version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 204
start: 1 21 117 4 24 53
data:
$ID,573
$MISSION,15
$DIVE,204
$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,-31854.449
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,210117,041633,-4557.780,515.809,33,0.9,33,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-55.2
$GPS2,210117,042429,-4557.726,515.877,19,2.0,19,-23.8
$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,214.1,41931,-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,-150.8,196,1863,602,421,0.0,0.0,0,156,0.00,0.00,-137.40,0.000,16386,0.000,0.000,194,1866,3376,3386,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.77,-150.8,194,1865,3388,3366,3.0,-1.7,22,193,10.55,2.40,-17.20,0.000,18692,0.244,0.077,2690,3277,3866,4000,3733,0,0,0,0,0,0,25.07,25.49,26.09
$GC,369,-0.89,-150.8,1712,3276,4008,3730,20.1,-8.1,61,376,0.05,2.28,0.00,0.000,5126,0.070,0.048,2637,1868,3870,4009,3732,0,0,0,0,0,0,25.65,25.72,28.83
$GC,500,-0.89,-150.8,1664,1866,4007,3730,34.6,-10.5,86,508,0.10,0.00,0.00,0.000,2054,0.178,0.000,2661,1868,3870,4009,3732,0,0,0,0,0,0,25.83,28.83,28.83
$GC,632,-0.95,-150.8,2661,1868,4009,3732,47.6,-10.7,111,639,0.00,2.35,0.00,0.000,4612,0.000,0.065,2662,465,3870,4009,3731,0,0,0,0,0,0,28.83,25.67,28.83
$GC,681,-0.95,-150.8,2662,465,4009,3731,53.3,-11.7,120,688,0.00,2.28,0.00,0.000,1030,0.000,0.045,2653,1871,3870,4009,3732,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1007,-0.95,-150.8,2653,1873,4009,3732,90.5,-12.5,172,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1873,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.98,-150.8,2653,1872,4010,3732,128.5,-12.8,187,1310,0.00,0.00,0.00,0.000,4102,0.000,0.000,2653,1872,3870,4009,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1608,-1.03,-150.8,2653,1872,4010,3731,163.4,-10.9,202,1610,0.10,0.00,0.00,0.000,4102,0.095,0.000,2601,1872,3870,4010,3731,0,0,0,0,0,0,26.30,28.83,28.83
$GC,1910,-0.98,-150.8,2601,1873,4010,3731,196.3,-10.2,217,1912,0.12,0.00,0.00,0.000,2054,0.166,0.000,2633,1873,3871,4010,3732,0,0,0,0,0,0,25.98,28.83,28.83
$GC,2208,-0.98,-150.8,2633,1873,4011,3731,221.0,-8.2,232,2213,0.00,2.25,0.00,0.000,2308,0.000,0.063,2623,3268,3871,4011,3731,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2256,-0.98,-150.8,2623,3269,4011,3731,224.4,-8.3,234,2261,0.00,2.20,0.00,0.000,3078,0.000,0.048,2628,1863,3871,4010,3732,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2565,-0.98,-150.8,2627,1864,4011,3731,250.6,-8.8,249,2570,0.00,2.25,0.00,0.000,2564,0.000,0.064,2628,468,3871,4011,3731,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2624,-0.98,-150.8,2627,468,4011,3731,256.6,-9.7,252,2631,0.08,2.22,0.00,0.000,3078,0.187,0.046,2635,1872,3871,4011,3731,0,0,0,0,0,0,25.91,26.05,28.83
$GC,2946,-0.98,-150.8,2634,1872,4011,3731,286.6,-9.7,268,2948,0.00,0.00,0.00,0.000,2054,0.000,0.000,2634,1872,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3244,-0.98,-150.8,2634,1872,4011,3731,316.3,-10.1,283,3249,0.00,2.22,0.00,0.000,2308,0.000,0.063,2625,3264,3871,4011,3731,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3286,-0.98,-150.8,2624,3265,4011,3731,320.5,-10.2,285,3290,0.00,2.17,0.00,0.000,3078,0.000,0.048,2625,1868,3871,4011,3731,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3603,-0.98,-150.8,2624,1868,4011,3731,353.8,-10.2,301,3609,0.00,2.28,0.00,0.000,2564,0.000,0.064,2625,467,3871,4011,3731,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3663,-0.98,-150.8,2625,467,4011,3731,360.5,-10.9,304,3668,0.10,2.22,0.00,0.000,3078,0.174,0.047,2640,1868,3871,4011,3731,0,0,0,0,0,0,25.84,26.06,28.83
