version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 190
start: 1 17 117 19 9 33
data:
$ID,573
$MISSION,15
$DIVE,190
$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,-31836.799
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,170117,190132,-4546.810,525.743,26,0.9,26,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-58.3
$GPS2,170117,190909,-4546.755,525.833,15,2.0,15,-23.9
$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,222.1,64813,-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,-150.8,188,1873,601,417,0.0,0.0,0,150,0.00,0.00,-131.38,0.000,16386,0.000,0.000,188,1874,3285,3295,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.77,-150.8,187,1874,3297,3275,3.0,-2.3,21,192,10.62,0.00,-22.33,0.000,18694,0.247,0.000,2696,1870,3864,3998,3730,0,0,0,0,0,0,25.05,28.83,26.12
$GC,236,-0.90,-150.8,1728,1868,4002,3727,7.7,-7.7,35,243,0.10,0.00,0.00,0.000,4102,0.097,0.000,2644,1869,3865,4003,3728,0,0,0,0,0,0,25.89,28.83,28.83
$GC,285,-0.90,-150.8,1680,1868,4003,3727,12.9,-11.2,44,292,0.08,0.00,0.00,0.000,2054,0.187,0.000,2659,1870,3866,4005,3728,0,0,0,0,0,0,25.83,28.83,28.83
$GC,337,-0.90,-150.8,2659,1870,4005,3728,18.3,-10.7,53,343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2659,1870,3866,4005,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,386,-0.94,-150.8,1680,1868,4005,3726,23.6,-9.4,62,393,0.00,0.00,0.00,0.000,4102,0.000,0.000,2659,1869,3867,4006,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,520,-0.98,-150.8,2659,1869,4006,3727,36.7,-10.6,87,527,0.08,0.00,0.00,0.000,4102,0.121,0.000,2616,1869,3867,4006,3728,0,0,0,0,0,0,26.08,28.83,28.83
$GC,652,-0.93,-150.8,1664,1868,4005,3726,52.6,-11.5,112,658,0.12,0.00,0.00,0.000,2054,0.168,0.000,2652,1869,3866,4006,3727,0,0,0,0,0,0,25.75,28.83,28.83
$GC,972,-0.93,-150.8,2652,1869,4007,3728,83.9,-9.0,169,973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2652,1869,3867,4007,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.96,-150.8,2652,1869,4007,3727,110.5,-8.4,184,1277,0.00,2.28,0.00,0.000,4356,0.000,0.061,2642,3270,3867,4007,3727,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1314,-1.00,-150.8,2642,3271,4008,3726,113.8,-8.0,186,1319,0.00,2.20,0.00,0.000,5126,0.000,0.047,2645,1862,3867,4008,3726,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1629,-1.04,-150.8,2645,1862,4008,3726,140.0,-8.7,202,1634,0.10,2.25,0.00,0.000,4612,0.099,0.062,2599,463,3867,4008,3726,0,0,0,0,0,0,26.29,25.90,28.83
$GC,1717,-0.96,-150.8,2598,462,4008,3726,148.9,-11.0,206,1721,0.20,2.25,0.00,0.000,3078,0.164,0.046,2644,1877,3867,4008,3727,0,0,0,0,0,0,25.63,26.03,28.83
$GC,2024,-0.96,-150.8,2644,1877,4009,3726,179.7,-9.9,221,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1877,3868,4009,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-0.96,-150.8,2643,1877,4009,3726,210.6,-10.5,236,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1877,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-1.00,-150.8,2643,1877,4009,3726,243.2,-10.8,251,2625,0.00,0.00,0.00,0.000,4102,0.000,0.000,2644,1878,3867,4009,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,-1.03,-150.8,2644,1877,4009,3727,274.9,-10.3,266,2929,0.08,2.25,0.00,0.000,4356,0.119,0.062,2587,3269,3867,4009,3726,0,0,0,0,0,0,26.42,25.91,28.83
$GC,2991,-1.03,-150.8,2587,3269,4010,3726,282.3,-11.9,269,2996,0.12,2.22,0.00,0.000,3078,0.161,0.048,2622,1858,3867,4009,3726,0,0,0,0,0,0,25.84,26.10,28.83
$GC,3301,-1.03,-150.8,2622,1858,4010,3726,316.8,-10.6,284,3306,0.00,2.25,0.00,0.000,2564,0.000,0.064,2626,469,3868,4010,3726,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3338,-1.03,-150.8,2625,469,4010,3726,321.2,-10.6,286,3342,0.00,2.22,0.00,0.000,3078,0.000,0.047,2617,1873,3868,4010,3726,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3654,-1.03,-150.8,2616,1873,4010,3726,354.9,-10.3,302,3660,0.00,2.25,0.00,0.000,2308,0.000,0.064,2606,3265,3868,4010,3726,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3717,-1.03,-150.8,2606,3266,4010,3726,361.1,-10.4,305,3721,0.00,2.20,0.00,0.000,3078,0.000,0.048,2607,1863,3868,4010,3726,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4035,-1.00,-150.8,2607,1863,4010,3726,394.0,-10.3,321,4041,0.10,2.25,0.00,0.000,2564,0.177,0.063,2632,465,3868,4010,3726,0,0,0,0,0,0,26.20,25.96,28.83
$GC,4088,-1.00,-150.8,2632,465,4010,3726,398.2,-10.2,323,4094,0.00,2.22,0.00,0.000,3078,0.000,0.047,2624,1868,3868,4010,3726,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4394,-1.00,-150.8,2623,1869,4010,3726,428.0,-9.1,339,4396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1869,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4694,-1.00,-150.8,2623,1869,4009,3724,454.8,-8.8,354,4695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1868,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4994,-1.00,-150.8,2623,1869,4009,3724,480.1,-8.3,369,5000,0.00,2.33,0.00,0.000,2564,0.000,0.065,2624,461,3866,4009,3724,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5047,-1.00,-150.8,2624,461,4009,3724,483.6,-8.4,371,5057,0.05,2.22,0.00,0.000,3078,0.223,0.048,2626,1872,3866,4009,3724,0,0,0,0,0,0,26.01,26.11,28.83
