version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 5
start: 12 4 116 15 1 21
data:
$ID,573
$MISSION,15
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,115
$T_ABORT,140
$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,-31601.271
$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,1967
$C_ROLL_CLIMB,1967
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,3200
$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
$GPS1,041216,145105,-4528.307,607.802,26,0.8,26,-24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-54.2
$GPS2,041216,150057,-4528.312,607.949,65,0.8,65,-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,241.9,121055,-11.5,-10.000,-14.90,5188
$D_GRID,300
$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,-340.5,199,1975,469,325,0.0,0.0,0,181,0.00,0.00,-162.82,0.000,16386,0.000,0.000,199,1976,3803,3901,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,183,-0.65,-340.5,199,1976,3902,3705,3.3,-4.1,26,205,10.93,2.42,-3.60,0.000,18692,0.267,0.098,2729,3382,3960,4008,3912,0,0,0,0,0,0,25.40,25.60,25.94
$GC,273,-0.73,-340.5,1736,3381,4007,3915,16.0,-8.8,42,281,0.00,2.35,0.00,0.000,5126,0.000,0.061,2729,1971,3962,4008,3916,0,0,0,0,0,0,28.83,25.70,28.83
$GC,325,-0.78,-340.5,1728,1969,4007,3915,19.5,-7.0,51,333,0.10,2.40,0.00,0.000,4612,0.104,0.079,2683,554,3962,4008,3916,0,0,0,0,0,0,25.83,25.68,28.83
$GC,371,-0.68,-340.5,2683,554,4008,3917,22.4,-5.9,59,379,0.20,2.38,0.00,0.000,3078,0.161,0.065,2729,1981,3962,4008,3917,0,0,0,0,0,0,25.67,25.74,28.83
$GC,502,-0.72,-340.5,1736,1978,4007,3916,30.5,-6.2,84,508,0.00,0.00,0.00,0.000,4102,0.000,0.000,2729,1980,3962,4008,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,633,-0.75,-340.5,1744,1978,4007,3917,39.1,-6.1,109,640,0.00,0.00,0.00,0.000,4102,0.000,0.000,2729,1980,3963,4009,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-0.79,-340.5,2729,1981,4008,3917,48.3,-7.2,134,771,0.10,2.42,0.00,0.000,4612,0.107,0.076,2689,542,3962,4008,3917,0,0,0,0,0,0,26.05,25.92,28.83
$GC,809,-0.71,-340.5,2688,542,4008,3918,52.3,-8.6,142,816,0.15,2.35,0.00,0.000,3078,0.165,0.063,2719,1967,3963,4009,3917,0,0,0,0,0,0,25.87,25.95,28.83
$GC,1119,-0.71,-340.5,2719,1967,4009,3917,76.2,-7.5,203,1126,0.00,2.38,0.00,0.000,2308,0.000,0.089,2709,3377,3963,4008,3918,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1153,-0.75,-340.5,2708,3377,4008,3917,78.6,-8.1,209,1159,0.00,2.30,0.00,0.000,3078,0.000,0.060,2709,1952,3962,4008,3917,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1476,-0.75,-340.5,2709,1952,4008,3918,103.7,-8.1,228,1482,0.00,2.30,0.00,0.000,2564,0.000,0.075,2709,556,3963,4008,3918,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1558,-0.75,-340.5,2709,556,4008,3918,110.6,-8.5,232,1563,0.00,2.33,0.00,0.000,3078,0.000,0.062,2700,1977,3963,4009,3918,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1876,-0.75,-340.5,2699,1978,4008,3918,136.5,-8.3,248,1881,0.00,2.35,0.00,0.000,2564,0.000,0.075,2700,558,3963,4008,3918,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1915,-0.75,-340.5,2700,558,4008,3918,139.9,-8.4,250,1921,0.08,2.30,0.00,0.000,3078,0.197,0.062,2708,1967,3963,4008,3918,0,0,0,0,0,0,26.10,26.17,28.83
$GC,2237,-0.75,-340.5,2707,1967,4008,3918,165.7,-8.3,266,2238,0.00,0.00,0.00,0.000,2054,0.000,0.000,2708,1967,3963,4008,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-0.75,-340.5,2707,1967,4008,3918,189.1,-7.6,281,2537,0.00,0.00,0.00,0.000,2054,0.000,0.000,2708,1967,3963,4008,3918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.75,-340.5,2707,1967,4008,3918,211.2,-7.4,296,2839,0.00,2.35,0.00,0.000,2564,0.000,0.074,2708,556,3963,4009,3918,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2879,-0.75,-340.5,2708,556,4008,3918,214.1,-7.6,298,2883,0.00,2.33,0.00,0.000,3078,0.000,0.062,2699,1965,3963,4008,3919,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3191,-0.75,-340.5,2698,1966,4008,3918,237.6,-7.4,314,3197,0.00,2.33,0.00,0.000,2564,0.000,0.076,2699,556,3963,4008,3918,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3239,-0.75,-340.5,2698,556,4008,3918,240.7,-7.7,316,3244,0.10,2.30,0.00,0.000,3078,0.178,0.063,2715,1967,3963,4008,3918,0,0,0,0,0,0,26.22,26.28,28.83
