version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 156
start: 1 9 117 15 3 52
data:
$ID,573
$MISSION,15
$DIVE,156
$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,-31793.777
$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,34
$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
$GPS1,090117,145350,-4536.397,552.214,40,0.8,40,-24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-60.9
$GPS2,090117,150328,-4536.430,552.357,21,1.0,21,-24.1
$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,238.0,97185,-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,-150.8,210,1878,603,414,0.0,0.0,0,156,0.00,0.00,-137.45,0.000,16386,0.000,0.000,210,1879,3433,3447,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-150.8,210,1879,3448,3420,3.1,-1.0,22,190,10.45,2.33,-13.70,0.000,18692,0.248,0.079,2689,3275,3865,3998,3733,0,0,0,0,0,0,25.18,25.56,26.06
$GC,288,-0.89,-150.8,2688,3275,4007,3730,13.9,-6.7,45,296,0.05,2.28,0.00,0.000,5126,0.073,0.049,2644,1861,3868,4006,3730,0,0,0,0,0,0,25.69,25.75,28.83
$GC,338,-0.89,-150.8,1696,1860,4006,3729,18.8,-10.2,54,345,0.10,0.00,0.00,0.000,2054,0.182,0.000,2665,1861,3868,4006,3730,0,0,0,0,0,0,25.73,28.83,28.83
$GC,390,-0.94,-150.8,1680,1860,4006,3729,23.4,-9.0,63,396,0.00,0.00,0.00,0.000,4102,0.000,0.000,2666,1861,3868,4007,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,522,-0.98,-150.8,1680,1860,4006,3729,36.0,-9.1,88,530,0.10,2.33,0.00,0.000,4612,0.106,0.065,2619,468,3868,4007,3730,0,0,0,0,0,0,26.02,25.79,28.83
$GC,583,-0.89,-150.8,2620,468,4007,3730,43.5,-12.5,99,591,0.12,2.28,0.00,0.000,3078,0.151,0.049,2661,1868,3868,4007,3729,0,0,0,0,0,0,25.58,25.86,28.83
$GC,896,-0.92,-150.8,1704,1866,4007,3728,74.1,-9.6,160,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1868,3868,4007,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.96,-150.8,2661,1868,4008,3730,102.2,-7.7,185,1228,0.00,2.28,0.00,0.000,4356,0.000,0.070,2651,3270,3869,4008,3730,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1262,-1.00,-150.8,2651,3270,4009,3728,105.5,-8.1,187,1268,0.03,2.17,0.00,0.000,5126,0.106,0.049,2621,1874,3868,4009,3728,0,0,0,0,0,0,25.98,26.05,28.83
$GC,1582,-1.00,-150.8,2620,1874,4009,3729,134.8,-9.0,203,1583,0.00,0.00,0.00,0.000,2054,0.000,0.000,2620,1874,3868,4009,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-1.00,-150.8,2620,1874,4009,3728,163.6,-9.8,218,1886,0.00,2.28,0.00,0.000,2564,0.000,0.066,2621,467,3869,4010,3728,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1962,-0.95,-150.8,2620,467,4009,3729,172.3,-10.9,222,1968,0.12,2.20,0.00,0.000,3078,0.167,0.048,2643,1871,3868,4009,3728,0,0,0,0,0,0,25.91,26.14,28.83
$GC,2281,-0.95,-150.8,2643,1871,4010,3729,203.0,-9.7,238,2287,0.00,2.30,0.00,0.000,2564,0.000,0.065,2643,468,3868,4009,3728,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2316,-0.95,-150.8,2643,468,4010,3728,205.1,-9.8,239,2324,0.00,2.22,0.00,0.000,3078,0.000,0.047,2634,1872,3869,4010,3728,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2624,-0.95,-150.8,2634,1872,4010,3729,237.8,-10.2,255,2625,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1872,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,-0.95,-150.8,2634,1872,4009,3729,269.0,-10.6,270,2928,0.00,2.30,0.00,0.000,2564,0.000,0.066,2634,461,3869,4010,3728,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2960,-0.95,-150.8,2634,461,4010,3729,272.8,-10.6,272,2964,0.10,2.22,0.00,0.000,3078,0.176,0.047,2649,1869,3869,4010,3728,0,0,0,0,0,0,26.01,26.20,28.83
$GC,3277,-0.99,-150.8,2648,1869,4010,3728,304.3,-10.1,288,3283,0.00,2.28,0.00,0.000,4612,0.000,0.065,2649,470,3869,4010,3728,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3320,-1.02,-150.8,2649,470,4010,3728,308.7,-10.5,290,3324,0.00,2.22,0.00,0.000,5126,0.000,0.047,2641,1872,3869,4010,3729,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3631,-1.02,-150.8,2641,1872,4010,3728,343.1,-11.1,306,3637,0.00,2.30,0.00,0.000,4612,0.000,0.064,2642,470,3868,4009,3728,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3686,-1.02,-150.8,2642,469,4010,3728,347.6,-11.3,308,3692,0.00,2.22,0.00,0.000,5126,0.000,0.048,2633,1872,3869,4010,3728,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3991,-1.02,-150.8,2633,1872,4010,3728,383.6,-10.9,324,3992,0.00,0.00,0.00,0.000,4102,0.000,0.000,2633,1872,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-1.02,-150.8,2633,1872,4010,3727,414.7,-10.2,339,4295,0.00,2.30,0.00,0.000,4612,0.000,0.065,2633,467,3868,4010,3727,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4340,-1.02,-150.8,2633,467,4010,3727,418.5,-10.2,341,4346,0.00,2.22,0.00,0.000,3078,0.000,0.048,2624,1869,3868,4010,3727,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4647,-1.02,-150.8,2623,1870,4010,3727,451.8,-10.3,357,4648,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1869,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-1.02,-150.8,2624,1870,4010,3726,482.0,-10.1,372,4951,0.00,2.30,0.00,0.000,2564,0.000,0.065,2624,469,3868,4010,3726,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5006,-1.02,-150.8,2624,468,4009,3726,487.9,-10.6,375,5010,0.00,2.22,0.00,0.000,3078,0.000,0.048,2615,1869,3868,4010,3726,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5323,-1.02,-150.8,2614,1869,4010,3726,522.2,-10.9,391,5327,0.00,2.28,0.00,0.000,2564,0.000,0.065,2615,470,3868,4010,3726,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5367,-1.02,-150.8,2614,469,4010,3726,526.4,-11.1,393,5371,0.08,2.22,0.00,0.000,3078,0.191,0.049,2621,1868,3867,4009,3725,0,0,0,0,0,0,26.10,26.24,28.83
