version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 211
start: 1 22 117 20 12 41
data:
$ID,573
$MISSION,15
$DIVE,211
$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,-31863.221
$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,53
$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
$GPS1,220117,200450,-4606.435,510.888,40,0.8,40,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-61.6
$GPS2,220117,201217,-4606.396,510.945,22,1.0,22,-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,206.5,25222,-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,-150.8,192,1884,601,417,0.0,0.0,0,137,0.00,0.00,-118.75,0.000,16386,0.000,0.000,186,1883,3063,3052,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,140,-0.77,-150.8,186,1883,3054,3074,3.1,-1.3,19,193,10.77,2.30,-34.95,0.000,18692,0.249,0.077,2692,3255,3861,3997,3726,0,0,0,0,0,0,25.14,25.44,26.13
$GC,229,-0.86,-150.8,1728,3254,4002,3724,6.0,-7.3,33,236,0.00,2.25,0.00,0.000,5126,0.000,0.048,2692,1865,3864,4003,3725,0,0,0,0,0,0,28.83,25.63,28.83
$GC,281,-0.95,-150.8,1704,1863,4002,3724,10.3,-8.6,42,288,0.12,0.00,0.00,0.000,4102,0.085,0.000,2620,1865,3864,4004,3725,0,0,0,0,0,0,25.91,28.83,28.83
$GC,331,-0.90,-150.8,1672,1863,4002,3724,15.9,-11.7,51,339,0.12,2.33,0.00,0.000,2564,0.171,0.063,2659,468,3864,4003,3725,0,0,0,0,0,0,25.58,25.53,28.83
$GC,376,-0.90,-150.8,1712,468,4003,3724,21.2,-11.1,59,384,0.00,2.25,0.00,0.000,3078,0.000,0.047,2650,1845,3864,4004,3725,0,0,0,0,0,0,28.83,25.68,28.83
$GC,508,-0.90,-150.8,1664,1844,4003,3724,35.2,-11.0,84,515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2651,1845,3864,4004,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,638,-0.90,-150.8,1704,1843,4004,3724,49.9,-11.5,109,644,0.00,0.00,0.00,0.000,2054,0.000,0.000,2650,1845,3865,4005,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.90,-150.8,2650,1845,4005,3725,84.3,-10.5,164,952,0.00,2.30,0.00,0.000,2308,0.000,0.064,2640,3269,3865,4005,3725,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1007,-0.90,-150.8,2640,3269,4007,3723,90.7,-11.2,167,1012,0.05,2.25,0.00,0.000,3078,0.156,0.047,2657,1865,3865,4007,3723,0,0,0,0,0,0,25.66,25.84,28.83
$GC,1327,-0.97,-150.8,2656,1865,4008,3723,125.5,-10.5,183,1329,0.00,0.00,0.00,0.000,4102,0.000,0.000,2657,1865,3865,4007,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1626,-1.03,-150.8,2656,1865,4007,3723,155.6,-9.7,198,1632,0.10,2.28,0.00,0.000,4612,0.101,0.063,2606,466,3864,4007,3722,0,0,0,0,0,0,26.27,25.77,28.83
$GC,1686,-1.03,-150.8,2606,466,4007,3723,162.9,-11.4,201,1692,0.10,2.25,0.00,0.000,3078,0.184,0.046,2619,1873,3864,4007,3722,0,0,0,0,0,0,25.70,25.92,28.83
$GC,2005,-1.03,-150.8,2619,1873,4007,3723,197.9,-10.6,217,2011,0.00,2.28,0.00,0.000,2308,0.000,0.066,2610,3272,3865,4008,3723,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2046,-1.03,-150.8,2609,3272,4008,3723,202.2,-10.6,219,2051,0.00,2.22,0.00,0.000,3078,0.000,0.048,2612,1861,3865,4008,3723,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2367,-1.03,-150.8,2611,1861,4008,3723,237.3,-11.1,235,2372,0.00,2.25,0.00,0.000,2564,0.000,0.066,2612,474,3865,4008,3723,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2459,-0.98,-150.8,2611,474,4008,3723,246.9,-12.1,239,2467,0.12,2.22,0.00,0.000,3078,0.174,0.047,2634,1870,3865,4008,3723,0,0,0,0,0,0,25.68,25.96,28.83