$GC,3981,-1.01,-150.8,2639,1868,4011,3731,390.1,-9.2,320,3982,0.00,0.00,0.00,0.000,4102,0.000,0.000,2640,1868,3871,4011,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-1.05,-150.8,2639,1868,4011,3730,417.4,-9.2,335,4283,0.08,0.00,0.00,0.000,4102,0.118,0.000,2599,1868,3870,4011,3730,0,0,0,0,0,0,26.45,28.83,28.83
$GC,4581,-1.01,-150.8,2598,1868,4011,3730,450.5,-11.2,350,4587,0.10,2.25,0.00,0.000,2308,0.173,0.063,2612,3262,3870,4011,3730,0,0,0,0,0,0,26.22,25.83,28.83
$GC,4648,-1.01,-150.8,2612,3262,4011,3729,456.8,-10.7,353,4652,0.00,2.22,0.00,0.000,3078,0.000,0.049,2617,1870,3870,4011,3729,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4961,-1.01,-150.8,2617,1870,4011,3729,490.0,-10.3,369,4962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,1870,3870,4011,3729,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5259,-1.01,-150.8,2617,1869,4011,3728,521.4,-10.6,384,5263,0.00,2.28,0.00,0.000,2564,0.000,0.067,2617,471,3869,4011,3728,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5303,-1.01,-150.8,2617,471,4011,3727,525.5,-10.9,386,5308,0.05,2.25,0.00,0.000,3078,0.162,0.048,2636,1862,3869,4011,3728,0,0,0,0,0,0,25.75,26.05,28.83
$GC,5616,-1.05,-150.8,2636,1862,4011,3727,557.5,-9.8,402,5618,0.05,0.00,0.00,0.000,4102,0.159,0.000,2603,1863,3869,4011,3728,0,0,0,0,0,0,26.49,28.83,28.83
$GC,5917,-1.05,-150.8,2603,1862,4011,3726,590.6,-11.0,417,5918,0.00,0.00,0.00,0.000,2054,0.000,0.000,2602,1862,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6215,-1.05,-150.8,2603,1862,4011,3726,623.3,-11.1,432,6216,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1862,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-1.05,-150.8,2603,1862,4011,3725,656.7,-11.1,447,6517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,1862,3868,4011,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6815,-1.05,-150.8,2603,1864,4011,3723,691.7,-11.7,462,6819,0.00,2.30,0.00,0.000,2564,0.000,0.067,2603,470,3867,4011,3723,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6876,-1.01,-150.8,2603,470,4010,3722,698.4,-12.2,465,6882,0.12,2.25,0.00,0.000,3078,0.171,0.049,2625,1871,3867,4011,3723,0,0,0,0,0,0,25.75,26.03,28.83
$GC,7192,-1.01,-150.8,2625,1872,4011,3723,732.3,-10.4,481,7193,0.00,0.00,0.00,0.000,2054,0.000,0.000,2625,1872,3867,4011,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7491,-1.04,-150.8,2625,1873,4011,3722,762.4,-9.8,496,7497,0.00,2.33,0.00,0.000,516,0.000,0.067,2625,467,3866,4011,3722,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7559,-1.04,-150.8,2625,467,4011,3722,768.5,-10.2,499,7563,0.00,2.25,0.00,0.000,3078,0.000,0.050,2616,1880,3866,4011,3722,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7866,-1.04,-150.8,2616,1881,4011,3722,800.0,-10.0,514,7870,0.00,2.33,0.00,0.000,2564,0.000,0.066,2616,470,3866,4011,3722,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7922,-1.04,-150.8,2616,470,4011,3722,805.8,-10.2,517,7928,0.00,2.22,0.00,0.000,3078,0.000,0.049,2607,1871,3866,4011,3722,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8243,-1.04,-150.8,2607,1871,4011,3722,837.1,-9.5,533,8249,0.00,2.33,0.00,0.000,2564,0.000,0.067,2607,459,3866,4011,3722,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8275,-1.04,-150.8,2607,458,4010,3722,839.1,-9.5,534,8282,0.08,2.28,0.00,0.000,3078,0.196,0.049,2613,1868,3866,4010,3722,0,0,0,0,0,0,25.86,26.01,28.83
