version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 233
start: 1 27 117 10 46 46
data:
$ID,573
$MISSION,15
$DIVE,233
$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,-31890.811
$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,21
$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
$GPS1,270117,103503,-4559.716,510.925,33,0.9,34,-23.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-53.9
$GPS2,270117,104622,-4559.784,511.055,19,1.3,19,-23.8
$SPEED_LIMITS,0.170,0.262
$TGT_NAME,NORTH
$TGT_LATLONG,-4600.000,470.000
$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,277.4,1415,-27.8,-9.804,-30.00,960
$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,-1.11,-61.2,180,1882,606,411,0.0,0.0,0,145,0.00,0.00,-127.80,0.000,16386,0.000,0.000,179,1882,3248,3252,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-1.14,-117.4,179,1882,3261,3242,3.5,-3.8,17,181,10.18,2.42,-13.23,0.000,19204,0.242,0.077,2577,458,3729,3833,3626,0,0,0,0,0,0,24.97,25.46,26.10
$GC,190,-0.88,-117.4,2577,458,3836,3624,9.2,-12.7,22,199,0.32,2.33,0.00,0.000,3078,0.177,0.045,2660,1874,3730,3837,3624,0,0,0,0,0,0,24.94,25.57,28.83
$GC,250,-1.19,-117.4,2660,1875,3842,3623,16.1,-10.3,31,259,0.22,2.35,0.00,0.000,4356,0.065,0.064,2549,3273,3732,3842,3623,0,0,0,0,0,0,25.78,25.37,28.83
$GC,339,-1.29,-117.4,2549,3273,3843,3623,29.9,-16.7,45,348,0.00,2.30,0.00,0.000,5126,0.000,0.048,2550,1853,3732,3843,3622,0,0,0,0,0,0,28.83,25.59,28.83
$GC,488,-1.38,-117.4,1600,1851,3841,3621,50.5,-12.3,70,495,0.12,2.30,0.00,0.000,4612,0.092,0.063,2495,462,3733,3844,3622,0,0,0,0,0,0,25.98,25.48,28.83
$GC,536,-1.33,-117.4,2496,462,3844,3622,59.6,-18.9,78,545,0.12,2.30,0.00,0.000,3078,0.190,0.047,2521,1866,3733,3844,3622,0,0,0,0,0,0,25.11,25.63,28.83
$GC,869,-1.39,-117.4,2520,1866,3844,3622,112.5,-15.6,111,874,0.00,2.28,0.00,0.000,4356,0.000,0.065,2511,3273,3733,3844,3622,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1019,-1.45,-117.4,2510,3273,3845,3622,134.7,-14.8,118,1025,0.05,2.22,0.00,0.000,5126,0.080,0.048,2481,1864,3733,3845,3621,0,0,0,0,0,0,25.66,25.75,28.83
$GC,1340,-1.45,-117.4,2481,1864,3846,3621,187.1,-16.0,134,1341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2481,1864,3733,3846,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1639,-1.45,-117.4,2481,1864,3847,3621,234.7,-16.0,149,1644,0.00,2.28,0.00,0.000,2564,0.000,0.063,2481,468,3733,3846,3621,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1684,-1.45,-117.4,2481,468,3846,3621,242.1,-16.6,151,1689,0.00,2.28,0.00,0.000,3078,0.000,0.046,2472,1870,3734,3847,3621,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2005,-1.45,-117.4,2472,1870,3847,3621,292.8,-15.6,167,2011,0.05,2.30,0.00,0.000,2308,0.265,0.065,2470,3276,3734,3847,3621,0,0,0,0,0,0,26.27,25.58,28.83
$GC,2095,-1.45,-117.4,2470,3276,3847,3621,306.3,-15.7,171,2099,0.00,2.28,0.00,0.000,3078,0.000,0.047,2477,1865,3733,3846,3621,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2416,-1.45,-117.4,2477,1865,3847,3621,357.4,-15.6,187,2421,0.00,2.28,0.00,0.000,2564,0.000,0.065,2477,468,3734,3847,3621,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2436,-1.45,-117.4,2477,468,3848,3621,360.8,-15.7,188,2441,0.08,2.28,0.00,0.000,3078,0.232,0.047,2481,1880,3734,3847,3621,0,0,0,0,0,0,25.65,25.84,28.83