$GC,2767,-0.98,-150.8,2634,1870,4008,3723,281.6,-10.6,255,2773,0.00,2.28,0.00,0.000,2308,0.000,0.067,2624,3272,3865,4008,3722,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2807,-0.98,-150.8,2623,3272,4008,3723,285.8,-10.5,257,2812,0.00,2.17,0.00,0.000,3078,0.000,0.048,2628,1868,3865,4008,3723,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3126,-0.98,-150.8,2628,1869,4008,3723,319.6,-10.6,273,3132,0.00,2.30,0.00,0.000,2564,0.000,0.067,2628,465,3865,4008,3723,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3187,-0.98,-150.8,2628,465,4008,3723,326.4,-11.0,276,3193,0.03,2.22,0.00,0.000,3078,0.182,0.047,2629,1871,3865,4008,3723,0,0,0,0,0,0,25.85,25.98,28.83
$GC,3506,-0.98,-150.8,2629,1871,4008,3723,359.7,-10.4,292,3507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2629,1871,3865,4008,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3806,-0.98,-150.8,2629,1871,4008,3723,391.2,-10.3,307,3811,0.00,2.30,0.00,0.000,2308,0.000,0.067,2619,3276,3865,4008,3723,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3888,-0.98,-150.8,1760,3275,4007,3721,399.8,-10.7,311,3893,0.03,2.25,0.00,0.000,3078,0.176,0.049,2630,1872,3865,4008,3722,0,0,0,0,0,0,25.86,25.96,28.83
$GC,4206,-0.98,-150.8,2629,1870,4008,3722,432.1,-10.0,327,4212,0.00,2.30,0.00,0.000,2564,0.000,0.068,2629,470,3864,4007,3722,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4288,-0.98,-150.8,1768,469,4007,3721,440.6,-10.7,331,4292,0.00,2.28,0.00,0.000,3078,0.000,0.048,2621,1868,3865,4008,3722,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4606,-0.98,-150.8,2620,1869,4008,3722,474.9,-10.8,347,4608,0.05,0.00,0.00,0.000,2054,0.233,0.000,2632,1869,3865,4008,3722,0,0,0,0,0,0,26.40,28.83,28.83
$GC,4907,-0.98,-150.8,2632,1869,4008,3721,505.8,-10.2,362,4908,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1869,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5207,-1.02,-150.8,2632,1869,4009,3721,535.2,-9.4,377,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1869,3864,4008,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5506,-1.05,-150.8,2632,1869,4007,3720,561.6,-8.6,392,5507,0.00,0.00,0.00,0.000,4102,0.000,0.000,2632,1869,3864,4008,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5807,-1.08,-150.8,2632,1869,4008,3720,586.6,-8.1,407,5809,0.08,0.00,0.00,0.000,4102,0.122,0.000,2590,1869,3864,4008,3720,0,0,0,0,0,0,26.44,28.83,28.83
$GC,6108,-1.04,-150.8,2590,1869,4008,3720,615.2,-9.6,422,6110,0.10,0.00,0.00,0.000,2054,0.174,0.000,2613,1870,3864,4008,3720,0,0,0,0,0,0,26.20,28.83,28.83
$GC,6406,-1.04,-150.8,2614,1870,4008,3719,640.2,-8.1,437,6407,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1870,3863,4008,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6706,-1.04,-150.8,2614,1869,4008,3718,665.6,-8.6,452,6707,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1870,3863,4008,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7006,-1.04,-150.8,2614,1871,4009,3716,691.4,-8.8,467,7007,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3862,4009,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-1.04,-150.8,2614,1871,4009,3716,718.7,-9.2,482,7307,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1871,3862,4009,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7607,-1.04,-150.8,2614,1871,4009,3716,745.8,-8.8,497,7612,0.00,2.33,0.00,0.000,2308,0.000,0.071,2604,3278,3862,4009,3716,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7646,-1.04,-150.8,2604,3278,4009,3715,749.4,-8.9,499,7652,0.00,2.22,0.00,0.000,3078,0.000,0.052,2606,1866,3862,4009,3716,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7967,-1.04,-150.8,2606,1866,4009,3716,779.0,-9.4,515,7972,0.00,2.30,0.00,0.000,2564,0.000,0.070,2606,468,3862,4009,3715,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8014,-1.04,-150.8,2606,468,4008,3715,783.0,-9.7,517,8019,0.10,2.28,0.00,0.000,3078,0.182,0.048,2620,1879,3861,4008,3715,0,0,0,0,0,0,25.74,25.96,28.83
