version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 2
start: 12 4 116 10 34 59
data:
$ID,573
$MISSION,15
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,65
$T_ABORT,90
$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,350
$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,733.68036
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-31486.102
$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,3020
$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,1967
$C_ROLL_CLIMB,1967
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3400
$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
$GPS1,041216,102945,-4528.895,606.949,34,0.8,34,-24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-50.8
$GPS2,041216,103435,-4528.866,606.987,19,0.9,19,-24.2
$SPEED_LIMITS,0.173,0.376
$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,241.8,119493,-11.5,-10.000,-14.90,5188
$D_GRID,150
$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,14,-0.65,-340.5,225,1961,503,290,0.0,0.0,0,179,0.00,0.00,-161.85,0.000,16386,0.000,0.000,215,1956,3791,3887,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,182,-0.65,-340.5,214,1956,3888,3695,3.1,-4.7,26,206,10.62,2.47,-3.97,0.000,18692,0.251,0.103,2793,3376,3963,4010,3916,0,0,0,0,0,0,25.62,25.82,26.22
$GC,214,0.16,-340.5,2793,3376,4010,3916,8.8,-16.1,30,222,0.75,2.30,0.00,0.000,3078,0.085,0.057,3071,1960,3963,4010,3917,0,0,0,0,0,0,25.86,25.94,28.83
$GC,264,-0.77,-340.5,2080,1957,4008,3918,11.1,-6.4,39,272,0.88,2.38,0.00,0.000,4356,0.114,0.080,2781,3376,3963,4008,3919,0,0,0,0,0,0,25.86,25.87,28.83
$GC,331,-1.16,-340.5,1792,3375,4008,3919,15.9,-6.7,51,339,0.32,2.28,0.00,0.000,5126,0.080,0.056,2647,1964,3964,4009,3919,0,0,0,0,0,0,25.96,26.01,28.83
$GC,383,-1.10,-340.5,1664,1962,4007,3919,18.9,-6.4,60,391,0.08,2.33,0.00,0.000,2564,0.187,0.073,2663,558,3964,4009,3920,0,0,0,0,0,0,26.04,25.96,28.83
$GC,494,-1.01,-340.5,1664,558,4007,3919,25.0,-5.3,81,505,0.08,2.33,0.00,0.000,3078,0.132,0.061,2692,1965,3964,4008,3920,0,0,0,0,0,0,25.94,26.01,28.83
$GC,628,-1.01,-340.5,1696,1963,4007,3919,32.5,-5.6,106,635,0.00,2.35,0.00,0.000,2564,0.000,0.076,2693,544,3964,4008,3920,0,0,0,0,0,0,28.83,26.06,28.83
$GC,652,-1.01,-340.5,2692,544,4008,3920,33.7,-5.1,110,659,0.00,2.35,0.00,0.000,3078,0.000,0.062,2683,1967,3964,4008,3920,0,0,0,0,0,0,28.83,26.08,28.83
$GC,782,-0.97,-340.5,2683,1967,4009,3920,42.8,-9.1,135,789,0.10,0.00,0.00,0.000,2054,0.177,0.000,2708,1967,3964,4008,3920,0,0,0,0,0,0,26.12,28.83,28.83
$GC,1094,-0.97,-340.5,2707,1967,4008,3920,66.7,-5.8,196,1101,0.00,2.33,0.00,0.000,516,0.000,0.076,2708,567,3964,4008,3920,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1174,-0.97,-340.5,2708,567,4008,3920,71.2,-6.1,211,1180,0.00,2.28,0.00,0.000,3078,0.000,0.060,2699,1970,3964,4008,3920,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1499,-0.97,-340.5,2699,1971,4008,3920,94.9,-6.9,245,1505,0.00,2.33,0.00,0.000,2564,0.000,0.076,2699,561,3964,4008,3920,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1561,-0.97,-340.5,1824,561,4008,3919,99.2,-7.1,248,1566,0.03,2.30,0.00,0.000,3078,0.187,0.061,2701,1958,3964,4008,3920,0,0,0,0,0,0,26.18,26.25,28.83
