version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 256
start: 2 1 117 10 56 39
data:
$ID,573
$MISSION,15
$DIVE,256
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,120
$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,33
$T_MISSION,42
$T_ABORT,45
$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,-31919.668
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,010217,105109,-4604.488,509.273,18,1.4,18,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-59.9
$GPS2,010217,105616,-4604.458,509.323,20,0.8,20,-23.8
$SPEED_LIMITS,0.175,0.265
$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,202.1,28797,-18.1,-10.101,-20.87,2287
$D_GRID,100
$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,-0.79,-150.8,214,1871,602,417,0.0,0.0,0,146,0.00,0.00,-127.70,0.000,16386,0.000,0.000,212,1869,3305,3318,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,149,-0.79,-150.8,212,1869,3319,3293,3.0,-2.1,17,188,10.82,0.00,-20.90,0.000,18694,0.249,0.000,2690,1867,3865,4000,3731,0,0,0,0,0,0,25.01,28.83,26.17
$GC,239,-0.90,-150.8,2689,1867,4005,3730,8.1,-7.4,30,248,0.08,0.00,0.00,0.000,4102,0.122,0.000,2649,1868,3867,4005,3730,0,0,0,0,0,0,25.97,28.83,28.83
$GC,297,-0.90,-150.8,2648,1868,4006,3730,13.8,-10.3,39,305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2648,1868,3867,4005,3730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,356,-0.93,-150.8,2648,1868,4006,3730,19.9,-10.4,48,364,0.00,2.33,0.00,0.000,2308,0.000,0.062,2639,3268,3868,4007,3730,0,0,0,0,0,0,28.83,25.57,28.83
$GC,391,-0.97,-150.8,2638,3268,4007,3729,23.7,-10.7,53,399,0.00,2.25,0.00,0.000,3078,0.000,0.047,2639,1867,3868,4007,3729,0,0,0,0,0,0,28.83,25.74,28.83
$GC,547,-0.97,-150.8,2638,1867,4007,3729,40.6,-10.9,78,556,0.00,2.35,0.00,0.000,2564,0.000,0.062,2639,462,3868,4007,3729,0,0,0,0,0,0,28.83,25.64,28.83
$GC,584,-0.97,-150.8,2639,462,4007,3729,45.3,-11.5,84,593,0.00,2.28,0.00,0.000,3078,0.000,0.045,2630,1872,3868,4007,3729,0,0,0,0,0,0,28.83,25.82,28.83
$GC,935,-0.97,-150.8,2629,1873,4007,3729,82.5,-10.4,144,941,0.00,2.22,0.00,0.000,2308,0.000,0.061,2619,3260,3868,4007,3729,0,0,0,0,0,0,28.83,25.67,28.83
$GC,968,-0.97,-150.8,2618,3259,4008,3728,84.5,-10.4,145,978,0.05,2.22,0.00,0.000,3078,0.152,0.047,2637,1861,3867,4007,3728,0,0,0,0,0,0,25.68,25.87,28.83
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1095,begin apogee
$GC,1101,-0.19,0.0,2637,1335,4008,3728,100.4,-11.3,152,1222,0.82,0.00,117.70,0.705,10246,0.134,0.000,2887,1335,3249,3370,3129,0,0,0,0,0,0,25.33,28.83,24.08
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1225,0.79,150.8,2887,1335,3371,3128,106.1,0.0,158,1358,0.93,2.12,118.55,0.680,10756,0.075,0.068,3214,159,2634,2729,2540,0,0,0,0,0,0,24.87,24.58,23.92
$GC,1395,0.63,168.1,3214,160,2724,2540,96.7,9.3,166,1416,0.17,1.95,14.93,0.626,13318,0.138,0.044,3162,1342,2563,2648,2479,0,0,0,0,0,0,24.87,25.13,24.22
$GC,1734,0.63,168.1,3161,1343,2640,2479,58.5,10.4,209,1739,0.00,0.00,0.00,0.000,4102,0.000,0.000,3162,1343,2559,2640,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2079,0.63,179.5,3161,1343,2638,2479,24.4,9.6,270,2089,0.00,2.03,5.12,0.478,12804,0.000,0.071,3170,162,2518,2600,2436,0,0,0,0,0,0,28.83,25.81,24.84
$GC,2121,0.60,179.5,3170,162,2598,2436,20.1,10.9,276,2130,0.05,1.88,0.00,0.000,5126,0.153,0.046,3153,1338,2517,2598,2436,0,0,0,0,0,0,25.71,25.91,28.83
$GC,2276,0.60,179.5,3153,1338,2596,2436,5.5,10.2,301,2285,0.00,2.28,0.00,0.000,4356,0.000,0.054,3151,2733,2516,2596,2436,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,2303,end climb,SURFACE_DEPTH_REACHED
$STATE,2304,begin surface coast
$FINISH,1.6,1.002287
$STATE,2340,end surface coast,CONTROL_FINISHED_OK
$STATE,2340,begin surface
$SM_CCo,2357,220.60,0.049,0,0,516,670.15
$SM_GC,2.16,7.62,1.40,220.60,0.030,0.048,0.049,224,1858,516,-8.42,0.90,670.15,0,0,0,0,0,0,26.04,25.89,25.71
$IRIDIUM_FIX,-4545.66,510.54,281109,171751
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.79
$INTERNAL_PRESSURE,8.94255
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.9,39.911
$10V_AH,10.0,24.923
$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,20.550,26.150,256.300,220.600,0.000,34.914,19.444,151.779,2.500,0.000,21.747,726.283,340.630,540.360,1234.330,61.289,0.000,958.636,0.000,686.563,0.000,15.724,0.000
$DEVICE_MAMPS,249.390,71.145,705.330,48.960,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.795,797.492,442.725,100.878,0.000,0.000,0.000,0.000,0.000,0.000
$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,16991,311
$CAP_FILE_SIZE,44413,0
$CFSIZE,2097086464,2058289152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,221
$GPS,010217,114027,-4604.551,509.421,14,1.1,14,-23.8