version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 191
start: 1 18 117 0 59 40
data:
$ID,573
$MISSION,15
$DIVE,191
$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,-31838.053
$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,27
$R_STBD_OVSHOOT,47
$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
$GPS1,180117,005156,-4547.634,525.272,37,0.9,37,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-58.0
$GPS2,180117,005916,-4547.560,525.398,16,0.8,16,-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,222.0,63224,-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,-150.8,189,1885,603,412,0.0,0.0,0,150,0.00,0.00,-131.20,0.000,16386,0.000,0.000,185,1882,3298,3313,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-0.77,-150.8,185,1882,3314,3285,3.1,-1.4,21,187,10.82,0.00,-19.30,0.000,18950,0.253,0.000,2695,1880,3865,3998,3733,0,0,0,0,0,0,25.08,28.83,25.52
$GC,231,-0.86,-150.8,1712,1878,4004,3731,8.9,-7.9,34,238,0.00,0.00,0.00,0.000,4102,0.000,0.000,2695,1880,3868,4005,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,280,-0.94,-150.8,1728,1878,4005,3730,12.8,-8.4,43,288,0.12,0.00,0.00,0.000,4102,0.084,0.000,2623,1882,3869,4006,3732,0,0,0,0,0,0,25.90,28.83,28.83
$GC,331,-0.91,-150.8,2623,1882,4007,3731,18.2,-10.9,52,338,0.12,0.00,0.00,0.000,2054,0.172,0.000,2658,1882,3869,4007,3732,0,0,0,0,0,0,25.60,28.83,28.83
$GC,381,-0.94,-150.8,1680,1881,4006,3730,22.9,-9.1,61,387,0.00,0.00,0.00,0.000,4102,0.000,0.000,2658,1883,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,515,-0.98,-150.8,2658,1882,4007,3731,36.5,-10.4,86,522,0.05,0.00,0.00,0.000,4102,0.160,0.000,2622,1883,3869,4007,3732,0,0,0,0,0,0,26.10,28.83,28.83
$GC,647,-0.94,-150.8,2622,1883,4008,3731,52.7,-12.4,111,654,0.10,2.35,0.00,0.000,2564,0.174,0.063,2646,457,3869,4008,3731,0,0,0,0,0,0,25.90,25.71,28.83
$GC,706,-0.94,-150.8,1704,457,4007,3730,59.9,-11.2,122,713,0.00,2.25,0.00,0.000,3078,0.000,0.046,2637,1866,3869,4008,3731,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1024,-0.94,-150.8,2637,1867,4008,3731,96.7,-11.5,163,1025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2637,1867,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1322,-0.94,-150.8,2637,1867,4008,3731,126.0,-9.9,178,1327,0.00,2.30,0.00,0.000,2564,0.000,0.062,2637,461,3870,4009,3731,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1369,-0.94,-150.8,2637,461,4009,3731,130.1,-10.1,180,1374,0.05,2.28,0.00,0.000,3078,0.164,0.045,2645,1869,3870,4009,3731,0,0,0,0,0,0,25.77,25.98,28.83
$GC,1682,-0.97,-150.8,2645,1870,4010,3731,161.6,-10.1,196,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1869,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,-1.01,-150.8,2645,1869,4010,3731,192.8,-10.7,211,1989,0.00,2.25,0.00,0.000,4356,0.000,0.064,2635,3269,3870,4010,3731,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2023,-1.04,-150.8,2635,3269,4011,3731,197.2,-10.7,213,2028,0.00,2.20,0.00,0.000,5126,0.000,0.047,2635,1859,3871,4011,3731,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2343,-1.04,-150.8,2635,1859,4011,3731,232.3,-11.1,229,2348,0.00,2.22,0.00,0.000,4612,0.000,0.063,2635,473,3871,4011,3731,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2426,-1.04,-150.8,2635,472,4011,3731,242.3,-12.0,233,2430,0.00,2.25,0.00,0.000,5126,0.000,0.047,2626,1868,3870,4010,3731,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2745,-1.04,-150.8,2625,1869,4011,3731,278.2,-10.9,249,2750,0.00,2.22,