$GC,1879,-0.97,-340.5,2701,1959,4008,3920,121.1,-6.8,264,1885,0.00,2.28,0.00,0.000,2564,0.000,0.077,2701,567,3964,4008,3920,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1921,-0.97,-340.5,1824,567,4007,3919,124.1,-7.2,266,1926,0.03,2.30,0.00,0.000,3078,0.184,0.063,2701,1965,3964,4008,3920,0,0,0,0,0,0,26.23,26.29,28.83
$STATE,1957,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1957,begin apogee
$GC,1960,-0.19,0.0,2701,1966,4008,3920,126.9,-7.3,268,2068,0.77,0.00,103.85,0.775,10246,0.122,0.000,2953,1965,3400,3475,3325,0,0,0,0,0,0,26.22,28.83,24.24
$STATE,2068,end apogee,CONTROL_FINISHED_OK
$STATE,2069,begin climb
$GC,2070,0.65,340.5,2953,1966,3474,3325,130.6,0.0,273,2348,0.77,2.50,269.20,0.729,11012,0.049,0.083,3245,3375,2010,2076,1944,0,0,0,0,0,0,24.93,24.53,24.02
$GC,2529,0.35,340.5,3245,3375,2064,1942,80.7,17.3,296,2537,0.38,2.33,0.00,0.000,5126,0.142,0.059,3137,1984,2003,2064,1942,0,0,0,0,0,0,25.45,25.49,28.83
$GC,2840,0.26,340.5,3137,1984,2063,1939,47.2,10.1,357,2848,0.10,2.35,0.00,0.000,4356,0.164,0.083,3109,3378,2001,2063,1939,0,0,0,0,0,0,25.87,25.84,28.83
$GC,2961,0.23,372.0,2112,3377,2016,1933,35.8,9.4,380,2995,0.03,2.33,24.70,0.681,13318,0.114,0.060,3095,1956,1883,1958,1809,0,0,0,0,0,0,25.88,25.94,24.98
$GC,3119,0.27,447.3,2080,1953,1909,1803,21.9,8.5,409,3164,0.00,2.47,38.58,0.641,11012,0.000,0.080,3095,3383,1574,1665,1483,0,0,0,0,0,0,28.83,25.20,24.72
$GC,3268,0.34,447.3,2080,3382,1617,1479,7.2,11.0,436,3276,0.10,2.35,0.00,0.000,3078,0.101,0.059,3152,1966,1566,1650,1483,0,0,0,0,0,0,25.59,25.57,28.83
$STATE,3302,end climb,SURFACE_DEPTH_REACHED
$STATE,3302,begin surface coast
$FINISH,1.3,1.023383
$STATE,3323,end surface coast,CONTROL_FINISHED_OK
$STATE,3324,begin surface
$SM_CCo,3337,135.82,0.051,0,0,408,733.68
$SM_GC,1.40,7.88,0.00,135.82,0.044,0.000,0.051,224,1964,408,-8.64,-0.06,733.68,0,0,0,0,0,0,25.72,28.83,25.72
$IRIDIUM_FIX,-4508.77,603.11,300909,232303
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.71
$INTERNAL_PRESSURE,8.93279
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,24.0,1.643
$10V_AH,10.4,1.248
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.900,46.900,436.325,135.825,0.000,0.000,0.000,0.000,3.250,0.000,21.029,1013.568,793.582,649.738,1053.918,38.405,0.000,1181.377,0.000,1028.774,0.000,20.155,0.000
$DEVICE_MAMPS,250.920,103.275,774.945,51.255,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.500,225.087,634.177,135.554,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353692
$DATA_FILE_SIZE,26988,446
$CAP_FILE_SIZE,71240,0
$CFSIZE,2097086464,2091352064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041216,113406,-4528.591,607.159,39,0.8,40,-24.2