version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 3
start: 12 4 116 11 56 48
data:
$ID,573
$MISSION,15
$DIVE,3
$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,80
$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,-31598.674
$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,21
$R_STBD_OVSHOOT,21
$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
$GPS1,041216,115122,-4528.618,607.245,21,1.4,21,-24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-52.4
$GPS2,041216,115624,-4528.606,607.289,16,0.9,17,-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,241.8,120109,-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,-340.5,234,1964,489,296,0.0,0.0,0,180,0.00,0.00,-162.07,0.000,16386,0.000,0.000,228,1961,3757,3847,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,182,-0.65,-340.5,228,1961,3849,3668,3.1,-3.9,26,200,11.02,0.00,-4.65,0.000,19206,0.265,0.000,2803,1960,3960,4010,3910,0,0,0,0,0,0,25.53,28.83,26.13
$GC,244,-0.88,-340.5,1792,1958,4008,3915,11.5,-7.6,36,251,0.17,0.00,0.00,0.000,4102,0.085,0.000,2730,1962,3963,4010,3916,0,0,0,0,0,0,25.89,28.83,28.83
$GC,294,-0.93,-340.5,1744,1960,4008,3915,14.6,-8.8,45,300,0.00,0.00,0.00,0.000,4102,0.000,0.000,2729,1962,3962,4009,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,343,-0.97,-340.5,1744,1960,4008,3916,18.4,-8.7,54,350,0.08,0.00,0.00,0.000,4102,0.122,0.000,2699,1962,3963,4009,3917,0,0,0,0,0,0,26.03,28.83,28.83
$GC,392,-0.97,-340.5,1712,1960,4008,3916,23.7,-11.7,63,399,0.00,2.35,0.00,0.000,2564,0.000,0.074,2699,539,3963,4009,3917,0,0,0,0,0,0,28.83,25.89,28.83
$GC,438,-0.92,-340.5,1704,539,4008,3916,28.3,-11.2,71,446,0.12,2.38,0.00,0.000,3078,0.161,0.060,2722,1994,3963,4009,3917,0,0,0,0,0,0,25.87,25.94,28.83
$GC,569,-0.95,-340.5,1712,1992,4008,3916,35.7,-5.5,96,576,0.00,0.00,0.00,0.000,4102,0.000,0.000,2722,1994,3962,4009,3916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,699,-0.99,-340.5,1744,1991,4008,3916,42.5,-5.6,121,705,0.08,0.00,0.00,0.000,4102,0.131,0.000,2692,1995,3963,4010,3917,0,0,0,0,0,0,26.18,28.83,28.83
$GC,1009,-0.99,-340.5,1736,1992,4008,3916,65.8,-8.1,182,1015,0.00,2.40,0.00,0.000,2564,0.000,0.076,2692,545,3963,4009,3917,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1124,-0.95,-340.5,2692,544,4009,3917,75.1,-9.3,204,1132,0.12,2.35,0.00,0.000,3078,0.167,0.063,2716,1963,3963,4009,3917,0,0,0,0,0,0,26.08,26.13,28.83
$GC,1451,-0.95,-340.5,2715,1963,4009,3918,96.6,-7.0,229,1457,0.00,2.30,0.00,0.000,516,0.000,0.078,2716,557,3964,4010,3918,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1482,-0.95,-340.5,2716,558,4010,3917,98.1,-7.1,230,1490,0.00,2.33,0.00,0.000,3078,0.000,0.063,2707,1962,3963,4009,3918,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1789,-0.95,-340.5,2706,1962,4010,3918,121.4,-7.2,246,1793,0.00,2.33,0.00,0.000,2564,0.000,0.076,2707,554,3963,4009,3918,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1827,-0.95,-340.5,2707,554,4009,3918,124.1,-7.6,248,1833,0.03,2.30,0.00,0.000,3078,0.188,0.064,2708,1970,3963,4009,3918,0,0,0,0,0,0,26.17,26.23,28.83
$STATE,1965,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1965,begin apogee
$GC,1968,-0.19,0.0,2707,1971,4009,3918,133.9,-6.8,255,2075,0.77,0.00,104.25,0.778,10246,0.125,0.000,2957,1970,3400,3476,3325,0,0,0,0,0,0,26.18,28.83,24.13
$STATE,2076,end apogee,CONTROL_FINISHED_OK
$STATE,2077,begin climb
$GC,2078,0.65,340.5,2957,1971,3476,3325,137.8,0.0,260,2358,0.73,2.58,271.10,0.737,10500,0.047,0.086,3237,3391,2010,2075,1945,0,0,0,0,0,0,24.84,24.42,23.88
$GC,2446,0.36,340.5,3237,3391,2065,1943,103.4,16.4,279,2453,0.35,2.38,0.00,0.000,5126,0.148,0.060,3142,1970,2004,2065,1943,0,0,0,0,0,0,25.06,25.12,28.83
$GC,2756,0.26,340.5,2192,1968,2021,1934,70.6,10.9,308,2763,0.12,2.42,0.00,0.000,4356,0.154,0.085,3104,3377,2001,2063,1939,0,0,0,0,0,0,25.66,25.66,28.83
$GC,2871,0.26,402.8,3103,3377,2063,1940,59.6,8.8,330,2930,0.00,2.33,49.80,0.705,13318,0.000,0.059,3113,1962,1756,1839,1674,0,0,0,0,0,0,28.83,25.79,24.48
$GC,3232,0.29,448.0,2112,1960,1790,1667,26.3,9.1,400,3265,0.00,2.53,23.70,0.662,8452,0.000,0.085,3113,3378,1570,1660,1480,0,0,0,0,0,0,28.83,25.31,24.80
$GC,3309,0.44,653.0,2112,3377,1622,1477,19.3,5.9,413,3424,0.12,2.35,105.28,0.620,11270,0.086,0.059,3178,1965,735,822,648,0,0,0,0,0,0,25.53,25.50,24.16
$STATE,3460,end climb,SURFACE_DEPTH_REACHED
$STATE,3460,begin surface coast
$FINISH,0.8,1.011234
$STATE,3488,end surface coast,CONTROL_FINISHED_OK
$STATE,3488,begin surface
$SM_CCo,3502,41.42,0.054,0,0,406,733.68
$SM_GC,1.24,8.07,0.00,41.42,0.040,0.000,0.054,232,1965,406,-8.63,-0.06,733.68,0,0,0,0,0,0,25.21,28.83,25.28
$IRIDIUM_FIX,-4508.77,602.79,011009,010109
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,8.90349
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.9,1.800
$10V_AH,10.4,1.299
$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,21.800,33.300,554.125,41.425,0.000,0.000,0.000,0.000,3.250,0.000,18.928,958.630,991.971,615.960,1015.905,35.475,0.000,1168.469,0.000,993.935,0.000,20.155,0.000
$DEVICE_MAMPS,265.455,86.445,778.005,53.550,0.000,0.000,0.000,0.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.931,217.277,606.134,120.068,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353712
$DATA_FILE_SIZE,26925,443
$CAP_FILE_SIZE,75404,0
$CFSIZE,2097086464,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041216,125640,-4528.491,607.415,14,1.7,14,-24.2