version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 6
start: 6 2 115 23 50 38
data:
$ID,574
$MISSION,20
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,177
$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,150
$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,-2360011.8
$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,2855
$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,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2356
$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
$GPS1,240716,132054,-4700.625,437.414,203,36.8,223,-23.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-77.8
$GPS2,240716,133236,-4700.626,437.480,149,6.0,169,-23.5
$SPEED_LIMITS,0.173,0.225
$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,323.8,72610,-21.3,-9.980,-23.89,1645
$D_GRID,500
$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,-0.61,-107.1,127,2104,1776,1701,0.0,0.0,0,61,0.00,0.00,-38.92,0.000,16390,0.000,0.000,127,2103,2793,2783,2804,0,0,0,0,0,0,28.83,28.83,26.08
$GC,64,-0.61,-107.1,127,2103,2784,2804,4.5,-6.6,5,83,11.12,2.25,0.00,0.000,2564,0.272,0.036,2657,676,2795,2787,2803,0,0,0,0,0,0,25.44,25.72,28.83
$GC,92,-0.61,-107.1,2656,676,2792,2800,16.9,-35.5,8,102,0.00,2.40,0.00,0.000,1030,0.000,0.052,2648,2124,2796,2796,2796,0,0,0,0,0,0,28.83,25.71,28.83
$GC,160,-0.61,-107.1,2648,2124,2801,2791,32.4,-21.4,17,170,0.00,2.35,0.00,0.000,260,0.000,0.063,2637,3545,2795,2801,2790,0,0,0,0,0,0,28.83,25.75,28.83
$GC,210,-0.61,-107.1,2637,3545,2801,2790,42.5,-19.3,24,220,0.00,2.38,0.00,0.000,1030,0.000,0.058,2640,2117,2796,2802,2790,0,0,0,0,0,0,28.83,25.77,28.83
$GC,542,-0.61,-107.1,2639,2114,2804,2789,116.2,-21.8,79,546,0.00,2.35,0.00,0.000,260,0.000,0.069,2631,3542,2796,2803,2789,0,0,0,0,0,0,28.83,25.91,28.83
$GC,626,-0.61,-107.1,2631,3542,2804,2789,133.0,-20.3,86,633,0.00,2.35,0.00,0.000,1030,0.000,0.060,2631,2124,2796,2803,2789,0,0,0,0,0,0,28.83,25.96,28.83
$GC,936,-0.61,-107.1,2631,2120,2805,2789,199.2,-20.2,117,944,0.00,2.30,0.00,0.000,260,0.000,0.069,2622,3534,2797,2805,2789,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1022,-0.61,-107.1,2622,3534,2805,2788,215.3,-17.9,125,1031,0.10,2.28,0.00,0.000,3078,0.187,0.063,2654,2124,2796,2805,2788,0,0,0,0,0,0,25.92,26.06,28.83
$GC,1329,-0.61,-107.1,2653,2121,2806,2788,268.3,-17.0,156,1341,0.00,2.33,0.00,0.000,260,0.000,0.072,2645,3538,2796,2806,2787,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1386,-0.61,-107.1,2645,3538,2806,2787,277.1,-16.3,161,1394,0.00,2.28,0.00,0.000,1030,0.000,0.063,2645,2124,2796,2806,2787,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1693,-0.61,-107.1,2644,2120,2806,2787,331.4,-17.6,192,1705,0.00,2.33,0.00,0.000,260,0.000,0.072,2635,3539,2796,2806,2786,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1737,-0.61,-107.1,2634,3539,2806,2786,338.8,-16.8,196,1749,0.00,2.30,0.00,0.000,1030,0.000,0.065,2635,2122,2796,2806,2786,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2046,-0.61,-107.1,2635,2119,2807,2786,393.7,-18.0,227,2050,0.00,2.33,0.00,0.000,260,0.000,0.073,2626,3535,2796,2807,2786,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2117,-0.61,-107.1,2626,3535,2806,2786,403.9,-17.7,231,2126,0.08,2.35,0.00,0.000,3078,0.179,0.067,2658,2124,2796,2806,2786,0,0,0,0,0,0,26.08,26.20,28.83
