version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 6
start: 12 4 116 16 57 38
data:
$ID,573
$MISSION,15
$DIVE,6
$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,-31602.621
$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,24
$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
$GPS1,041216,164818,-4528.086,608.473,13,0.9,14,-24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-55.5
$GPS2,041216,165714,-4528.106,608.661,17,0.9,18,-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,242.2,121916,-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,-340.5,205,1973,468,323,0.0,0.0,0,181,0.00,0.00,-162.98,0.000,16386,0.000,0.000,206,1968,3796,3894,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,183,-0.65,-340.5,205,1968,3895,3698,3.4,-4.7,26,205,11.10,2.42,-3.75,0.000,18692,0.272,0.097,2726,3376,3960,4008,3913,0,0,0,0,0,0,25.35,25.52,25.88
$GC,263,-0.71,-340.5,1736,3375,4007,3916,14.2,-7.1,40,271,0.00,2.35,0.00,0.000,1030,0.000,0.060,2726,1962,3962,4008,3917,0,0,0,0,0,0,28.83,25.63,28.83
$GC,314,-0.74,-340.5,1760,1960,4007,3916,18.5,-8.8,49,321,0.00,2.35,0.00,0.000,4612,0.000,0.073,2726,551,3962,4008,3917,0,0,0,0,0,0,28.83,25.63,28.83
$GC,348,-0.74,-340.5,1760,551,4007,3917,21.0,-7.4,55,356,0.00,2.38,0.00,0.000,1030,0.000,0.060,2717,1990,3963,4009,3917,0,0,0,0,0,0,28.83,25.68,28.83
$GC,480,-0.74,-340.5,1728,1989,4007,3917,31.0,-7.8,80,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1991,3963,4009,3917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,610,-0.74,-340.5,2716,1991,4008,3918,40.9,-6.0,105,617,0.00,2.40,0.00,0.000,516,0.000,0.072,2717,555,3963,4009,3918,0,0,0,0,0,0,28.83,25.81,28.83
$GC,654,-0.74,-340.5,1760,555,4007,3917,44.0,-7.9,113,660,0.00,2.33,0.00,0.000,3078,0.000,0.059,2708,1965,3963,4008,3918,0,0,0,0,0,0,28.83,25.85,28.83
$GC,963,-0.74,-340.5,2707,1966,4009,3918,66.7,-7.9,174,970,0.00,2.35,0.00,0.000,2564,0.000,0.071,2708,543,3963,4008,3918,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1028,-0.71,-340.5,2708,544,4008,3918,71.8,-7.6,186,1036,0.10,2.35,0.00,0.000,3078,0.175,0.059,2723,1967,3963,4008,3918,0,0,0,0,0,0,25.92,25.99,28.83
$GC,1344,-0.71,-340.5,2723,1967,4008,3919,91.4,-6.4,221,1345,0.00,0.00,0.00,0.000,2054,0.000,0.000,2723,1967,3963,4008,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.71,-340.5,2723,1967,4008,3919,109.3,-5.8,236,1646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2723,1967,3964,4009,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1944,-0.71,-340.5,2723,1967,4008,3920,129.1,-6.8,251,1950,0.00,2.35,0.00,0.000,2564,0.000,0.071,2723,554,3964,4009,3920,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1986,-0.71,-340.5,2723,554,4008,3920,132.0,-7.1,253,1991,0.00,2.28,0.00,0.000,3078,0.000,0.058,2714,1965,3964,4008,3920,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2305,-0.71,-340.5,2714,1965,4008,3919,156.3,-7.8,269,2311,0.00,2.30,0.00,0.000,2564,0.000,0.070,2715,555,3964,4008,3920,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2351,-0.71,-340.5,2714,555,4008,3920,159.8,-8.2,271,2357,0.08,2.30,0.00,0.000,3078,0.184,0.058,2722,1975,3964,4008,3920,0,0,0,0,0,0,26.15,26.21,28.83
$GC,2659,-0.74,-340.5,2722,1975,4008,3920,183.9,-7.5,286,2665,0.00,2.33,0.00,0.000,4612,0.000,0.070,2723,557,3963,4008,3919,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2702,-0.74,-340.5,2722,556,4008,3919,187.1,-7.6,288,2707,0.00,2.33,0.00,0.000,1030,0.000,0.059,2713,2002,3964,4008,3920,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3020,-0.74,-340.5,2713,2002,4008,3920,210.8,-6.9,304,3025,0.00,2.38,0.00,0.000,516,0.000,0.071,2714,557,3963,4008,3919,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3054,-0.74,-340.5,2713,557,4008,3920,212.2,-6.9,305,3060,0.00,2.28,0.00,0.000,3078,0.000,0.060,2704,1965,3963,4008,3919,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3360,-0.74,-340.5,2704,1965,4009,3920,233.5,-6.5,321,3366,0.00,2.28,0.00,0.000,2564,0.000,0.070,2704,558,3964,4008,3920,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3408,-0.74,-340.5,2704,558,4008,3920,236.4,-6.7,323,3413,0.05,2.30,0.00,0.000,3078,0.216,0.060,2708,1973,3964,4008,3920,0,0,0,0,0,0,26.22,26.27,28.83
