version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 266
start: 2 2 117 0 24 51
data:
$ID,573
$MISSION,15
$DIVE,266
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,200
$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,35
$T_MISSION,40
$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,-32082.307
$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,36
$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,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
$GPS1,020217,001621,-4601.958,510.901,15,1.4,15,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-51.9
$GPS2,020217,002427,-4601.945,511.000,17,1.2,17,-23.8
$SPEED_LIMITS,0.165,0.260
$TGT_NAME,NORTH
$TGT_LATLONG,-4600.000,470.000
$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,4.1,3826,-17.2,-9.524,-20.13,2424
$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,-0.75,-150.8,205,1864,610,418,0.0,0.0,0,160,0.00,0.00,-142.38,0.000,16386,0.000,0.000,201,1866,3641,3705,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-0.75,-150.8,201,1865,3710,3577,3.3,-2.4,19,189,10.50,2.35,-5.68,0.000,18948,0.240,0.073,2700,463,3866,4000,3733,0,0,0,0,0,0,25.08,25.61,26.13
$GC,271,-0.82,-150.8,2700,463,4003,3733,16.9,-13.4,35,280,0.00,2.30,0.00,0.000,1030,0.000,0.044,2692,1876,3868,4004,3732,0,0,0,0,0,0,28.83,25.73,28.83
$GC,330,-0.92,-150.8,2690,1876,4005,3732,21.4,-5.2,44,339,0.10,2.35,0.00,0.000,4612,0.093,0.059,2631,473,3868,4005,3732,0,0,0,0,0,0,26.03,25.66,28.83
$GC,379,-0.85,-150.8,2630,473,4005,3732,27.2,-14.1,51,388,0.15,2.28,0.00,0.000,3078,0.141,0.045,2671,1876,3868,4005,3732,0,0,0,0,0,0,25.44,25.80,28.83
$GC,533,-0.91,-150.8,2670,1877,4006,3731,41.6,-9.3,76,539,0.00,2.25,0.00,0.000,4356,0.000,0.062,2660,3272,3869,4007,3731,0,0,0,0,0,0,28.83,25.67,28.83
$GC,556,-0.97,-150.8,2660,3272,4007,3730,43.7,-9.0,79,563,0.05,2.20,0.00,0.000,5126,0.157,0.047,2621,1865,3868,4007,3730,0,0,0,0,0,0,25.81,25.83,28.83
$GC,896,-0.97,-150.8,1680,1863,4006,3729,79.6,-10.0,140,903,0.08,2.30,0.00,0.000,2564,0.190,0.062,2638,470,3868,4007,3730,0,0,0,0,0,0,26.13,25.77,28.83
$GC,1021,-0.97,-150.8,2637,470,4007,3730,91.0,-10.1,146,1030,0.00,2.25,0.00,0.000,3078,0.000,0.045,2629,1870,3868,4007,3730,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1114,-0.19,0.0,2630,1339,4008,3730,100.5,-9.2,151,1231,0.82,0.00,114.30,0.702,10246,0.130,0.000,2884,1338,3250,3370,3130,0,0,0,0,0,0,25.48,28.83,24.14
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1233,begin climb
$GC,1234,0.75,150.8,2884,1338,3370,3133,103.9,0.0,157,1362,0.90,2.12,118.28,0.677,10756,0.074,0.070,3205,158,2635,2730,2540,0,0,0,0,0,0,24.92,24.65,24.01
$GC,1485,0.57,150.8,3205,158,2727,2540,83.5,12.2,169,1490,0.22,1.88,0.00,0.000,5126,0.148,0.044,3144,1338,2633,2727,2540,0,0,0,0,0,0,25.17,25.51,28.83
$GC,1817,0.60,201.6,2176,1340,2683,2535,57.1,7.4,226,1865,0.00,2.08,40.45,0.661,8708,0.000,0.073,3153,159,2427,2514,2340,0,0,0,0,0,0,28.83,25.27,24.56
$GC,1984,0.61,225.5,3152,159,2507,2341,43.1,8.5,255,2011,0.00,1.90,20.42,0.633,9222,0.000,0.045,3153,1337,2330,2412,2248,0,0,0,0,0,0,28.83,25.67,24.53
$GC,2365,0.64,270.7,2144,1338,2355,2242,9.5,7.6,319,2397,0.00,2.03,21.58,0.545,10756,0.000,0.073,3161,167,2144,2226,2062,0,0,0,0,0,0,28.83,25.56,24.84
$GC,2412,0.90,696.9,3161,167,2222,2062,4.7,10.7,325,2430,0.20,1.88,12.65,0.047,11266,0.046,0.044,3257,1333,2031,2114,1948,0,0,0,0,0,0,25.69,25.70,28.83
$STATE,2431,end climb,SURFACE_DEPTH_REACHED
$STATE,2431,begin surface coast
$FINISH,1.5,1.022423
$STATE,2456,end surface coast,CONTROL_FINISHED_OK
$STATE,2456,begin surface
$SM_CCo,2472,171.57,0.048,0,0,516,670.15
$SM_GC,2.02,7.95,0.85,171.57,0.028,0.046,0.048,221,1872,516,-8.43,-1.16,670.15,0,0,0,0,0,0,25.81,25.72,25.66
$IRIDIUM_FIX,-4542.57,510.54,291109,121248
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.38
$INTERNAL_PRESSURE,8.96208
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,24.0,40.782
$10V_AH,10.0,25.360
$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,20.975,31.875,327.675,171.575,0.000,27.585,31.189,316.014,2.500,0.000,18.197,757.475,321.056,530.790,1462.385,77.080,0.000,985.291,0.000,748.292,0.000,15.727,0.000
$DEVICE_MAMPS,240.210,73.440,702.270,48.195,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.040,808.090,449.504,100.830,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353764
$DATA_FILE_SIZE,17015,331
$CAP_FILE_SIZE,50311,1
$CFSIZE,2097086464,2057273344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,224
$GPS,020217,011001,-4601.610,511.089,22,1.2,30,-23.8