version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 243
start: 1 29 117 17 48 57
data:
$ID,573
$MISSION,15
$DIVE,243
$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,-31903.357
$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,39
$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
$GPS1,290117,174056,-4615.228,509.422,35,0.8,35,-23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-53.4
$GPS2,290117,174833,-4615.207,509.478,15,1.3,15,-23.7
$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,199.4,8901,-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,-150.8,203,1887,601,418,0.0,0.0,0,152,0.00,0.00,-134.75,0.000,16386,0.000,0.000,201,1887,3390,3400,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.77,-150.8,202,1887,3404,3380,3.2,-1.8,18,188,10.62,2.38,-16.15,0.000,18692,0.245,0.080,2682,3261,3867,4000,3735,0,0,0,0,0,0,25.02,25.42,26.12
$GC,399,-0.87,-150.8,2681,3262,4009,3732,23.6,-9.9,57,408,0.00,2.25,0.00,0.000,5126,0.000,0.047,2686,1863,3870,4009,3732,0,0,0,0,0,0,28.83,25.67,28.83
$GC,556,-0.97,-150.8,2686,1863,4010,3732,39.7,-9.6,82,565,0.12,2.35,0.00,0.000,4612,0.088,0.063,2620,468,3870,4009,3732,0,0,0,0,0,0,26.04,25.56,28.83
$GC,601,-0.91,-150.8,1664,468,4008,3731,45.7,-13.7,89,608,0.17,2.25,0.00,0.000,3078,0.153,0.045,2658,1868,3870,4009,3732,0,0,0,0,0,0,25.39,25.75,28.83
$GC,940,-0.96,-150.8,2657,1868,4010,3732,79.2,-8.7,150,948,0.00,0.00,0.00,0.000,4102,0.000,0.000,2658,1868,3871,4010,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-1.02,-150.8,2657,1868,4011,3732,108.4,-9.5,167,1260,0.10,0.00,0.00,0.000,4102,0.099,0.000,2600,1868,3871,4010,3732,0,0,0,0,0,0,26.25,28.83,28.83
$GC,1560,-0.97,-150.8,2599,1868,4011,3732,145.6,-12.2,182,1566,0.12,2.28,0.00,0.000,2308,0.165,0.065,2627,3262,3871,4011,3732,0,0,0,0,0,0,25.90,25.63,28.83
$GC,1603,-0.97,-150.8,2626,3262,4012,3732,150.5,-11.4,184,1608,0.00,2.22,0.00,0.000,3078,0.000,0.047,2630,1868,3871,4011,3732,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1923,-0.97,-150.8,2630,1868,4011,3732,182.8,-10.0,200,1925,0.00,0.00,0.00,0.000,2054,0.000,0.000,2630,1868,3871,4011,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,-0.97,-150.8,2630,1868,4012,3733,212.4,-9.6,215,2229,0.00,2.28,0.00,0.000,2564,0.000,0.066,2630,469,3872,4012,3732,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2299,-0.97,-150.8,2630,469,4012,3732,219.0,-10.1,218,2309,0.05,2.25,0.00,0.000,3078,0.159,0.046,2639,1863,3872,4012,3732,0,0,0,0,0,0,25.70,25.91,28.83
$GC,2612,-1.00,-150.8,2639,1863,4012,3732,248.6,-8.8,234,2613,0.00,0.00,0.00,0.000,4102,0.000,0.000,2639,1863,3872,4012,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-1.03,-150.8,2638,1863,4012,3732,274.2,-8.2,249,2911,0.00,0.00,0.00,0.000,4102,0.000,0.000,2639,1863,3872,4012,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3209,-1.07,-150.8,2639,1863,4012,3732,299.7,-8.6,264,3215,0.10,2.28,0.00,0.000,4356,0.098,0.064,2578,3271,3872,4012,3732,0,0,0,0,0,0,26.40,25.65,28.83
$GC,3252,-1.07,-150.8,2577,3271,4011,3732,304.0,-9.5,266,3257,0.10,2.20,0.00,0.000,3078,0.176,0.049,2603,1868,3872,4013,3732,0,0,0,0,0,0,25.68,25.89,28.83
$GC,3566,-1.04,-150.8,2603,1868,4012,3732,336.5,-10.5,282,3568,0.05,0.00,0.00,0.000,2054,0.234,0.000,2615,1867,3872,4012,3732,0,0,0,0,0,0,26.34,28.83,28.83
