version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 193
start: 1 18 117 12 38 18
data:
$ID,573
$MISSION,15
$DIVE,193
$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,-31840.559
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,180117,122931,-4549.033,524.159,37,1.4,40,-23.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-57.9
$GPS2,180117,123753,-4548.983,524.294,24,1.2,24,-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,221.6,60280,-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,-150.8,183,1856,614,404,0.0,0.0,0,143,0.00,0.00,-125.30,0.000,16386,0.000,0.000,181,1855,3162,3155,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,146,-0.77,-150.8,181,1855,3156,3170,3.0,-2.3,20,200,10.80,2.42,-31.25,0.000,18692,0.252,0.080,2686,3265,3867,4003,3732,0,0,0,0,0,0,25.08,25.50,26.08
$GC,316,-0.90,-150.8,1712,3263,4007,3728,15.3,-13.1,50,324,0.03,2.25,0.00,0.000,5126,0.109,0.049,2652,1877,3868,4007,3730,0,0,0,0,0,0,25.60,25.68,28.83
$GC,367,-0.94,-150.8,1704,1875,4007,3728,22.9,-14.2,59,374,0.00,2.38,0.00,0.000,516,0.000,0.067,2656,451,3868,4008,3729,0,0,0,0,0,0,28.83,25.60,28.83
$GC,421,-0.94,-150.8,1696,451,4007,3728,29.5,-10.6,69,429,0.00,2.30,0.00,0.000,3078,0.000,0.048,2647,1857,3868,4008,3729,0,0,0,0,0,0,28.83,25.73,28.83
$GC,553,-0.94,-150.8,2647,1857,4008,3729,42.1,-9.7,94,559,0.00,0.00,0.00,0.000,2054,0.000,0.000,2647,1857,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.94,-150.8,1712,1855,4008,3728,74.8,-10.2,155,872,0.00,0.00,0.00,0.000,2054,0.000,0.000,2647,1857,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-0.94,-150.8,2647,1857,4009,3729,107.0,-10.2,177,1179,0.00,0.00,0.00,0.000,2054,0.000,0.000,2647,1857,3869,4009,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1475,-0.97,-150.8,2647,1857,4010,3729,137.9,-9.5,192,1476,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1857,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,-1.01,-150.8,2647,1857,4010,3729,165.1,-8.9,207,1778,0.00,0.00,0.00,0.000,4102,0.000,0.000,2647,1857,3869,4010,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-1.04,-150.8,2647,1857,4011,3729,192.8,-9.5,222,2077,0.10,0.00,0.00,0.000,4102,0.096,0.000,2594,1857,3870,4011,3729,0,0,0,0,0,0,26.35,28.83,28.83
$GC,2376,-0.98,-150.8,2594,1857,4010,3729,229.2,-12.7,237,2382,0.12,2.25,0.00,0.000,2308,0.170,0.066,2621,3261,3870,4011,3729,0,0,0,0,0,0,25.98,25.86,28.83
$GC,2417,-0.94,-150.8,2621,3261,4011,3729,234.0,-12.4,239,2422,0.10,2.22,0.00,0.000,3078,0.168,0.049,2650,1868,3870,4011,3729,0,0,0,0,0,0,25.89,26.04,28.83
$GC,2739,-1.00,-150.8,2650,1868,4011,3729,266.0,-9.8,255,2744,0.00,2.28,0.00,0.000,4612,0.000,0.067,2659,467,3870,4011,3729,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2799,-1.04,-150.8,1792,467,4010,3728,272.2,-10.0,258,2804,0.10,2.22,0.00,0.000,5126,0.091,0.048,2600,1874,3869,4010,3729,0,0,0,0,0,0,26.08,26.06,28.83
$GC,3116,-0.99,-150.8,2599,1875,4011,3729,309.1,-11.4,274,3118,0.12,0.00,0.00,0.000,2054,0.166,0.000,2630,1875,3870,4011,3729,0,0,0,0,0,0,26.08,28.83,28.83
$GC,3416,-0.99,-150.8,2631,1875,4011,3729,338.5,-10.0,289,3418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1875,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,-0.99,-150.8,2631,1875,4011,3729,366.6,-9.3,304,3718,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1875,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4019,-0.99,-150.8,2631,1875,4011,3728,395.1,-9.5,319,4020,0.00,0.00,0.00,0.000,2054,0.000,0.000,2631,1875,3869,4011,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.99,-150.8,2631,1875,4011,3728,424.3,-9.9,334,4320,0.00,2.33,0.00,0.000,2564,0.000,0.067,2633,466,3869,4011,3728,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4380,-0.99,-150.8,2633,466,4011,3728,430.2,-10.5,337,4384,0.00,2.22,0.00,0.000,3078,0.000,0.048,2624,1869,3869,4011,3728,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4692,-0.99,-150.8,2624,1870,4011,3727,463.8,-10.6,353,4693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1870,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4993,-0.99,-150.8,2624,1869,4011,3726,497.1,-11.3,368,4994,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1870,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.99,-150.8,2624,1870,4011,3725,531.7,-11.7,383,5295,0.00,0.00,0.00,0.000,2054,0.000,0.000,2624,1869,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.99,-150.8,2624,1869,4011,3724,566.7,-11.7,398,5599,0.00,2.33,0.00,0.000,2564,0.000,0.068,2624,470,3868,4011,3725,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5652,-0.99,-150.8,2623,470,4011,3724,573.8,-11.9,401,5657,0.08,2.25,0.00,0.000,3078,0.187,0.049,2631,1871,3868,4011,3725,0,0,0,0,0,0,25.94,26.07,28.83
