version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 261
start: 2 1 117 15 7 23
data:
$ID,573
$MISSION,15
$DIVE,261
$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,-31925.926
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,010217,150159,-4605.035,509.765,15,0.7,16,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-57.3
$GPS2,010217,150700,-4605.036,509.754,22,0.9,22,-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,203.2,27716,-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,-150.8,209,1879,605,418,0.0,0.0,0,161,0.00,0.00,-142.20,0.000,16386,0.000,0.000,208,1880,3662,3731,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-0.79,-150.8,208,1880,3732,3594,3.2,-1.9,19,185,10.50,2.25,-5.15,0.000,18692,0.244,0.076,2678,3263,3867,3999,3735,0,0,0,0,0,0,25.08,25.60,26.15
$GC,297,-0.93,-150.8,2678,3263,4007,3733,18.3,-8.7,39,306,0.05,2.22,0.00,0.000,5126,0.072,0.045,2632,1865,3870,4007,3733,0,0,0,0,0,0,25.71,25.79,28.83
$GC,356,-0.93,-150.8,2632,1865,4007,3733,24.1,-9.3,48,365,0.10,0.00,0.00,0.000,2054,0.173,0.000,2656,1865,3870,4007,3733,0,0,0,0,0,0,25.86,28.83,28.83
$GC,512,-0.97,-150.8,2656,1865,4007,3733,39.7,-10.7,73,520,0.00,0.00,0.00,0.000,4102,0.000,0.000,2656,1865,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,653,-1.03,-150.8,2656,1865,4007,3733,54.4,-9.9,98,661,0.10,2.28,0.00,0.000,4612,0.101,0.061,2606,468,3869,4007,3732,0,0,0,0,0,0,26.18,25.75,28.83
$GC,706,-0.94,-150.8,1664,468,4006,3731,60.9,-12.9,107,713,0.17,2.22,0.00,0.000,3078,0.161,0.044,2643,1870,3870,4007,3733,0,0,0,0,0,0,25.53,25.91,28.83
$GC,1035,-0.99,-150.8,2643,1870,4007,3732,91.8,-9.8,150,1036,0.00,0.00,0.00,0.000,4102,0.000,0.000,2644,1870,3870,4008,3732,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1132,begin apogee
$GC,1138,-0.19,0.0,2644,1341,4008,3732,101.4,-9.5,155,1258,0.80,0.00,117.15,0.708,10246,0.130,0.000,2892,1341,3250,3371,3130,0,0,0,0,0,0,25.48,28.83,24.15
$STATE,1259,end apogee,CONTROL_FINISHED_OK
$STATE,1259,begin climb
$GC,1261,0.79,150.8,2891,1341,3370,3130,105.7,0.0,161,1388,0.90,2.12,118.35,0.679,10756,0.070,0.070,3219,162,2634,2730,2539,0,0,0,0,0,0,24.94,24.69,24.04
$GC,1521,0.61,150.8,3219,162,2723,2539,81.9,13.0,173,1527,0.20,1.88,0.00,0.000,5126,0.141,0.043,3158,1345,2631,2723,2539,0,0,0,0,0,0,25.18,25.54,28.83
$GC,1857,0.62,166.4,2184,1346,2679,2534,49.8,9.4,232,1877,0.00,2.00,12.85,0.628,12804,0.000,0.070,3165,164,2572,2659,2485,0,0,0,0,0,0,28.83,25.67,24.85
$GC,1933,0.59,169.7,3165,164,2656,2484,42.0,10.0,245,1949,0.10,1.85,4.18,0.468,13318,0.169,0.043,3142,1336,2557,2642,2473,0,0,0,0,0,0,25.58,25.81,24.64
$GC,2305,0.65,200.0,3142,1339,2637,2473,8.6,8.7,307,2330,0.05,2.28,14.10,0.531,10500,0.158,0.052,3178,2735,2430,2515,2345,0,0,0,0,0,0,26.18,25.79,24.98
$GC,2350,0.65,200.0,3178,2735,2511,2345,3.7,11.5,313,2360,0.05,2.28,0.00,0.000,5126,0.151,0.053,3170,1346,2428,2511,2345,0,0,0,0,0,0,25.61,25.75,28.83
$STATE,2366,end climb,SURFACE_DEPTH_REACHED
$STATE,2367,begin surface coast
$FINISH,1.5,1.023219
$STATE,2398,end surface coast,CONTROL_FINISHED_OK
$STATE,2398,begin surface
$SM_CCo,2414,210.35,0.048,0,0,515,670.15
$SM_GC,2.15,7.70,0.88,210.35,0.034,0.054,0.048,230,1874,515,-8.40,-0.99,670.15,0,0,0,0,0,0,25.94,25.79,25.72
$IRIDIUM_FIX,-4548.76,507.73,291109,030322
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,8.96208
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,24.0,40.235
$10V_AH,10.1,25.103
$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,20.725,23.125,266.625,210.350,0.000,27.691,17.945,155.528,2.500,0.000,23.777,751.377,345.047,528.352,1256.996,62.750,0.000,942.455,0.000,711.518,0.000,15.716,0.000
$DEVICE_MAMPS,244.035,75.735,707.625,48.195,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.485,809.093,449.388,102.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,17000,320
$CAP_FILE_SIZE,45481,0
$CFSIZE,2097086464,2057797632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,224
$GPS,010217,155219,-4605.179,509.742,21,1.9,35,-23.8