version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 267
start: 2 2 117 1 18 21
data:
$ID,573
$MISSION,15
$DIVE,267
$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,-32083.559
$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,30
$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
$GPS1,020217,011001,-4601.610,511.089,22,1.2,30,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-55.3
$GPS2,020217,011757,-4601.579,511.170,24,0.9,24,-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,356.6,3288,-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,-150.8,194,1876,604,417,0.0,0.0,0,153,0.00,0.00,-135.23,0.000,16386,0.000,0.000,186,1875,3463,3482,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-0.75,-150.8,185,1875,3483,3443,3.0,-2.0,18,185,10.68,2.40,-11.48,0.000,18948,0.242,0.076,2709,465,3866,3999,3734,0,0,0,0,0,0,25.08,25.60,26.15
$GC,272,-0.85,-150.8,2709,465,4004,3733,15.2,-13.0,35,281,0.03,2.28,0.00,0.000,5126,0.105,0.044,2665,1869,3869,4005,3733,0,0,0,0,0,0,25.68,25.77,28.83
$GC,331,-0.85,-150.8,2664,1870,4006,3732,19.9,-7.7,44,339,0.00,0.00,0.00,0.000,2054,0.000,0.000,2665,1870,3869,4006,3733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,391,-0.89,-150.8,2665,1870,4007,3733,25.0,-9.5,53,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2665,1870,3869,4006,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,542,-0.94,-150.8,2665,1870,4007,3733,41.9,-11.3,78,550,0.00,0.00,0.00,0.000,4102,0.000,0.000,2666,1869,3869,4007,3732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,881,-1.01,-150.8,2665,1870,4007,3732,76.7,-10.6,139,888,0.10,2.30,0.00,0.000,4612,0.096,0.060,2606,466,3869,4007,3732,0,0,0,0,0,0,26.24,25.82,28.83
$GC,1008,-0.92,-150.8,2606,465,4007,3732,91.6,-13.8,148,1017,0.17,2.25,0.00,0.000,3078,0.138,0.044,2653,1864,3869,4007,3732,0,0,0,0,0,0,25.58,25.96,28.83
$STATE,1074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1074,begin apogee
$GC,1079,-0.19,0.0,2655,1332,4007,3732,101.3,-11.9,152,1200,0.75,0.00,117.20,0.702,10246,0.128,0.000,2888,1332,3250,3370,3130,0,0,0,0,0,0,25.54,28.83,24.15
$STATE,1201,end apogee,CONTROL_FINISHED_OK
$STATE,1201,begin climb
$GC,1203,0.75,150.8,2888,1332,3370,3130,107.0,0.0,158,1329,0.88,2.05,118.25,0.679,10756,0.072,0.068,3202,162,2634,2730,2538,0,0,0,0,0,0,24.92,24.67,24.02
$GC,1507,0.57,150.8,3202,163,2723,2538,80.2,12.2,172,1512,0.22,1.88,0.00,0.000,5126,0.148,0.043,3141,1351,2631,2723,2539,0,0,0,0,0,0,25.28,25.63,28.83
$GC,1841,0.57,150.8,2176,1352,2679,2533,48.6,10.1,232,1847,0.00,1.98,0.00,0.000,4612,0.000,0.071,3150,162,2628,2719,2538,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1974,0.55,159.4,3150,162,2719,2538,35.8,9.2,255,1991,0.05,1.88,6.22,0.551,13318,0.154,0.044,3133,1341,2600,2688,2513,0,0,0,0,0,0,25.76,25.97,24.84
$GC,2136,0.58,213.0,3132,1342,2687,2513,22.4,7.3,281,2168,0.00,2.03,26.88,0.607,10756,0.000,0.071,3141,162,2380,2467,2293,0,0,0,0,0,0,28.83,25.54,24.82
$GC,2189,0.67,287.2,3140,162,2462,2293,19.0,6.4,288,2237,0.05,1.88,36.50,0.584,11270,0.069,0.044,3183,1328,2077,2162,1993,0,0,0,0,0,0,25.60,25.69,24.56
$GC,2288,0.62,287.2,3183,1328,2152,1993,9.0,13.6,302,2296,0.12,0.00,0.00,0.000,4102,0.148,0.000,3148,1332,2072,2152,1993,0,0,0,0,0,0,25.38,28.83,28.83
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,1.4,1.022415
$STATE,2357,end surface coast,CONTROL_FINISHED_OK
$STATE,2358,begin surface
$SM_CCo,2374,175.77,0.048,0,0,517,670.15
$SM_GC,1.75,7.78,0.85,175.77,0.035,0.047,0.048,220,1869,517,-8.42,-1.41,670.15,0,0,0,0,0,0,25.72,25.66,25.65
$IRIDIUM_FIX,-4542.57,510.54,291109,131317
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.95232
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,24.0,40.862
$10V_AH,10.0,25.399
$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,20.825,22.625,305.050,175.775,0.000,24.510,47.009,286.948,2.500,0.000,25.693,728.595,304.463,515.403,1416.447,78.741,0.000,963.238,0.000,724.110,0.000,15.728,0.000
$DEVICE_MAMPS,241.740,75.735,702.270,48.195,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.213,782.685,436.621,95.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353792
$DATA_FILE_SIZE,16943,313
$CAP_FILE_SIZE,49081,0
$CFSIZE,2097086464,2057175040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,217
$GPS,020217,020146,-4601.225,511.205,19,1.1,19,-23.8