0.00,0.000,4356,0.000,0.063,2615,3266,3871,4011,3731,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2806,-1.04,-150.8,1792,3264,4010,3730,285.0,-11.2,252,2810,0.00,2.22,0.00,0.000,1030,0.000,0.047,2617,1868,3871,4011,3731,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3124,-1.04,-150.8,2617,1868,4011,3731,319.1,-10.3,268,3128,0.00,2.28,0.00,0.000,2564,0.000,0.063,2617,465,3871,4011,3731,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3208,-1.00,-150.8,2617,465,4011,3731,327.6,-11.3,272,3213,0.10,2.25,0.00,0.000,3078,0.176,0.047,2631,1874,3871,4011,3731,0,0,0,0,0,0,25.86,26.08,28.83
$GC,3516,-1.00,-150.8,2631,1875,4011,3731,357.6,-9.3,287,3517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2632,1875,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3815,-1.00,-150.8,2631,1875,4011,3730,384.2,-8.7,302,3819,0.00,2.30,0.00,0.000,516,0.000,0.064,2632,470,3870,4010,3731,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3854,-1.00,-150.8,2632,470,4011,3730,387.5,-9.1,304,3858,0.00,2.20,0.00,0.000,3078,0.000,0.046,2623,1870,3870,4011,3730,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4167,-1.00,-150.8,2623,1871,4011,3729,415.3,-8.8,320,4168,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1870,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4466,-1.00,-150.8,2623,1871,4011,3729,441.6,-8.8,335,4467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1871,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4767,-1.00,-150.8,2623,1871,4011,3728,468.9,-9.3,350,4768,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1871,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5066,-1.00,-150.8,2623,1871,4011,3727,497.2,-9.6,365,5067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1871,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,-1.00,-150.8,2623,1871,4010,3727,526.7,-9.8,380,5367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2623,1871,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5666,-1.00,-150.8,2623,1871,4011,3726,556.8,-10.2,395,5672,0.00,2.28,0.00,0.000,2308,0.000,0.066,2612,3267,3868,4011,3726,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5719,-1.00,-150.8,2611,3267,4011,3725,560.8,-10.1,397,5726,0.03,2.22,0.00,0.000,3078,0.253,0.050,2626,1864,3868,4011,3725,0,0,0,0,0,0,26.04,26.08,28.83
$GC,6026,-1.00,-150.8,2627,1864,4011,3725,593.4,-10.2,413,6027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2627,1864,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,-1.00,-150.8,2626,1863,4011,3724,623.2,-9.5,428,6330,0.00,2.28,0.00,0.000,2564,0.000,0.066,2627,468,3867,4010,3724,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6395,-1.00,-150.8,2627,467,4010,3724,628.8,-10.0,431,6401,0.00,2.25,0.00,0.000,3078,0.000,0.049,2618,1869,3867,4010,3724,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6702,-1.00,-150.8,2618,1870,4010,3723,659.3,-9.5,447,6703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1870,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7002,-1.00,-150.8,2618,1869,4011,3723,687.6,-9.2,462,7003,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1870,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7302,-1.00,-150.8,2618,1870,4010,3722,714.1,-8.5,477,7303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,1870,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7602,-1.00,-150.8,2618,1870,4010,3722,738.2,-7.8,492,7606,0.00,2.33,0.00,0.000,2564,0.000,0.067,2618,470,3866,4010,3722,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7663,-1.00,-150.8,2618,469,4010,3722,742.9,-8.3,495,7667,0.08,2.25,0.00,0.000,3078,0.193,0.049,2627,1870,3866,4010,3722,0,0,0,0,0,0,25.91,26.07,28.83