$GC,3866,-1.04,-150.8,2614,1867,4012,3732,368.3,-10.9,297,3872,0.00,2.28,0.00,0.000,2564,0.000,0.068,2617,473,3871,4011,3732,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3971,-1.00,-150.8,2617,472,4012,3732,379.9,-11.4,302,3976,0.10,2.22,0.00,0.000,3078,0.177,0.047,2631,1872,3872,4012,3732,0,0,0,0,0,0,25.70,25.90,28.83
$GC,4284,-1.00,-150.8,2631,1873,4011,3731,411.2,-9.8,318,4285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1873,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4586,-1.00,-150.8,2631,1873,4011,3731,441.1,-10.1,333,4591,0.00,2.33,0.00,0.000,2564,0.000,0.066,2633,470,3871,4011,3731,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4647,-1.00,-150.8,2633,470,4011,3731,447.8,-10.3,336,4651,0.00,2.22,0.00,0.000,3078,0.000,0.047,2624,1871,3870,4011,3730,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4963,-1.00,-150.8,2623,1871,4011,3730,479.3,-9.8,352,4964,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1871,3870,4011,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5265,-1.00,-150.8,2624,1871,4011,3730,508.3,-9.6,367,5271,0.00,2.33,0.00,0.000,2564,0.000,0.067,2624,463,3870,4012,3729,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5332,-1.00,-150.8,2624,462,4011,3729,514.6,-10.1,370,5337,0.05,2.25,0.00,0.000,3078,0.217,0.047,2626,1872,3870,4011,3729,0,0,0,0,0,0,25.82,25.90,28.83
$GC,5643,-1.00,-150.8,2626,1873,4011,3728,544.3,-9.4,385,5644,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1872,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5939,-1.00,-150.8,2626,1873,4011,3728,572.0,-9.0,400,5944,0.00,2.35,0.00,0.000,2564,0.000,0.067,2628,461,3869,4011,3728,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6041,-1.00,-150.8,2628,460,4010,3728,581.4,-9.5,405,6047,0.00,2.22,0.00,0.000,3078,0.000,0.048,2618,1866,3869,4011,3728,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6362,-1.00,-150.8,2618,1867,4011,3727,608.8,-8.5,421,6363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1867,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6659,-1.00,-150.8,2618,1867,4011,3726,634.0,-8.5,436,6660,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1867,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6961,-1.00,-150.8,2618,1867,4011,3725,660.9,-9.2,451,6967,0.00,2.30,0.00,0.000,2564,0.000,0.067,2619,474,3868,4011,3726,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7003,-1.00,-150.8,2618,474,4011,3726,664.8,-9.6,453,7008,0.10,2.25,0.00,0.000,3078,0.175,0.048,2632,1877,3868,4011,3726,0,0,0,0,0,0,25.65,25.86,28.83
$GC,7325,-1.04,-150.8,2632,1879,4012,3723,695.1,-9.6,469,7330,0.00,2.33,0.00,0.000,4612,0.000,0.067,2633,474,3867,4012,3722,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7387,-1.04,-150.8,2632,474,4012,3722,701.7,-10.1,472,7391,0.00,2.25,0.00,0.000,5126,0.000,0.048,2623,1876,3867,4012,3723,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7699,-1.04,-150.8,2623,1876,4012,3722,733.6,-10.1,488,7705,0.00,2.35,0.00,0.000,516,0.000,0.067,2624,467,3867,4012,3723,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7741,-1.04,-150.8,2623,467,4012,3723,738.1,-10.4,490,7745,0.00,2.25,0.00,0.000,3078,0.000,0.048,2614,1876,3866,4011,3722,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8057,-1.04,-150.8,2614,1876,4011,3723,770.1,-10.0,506,8058,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1876,3867,4012,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,-1.04,-150.8,2614,1876,4011,3722,800.1,-9.8,521