version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 208
start: 1 22 117 3 16 9
data:
$ID,573
$MISSION,15
$DIVE,208
$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,-31859.465
$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,33
$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
$GPS1,220117,030820,-4602.292,513.105,41,0.9,41,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-54.0
$GPS2,220117,031545,-4602.254,513.181,17,1.0,17,-23.8
$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,210.9,33115,-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,-150.8,180,1876,616,419,0.0,0.0,0,156,0.00,0.00,-137.93,0.000,16386,0.000,0.000,176,1876,3428,3447,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,159,-0.77,-150.8,176,1876,3447,3410,3.2,-1.6,22,188,10.55,2.40,-12.75,0.000,18692,0.243,0.080,2685,3273,3866,3999,3734,0,0,0,0,0,0,25.03,25.47,26.10
$GC,391,-0.88,-150.8,1696,3271,4008,3730,31.7,-8.2,65,398,0.00,2.28,0.00,0.000,5126,0.000,0.049,2687,1862,3869,4009,3730,0,0,0,0,0,0,28.83,25.72,28.83
$GC,522,-1.00,-150.8,2687,1862,4009,3730,46.4,-9.7,90,530,0.12,2.30,0.00,0.000,4612,0.086,0.061,2615,467,3870,4009,3731,0,0,0,0,0,0,26.03,25.63,28.83
$GC,594,-0.91,-150.8,2614,467,4009,3731,54.0,-9.7,103,601,0.20,2.25,0.00,0.000,3078,0.160,0.046,2659,1871,3869,4009,3730,0,0,0,0,0,0,25.38,25.78,28.83
$GC,910,-0.94,-150.8,2659,1871,4009,3730,84.6,-11.4,159,911,0.00,0.00,0.00,0.000,4102,0.000,0.000,2659,1871,3869,4009,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1210,-0.99,-150.8,2659,1871,4009,3730,113.9,-9.0,174,1212,0.08,0.00,0.00,0.000,4102,0.118,0.000,2613,1872,3869,4009,3730,0,0,0,0,0,0,26.27,28.83,28.83
$GC,1512,-0.96,-150.8,2613,1873,4010,3730,145.9,-10.9,189,1514,0.12,0.00,0.00,0.000,2054,0.164,0.000,2644,1872,3870,4010,3730,0,0,0,0,0,0,25.96,28.83,28.83
$GC,1811,-0.99,-150.8,2645,1872,4010,3730,175.9,-9.9,204,1812,0.00,0.00,0.00,0.000,4102,0.000,0.000,2645,1872,3870,4010,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-1.03,-150.8,2644,1872,4010,3730,206.5,-10.4,219,2114,0.08,0.00,0.00,0.000,4102,0.120,0.000,2602,1872,3870,4010,3730,0,0,0,0,0,0,26.35,28.83,28.83
$GC,2410,-0.98,-150.8,2602,1873,4011,3730,243.5,-12.3,234,2416,0.12,2.33,0.00,0.000,2564,0.165,0.064,2643,465,3870,4011,3730,0,0,0,0,0,0,25.99,25.88,28.83
$GC,2458,-0.98,-150.8,2643,465,4011,3730,248.3,-12.1,236,2462,0.00,2.25,0.00,0.000,3078,0.000,0.047,2634,1871,3870,4011,3730,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2770,-0.98,-150.8,2634,1871,4011,3730,282.4,-10.4,252,2771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-0.98,-150.8,2634,1871,4010,3730,312.6,-9.7,267,3073,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3370,-0.98,-150.8,2634,1871,4011,3730,340.3,-9.2,282,3371,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1871,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,-0.98,-150.8,2634,1871,4011,3730,367.4,-9.2,297,3676,0.00,2.25,0.00,0.000,2308,0.000,0.067,2624,3267,3870,4011,3730,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3718,-0.98,-150.8,2623,3267,4010,3729,371.2,-9.4,299,3722,0.00,2.22,0.00,0.000,3078,0.000,0.049,2624,1855,3870,4011,3729,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4025,-0.98,-150.8,2623,1855,4011,3729,404.1,-11.0,314,4031,0.00,2.25,0.00,0.000,2564,0.000,0.066,2624,470,3870,4011,3729,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4064,-0.98,-150.8,2623,470,4010,3729,408.8,-11.4,316,4069,0.10,2.25,0.00,0.000,3078,0.174,0.048,2638,1877,3870,4011,3729,0,0,0,0,0,0,25.82,26.02,28.83