$GC,2748,-1.45,-117.4,2481,1880,3847,3621,409.2,-14.8,204,2749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2481,1880,3734,3847,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3050,-1.45,-117.4,2481,1880,3847,3621,451.2,-13.3,219,3056,0.00,2.28,0.00,0.000,2308,0.000,0.068,2471,3269,3733,3847,3620,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3161,-1.45,-117.4,2470,3269,3847,3620,465.2,-13.4,224,3165,0.00,2.22,0.00,0.000,3078,0.000,0.050,2478,1861,3733,3847,3620,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3472,-1.45,-117.4,2478,1861,3847,3619,506.0,-13.1,239,3473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2478,1861,3733,3847,3619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-1.45,-117.4,2478,1861,3848,3619,544.7,-12.7,254,3770,0.00,2.30,0.00,0.000,2564,0.000,0.067,2478,465,3733,3847,3619,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3814,-1.45,-117.4,2478,465,3847,3618,549.7,-13.0,256,3819,0.08,2.25,0.00,0.000,3078,0.236,0.047,2482,1868,3733,3847,3619,0,0,0,0,0,0,25.65,25.85,28.83
$GC,4123,-1.45,-117.4,2481,1869,3849,3616,589.3,-12.7,271,4128,0.00,2.28,0.00,0.000,2308,0.000,0.070,2471,3264,3732,3849,3616,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4169,-1.45,-117.4,2471,3265,3849,3616,594.5,-13.0,273,4173,0.00,2.22,0.00,0.000,3078,0.000,0.050,2480,1868,3732,3849,3616,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4484,-1.45,-117.4,2480,1869,3849,3616,638.6,-14.4,289,4486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2480,1869,3731,3848,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4781,-1.45,-117.4,2479,1869,3849,3615,681.2,-14.1,304,4782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2480,1869,3732,3849,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-1.45,-117.4,2479,1869,3850,3613,723.7,-14.0,319,5089,0.00,2.30,0.00,0.000,2564,0.000,0.067,2481,467,3731,3850,3613,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5167,-1.45,-117.4,2481,467,3850,3613,735.9,-14.7,323,5172,0.00,2.25,0.00,0.000,3078,0.000,0.050,2472,1867,3731,3850,3613,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5487,-1.45,-117.4,2472,1867,3849,3612,781.5,-14.0,339,5489,0.05,0.00,0.00,0.000,2054,0.265,0.000,2481,1867,3731,3850,3612,0,0,0,0,0,0,26.36,28.83,28.83
$GC,5784,-1.45,-117.4,2481,1867,3848,3612,820.6,-13.3,354,5790,0.00,2.35,0.00,0.000,2308,0.000,0.071,2471,3276,3730,3849,3612,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5867,-1.45,-117.4,2470,3276,3849,3612,831.6,-13.3,358,5871,0.00,2.25,0.00,0.000,3078,0.000,0.051,2478,1865,3730,3849,3612,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6183,-1.45,-117.4,2478,1865,3849,3611,872.6,-12.7,374,6184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2478,1865,3730,3849,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6485,-1.48,-117.4,2478,1865,3849,3611,910.9,-12.6,389,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1865,3730,3849,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6783,-1.51,-117.4,2478,1865,3848,3610,949.2,-12.8,404,6789,0.00,2.35,0.00,0.000,4612,0.000,0.068,2479,460,3729,3848,3610,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6837,-1.51,-117.4,2479,460,3848,3610,955.0,-13.4,406,6847,0.00,2.33,0.00,0.000,1030,0.000,0.050,2470,1874,3729,3848,3610,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7147,-1.51,-117.4,2470,1874,3848,3610,996.4,-12.4,422,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1874,3729,3848,3610,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7182,begin apogee
$GC,7187,-0.19,0.0,2470,1336,3848,3610,1001.6,-12.6,424,7294,1.48,0.00,101.90,1.285,10246,0.171,0.000,2882,1335,3250,3368,3132,0,0,0,0,0,0,25.03,28.83,23.26
$STATE,7295,end apogee,CONTROL_FINISHED_OK