$STATE,3465,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3465,begin apogee
$GC,3468,-0.19,0.0,2715,1967,4008,3918,257.9,-7.3,327,3617,0.55,0.00,145.25,0.854,10246,0.126,0.000,2890,1967,3199,3292,3107,0,0,0,0,0,0,26.22,28.83,23.75
$STATE,3618,end apogee,CONTROL_FINISHED_OK
$STATE,3618,begin climb
$GC,3619,0.65,340.5,2889,1967,3292,3107,263.7,0.0,334,3908,0.77,2.60,279.08,0.804,10756,0.069,0.075,3167,553,1810,1890,1731,0,0,0,0,0,0,24.48,24.13,23.56
$GC,4091,0.51,340.5,3167,553,1880,1727,218.8,12.4,358,4098,0.17,2.42,0.00,0.000,5126,0.135,0.061,3118,1974,1803,1880,1727,0,0,0,0,0,0,25.12,25.17,28.83
$GC,4410,0.51,340.5,3118,1975,1877,1727,187.0,10.4,374,4415,0.00,2.38,0.00,0.000,260,0.000,0.086,3118,3374,1802,1878,1727,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4527,0.48,340.5,3118,3375,1876,1727,174.2,11.2,380,4534,0.08,2.30,0.00,0.000,5126,0.177,0.059,3110,1970,1801,1876,1727,0,0,0,0,0,0,25.65,25.70,28.83
$GC,4847,0.52,411.3,3110,1970,1876,1727,144.9,8.6,396,4911,0.00,2.53,58.05,0.775,10500,0.000,0.086,3110,3382,1523,1615,1432,0,0,0,0,0,0,28.83,24.87,24.29
$GC,4949,0.59,475.3,3110,3382,1607,1431,136.2,8.7,401,5009,0.05,2.38,54.05,0.751,11270,0.078,0.060,3157,1965,1261,1358,1165,0,0,0,0,0,0,25.10,25.11,23.95
$GC,5308,0.59,475.3,3156,1964,1345,1164,99.9,10.1,419,5314,0.00,2.45,0.00,0.000,4356,0.000,0.084,3157,3381,1254,1345,1164,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5331,0.59,475.3,3157,3381,1343,1164,97.9,10.0,420,5336,0.08,2.35,0.00,0.000,5126,0.172,0.057,3148,1957,1254,1344,1164,0,0,0,0,0,0,25.48,25.54,28.83
$GC,5637,0.59,475.3,2208,1955,1325,1162,67.5,10.1,452,5644,0.00,2.40,0.00,0.000,4356,0.000,0.083,3148,3382,1252,1342,1163,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5681,0.60,488.5,3148,3382,1341,1163,63.2,9.7,460,5700,0.00,2.30,10.80,0.659,13318,0.000,0.058,3155,1965,1207,1297,1118,0,0,0,0,0,0,28.83,25.82,25.00
$GC,6003,0.60,488.5,2176,1963,1278,1116,28.5,12.0,523,6010,0.00,2.40,0.00,0.000,4356,0.000,0.084,3155,3379,1206,1294,1118,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6037,0.60,488.5,3155,3379,1294,1118,24.6,11.4,529,6045,0.03,2.30,0.00,0.000,5126,0.173,0.057,3154,1972,1205,1294,1117,0,0,0,0,0,0,25.79,25.87,28.83
$GC,6167,0.60,488.5,2152,1970,1277,1116,9.7,11.2,554,6174,0.00,2.40,0.00,0.000,4612,0.000,0.080,3162,562,1205,1294,1117,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6201,0.63,488.5,2192,562,1277,1115,5.5,12.1,560,6209,0.00,2.33,0.00,0.000,5126,0.000,0.060,3162,1963,1205,1294,1116,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,6224,end climb,SURFACE_DEPTH_REACHED
$STATE,6224,begin surface coast
$FINISH,0.9,1.001264
$STATE,6252,end surface coast,CONTROL_FINISHED_OK
$STATE,6252,begin surface
$SM_CCo,6265,98.97,0.055,0,0,408,684.62
$SM_CCo,6367,-0.57,0.000,0,0,409,684.62
$SM_CCo,6369,0.00,0.000,0,0,409,684.62
$SM_GC,1.43,7.88,0.00,0.00,0.048,0.000,0.000,231,1974,409,-8.42,0.20,684.62,0,0,0,0,0,0,26.02,28.83,28.83
$IRIDIUM_FIX,-4508.77,605.84,011009,020210
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.85
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,23.6,2.107
$10V_AH,10.3,1.410
$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,21.250,71.100,547.225,98.975,0.000,24.681,40.231,383.594,6.500,0.000,66.804,1355.998,2945.339,729.883,1883.800,61.979,0.000,1411.113,0.000,1332.463,0.000,39.581,0.000
$DEVICE_MAMPS,266.985,97.920,853.740,55.080,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.741,318.198,737.111,123.325,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353680
$DATA_FILE_SIZE,33628,569
$CAP_FILE_SIZE,90755,0
$CFSIZE,2097086464,2091024384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041216,164818,-4528.086,608.473,13,0.9,14,-24.2