$GC,4382,-1.01,-150.8,2638,1877,4011,3729,441.8,-10.5,332,4383,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1877,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4682,-1.05,-150.8,2638,1877,4011,3728,473.4,-10.6,347,4683,0.08,0.00,0.00,0.000,4102,0.119,0.000,2596,1877,3869,4011,3728,0,0,0,0,0,0,26.46,28.83,28.83
$GC,4982,-1.00,-150.8,2596,1878,4011,3727,510.4,-12.4,362,4984,0.12,0.00,0.00,0.000,2054,0.168,0.000,2628,1878,3869,4011,3727,0,0,0,0,0,0,26.10,28.83,28.83
$GC,5281,-1.00,-150.8,2627,1878,4011,3726,543.5,-11.0,377,5282,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1878,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5583,-1.00,-150.8,2627,1878,4011,3726,575.7,-10.5,392,5584,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1878,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-1.00,-150.8,2627,1877,4011,3726,606.4,-9.8,407,5885,0.00,0.00,0.00,0.000,2054,0.000,0.000,2628,1877,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6183,-1.00,-150.8,2627,1877,4011,3725,635.5,-9.4,422,6184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2627,1877,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6481,-1.00,-150.8,2627,1878,4011,3724,663.2,-9.0,437,6487,0.00,2.28,0.00,0.000,2308,0.000,0.067,2618,3266,3867,4011,3724,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6530,-1.03,-150.8,2617,3267,4011,3723,667.0,-9.2,439,6534,0.00,2.20,0.00,0.000,3078,0.000,0.050,2618,1869,3867,4011,3723,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6838,-1.03,-150.8,2617,1868,4012,3721,696.3,-9.3,454,6843,0.00,2.28,0.00,0.000,2564,0.000,0.067,2618,473,3866,4011,3722,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6899,-1.03,-150.8,2618,473,4011,3721,702.4,-10.0,457,6903,0.00,2.25,0.00,0.000,3078,0.000,0.049,2609,1871,3866,4011,3722,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7217,-1.03,-150.8,2609,1871,4011,3721,733.1,-9.5,473,7218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2609,1871,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7516,-1.03,-150.8,2609,1871,4012,3722,760.4,-9.0,488,7520,0.00,2.30,0.00,0.000,2308,0.000,0.067,2598,3275,3866,4011,3721,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7573,-1.03,-150.8,2597,3275,4011,3721,765.5,-9.1,491,7580,0.08,2.22,0.00,0.000,3078,0.177,0.051,2617,1862,3866,4011,3721,0,0,0,0,0,0,25.88,25.98,28.83
$GC,7895,-1.03,-150.8,2617,1862,4011,3721,792.0,-8.3,507,7900,0.00,2.28,0.00,0.000,2564,0.000,0.067,2617,467,3866,4011,3721,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7952,-1.03,-150.8,2616,467,4011,3721,797.5,-9.0,510,7956,0.00,2.25,0.00,0.000,3078,0.000,0.050,2608,1868,3866,4011,3721,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8269,-1.03,-150.8,2608,1869,4011,3721,826.2,-9.3,526,8271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,1869,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8568,-1.03,-150.8,2608,1869,4011,3721,853.3,-8.9,541,8574,0.00,2.30,0.00,0.000,2308,0.000,0.067,2597,3270,3866,4011,3721,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8616,-1.03,-150.8,2597,3270,4011,3720,856.9,-9.0,543,8621,0.10,2.20,0.00,0.000,3078,0.163,0.050,2620,1868,3865,4011,3720,0,0,0,0,0,0,25.79,25.97,28.83
