version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 4
start: 6 2 115 20 45 18
data:
$ID,574
$MISSION,20
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1020
$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,67
$T_MISSION,77
$T_ABORT,720
$T_TURN,500
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53162
$MASS_COMP,0
$NAV_MODE,2
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,463.36414
$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,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2359503.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2871
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2124
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2389
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.130039
$PRESSURE_SLOPE,0.0001171049
$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,1050
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,165
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,240716,101206,-4700.604,437.199,217,0.9,217,-23.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-79.4
$GPS2,240716,102716,-4700.686,437.339,7,0.9,7,-23.5
$SPEED_LIMITS,0.172,0.225
$TGT_NAME,TARGET
$TGT_LATLONG,-4700.000,340.000
$TGT_RADIUS,500.000
$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,314.5,72433,-21.3,-9.950,-23.84,1651
$D_GRID,200
$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,14,-0.60,-107.1,128,2131,1797,1742,0.0,0.0,0,60,0.00,0.00,-38.70,0.000,16390,0.000,0.000,128,2131,2824,2819,2830,0,0,0,0,0,0,28.83,28.83,25.96
$GC,62,-0.60,-107.1,128,2131,2819,2830,3.7,-5.3,5,81,11.02,2.35,0.00,0.000,2308,0.262,0.060,2657,3535,2825,2822,2829,0,0,0,0,0,0,25.34,25.59,28.83
$GC,195,-0.60,-107.1,2657,3535,2833,2819,36.8,-16.6,23,206,0.00,2.38,0.00,0.000,1030,0.000,0.067,2657,2134,2826,2835,2817,0,0,0,0,0,0,28.83,25.68,28.83
$GC,339,-0.60,-107.1,2657,2131,2850,2807,63.9,-19.2,48,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2131,2828,2850,2807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,663,-0.60,-107.1,2657,2131,2852,2805,127.5,-19.9,96,675,0.00,2.33,0.00,0.000,260,0.000,0.074,2647,3529,2828,2851,2805,0,0,0,0,0,0,28.83,25.91,28.83
$GC,750,-0.60,-107.1,2647,3529,2851,2804,144.4,-18.3,104,762,0.00,2.33,0.00,0.000,1030,0.000,0.065,2647,2118,2827,2852,2803,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,1041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1045,-0.11,0.0,2647,2052,2853,2803,200.7,-18.8,133,1131,0.62,0.00,81.50,0.798,10246,0.174,0.000,2824,2052,2388,2428,2349,0,0,0,0,0,0,25.89,28.83,24.28
$STATE,1132,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1133,0.60,107.1,2824,2052,2429,2349,206.2,0.0,142,1231,0.75,2.45,85.60,0.773,10756,0.165,0.049,3071,648,1950,2001,1899,0,0,0,0,0,0,24.77,24.44,23.87
$GC,1361,0.60,107.1,3070,648,1994,1896,181.9,15.7,164,1373,0.00,2.38,0.00,0.000,1030,0.000,0.049,3071,2068,1945,1995,1895,0,0,0,0,0,0,28.83,25.19,28.83
$GC,1671,0.60,107.1,3071,2068,1995,1893,135.9,12.9,195,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2068,1943,1995,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,0.60,107.1,3071,2068,1994,1891,97.3,12.8,227,1978,0.00,2.30,0.00,0.000,516,0.000,0.051,3081,645,1942,1993,1892,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2045,0.60,107.1,3081,644,1991,1892,87.3,13.2,240,2055,0.00,2.33,0.00,0.000,1030,0.000,0.051,3081,2058,1942,1992,1892,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2382,0.60,107.1,2096,2056,1957,1886,39.6,15.2,301,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2058,1942,1993,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2561,0.60,107.1,3081,2062,1993,1891,12.8,14.9,326,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2062,1941,1992,1891,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2627,end climb,SURFACE_DEPTH_REACHED
$STATE,2627,begin surface coast
$FINISH,0.5,1.022960
$STATE,2651,end surface coast,CONTROL_FINISHED_OK
$STATE,2651,begin surface
$SM_CCo,2665,166.43,0.056,0,0,499,463.36
$SM_GC,1.26,8.00,0.12,166.43,0.063,0.109,0.056,131,2139,499,-8.50,-0.45,463.36,0,0,0,0,0,0,26.06,26.07,25.90
$IRIDIUM_FIX,-4644.93,435.06,200509,232331
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.51
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,23.9,4.522
$10V_AH,10.2,3.068
$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,20.400,19.050,167.100,166.425,0.000,146.341,132.220,255.959,0.000,0.000,11.167,841.791,958.177,363.593,1552.228,46.348,0.000,733.169,0.000,947.119,0.000,0.989,0.000
$DEVICE_MAMPS,262.395,109.395,797.895,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.442,156.600,392.080,568.882,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353388
$DATA_FILE_SIZE,23769,338
$CAP_FILE_SIZE,44100,0
$CFSIZE,2097086464,2093449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.183,134.4,1
$GPS,240716,111529,-4700.701,437.278,3,1.2,3,-23.5