version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 258
start: 2 1 117 12 37 27
data:
$ID,573
$MISSION,15
$DIVE,258
$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,-31922.168
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,010217,123119,-4604.610,509.513,38,0.9,38,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-57.4
$GPS2,010217,123704,-4604.590,509.562,19,1.9,19,-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,202.7,28545,-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,-150.8,202,1881,602,417,0.0,0.0,0,160,0.00,0.00,-142.18,0.000,16386,0.000,0.000,201,1883,3649,3716,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-0.79,-150.8,201,1882,3718,3581,3.2,-1.6,19,189,10.73,2.33,-5.72,0.000,18692,0.246,0.076,2680,3269,3868,4002,3734,0,0,0,0,0,0,25.06,25.57,26.13
$GC,289,-0.90,-150.8,2680,3270,4007,3732,15.8,-8.0,38,299,0.05,2.25,0.00,0.000,5126,0.072,0.046,2641,1863,3869,4007,3732,0,0,0,0,0,0,25.67,25.76,28.83
$GC,348,-0.90,-150.8,2641,1862,4007,3732,22.0,-10.9,47,357,0.08,0.00,0.00,0.000,2054,0.190,0.000,2657,1862,3869,4007,3732,0,0,0,0,0,0,25.94,28.83,28.83
$GC,506,-0.95,-150.8,2656,1862,4007,3732,38.0,-10.4,72,514,0.00,0.00,0.00,0.000,4102,0.000,0.000,2657,1862,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,650,-1.01,-150.8,2657,1862,4008,3732,53.1,-9.9,97,657,0.10,2.28,0.00,0.000,4612,0.100,0.060,2607,465,3869,4007,3732,0,0,0,0,0,0,26.16,25.72,28.83
$GC,705,-0.93,-150.8,2606,466,4007,3732,60.0,-13.1,106,712,0.20,2.22,0.00,0.000,3078,0.158,0.044,2652,1870,3870,4008,3732,0,0,0,0,0,0,25.46,25.89,28.83
$GC,1041,-0.98,-150.8,2651,1870,4008,3732,94.1,-9.6,148,1042,0.00,0.00,0.00,0.000,4102,0.000,0.000,2652,1870,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1118,begin apogee
$GC,1123,-0.19,0.0,2653,1340,4008,3732,101.7,-9.6,152,1244,0.77,0.00,117.60,0.705,10246,0.131,0.000,2891,1340,3249,3370,3129,0,0,0,0,0,0,25.43,28.83,24.13
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1247,0.79,150.8,2891,1340,3371,3129,106.8,0.0,158,1381,0.90,2.12,118.30,0.681,10756,0.073,0.068,3214,158,2634,2729,2539,0,0,0,0,0,0,24.91,24.65,23.99
$GC,1461,0.62,150.8,3213,158,2723,2539,92.7,11.2,168,1470,0.17,1.92,0.00,0.000,5126,0.143,0.044,3160,1341,2631,2723,2539,0,0,0,0,0,0,25.06,25.38,28.83
$GC,1785,0.63,152.5,3160,1342,2718,2538,60.3,10.0,211,1791,0.00,0.00,0.00,0.000,4102,0.000,0.000,3161,1342,2628,2718,2539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,0.64,174.3,2176,1341,2676,2532,28.0,9.1,272,2147,0.00,0.00,11.30,0.591,8198,0.000,0.000,3161,1342,2537,2625,2450,0,0,0,0,0,0,28.83,28.83,24.96
$GC,2293,0.64,174.3,3160,1341,2617,2450,12.4,10.4,298,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1341,2533,2617,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,0.64,183.3,3160,1341,2617,2450,6.3,9.7,307,2361,0.00,0.00,3.75,0.355,8198,0.000,0.000,3161,1341,2500,2584,2416,0,0,0,0,0,0,28.83,28.83,24.83
$STATE,2385,end climb,SURFACE_DEPTH_REACHED
$STATE,2385,begin surface coast
$FINISH,1.5,1.012611
$STATE,2422,end surface coast,CONTROL_FINISHED_OK
$STATE,2422,begin surface
$SM_CCo,2438,217.70,0.048,0,0,516,670.15
$SM_GC,2.17,7.80,0.85,217.70,0.041,0.051,0.048,223,1859,516,-8.42,-1.39,670.15,0,0,0,0,0,0,26.01,25.89,25.74
$IRIDIUM_FIX,-4545.66,510.82,291109,010100
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,8.95232
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,24.0,40.040
$10V_AH,10.0,24.996
$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,20.800,14.850,250.950,217.700,0.000,25.203,41.332,165.120,2.500,0.000,19.759,740.247,407.545,526.621,1283.487,61.536,0.000,932.170,0.000,692.817,0.000,16.482,0.000
$DEVICE_MAMPS,246.330,76.500,704.565,48.195,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.462,808.697,444.960,101.270,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353672
$DATA_FILE_SIZE,16991,318
$CAP_FILE_SIZE,42959,0
$CFSIZE,2097086464,2058092544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,224
$GPS,010217,132239,-4604.754,509.593,19,1.4,19,-23.8