$GC,8924,-1.06,-150.8,2620,1868,4010,3721,883.2,-8.1,558,8930,0.00,2.30,0.00,0.000,4612,0.000,0.067,2621,467,3865,4011,3720,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8976,-1.06,-150.8,2621,466,4011,3720,886.5,-8.3,560,8983,0.00,2.28,0.00,0.000,1030,0.000,0.050,2612,1878,3865,4011,3720,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9283,-1.06,-150.8,2612,1878,4011,3721,913.5,-8.5,576,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1878,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9584,-1.06,-150.8,2612,1878,4010,3720,940.6,-9.4,591,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1878,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9883,-1.06,-150.8,2612,1878,4011,3720,970.3,-10.1,606,9887,0.00,2.35,0.00,0.000,516,0.000,0.067,2613,461,3865,4011,3720,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9939,-1.06,-150.8,2612,461,4010,3720,976.2,-10.5,609,9945,0.00,2.28,0.00,0.000,3078,0.000,0.049,2603,1880,3865,4010,3720,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,10177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10177,begin apogee
$GC,10182,-0.19,0.0,2603,1326,4010,3720,1001.9,-10.7,621,10313,0.93,0.00,126.85,1.283,10246,0.129,0.000,2889,1326,3249,3377,3122,0,0,0,0,0,0,25.36,28.83,23.15
$STATE,10314,end apogee,CONTROL_FINISHED_OK
$STATE,10314,begin climb
$GC,10316,0.77,150.8,2888,1326,3378,3124,1007.2,0.0,627,10461,0.90,2.17,135.48,1.245,10756,0.057,0.073,3214,165,2635,2729,2541,0,0,0,0,0,0,24.22,23.57,22.68
$GC,10557,0.52,150.8,3213,165,2723,2541,987.9,13.2,639,10563,0.32,1.98,0.00,0.000,5126,0.158,0.048,3127,1346,2632,2723,2541,0,0,0,0,0,0,24.63,24.93,28.83
$GC,10865,0.48,174.8,3127,1347,2719,2541,958.6,8.8,655,10891,0.08,2.08,21.42,1.159,12804,0.188,0.077,3120,166,2536,2621,2452,0,0,0,0,0,0,25.72,25.11,24.16
$GC,10924,0.45,198.4,3120,165,2621,2453,953.4,8.8,658,10952,0.08,1.92,21.70,1.146,13318,0.172,0.050,3104,1338,2441,2526,2356,0,0,0,0,0,0,25.22,25.35,23.91
$GC,11264,0.45,205.3,3104,1339,2521,2356,921.8,9.5,675,11276,0.00,2.05,7.25,0.939,12804,0.000,0.078,3114,171,2413,2495,2332,0,0,0,0,0,0,28.83,25.51,24.42
$GC,11312,0.45,207.6,3113,171,2497,2333,917.8,9.7,677,11324,0.00,1.90,4.12,0.669,13318,0.000,0.051,3113,1341,2402,2483,2322,0,0,0,0,0,0,28.83,25.64,24.32
$GC,11624,0.45,207.6,3113,1341,2483,2322,884.0,10.9,693,11628,0.00,2.00,0.00,0.000,4612,0.000,0.077,3122,158,2403,2483,2323,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11679,0.45,207.6,3122,158,2484,2322,877.6,11.3,696,11684,0.08,1.90,0.00,0.000,5126,0.162,0.051,3105,1339,2403,2483,2323,0,0,0,0,0,0,25.73,25.86,28.83
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$STATE,19695,end climb,SURFACE_DEPTH_REACHED
$STATE,19695,begin surface coast
$FINISH,1.7,1.011081
$STATE,19716,end surface coast,CONTROL_FINISHED_OK
$STATE,19717,begin surface
$SM_CCo,19734,179.68,0.050,0,0,516,670.15
$SM_GC,2.14,7.62,2.78,179.68,0.031,0.049,0.050,226,1850,516,-8.41,-1.53,670.15,0,0,0,0,0,0,26.06,25.89,25.77
$IRIDIUM_FIX,-4542.57,510.54,181109,101021
$TT8_MAMPS,0.026215,0.026215
$HUMID,49.72
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,33.488
$10V_AH,10.2,20.308
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,130.600,387.500,179.675,0.000,25.404,41.132,259.301,25.000,0.000,18.115,2908.109,13729.861,719.793,2832.761,168.755,0.000,1945.232,0.000,2388.386,0.000,148.421,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353648
$DATA_FILE_SIZE,70201,1202
$CAP_FILE_SIZE,189357,0
$CFSIZE,2097086464,2064351232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220117,084920,-4603.605,512.400,40,0.9,40,-23.8