$GC,8582,-1.04,-150.8,2613,1869,4010,3721,867.8,-8.8,550,8584,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,-1.04,-150.8,2613,1869,4011,3721,893.3,-8.2,565,8883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9182,-1.04,-150.8,2613,1869,4010,3720,916.7,-7.6,580,9183,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,1869,3866,4011,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,-1.04,-150.8,2613,1869,4011,3721,939.3,-7.6,595,9483,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4011,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9782,-1.04,-150.8,2613,1869,4010,3720,963.3,-8.1,610,9783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,-1.04,-150.8,2613,1869,4010,3720,987.7,-8.5,625,10084,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,1869,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10220,begin apogee
$GC,10225,-0.19,0.0,2613,1332,4010,3720,1000.3,-8.9,632,10362,0.90,0.00,129.80,1.284,10246,0.132,0.000,2890,1332,3251,3379,3124,0,0,0,0,0,0,25.37,28.83,23.15
$STATE,10363,end apogee,CONTROL_FINISHED_OK
$STATE,10363,begin climb
$GC,10365,0.77,150.8,2890,1332,3379,3125,1003.6,0.0,639,10510,0.90,2.25,135.00,1.243,10756,0.060,0.076,3213,164,2634,2730,2539,0,0,0,0,0,0,24.26,23.58,22.70
$GC,10603,0.51,150.8,3212,164,2723,2539,978.3,14.8,651,10609,0.35,1.98,0.00,0.000,5126,0.156,0.050,3120,1344,2631,2723,2539,0,0,0,0,0,0,24.64,24.91,28.83
$GC,10924,0.48,155.6,3119,1344,2718,2539,946.9,9.6,667,10930,0.00,0.00,4.55,0.819,12294,0.000,0.000,3120,1344,2614,2701,2528,0,0,0,0,0,0,28.83,28.83,24.37
$GC,11223,0.44,155.6,3120,1344,2699,2530,917.6,9.9,682,11227,0.08,2.03,0.00,0.000,4612,0.194,0.076,3111,158,2615,2699,2531,0,0,0,0,0,0,25.88,25.59,28.83
$GC,11268,0.41,155.6,3111,158,2699,2531,914.0,10.0,684,11272,0.10,1.90,0.00,0.000,5126,0.168,0.050,3087,1337,2614,2698,2531,0,0,0,0,0,0,25.61,25.82,28.83
$GC,11576,0.47,190.8,3086,1339,2697,2531,887.4,8.3,699,11615,0.05,2.08,31.80,1.181,10756,0.157,0.077,3127,158,2471,2558,2385,0,0,0,0,0,0,26.17,25.09,24.19
$GC,11646,0.48,200.8,3127,158,2555,2385,881.2,9.4,702,11661,0.08,1.92,10.38,1.023,13318,0.159,0.051,3111,1333,2431,2516,2346,0,0,0,0,0,0,25.24,25.34,24.12
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$STATE,19951,end climb,SURFACE_DEPTH_REACHED
$STATE,19951,begin surface coast
$FINISH,1.7,1.023302
$STATE,19972,end surface coast,CONTROL_FINISHED_OK
$STATE,19972,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,8.89372
$TCM_TEMP,14.20
$XPDR_PINGS,0
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$10V_AH,10.2,19.948
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353612
$DATA_FILE_SIZE,70186,1205
$CAP_FILE_SIZE,193395,0
$CFSIZE,2097086464,2064875520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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