$GC,7977,-1.03,-150.8,2627,1871,4010,3721,765.6,-7.2,511,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8276,-1.07,-150.8,2626,1871,4009,3721,787.6,-7.6,526,8278,0.00,0.00,0.00,0.000,4102,0.000,0.000,2626,1871,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8575,-1.10,-150.8,2626,1871,4010,3721,811.7,-8.2,541,8582,0.10,2.33,0.00,0.000,4612,0.100,0.065,2581,464,3865,4010,3720,0,0,0,0,0,0,26.46,25.87,28.83
$GC,8629,-1.10,-150.8,2580,464,4009,3721,815.9,-9.1,543,8636,0.10,2.28,0.00,0.000,3078,0.197,0.049,2593,1880,3865,4009,3721,0,0,0,0,0,0,25.79,26.05,28.83
$GC,8936,-1.07,-150.8,2592,1879,4009,3721,846.9,-9.6,559,8942,0.05,2.25,0.00,0.000,2308,0.246,0.065,2594,3267,3865,4009,3721,0,0,0,0,0,0,26.41,25.81,28.83
$GC,8975,-1.07,-150.8,2593,3267,4010,3721,850.8,-9.6,561,8981,0.05,2.22,0.00,0.000,3078,0.204,0.052,2605,1865,3864,4009,3720,0,0,0,0,0,0,25.96,26.03,28.83
$GC,9294,-1.07,-150.8,2605,1865,4009,3720,882.2,-10.0,577,9296,0.00,0.00,0.00,0.000,2054,0.000,0.000,2605,1865,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9594,-1.07,-150.8,2605,1865,4010,3721,912.1,-10.2,592,9598,0.00,2.30,0.00,0.000,2564,0.000,0.068,2606,464,3864,4009,3720,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9663,-1.07,-150.8,2606,464,4008,3720,918.0,-10.7,595,9669,0.00,2.28,0.00,0.000,3078,0.000,0.050,2597,1881,3865,4010,3720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9970,-1.07,-150.8,2596,1881,4009,3720,952.9,-11.3,611,9971,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,1881,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10270,-1.07,-150.8,2597,1881,4009,3719,986.5,-11.2,626,10272,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,1881,3864,4009,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10409,begin apogee
$GC,10414,-0.19,0.0,2597,1328,4009,3720,1001.8,-10.8,633,10550,0.95,0.00,129.68,1.284,10246,0.140,0.000,2885,1328,3250,3378,3122,0,0,0,0,0,0,25.40,28.83,23.20
$STATE,10551,end apogee,CONTROL_FINISHED_OK
$STATE,10551,begin climb
$GC,10553,0.77,150.8,2884,1328,3378,3122,1007.1,0.0,640,10696,0.93,2.15,134.85,1.245,10756,0.063,0.073,3210,165,2634,2730,2538,0,0,0,0,0,0,24.28,23.58,22.73
$GC,10817,0.54,150.8,3210,165,2722,2538,982.9,13.3,653,10822,0.30,1.95,0.00,0.000,5126,0.155,0.050,3130,1342,2630,2722,2538,0,0,0,0,0,0,24.77,25.06,28.83
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$STATE,20016,end climb,SURFACE_DEPTH_REACHED
$STATE,20016,begin surface coast
$FINISH,1.7,1.011484
$STATE,20033,end surface coast,CONTROL_FINISHED_OK
$STATE,20033,begin surface
$SM_CCo,20051,189.52,0.051,0,0,517,670.15
$SM_GC,2.33,7.60,2.80,189.52,0.030,0.047,0.051,230,1871,517,-8.43,-0.96,670.15,0,0,0,0,0,0,26.15,26.00,25.84
$IRIDIUM_FIX,-4533.32,710.95,141109,080841
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.74
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,30.953
$10V_AH,10.2,18.748
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,600.148,567.903,653.369,105.727,0.000,0.000,0.000,0.000,0.000,0.000
$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,70256,1216
$CAP_FILE_SIZE,200582,0
$CFSIZE,2097086464,2066546688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180117,063802,-4548.033,524.476,25,1.1,25,-23.9