$GC,5679,-1.02,-150.8,2621,1870,4009,3725,559.0,-9.9,409,5681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2621,1869,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5978,-1.02,-150.8,2621,1869,4010,3725,588.9,-10.0,424,5982,0.00,2.30,0.00,0.000,2564,0.000,0.067,2622,468,3867,4010,3725,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6014,-1.02,-150.8,2621,468,4009,3724,592.7,-9.9,426,6018,0.00,2.25,0.00,0.000,3078,0.000,0.050,2613,1874,3867,4009,3725,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6330,-1.02,-150.8,2612,1874,4009,3723,622.9,-9.0,442,6331,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1874,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6630,-1.02,-150.8,2612,1874,4009,3723,649.4,-8.7,457,6631,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1875,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,-1.02,-150.8,2612,1874,4010,3722,674.4,-8.3,472,6932,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1874,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7230,-1.02,-150.8,2612,1875,4009,3722,700.4,-8.7,487,7231,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1874,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-1.02,-150.8,2612,1875,4009,3722,727.7,-9.3,502,7531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1875,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,-1.02,-150.8,2612,1874,4009,3721,755.8,-9.3,517,7832,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1874,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8130,-1.02,-150.8,2612,1874,4009,3721,783.5,-9.3,532,8131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1874,3865,4009,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,-1.02,-150.8,2612,1874,4008,3721,811.1,-9.3,547,8431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1874,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8730,-1.02,-150.8,2612,1874,4009,3720,839.7,-9.6,562,8734,0.00,2.30,0.00,0.000,2564,0.000,0.066,2612,465,3864,4009,3720,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8805,-1.02,-150.8,2613,465,4009,3720,847.4,-10.2,566,8810,0.08,2.25,0.00,0.000,3078,0.193,0.050,2619,1877,3864,4009,3720,0,0,0,0,0,0,26.10,26.25,28.83
$GC,9122,-1.02,-150.8,2619,1877,4009,3720,873.9,-7.8,582,9124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1877,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9424,-1.02,-150.8,2619,1877,4009,3720,897.3,-7.9,597,9429,0.00,2.30,0.00,0.000,2564,0.000,0.067,2619,472,3864,4009,3720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9462,-1.02,-150.8,2619,472,4008,3720,900.7,-8.2,599,9466,0.00,2.22,0.00,0.000,3078,0.000,0.050,2610,1869,3864,4008,3720,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9779,-1.02,-150.8,2610,1870,4008,3720,927.1,-8.6,615,9780,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1870,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,-1.02,-150.8,2610,1870,4009,3720,951.3,-7.9,630,10079,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,1870,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10379,-1.02,-150.8,2610,1870,4008,3719,975.0,-7.9,645,10385,0.00,2.28,0.00,0.000,2308,0.000,0.070,2599,3272,3863,4008,3719,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10418,-1.02,-150.8,2599,3272,4009,3719,978.1,-7.8,647,10425,0.10,2.20,0.00,0.000,3078,0.165,0.052,2625,1868,3864,4009,3719,0,0,0,0,0,0,26.04,26.21,28.83
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10737,begin apogee
$GC,10742,-0.19,0.0,2625,1332,4008,3718,1000.2,-6.7,663,10878,0.85,0.00,128.35,1.292,10246,0.137,0.000,2888,1332,3251,3379,3123,0,0,0,0,0,0,25.81,28.83,23.31
$STATE,10879,end apogee,CONTROL_FINISHED_OK
$STATE,10879,begin climb
$GC,10881,0.77,150.8,2888,1332,3379,3124,1001.3,0.0,670,11024,0.90,2.17,134.75,1.248,10756,0.065,0.073,3210,162,2633,2729,2538,0,0,0,0,0,0,24.34,23.52,22.71
$GC,11069,0.52,150.8,3209,162,2725,2538,982.1,14.6,679,11076,0.32,2.00,0.00,0.000,5126,0.155,0.049,3125,1339,2631,2724,2538,0,0,0,0,0,0,24.31,24.46,28.83
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$STATE,19886,end climb,SURFACE_DEPTH_REACHED
$STATE,19886,begin surface coast
$FINISH,1.7,1.015231
$STATE,19907,end surface coast,CONTROL_FINISHED_OK
$STATE,19908,begin surface
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$HUMID,49.64
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$10V_AH,10.1,15.521
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70324,1217
$CAP_FILE_SIZE,197897,0
$CFSIZE,2097086464,2071134208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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