,8360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1876,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,-1.04,-150.8,2614,1876,4012,3722,830.0,-9.9,536,8660,0.00,2.35,0.00,0.000,2564,0.000,0.067,2614,468,3866,4011,3722,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8702,-1.04,-150.8,2614,468,4011,3722,834.0,-9.9,538,8706,0.00,2.25,0.00,0.000,3078,0.000,0.048,2605,1871,3866,4011,3722,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9012,-1.04,-150.8,2605,1871,4011,3722,864.1,-9.5,553,9018,0.00,2.33,0.00,0.000,2564,0.000,0.068,2605,471,3866,4011,3722,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9061,-1.04,-150.8,2605,471,4011,3722,868.1,-9.6,555,9066,0.10,2.25,0.00,0.000,3078,0.177,0.048,2619,1877,3866,4011,3722,0,0,0,0,0,0,25.60,25.83,28.83
$GC,9368,-1.07,-150.8,2619,1878,4011,3721,896.7,-9.0,570,9369,0.00,0.00,0.00,0.000,4102,0.000,0.000,2619,1878,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9669,-1.11,-150.8,2618,1878,4011,3721,922.2,-8.5,585,9676,0.08,2.35,0.00,0.000,4612,0.119,0.067,2580,468,3865,4010,3721,0,0,0,0,0,0,26.46,25.53,28.83
$GC,9754,-1.06,-150.8,2580,468,4010,3721,931.0,-10.4,589,9760,0.10,2.22,0.00,0.000,3078,0.161,0.049,2602,1870,3865,4010,3721,0,0,0,0,0,0,25.41,25.81,28.83
$GC,10076,-1.06,-150.8,2602,1870,4010,3721,958.7,-8.6,605,10077,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,1870,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10374,-1.06,-150.8,2602,1870,4010,3721,983.6,-8.1,620,10379,0.00,2.33,0.00,0.000,2564,0.000,0.067,2602,470,3866,4011,3721,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10416,-1.06,-150.8,2603,469,4010,3721,987.5,-8.6,622,10421,0.08,2.25,0.00,0.000,3078,0.197,0.048,2609,1876,3865,4010,3721,0,0,0,0,0,0,25.66,25.81,28.83
$STATE,10570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10571,begin apogee
$GC,10576,-0.19,0.0,2609,1327,4010,3721,1000.6,-8.3,630,10715,0.90,0.00,131.82,1.282,10246,0.131,0.000,2884,1327,3249,3377,3122,0,0,0,0,0,0,25.09,28.83,22.96
$STATE,10716,end apogee,CONTROL_FINISHED_OK
$STATE,10716,begin climb
$GC,10718,0.77,150.8,2884,1327,3377,3122,1003.0,0.0,637,10863,0.93,2.17,136.10,1.239,10756,0.063,0.075,3211,165,2635,2730,2540,0,0,0,0,0,0,24.14,23.52,22.57
$GC,10955,0.53,150.8,3211,164,2722,2541,976.8,15.5,649,10961,0.28,1.92,0.00,0.000,5126,0.151,0.048,3131,1338,2631,2722,2540,0,0,0,0,0,0,24.52,24.87,28.83
$GC,11276,0.48,150.8,3131,1339,2717,2539,940.9,11.0,665,11282,0.10,2.00,0.00,0.000,4612,0.173,0.076,3116,170,2628,2717,2539,0,0,0,0,0,0,25.67,25.41,28.83
$GC,11329,0.43,150.8,3116,170,2717,2539,936.5,10.9,667,11336,0.10,1.88,0.00,0.000,5126,0.165,0.048,3092,1341,2627,2716,2539,0,0,0,0,0,0,25.48,25.69,28.83
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$STATE,19793,end climb,SURFACE_DEPTH_REACHED
$STATE,19793,begin surface coast
$FINISH,1.7,1.014223
$STATE,19806,end surface coast,CONTROL_FINISHED_OK
$STATE,19806,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,49.44
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$TCM_TEMP,14.30
$XPDR_PINGS,1
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$10V_AH,10.0,23.724
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353644
$DATA_FILE_SIZE,63571,1171
$CAP_FILE_SIZE,203261,0
$CFSIZE,2097086464,2059763712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,733
$GPS,290117,232350,-4617.627,509.473,38,0.8,38,-23.7