$GC,5355,-1.00,-150.8,2627,1873,4009,3723,507.5,-7.1,387,5361,0.00,2.25,0.00,0.000,2308,0.000,0.067,2616,3270,3866,4009,3723,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5407,-1.00,-150.8,2616,3270,4010,3723,510.4,-7.3,389,5413,0.00,2.20,0.00,0.000,3078,0.000,0.049,2618,1864,3866,4010,3722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5714,-1.00,-150.8,2617,1863,4009,3722,534.8,-7.9,405,5720,0.00,2.28,0.00,0.000,2564,0.000,0.065,2618,468,3865,4009,3722,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5802,-1.00,-150.8,2617,468,4009,3722,541.7,-8.7,409,5807,0.10,2.22,0.00,0.000,3078,0.181,0.048,2632,1866,3865,4009,3722,0,0,0,0,0,0,25.89,26.10,28.83
$GC,6111,-1.03,-150.8,2631,1866,4009,3722,566.1,-7.8,424,6112,0.00,0.00,0.00,0.000,4102,0.000,0.000,2632,1866,3865,4009,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6410,-1.06,-150.8,2631,1866,4009,3721,590.3,-8.3,439,6412,0.05,0.00,0.00,0.000,4102,0.160,0.000,2598,1867,3865,4009,3721,0,0,0,0,0,0,26.50,28.83,28.83
$GC,6709,-1.02,-150.8,2598,1867,4010,3721,619.3,-10.0,454,6716,0.10,2.33,0.00,0.000,2564,0.171,0.064,2626,468,3865,4009,3721,0,0,0,0,0,0,26.25,25.93,28.83
$GC,6752,-1.02,-150.8,2626,468,4010,3721,623.3,-9.9,456,6756,0.00,2.25,0.00,0.000,3078,0.000,0.049,2617,1870,3864,4009,3720,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7069,-1.02,-150.8,2616,1869,4009,3721,652.2,-8.9,472,7071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7369,-1.02,-150.8,2616,1870,4009,3720,679.5,-9.4,487,7370,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1870,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,-1.02,-150.8,2617,1870,4009,3720,707.6,-9.7,502,7670,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1870,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7970,-1.02,-150.8,2616,1870,4009,3719,737.0,-10.0,517,7971,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,1870,3864,4009,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8271,-1.02,-150.8,2617,1869,4009,3718,766.0,-9.4,532,8272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1870,3863,4009,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8569,-1.02,-150.8,2616,1869,4009,3718,793.5,-9.3,547,8570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3863,4009,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,-1.02,-150.8,2616,1869,4009,3717,820.7,-8.8,562,8870,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1870,3862,4008,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9169,-1.02,-150.8,2617,1869,4009,3717,847.6,-9.1,577,9170,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3863,4009,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9469,-1.02,-150.8,2617,1869,4009,3716,874.4,-8.8,592,9470,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1869,3862,4009,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9769,-1.02,-150.8,2616,1869,4008,3716,899.7,-8.3,607,9775,0.00,2.33,0.00,0.000,2564,0.000,0.066,2617,470,3862,4008,3716,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9802,-1.02,-150.8,2617,470,4008,3716,901.5,-8.4,608,9810,0.05,2.25,0.00,0.000,3078,0.223,0.050,2619,1868,3862,4008,3716,0,0,0,0,0,0,25.98,26.06,28.83
$GC,10110,-1.02,-150.8,2618,1869,4008,3716,928.3,-8.5,624,10111,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1868,3862,4008,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10411,-1.02,-150.8,2618,1868,4008,3716,952.5,-8.2,639,10412,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1869,3862,4008,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10711,-1.05,-150.8,2618,1869,4008,3715,976.6,-8.1,654,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1869,3861,4008,3715,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11008,begin apogee
$GC,11013,-0.19,0.0,2618,1327,4008,3715,1001.1,-8.5,669,11149,0.88,0.00,129.68,1.286,10246,0.133,0.000,2888,1327,3250,3378,3122,0,0,0,0,0,0,25.48,28.83,23.21
$STATE,11150,end apogee,CONTROL_FINISHED_OK
$STATE,11150,begin climb
$GC,11152,0.77,150.8,2888,1327,3378,3122,1004.4,0.0,676,11295,0.90,2.15,134.57,1.246,10756,0.060,0.074,3212,166,2634,2730,2539,0,0,0,0,0,0,24.29,23.58,22.74
$GC,11467,0.53,150.8,3212,167,2720,2539,967.0,15.2,692,11472,0.32,1.92,0.00,0.000,5126,0.156,0.049,3125,1342,2629,2719,2539,0,0,0,0,0,0,24.94,25.27,28.83
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$STATE,20217,end climb,SURFACE_DEPTH_REACHED
$STATE,20217,begin surface coast
$FINISH,1.6,1.020046
$STATE,20244,end surface coast,CONTROL_FINISHED_OK
$STATE,20244,begin surface
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$HUMID,48.89
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$10V_AH,10.2,18.655
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353588
$DATA_FILE_SIZE,70400,1228
$CAP_FILE_SIZE,183167,0
$CFSIZE,2097086464,2066710528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180117,005156,-4547.634,525.272,37,0.9,37,-23.9