968,-0.95,-150.8,2637,461,4009,3732,95.7,-13.6,157,973,0.08,2.25,0.00,0.000,3078,0.189,0.046,2644,1877,3870,4009,3731,0,0,0,0,0,0,25.78,25.92,28.83
$GC,1281,-0.95,-150.8,2644,1878,4010,3732,132.2,-10.7,173,1287,0.00,2.30,0.00,0.000,2564,0.000,0.063,2644,468,3870,4009,3731,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1313,-0.95,-150.8,2644,468,4009,3730,134.5,-10.9,174,1321,0.00,2.28,0.00,0.000,3078,0.000,0.046,2635,1873,3870,4010,3731,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1620,-0.95,-150.8,2635,1874,4010,3732,168.1,-10.2,190,1621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1874,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1921,-0.95,-150.8,2635,1874,4011,3732,197.8,-9.8,205,1922,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1874,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.95,-150.8,2635,1874,4010,3732,227.2,-10.0,220,2221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1874,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2523,-0.95,-150.8,2635,1874,4010,3731,257.0,-9.7,235,2524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1874,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2821,-0.95,-150.8,2635,1874,4011,3731,285.8,-9.7,250,2822,0.00,0.00,0.00,0.000,2054,0.000,0.000,2635,1874,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.95,-150.8,2635,1874,4010,3731,313.7,-9.3,265,3126,0.00,2.30,0.00,0.000,2564,0.000,0.064,2634,468,3871,4011,3731,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3163,-0.95,-150.8,2635,468,4011,3731,317.4,-9.4,267,3168,0.08,2.25,0.00,0.000,3078,0.186,0.047,2642,1878,3871,4011,3732,0,0,0,0,0,0,25.96,26.09,28.83
$GC,3476,-0.98,-150.8,2641,1878,4010,3731,344.7,-8.1,283,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1878,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3775,-1.02,-150.8,2641,1878,4011,3731,367.3,-7.5,298,3781,0.00,2.33,0.00,0.000,4612,0.000,0.065,2642,462,3871,4011,3731,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3815,-1.02,-150.8,2642,462,4011,3731,370.5,-7.6,300,3819,0.00,2.25,0.00,0.000,5126,0.000,0.047,2633,1877,3870,4010,3731,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4132,-1.02,-150.8,2633,1877,4011,3730,395.1,-7.7,316,4133,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1877,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-1.02,-150.8,2633,1877,4011,3730,418.8,-8.4,331,4433,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1877,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,-1.02,-150.8,2633,1877,4010,3730,444.7,-8.8,346,4734,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1877,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5031,-1.02,-150.8,2633,1877,4011,3729,472.4,-9.5,361,5032,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1877,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,-1.02,-150.8,2633,1877,4011,3728,502.0,-9.9,376,5335,0.00,2.33,0.00,0.000,4612,0.000,0.065,2633,461,3869,4011,3728,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5406,-1.02,-150.8,2633,461,4011,3728,510.5,-11.2,380,5410,0.00,2.25,0.00,0.000,3078,0.000,0.048,2623,1872,3869,4010,3728,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5722,-1.02,-150.8,2623,1872,4011,3727,544.3,-10.3,396,5728,0.00,2.28,0.00,0.000,2308,0.000,0.067,2613,3270,3868,4010,3727,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5782,-1.02,-150.8,2612,3271,4010,3727,550.4,-10.3,399,5786,0.00,2.22,0.00,0.000,3078,0.000,0.050,2614,1860,3869,4011,3727,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6099,-1.02,-150.8,2614,1860,4011,3726,583.1,-10.0,415,6105,0.00,2.28,0.00,0.000,2564,0.000,0.067,2614,465,3868,4011,3726,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6207,-0.98,-150.8,2614,465,4010,3726,594.2,-11.0,420,6212,0.12,2.25,0.00,0.000,3078,0.168,0.050,2636,1874,3868,4011,3726,0,0,0,0,0,0,25.80,26.08,28.83
$GC,6514,-1.02,-150.8,2636,1874,4010,3725,622.0,-8.4,435,6520,0.00,2.28,0.00,0.000,4356,0.000,0.067,2626,3284,3868,4011,3726,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6568,-1.06,-150.8,2626,3285,4010,3725,625.6,-8.8,437,6574,0.00,2.25,0.00,0.000,5126,0.000,0.050,2630,1863,3868,4011,3725,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6876,-1.09,-150.8,2630,1864,4011,3725,653.1,-8.5,453,6882,0.08,2.28,0.00,0.000,4612,0.122,0.065,2594,474,3867,4010,3725,0,0,0,0,0,0,26.47,25.91,28.83