$STATE,3459,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3459,begin apogee
$GC,3462,-0.19,0.0,2708,1973,4008,3919,240.6,-7.0,326,3611,0.57,0.00,145.62,0.841,10246,0.127,0.000,2889,1973,3200,3293,3107,0,0,0,0,0,0,26.20,28.83,23.73
$STATE,3612,end apogee,CONTROL_FINISHED_OK
$STATE,3612,begin climb
$GC,3613,0.65,340.5,2889,1972,3293,3107,245.4,0.0,333,3902,0.80,2.58,278.48,0.795,10756,0.080,0.073,3166,557,1810,1890,1731,0,0,0,0,0,0,24.44,24.09,23.51
$GC,4127,0.51,340.5,3165,556,1878,1727,195.0,12.5,359,4133,0.12,2.38,0.00,0.000,5126,0.118,0.059,3124,1966,1802,1878,1727,0,0,0,0,0,0,25.16,25.22,28.83
$GC,4447,0.53,361.2,3124,1967,1877,1726,163.5,9.6,375,4469,0.00,2.42,17.15,0.732,8452,0.000,0.083,3124,3376,1727,1810,1644,0,0,0,0,0,0,28.83,25.27,24.68
$GC,4574,0.49,361.2,3124,3377,1805,1644,150.8,11.2,381,4582,0.08,2.33,0.00,0.000,5126,0.174,0.057,3115,1966,1724,1805,1644,0,0,0,0,0,0,25.44,25.50,28.83
$GC,4882,0.50,378.3,3115,1966,1803,1644,119.5,9.7,397,4903,0.00,2.50,15.35,0.718,8452,0.000,0.082,3115,3380,1656,1741,1572,0,0,0,0,0,0,28.83,25.45,24.84
$GC,4973,0.50,378.3,3115,3380,1737,1571,111.0,10.3,401,4977,0.00,2.35,0.00,0.000,5126,0.000,0.057,3123,1957,1654,1737,1571,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5286,0.51,387.6,3123,1957,1734,1572,78.7,9.8,417,5300,0.00,2.47,8.75,0.639,12548,0.000,0.080,3123,3375,1617,1700,1535,0,0,0,0,0,0,28.83,25.64,25.01
$GC,5362,0.51,387.6,3123,3376,1701,1535,70.8,10.1,431,5369,0.00,2.30,0.00,0.000,5126,0.000,0.057,3132,1962,1618,1701,1536,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5671,0.51,399.1,3131,1961,1698,1535,39.8,9.8,492,5692,0.00,2.45,11.07,0.654,12548,0.000,0.080,3132,3377,1571,1655,1488,0,0,0,0,0,0,28.83,25.68,25.06
$GC,5760,0.52,477.4,2152,3375,1623,1485,31.5,8.4,508,5812,0.03,2.30,46.33,0.707,13318,0.174,0.057,3130,1972,1252,1351,1153,0,0,0,0,0,0,25.71,25.79,24.46
$GC,5936,0.60,477.4,2128,1970,1321,1151,16.2,10.6,540,5943,0.00,2.45,0.00,0.000,2308,0.000,0.084,3129,3380,1246,1340,1152,0,0,0,0,0,0,28.83,25.36,28.83
$GC,6026,0.65,477.4,2144,3378,1318,1151,6.1,11.3,557,6034,0.03,2.33,0.00,0.000,3078,0.047,0.056,3182,1972,1244,1336,1153,0,0,0,0,0,0,25.53,25.54,28.83
$STATE,6049,end climb,SURFACE_DEPTH_REACHED
$STATE,6049,begin surface coast
$FINISH,1.0,1.023366
$STATE,6071,end surface coast,CONTROL_FINISHED_OK
$STATE,6071,begin surface
$SM_CCo,6084,103.20,0.054,0,0,408,684.62
$SM_CCo,6190,-0.55,0.000,0,0,410,684.62
$SM_CCo,6192,0.08,0.194,0,0,409,684.62
$SM_GC,1.59,7.97,0.00,0.08,0.043,0.000,0.194,234,1967,409,-8.41,0.00,684.62,0,0,0,0,0,0,25.62,28.83,25.55
$IRIDIUM_FIX,-4508.77,615.33,011009,040436
$TT8_MAMPS,0.027713,0.027713
$HUMID,51.14
$INTERNAL_PRESSURE,8.86442
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,23.5,2.252
$10V_AH,10.4,1.464
$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,20.925,70.875,522.750,103.275,0.000,27.271,19.198,391.481,6.000,0.000,20.140,1336.316,2830.820,707.543,1808.732,60.590,0.000,1385.014,0.000,1318.248,0.000,36.376,0.000
$DEVICE_MAMPS,272.340,97.155,840.735,194.310,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.259,310.787,730.801,120.753,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353700
$DATA_FILE_SIZE,33693,565
$CAP_FILE_SIZE,89129,0
$CFSIZE,2097086464,2090926080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041216,184204,-4527.837,609.303,39,1.0,39,-24.2