version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 214
start: 1 23 117 13 25 40
data:
$ID,573
$MISSION,15
$DIVE,214
$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,-31866.982
$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,40
$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
$GPS1,230117,131732,-4611.115,509.521,40,0.9,40,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.0
$GPS2,230117,132515,-4611.119,509.525,17,1.1,17,-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,201.7,16459,-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,-150.8,202,1880,602,417,0.0,0.0,0,136,0.00,0.00,-118.62,0.000,16386,0.000,0.000,202,1881,3104,3096,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,139,-0.77,-150.8,201,1880,3096,3114,3.0,-1.8,19,191,10.75,2.42,-32.75,0.000,18948,0.250,0.077,2700,459,3865,3999,3732,0,0,0,0,0,0,25.05,25.52,26.11
$GC,320,-0.86,-150.8,1728,459,4004,3731,14.2,-8.6,52,328,0.00,2.30,0.00,0.000,5126,0.000,0.047,2690,1865,3869,4006,3732,0,0,0,0,0,0,28.83,25.68,28.83
$GC,371,-0.96,-150.8,2690,1865,4007,3732,18.4,-7.7,61,378,0.12,0.00,0.00,0.000,4102,0.083,0.000,2618,1866,3869,4007,3731,0,0,0,0,0,0,25.96,28.83,28.83
$GC,421,-0.91,-150.8,1664,1864,4006,3730,23.7,-11.3,70,428,0.12,0.00,0.00,0.000,2054,0.166,0.000,2655,1866,3869,4007,3732,0,0,0,0,0,0,25.64,28.83,28.83
$GC,552,-0.91,-150.8,1664,1864,4007,3730,37.0,-10.1,95,558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2654,1866,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,681,-0.91,-150.8,2654,1866,4008,3732,50.7,-10.2,120,688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2654,1866,3869,4008,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.91,-150.8,2653,1866,4009,3732,82.0,-9.7,178,999,0.00,2.28,0.00,0.000,2308,0.000,0.064,2644,3276,3870,4009,3731,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1035,-0.94,-150.8,2644,3276,4010,3731,85.6,-9.3,180,1041,0.00,2.20,0.00,0.000,3078,0.000,0.047,2645,1858,3870,4010,3731,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1355,-0.97,-150.8,2644,1858,4010,3732,115.0,-9.3,196,1360,0.00,2.25,0.00,0.000,260,0.000,0.062,2636,3265,3870,4010,3731,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1426,-1.01,-150.8,2635,3265,4011,3731,120.5,-9.1,199,1433,0.00,2.17,0.00,0.000,5126,0.000,0.046,2635,1863,3870,4010,3731,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1735,-1.01,-150.8,2635,1864,4010,3731,149.6,-9.2,215,1740,0.00,2.28,0.00,0.000,4612,0.000,0.063,2635,473,3870,4010,3731,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1814,-1.01,-150.8,2635,472,4010,3731,157.6,-10.0,219,1820,0.00,2.22,0.00,0.000,1030,0.000,0.045,2627,1872,3870,4010,3731,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2135,-1.01,-150.8,2626,1873,4011,3731,190.2,-10.1,235,2136,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1872,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2433,-1.01,-150.8,2626,1872,4011,3730,221.1,-10.4,250,2434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2626,1873,3870,4010,3731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,-1.01,-150.8,2626,1873,4010,3731,252.5,-10.4,265,2740,0.00,2.25,0.00,0.000,2308,0.000,0.063,2615,3271,3870,4010,3731,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2787,-1.01,-150.8,2615,3270,4010,3731,256.8,-10.7,267,2794,0.00,2.20,0.00,0.000,3078,0.000,0.047,2616,1867,3870,4011,3730,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3095,-1.01,-150.8,2616,1868,4010,3730,291.8,-10.6,283,3101,0.00,2.28,0.00,0.000,2564,0.000,0.063,2617,465,3870,4011,3730,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3164,-1.01,-150.8,2616,465,4010,3730,298.8,-11.2,286,3169,0.08,2.22,0.00,0.000,3078,0.194,0.046,2623,1867,3870,4010,3730,0,0,0,0,0,0,25.86,26.01,28.83
$GC,3477,-1.01,-150.8,2623,1867,4010,3730,330.9,-10.0,302,3483,0.00,2.28,0.00,0.000,2308,0.000,0.065,2613,3269,3870,4011,3730,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3516,-1.01,-150.8,2613,3269,4010,3729,334.9,-10.1,304,3520,0.00,2.17,0.00,0.000,3078,0.000,0.048,2613,1868,3870,4011,3729,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3832,-1.01,-150.8,2613,1868,4011,3729,367.9,-10.4,320,3838,0.00,2.28,0.00,0.000,2564,0.000,0.063,2613,467,3870,4011,3729,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3880,-1.01,-150.8,2613,467,4010,3728,372.4,-10.7,322,3885,0.10,2.22,0.00,0.000,3078,0.181,0.047,2627,1872,3869,4010,3729,0,0,0,0,0,0,25.78,26.01,28.83
