version: 66.11
revision: 1138
glider: 573
mission: 15
dive: 268
start: 2 2 117 2 7 27
data:
$ID,573
$MISSION,15
$DIVE,268
$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,-32084.811
$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,45
$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
$GPS1,020217,020146,-4601.225,511.205,19,1.1,19,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-57.3
$GPS2,020217,020704,-4601.205,511.252,18,1.5,18,-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,348.0,2751,-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,-150.8,191,1870,604,416,0.0,0.0,0,160,0.00,0.00,-142.15,0.000,16386,0.000,0.000,189,1870,3647,3717,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-0.75,-150.8,188,1869,3720,3577,3.4,-1.9,19,189,10.52,2.38,-5.40,0.000,19204,0.240,0.078,2710,463,3867,4000,3735,0,0,0,0,0,0,25.13,25.64,26.15
$GC,264,-0.86,-150.8,2710,462,4004,3733,13.6,-6.5,34,273,0.05,2.25,0.00,0.000,5126,0.073,0.044,2657,1854,3869,4005,3733,0,0,0,0,0,0,25.72,25.79,28.83
$GC,324,-0.86,-150.8,2656,1854,4005,3733,18.5,-8.8,43,333,0.08,2.33,0.00,0.000,2308,0.196,0.059,2662,3275,3869,4006,3732,0,0,0,0,0,0,25.94,25.68,28.83
$GC,342,-0.86,-150.8,2661,3275,4007,3732,20.1,-8.9,45,350,0.00,2.28,0.00,0.000,3078,0.000,0.047,2663,1859,3869,4007,3732,0,0,0,0,0,0,28.83,25.79,28.83
$GC,497,-0.90,-150.8,2663,1859,4007,3732,36.4,-11.2,70,505,0.00,2.33,0.00,0.000,516,0.000,0.063,2663,464,3869,4007,3732,0,0,0,0,0,0,28.83,25.79,28.83
$GC,541,-0.90,-150.8,2663,464,4007,3732,41.3,-9.7,77,547,0.00,2.22,0.00,0.000,3078,0.000,0.044,2655,1876,3869,4007,3732,0,0,0,0,0,0,28.83,25.89,28.83
$GC,876,-0.93,-150.8,2654,1876,4007,3732,77.2,-11.6,138,885,0.00,2.35,0.00,0.000,516,0.000,0.063,2655,468,3869,4007,3732,0,0,0,0,0,0,28.83,25.83,28.83
$GC,906,-0.93,-150.8,2654,468,4007,3732,80.3,-11.2,142,910,0.00,2.25,0.00,0.000,3078,0.000,0.044,2646,1869,3870,4008,3732,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,1064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1064,begin apogee
$GC,1069,-0.19,0.0,2645,1322,4007,3732,100.1,-12.3,150,1190,0.80,0.00,117.15,0.702,10246,0.131,0.000,2891,1322,3249,3369,3130,0,0,0,0,0,0,25.53,28.83,24.16
$STATE,1191,end apogee,CONTROL_FINISHED_OK
$STATE,1191,begin climb
$GC,1193,0.75,150.8,2891,1322,3369,3130,105.9,0.0,156,1319,0.88,2.03,118.18,0.676,10756,0.071,0.068,3207,165,2634,2729,2539,0,0,0,0,0,0,24.94,24.69,24.05
$GC,1399,0.58,157.2,3207,165,2723,2539,95.2,9.3,165,1412,0.20,1.92,6.12,0.539,13318,0.138,0.042,3145,1345,2607,2693,2522,0,0,0,0,0,0,25.10,25.40,24.42
$GC,1729,0.58,164.8,2176,1344,2649,2517,65.6,9.2,203,1743,0.00,1.98,7.40,0.541,12804,0.000,0.070,3154,164,2577,2661,2493,0,0,0,0,0,0,28.83,25.70,24.75
$GC,1853,0.54,164.8,3153,164,2660,2494,53.4,9.7,225,1862,0.08,1.88,0.00,0.000,5126,0.148,0.043,3127,1339,2576,2659,2493,0,0,0,0,0,0,25.61,25.89,28.83
$GC,2206,0.54,178.8,3127,1342,2656,2493,24.9,8.9,286,2223,0.00,2.00,7.15,0.537,8708,0.000,0.072,3136,172,2520,2604,2436,0,0,0,0,0,0,28.83,25.84,24.87
$GC,2237,0.54,178.8,3135,172,2603,2436,21.9,9.7,290,2246,0.00,1.85,0.00,0.000,5126,0.000,0.043,3136,1334,2519,2602,2436,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2390,0.58,235.0,3135,1339,2600,2436,8.9,7.1,315,2415,0.00,0.00,22.25,0.547,10754,0.000,0.000,3136,1338,2325,2410,2241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,0.89,749.8,3135,1339,2408,2241,6.4,7.3,319,2456,0.28,0.00,29.62,0.521,10754,0.056,0.000,3256,1338,2064,2148,1981,0,0,0,0,0,0,25.82,28.83,28.83
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2457,begin surface coast
$FINISH,1.5,1.015699
$STATE,2482,end surface coast,CONTROL_FINISHED_OK
$STATE,2482,begin surface
$SM_CCo,2499,174.00,0.048,0,0,516,670.15
$SM_GC,1.97,8.12,0.85,174.00,0.037,0.046,0.048,233,1868,516,-8.41,-1.41,670.15,0,0,0,0,0,0,25.57,25.56,25.62
$IRIDIUM_FIX,-4542.57,510.54,291109,141446
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,8.96208
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,24.0,40.934
$10V_AH,10.1,25.435
$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,21.000,31.775,307.875,174.000,0.000,25.261,43.411,151.876,2.500,0.000,19.088,754.183,381.397,516.491,1288.720,67.942,0.000,964.131,0.000,721.679,0.000,15.731,0.000
$DEVICE_MAMPS,240.210,78.030,701.505,48.195,0.000,91.800,160.000,223.000,420.000,0.000,30.710,14.210,2.190,13.460,40.430,47.920,0.000,15.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.012,829.732,460.375,101.657,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,6.740,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353788
$DATA_FILE_SIZE,16949,327
$CAP_FILE_SIZE,47637,1
$CFSIZE,2097086464,2057076736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,230
$GPS,020217,025253,-4600.828,511.248,16,1.1,16,-23.8