$STATE,7295,begin climb
$GC,7296,1.14,117.4,2882,1336,3368,3132,1003.6,0.0,429,7410,1.30,2.20,106.00,1.245,10756,0.067,0.074,3331,161,2770,2872,2668,0,0,0,0,0,0,24.40,23.61,22.65
$GC,7499,0.96,117.4,3331,161,2864,2668,976.4,19.2,439,7504,0.28,1.98,0.00,0.000,5126,0.188,0.047,3265,1339,2766,2864,2668,0,0,0,0,0,0,24.35,24.87,28.83
$GC,7807,0.92,117.4,3265,1340,2861,2668,922.8,16.7,454,7813,0.05,2.05,0.00,0.000,4612,0.249,0.075,3265,152,2764,2861,2668,0,0,0,0,0,0,25.80,25.35,28.83
$GC,7931,0.85,117.4,3265,152,2860,2668,900.9,17.7,460,7938,0.12,1.90,0.00,0.000,5126,0.194,0.048,3229,1329,2764,2860,2668,0,0,0,0,0,0,25.32,25.69,28.83
$GC,8251,0.89,117.4,3228,1334,2859,2668,851.9,14.7,476,8257,0.00,2.00,0.00,0.000,2564,0.000,0.076,3237,157,2763,2859,2668,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8316,0.89,117.4,3237,158,2859,2668,842.2,15.5,479,8320,0.00,1.92,0.00,0.000,3078,0.000,0.048,3229,1332,2763,2859,2668,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8636,0.92,117.4,3228,1336,2857,2667,794.8,14.7,495,8642,0.05,1.98,0.00,0.000,2564,0.174,0.075,3264,163,2762,2857,2667,0,0,0,0,0,0,26.22,25.54,28.83
$GC,8662,0.92,117.4,3264,162,2857,2667,791.7,14.8,496,8666,0.00,1.92,0.00,0.000,5126,0.000,0.048,3257,1334,2762,2857,2667,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8973,0.92,117.4,3257,1341,2856,2667,740.5,16.1,512,8977,0.00,2.03,0.00,0.000,4612,0.000,0.076,3266,152,2761,2856,2667,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9019,0.89,117.4,3266,152,2856,2668,734.4,16.1,514,9024,0.10,1.92,0.00,0.000,5126,0.203,0.049,3243,1343,2762,2856,2668,0,0,0,0,0,0,25.58,25.89,28.83
$GC,9328,0.89,117.4,3242,1349,2855,2667,685.9,15.2,529,9332,0.00,2.00,0.00,0.000,4612,0.000,0.075,3251,158,2761,2856,2667,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9414,0.89,117.4,3251,158,2855,2667,672.2,16.3,533,9419,0.00,1.92,0.00,0.000,5126,0.000,0.048,3244,1334,2761,2855,2667,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9734,0.89,117.4,3243,1341,2855,2667,625.0,14.1,549,9739,0.00,1.95,0.00,0.000,4612,0.000,0.076,3252,165,2761,2855,2667,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9823,0.89,117.4,3251,165,2855,2667,613.1,14.5,553,9826,0.00,1.92,0.00,0.000,5126,0.000,0.049,3252,1332,2761,2855,2667,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10137,0.89,117.4,3252,1340,2855,2667,568.9,13.6,569,10138,0.00,0.00,0.00,0.000,4102,0.000,0.000,3252,1340,2761,2855,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10435,0.89,117.4,3252,1340,2854,2667,529.3,13.1,584,10438,0.00,2.00,0.00,0.000,4612,0.000,0.076,3261,160,2760,2854,2667,0,0,0,0,0,0,28.83,25.54,28.83
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$STATE,14431,end climb,SURFACE_DEPTH_REACHED
$STATE,14431,begin surface coast
$FINISH,1.6,1.023237
$STATE,14456,end surface coast,CONTROL_FINISHED_OK
$STATE,14456,begin surface
$SM_CCo,14475,250.48,0.050,0,0,516,670.15
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.6,36.826
$10V_AH,10.0,22.654
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.975,132.550,210.475,250.475,0.000,63.592,95.012,305.308,25.000,0.000,19.932,2173.907,8936.620,600.134,3545.561,153.891,0.000,1651.266,0.000,1919.785,0.000,148.431,0.000
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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,353608
$DATA_FILE_SIZE,46843,866
$CAP_FILE_SIZE,155947,0
$CFSIZE,2097086464,2061139968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,545
$GPS,270117,145327,-4558.593,509.467,38,0.9,38,-23.8