$GC,5970,-1.02,-150.8,2630,1872,4011,3724,608.0,-10.4,417,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1872,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6270,-1.05,-150.8,2630,1872,4011,3723,637.0,-9.4,432,6275,0.00,2.33,0.00,0.000,4612,0.000,0.068,2631,467,3867,4011,3723,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6352,-1.05,-150.8,2631,467,4011,3723,644.8,-9.8,436,6356,0.00,2.28,0.00,0.000,5126,0.000,0.049,2621,1881,3867,4011,3723,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6670,-1.05,-150.8,2622,1881,4011,3723,675.1,-9.5,452,6676,0.00,2.35,0.00,0.000,4612,0.000,0.067,2622,467,3866,4011,3722,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6709,-1.05,-150.8,2622,467,4010,3722,679.2,-9.8,454,6713,0.00,2.25,0.00,0.000,3078,0.000,0.049,2613,1869,3866,4010,3722,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7026,-1.05,-150.8,2613,1869,4010,3722,710.7,-9.8,470,7027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,-1.05,-150.8,2613,1870,4011,3722,741.9,-10.7,485,7326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1869,3866,4011,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7625,-1.05,-150.8,2613,1869,4010,3721,775.7,-11.5,500,7626,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7925,-1.05,-150.8,2612,1870,4010,3720,809.5,-11.0,515,7926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1870,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8225,-1.05,-150.8,2612,1869,4010,3720,842.2,-10.9,530,8226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8525,-1.05,-150.8,2613,1869,4010,3720,873.6,-10.4,545,8526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,-1.05,-150.8,2613,1870,4010,3720,903.6,-10.1,560,8829,0.00,2.33,0.00,0.000,2564,0.000,0.069,2613,467,3865,4010,3720,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8889,-1.05,-150.8,2613,467,4010,3720,909.4,-10.6,563,8893,0.00,2.28,0.00,0.000,3078,0.000,0.050,2604,1876,3865,4010,3720,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9202,-1.05,-150.8,2603,1878,4010,3720,941.1,-9.5,579,9203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1878,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9501,-1.05,-150.8,2603,1877,4010,3719,967.3,-8.4,594,9502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1877,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9801,-1.05,-150.8,2603,1878,4010,3719,992.9,-8.4,609,9802,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,1878,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9899,begin apogee
$GC,9904,-0.19,0.0,2603,1326,4010,3719,1001.3,-8.5,614,10041,0.93,0.00,129.02,1.281,10246,0.135,0.000,2887,1325,3251,3379,3123,0,0,0,0,0,0,25.44,28.83,23.22
$STATE,10042,end apogee,CONTROL_FINISHED_OK
$STATE,10042,begin climb
$GC,10044,0.77,150.8,2887,1326,3379,3124,1003.1,0.0,621,10189,0.93,2.25,134.50,1.242,10756,0.063,0.077,3219,164,2635,2729,2541,0,0,0,0,0,0,24.31,23.58,22.75
$GC,10343,0.51,150.8,3219,164,2720,2541,964.7,16.4,636,10349,0.32,1.92,0.00,0.000,5126,0.153,0.050,3124,1348,2629,2719,2540,0,0,0,0,0,0,24.91,25.20,28.83
$GC,10662,0.47,150.8,3123,1349,2717,2540,929.8,10.5,652,10666,0.08,2.03,0.00,0.000,4612,0.189,0.078,3116,162,2628,2716,2540,0,0,0,0,0,0,25.78,25.51,28.83
$GC,10707,0.42,150.8,3116,162,2717,2540,925.3,10.6,654,10711,0.10,1.90,0.00,0.000,5126,0.169,0.050,3093,1335,2628,2717,2539,0,0,0,0,0,0,25.55,25.75,28.83
$GC,11019,0.44,174.4,3092,1338,2716,2539,897.5,8.8,670,11041,0.00,0.00,20.70,1.152,8198,0.000,0.000,3093,1338,2538,2625,2452,0,0,0,0,0,0,28.83,28.83,24.44
$GC,11339,0.49,192.9,3092,1339,2619,2452,868.6,9.0,686,11362,0.05,2.10,16.98,1.115,10756,0.161,0.080,3133,164,2462,2548,2377,0,0,0,0,0,0,25.96,25.32,24.38
$GC,11399,0.49,192.9,3132,164,2547,2377,862.2,10.2,689,11403,0.08,1.92,0.00,0.000,5126,0.168,0.050,3116,1335,2462,2547,2377,0,0,0,0,0,0,25.39,25.50,28.83
$GC,11716,0.49,192.9,3116,1340,2543,2377,830.3,9.9,705,11721,0.00,2.03,0.00,0.000,4612,0.000,0.080,3125,162,2460,2544,2377,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11748,0.49,192.9,3124,162,2543,2377,828.3,10.0,706,11755,0.00,1.92,0.00,0.000,5126,0.000,0.050,3125,1332,2460,2544,2377,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12055,0.49,192.9,3124,1335,2543,2377,794.2,10.7,722,12059,0.00,2.03,0.00,0.000,4612,0.000,0.080,3134,158,2460,2543,2377,0,0,0,0,0,0,28.83,25.72,28.83
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$STATE,19507,end climb,SURFACE_DEPTH_REACHED
$STATE,19508,begin surface coast
$FINISH,1.7,1.023292
$STATE,19531,end surface coast,CONTROL_FINISHED_OK
$STATE,19531,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,49.44
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$XPDR_PINGS,0
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$10V_AH,10.2,18.928
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353612
$DATA_FILE_SIZE,70305,1196
$CAP_FILE_SIZE,177750,0
$CFSIZE,2097086464,2066317312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180117,180834,-4549.438,523.629,36,1.0,36,-23.9