$GC,4188,-1.01,-150.8,2627,1873,4011,3728,403.4,-9.4,337,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3869,4010,3728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,-1.01,-150.8,2627,1873,4010,3727,431.9,-9.6,352,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3869,4011,3727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4787,-1.01,-150.8,2627,1873,4010,3726,460.1,-9.6,367,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3868,4011,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-1.01,-150.8,2627,1873,4010,3726,489.0,-9.6,382,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1872,3868,4010,3726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5387,-1.01,-150.8,2627,1873,4010,3725,518.6,-10.0,397,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3867,4010,3725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-1.01,-150.8,2627,1873,4011,3724,547.3,-9.3,412,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3867,4010,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-1.01,-150.8,2627,1873,4010,3723,574.8,-9.2,427,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3866,4010,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6287,-1.01,-150.8,2627,1873,4010,3722,601.4,-8.8,442,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-1.01,-150.8,2627,1873,4010,3722,627.1,-8.5,457,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1873,3866,4010,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6887,-1.04,-150.8,2627,1873,4010,3721,653.2,-8.9,472,6888,0.00,0.00,0.00,0.000,4102,0.000,0.000,2627,1873,3865,4010,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7188,-1.08,-150.8,2627,1873,4010,3721,679.9,-8.7,487,7189,0.05,0.00,0.00,0.000,4102,0.160,0.000,2590,1874,3865,4010,3721,0,0,0,0,0,0,26.51,28.83,28.83
$GC,7487,-1.04,-150.8,2590,1874,4010,3721,711.5,-10.6,502,7489,0.10,0.00,0.00,0.000,2054,0.174,0.000,2614,1874,3865,4010,3721,0,0,0,0,0,0,26.23,28.83,28.83
$GC,7787,-1.04,-150.8,2614,1874,4010,3720,740.9,-10.0,517,7788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1874,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8086,-1.04,-150.8,2614,1874,4010,3720,771.0,-10.1,532,8088,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1874,3865,4010,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,-1.04,-150.8,2614,1874,4010,3719,801.6,-10.2,547,8388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1874,3864,4010,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8686,-1.04,-150.8,2614,1874,4010,3718,832.0,-10.1,562,8687,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1874,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8987,-1.04,-150.8,2614,1874,4009,3718,862.9,-10.4,577,8988,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,1874,3864,4010,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9286,-1.04,-150.8,2614,1874,4009,3718,893.9,-10.0,592,9291,0.00,2.33,0.00,0.000,2564,0.000,0.067,2614,471,3863,4009,3718,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9327,-1.04,-150.8,2614,471,4009,3717,898.0,-10.4,594,9331,0.00,2.25,0.00,0.000,3078,0.000,0.049,2606,1870,3863,4009,3718,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9644,-1.04,-150.8,2605,1870,4010,3716,931.2,-10.4,610,9645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2605,1871,3863,4010,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9944,-1.04,-150.8,2605,1871,4010,3716,961.6,-10.0,625,9945,0.00,0.00,0.00,0.000,2054,0.000,0.000,2606,1871,3863,4010,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10244,-1.04,-150.8,2605,1871,4009,3716,991.5,-9.6,640,10245,0.00,0.00,0.00,0.000,2054,0.000,0.000,2605,1871,3863,4010,3716,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10342,begin apogee
$GC,10348,-0.19,0.0,2605,1332,4010,3716,1001.0,-9.4,645,10484,0.93,0.00,130.35,1.286,10246,0.129,0.000,2890,1331,3250,3378,3122,0,0,0,0,0,0,25.27,28.83,23.10
$STATE,10485,end apogee,CONTROL_FINISHED_OK
$STATE,10485,begin climb
$GC,10487,0.77,150.8,2889,1331,3378,3122,1004.0,0.0,652,10633,0.93,2.25,135.27,1.245,10756,0.060,0.074,3218,161,2635,2729,2541,0,0,0,0,0,0,24.22,23.56,22.68
$GC,10748,0.51,150.8,3218,161,2723,2541,973.3,16.2,665,10753,0.38,1.92,0.00,0.000,5126,0.156,0.049,3117,1340,2632,2723,2541,0,0,0,0,0,0,24.70,25.04,28.83
$GC,11063,0.47,150.8,3117,1340,2718,2539,938.2,10.8,681,11068,0.00,2.00,0.00,0.000,4612,0.000,0.077,3126,167,2629,2718,2540,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11100,0.43,150.8,3126,167,2718,2540,933.7,11.1,683,11107,0.12,1.85,0.00,0.000,5126,0.157,0.052,3095,1330,2628,2718,2539,0,0,0,0,0,0,25.46,25.71,28.83
$GC,11423,0.43,158.3,3094,1330,2717,2538,903.1,9.5,699,11431,0.00,0.00,6.62,0.920,8198,0.000,0.000,3095,1330,2604,2691,2517,0,0,0,0,0,0,28.83,28.83,24.60
$GC,11720,0.45,188.6,3094,1330,2691,2518,876.8,8.5,714,11750,0.00,0.00,28.00,1.180,10246,0.000,0.000,3095,1330,2481,2568,2394,0,0,0,0,0,0,28.83,28.83,24.21
$GC,12041,0.51,212.5,3094,1330,2563,2394,849.1,8.8,730,12069,0.08,2.08,22.10,1.138,10756,0.119,0.078,3140,165,2383,2468,2298,0,0,0,0,0,0,25.91,25.16,24.21
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$STATE,19986,end climb,SURFACE_DEPTH_REACHED
$STATE,19986,begin surface coast
$FINISH,1.9,1.010568
$STATE,20016,end surface coast,CONTROL_FINISHED_OK
$STATE,20016,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,50.07
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$TCM_TEMP,14.50
$XPDR_PINGS,0
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$10V_AH,10.2,20.858
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353648
$DATA_FILE_SIZE,73397,1244
$CAP_FILE_SIZE,184462,0
$CFSIZE,2097086464,2063564800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,15
$GPS,230117,190402,-4613.154,509.010,31,0.9,31,-23.7