version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 259
start: 2 1 117 13 30 16
data:
$ID,573
$MISSION,15
$DIVE,259
$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,-31923.42
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,010217,132239,-4604.754,509.593,19,1.4,19,-23.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-58.8
$GPS2,010217,132952,-4604.734,509.660,21,1.1,21,-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,202.9,28276,-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,-150.8,211,1873,599,418,0.0,0.0,0,153,0.00,0.00,-135.20,0.000,16386,0.000,0.000,210,1873,3471,3491,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.79,-150.8,210,1873,3492,3452,3.0,-1.1,18,189,10.65,2.33,-11.60,0.000,18692,0.246,0.073,2681,3264,3868,4004,3733,0,0,0,0,0,0,25.10,25.59,26.08
$GC,329,-0.92,-150.8,2680,3265,4007,3732,20.5,-9.0,45,338,0.05,2.25,0.00,0.000,5126,0.072,0.046,2642,1855,3870,4008,3732,0,0,0,0,0,0,25.71,25.79,28.83
$GC,485,-0.92,-150.8,2642,1855,4008,3732,36.9,-11.3,70,493,0.05,0.00,0.00,0.000,2054,0.217,0.000,2653,1855,3870,4008,3732,0,0,0,0,0,0,26.10,28.83,28.83
$GC,629,-0.96,-150.8,2653,1855,4008,3732,53.2,-11.5,95,635,0.00,2.25,0.00,0.000,4612,0.000,0.062,2659,469,3869,4008,3731,0,0,0,0,0,0,28.83,25.72,28.83
$GC,678,-0.96,-150.8,1696,469,4007,3731,59.3,-12.2,103,685,0.00,2.22,0.00,0.000,5126,0.000,0.044,2650,1874,3869,4008,3731,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1003,-1.02,-150.8,2650,1874,4008,3732,95.3,-10.1,143,1009,0.08,2.22,0.00,0.000,4356,0.118,0.059,2593,3261,3869,4007,3731,0,0,0,0,0,0,26.25,25.75,28.83
$GC,1031,-1.06,-150.8,2592,3261,4008,3731,97.4,-9.8,144,1036,0.08,2.17,0.00,0.000,3078,0.188,0.045,2609,1858,3870,4009,3731,0,0,0,0,0,0,25.80,25.95,28.83
$STATE,1060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1065,-0.19,0.0,2611,1325,4009,3731,101.2,-9.9,145,1186,0.90,0.00,117.65,0.705,10246,0.138,0.000,2884,1325,3250,3370,3130,0,0,0,0,0,0,25.39,28.83,24.13
$STATE,1187,end apogee,CONTROL_FINISHED_OK
$STATE,1187,begin climb
$GC,1189,0.79,150.8,2883,1325,3370,3130,105.0,0.0,151,1321,0.95,2.05,118.15,0.677,10756,0.075,0.068,3218,174,2634,2729,2539,0,0,0,0,0,0,24.91,24.68,24.01
$GC,1481,0.61,150.8,3218,174,2722,2539,78.7,10.6,166,1488,0.25,1.85,0.00,0.000,5126,0.151,0.044,3151,1354,2630,2722,2539,0,0,0,0,0,0,25.20,25.60,28.83
$GC,1815,0.62,165.9,2208,1353,2680,2533,51.2,9.4,227,1834,0.00,0.00,12.70,0.626,8198,0.000,0.000,3151,1354,2572,2659,2486,0,0,0,0,0,0,28.83,28.83,24.84
$GC,2183,0.62,168.1,3151,1354,2653,2486,14.7,10.0,290,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1354,2569,2652,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2241,0.63,179.7,3150,1354,2651,2486,9.6,9.6,299,2250,0.00,0.00,6.25,0.467,10246,0.000,0.000,3151,1354,2515,2601,2430,0,0,0,0,0,0,28.83,28.83,24.93
$GC,2299,0.63,179.7,3151,1354,2596,2431,4.1,10.2,308,2308,0.00,2.00,0.00,0.000,2564,0.000,0.070,3159,169,2513,2596,2430,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,1.5,1.023206
$STATE,2323,end surface coast,CONTROL_FINISHED_OK
$STATE,2323,begin surface
$SM_CCo,2340,219.07,0.048,0,0,517,670.15
$SM_GC,2.12,7.72,2.75,219.07,0.035,0.044,0.048,213,1847,517,-8.42,-1.67,670.15,0,0,0,0,0,0,25.99,25.85,25.73
$IRIDIUM_FIX,-4548.76,507.73,291109,020213
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.87
$INTERNAL_PRESSURE,8.95232
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,24.0,40.106
$10V_AH,10.0,25.032
$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,20.725,22.950,254.750,219.075,0.000,53.563,66.798,151.338,2.500,0.000,21.815,727.990,382.122,531.743,1306.499,63.242,0.000,940.583,0.000,701.606,0.000,16.501,0.000
$DEVICE_MAMPS,245.565,73.440,705.330,48.195,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.144,783.575,436.355,98.539,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353584
$DATA_FILE_SIZE,17005,311
$CAP_FILE_SIZE,44378,0
$CFSIZE,2097086464,2057994240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,217
$GPS,010217,141348,-4604.881,509.696,15,0.9,16,-23.8