$GC,6944,-1.05,-150.8,2593,474,4011,3725,659.6,-10.2,456,6949,0.12,2.22,0.00,0.000,3078,0.177,0.050,2615,1877,3867,4010,3725,0,0,0,0,0,0,25.76,26.06,28.83
$GC,7252,-1.05,-150.8,2615,1877,4010,3724,689.5,-9.5,471,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1877,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7550,-1.05,-150.8,2615,1877,4011,3723,719.3,-9.9,486,7554,0.00,2.35,0.00,0.000,516,0.000,0.066,2615,465,3866,4010,3723,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7607,-1.05,-150.8,2615,466,4010,3723,725.1,-10.3,489,7613,0.00,2.25,0.00,0.000,3078,0.000,0.050,2606,1871,3866,4010,3723,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7927,-1.05,-150.8,2606,1872,4010,3723,757.9,-10.4,505,7928,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1872,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8226,-1.05,-150.8,2606,1872,4010,3722,788.4,-10.0,520,8227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1872,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,-1.05,-150.8,2606,1872,4010,3722,819.3,-10.2,535,8527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1873,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8826,-1.05,-150.8,2606,1872,4010,3721,848.1,-9.1,550,8827,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1872,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9127,-1.05,-150.8,2606,1873,4010,3721,874.8,-8.7,565,9128,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1873,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9426,-1.05,-150.8,2606,1873,4010,3721,899.4,-8.0,580,9428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1872,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9727,-1.05,-150.8,2606,1872,4010,3721,921.8,-7.2,595,9728,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1873,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10026,-1.05,-150.8,2606,1872,4010,3720,943.1,-6.9,610,10027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1873,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10328,-1.05,-150.8,2606,1872,4010,3720,964.4,-7.3,625,10333,0.00,2.28,0.00,0.000,2308,0.000,0.067,2596,3275,3865,4010,3720,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10407,-1.05,-150.8,2595,3275,4010,3720,970.3,-7.5,629,10412,0.00,2.22,0.00,0.000,3078,0.000,0.051,2602,1869,3865,4010,3720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10728,-1.05,-150.8,2602,1868,4010,3720,995.5,-8.3,645,10733,0.00,2.28,0.00,0.000,2564,0.000,0.068,2602,470,3865,4010,3720,0,0,0,0,0,0,28.83,25.83,28.83
$STATE,10784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10784,begin apogee
$GC,10790,-0.19,0.0,2595,1341,4009,3720,1001.0,-8.9,648,10921,0.98,0.00,127.25,1.281,10246,0.142,0.000,2890,1342,3250,3379,3122,0,0,0,0,0,0,25.39,28.83,23.22
$STATE,10922,end apogee,CONTROL_FINISHED_OK
$STATE,10922,begin climb
$GC,10924,0.77,150.8,2890,1341,3379,3125,1003.8,0.0,654,11068,0.93,2.25,135.00,1.245,10756,0.060,0.073,3218,170,2635,2729,2541,0,0,0,0,0,0,24.25,23.58,22.72
$GC,11199,0.51,150.8,3218,170,2724,2541,973.7,14.9,668,11204,0.35,1.92,0.00,0.000,5126,0.157,0.050,3125,1336,2632,2723,2541,0,0,0,0,0,0,24.80,25.10,28.83
$GC,11506,0.48,167.4,3124,1336,2720,2540,943.2,9.1,683,11525,0.05,0.00,15.10,1.134,12294,0.219,0.000,3113,1336,2567,2654,2481,0,0,0,0,0,0,25.82,28.83,24.33
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$STATE,20355,end climb,SURFACE_DEPTH_REACHED
$STATE,20355,begin surface coast
$FINISH,1.7,1.001471
$STATE,20372,end surface coast,CONTROL_FINISHED_OK
$STATE,20372,begin surface
$SM_CCo,20389,167.02,0.051,0,0,517,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,31.101
$10V_AH,10.2,18.839
$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,353624
$DATA_FILE_SIZE,70131,1232
$CAP_FILE_SIZE,188457,0
$CFSIZE,2097086464,2066448384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180117,122931,-4549.033,524.159,37,1.4,40,-23.9