$GC,8321,-1.04,-150.8,2620,1880,4008,3715,809.8,-8.3,532,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1880,3861,4008,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,-1.04,-150.8,2620,1879,4008,3715,833.3,-7.7,547,8627,0.00,2.28,0.00,0.000,260,0.000,0.067,2610,3269,3861,4008,3715,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8676,-1.07,-150.8,2609,3269,4009,3714,836.5,-7.9,549,8682,0.00,2.20,0.00,0.000,5126,0.000,0.051,2615,1868,3861,4008,3715,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8982,-1.07,-150.8,2615,1868,4009,3715,861.5,-7.7,565,8988,0.00,2.30,0.00,0.000,4612,0.000,0.069,2615,470,3861,4008,3715,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9043,-1.07,-150.8,2614,470,4008,3715,866.7,-8.5,568,9048,0.00,2.25,0.00,0.000,3078,0.000,0.049,2606,1871,3861,4008,3715,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9363,-1.07,-150.8,2606,1871,4008,3714,893.9,-8.6,584,9364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1871,3861,4008,3715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,-1.07,-150.8,2606,1871,4008,3714,920.7,-9.1,599,9668,0.00,2.33,0.00,0.000,2564,0.000,0.067,2606,470,3861,4008,3715,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9731,-1.07,-150.8,2606,470,4008,3714,926.6,-9.8,602,9736,0.00,2.28,0.00,0.000,3078,0.000,0.049,2597,1878,3861,4008,3715,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10040,-1.07,-150.8,2596,1878,4008,3714,956.8,-9.4,617,10041,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,1879,3861,4008,3714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10340,-1.07,-150.8,2597,1878,4008,3714,986.2,-9.9,632,10341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,1878,3861,4008,3714,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10496,begin apogee
$GC,10501,-0.19,0.0,2597,1338,4008,3714,1001.4,-9.3,640,10638,0.95,0.00,129.95,1.284,10246,0.135,0.000,2886,1337,3250,3378,3122,0,0,0,0,0,0,25.27,28.83,23.09
$STATE,10639,end apogee,CONTROL_FINISHED_OK
$STATE,10640,begin climb
$GC,10641,0.77,150.8,2886,1337,3378,3121,1004.2,0.0,647,10787,0.93,2.28,135.23,1.245,10756,0.059,0.076,3215,161,2635,2729,2541,0,0,0,0,0,0,24.22,23.56,22.66
$GC,10862,0.51,150.8,3214,161,2722,2541,980.5,15.3,658,10867,0.35,1.95,0.00,0.000,5126,0.158,0.049,3122,1341,2631,2721,2541,0,0,0,0,0,0,24.50,24.79,28.83
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$STATE,20106,end climb,SURFACE_DEPTH_REACHED
$STATE,20106,begin surface coast
$FINISH,1.7,1.022236
$STATE,20127,end surface coast,CONTROL_FINISHED_OK
$STATE,20127,begin surface
$SM_CCo,20143,200.07,0.051,0,0,516,670.15
$SM_GC,2.31,7.82,0.88,200.07,0.046,0.050,0.051,217,1856,516,-8.43,-1.39,670.15,0,0,0,0,0,0,26.21,26.02,25.80
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$TT8_MAMPS,0.026964,0.026964
$HUMID,49.40
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,33.933
$10V_AH,10.2,20.582
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.900,132.525,358.400,200.075,0.000,27.605,18.028,278.133,25.000,0.000,22.794,2975.158,13996.395,747.917,2888.774,180.987,0.000,2010.415,0.000,2444.477,0.000,148.414,0.000
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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,70266,1230
$CAP_FILE_SIZE,196915,0
$CFSIZE,2097086464,2063925248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230117,015302,-4607.867,510.379,40,1.0,40,-23.8