$GC,2424,-0.61,-107.1,2658,2121,2807,2786,454.0,-15.1,247,2429,0.00,2.33,0.00,0.000,260,0.000,0.075,2649,3538,2796,2807,2786,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2460,-0.61,-107.1,2649,3538,2807,2786,459.4,-15.2,249,2464,0.00,2.30,0.00,0.000,1030,0.000,0.068,2649,2125,2796,2807,2786,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,2735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2735,begin apogee
$GC,2738,-0.11,0.0,2649,2121,2807,2786,502.4,-15.7,263,2826,0.57,0.00,84.55,0.988,10246,0.196,0.000,2810,2121,2356,2389,2323,0,0,0,0,0,0,26.14,28.83,24.08
$STATE,2827,end apogee,CONTROL_FINISHED_OK
$STATE,2827,begin climb
$GC,2828,0.61,107.1,2810,2121,2390,2323,505.8,0.0,267,2925,0.73,2.50,89.38,0.968,10756,0.105,0.051,3053,680,1918,1975,1862,0,0,0,0,0,0,24.74,24.31,23.65
$GC,2960,0.61,107.1,3053,680,1969,1861,494.5,12.1,274,2964,0.00,2.45,0.00,0.000,1030,0.000,0.050,3053,2092,1915,1969,1862,0,0,0,0,0,0,28.83,24.75,28.83
$GC,3272,0.61,107.1,3053,2092,1967,1857,437.5,17.6,290,3276,0.00,2.33,0.00,0.000,516,0.000,0.052,3063,676,1911,1966,1857,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3316,0.61,107.1,3063,676,1964,1856,431.1,17.9,292,3320,0.00,2.38,0.00,0.000,1030,0.000,0.051,3063,2097,1909,1963,1856,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3628,0.61,107.1,3063,2097,1963,1855,375.1,17.1,315,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2097,1909,1963,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3932,0.61,107.1,3063,2097,1962,1854,324.2,16.6,345,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2097,1908,1962,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4238,0.61,107.1,3063,2097,1961,1853,272.8,16.9,376,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2097,1907,1961,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4538,0.61,107.1,3063,2097,1961,1853,223.5,16.1,406,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2097,1907,1961,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4838,0.61,107.1,3063,2097,1961,1853,178.6,14.4,436,4842,0.00,2.28,0.00,0.000,516,0.000,0.053,3073,673,1907,1961,1853,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4930,0.61,107.1,3073,673,1958,1853,165.7,14.0,444,4934,0.00,2.28,0.00,0.000,1030,0.000,0.051,3074,2100,1905,1958,1853,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5235,0.61,107.1,3073,2100,1960,1853,122.3,14.0,474,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2100,1905,1959,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5554,0.61,107.1,3073,2100,1959,1853,79.3,13.9,517,5561,0.00,2.28,0.00,0.000,516,0.000,0.052,3084,670,1905,1959,1852,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5625,0.61,107.1,3083,670,1958,1852,69.1,14.1,529,5632,0.15,2.28,0.00,0.000,5126,0.288,0.051,3057,2099,1905,1958,1853,0,0,0,0,0,0,25.99,26.24,28.83
$GC,5998,0.61,107.1,3056,2103,1959,1852,20.0,14.5,590,6008,0.00,2.30,0.00,0.000,516,0.000,0.051,3065,679,1905,1959,1852,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6025,0.61,107.1,3065,679,1958,1852,16.4,14.2,593,6034,0.00,2.30,0.00,0.000,1030,0.000,0.050,3066,2103,1905,1959,1852,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6093,0.61,107.1,3065,2107,1960,1852,8.1,12.1,602,6102,0.00,2.28,0.00,0.000,516,0.000,0.047,3076,682,1904,1958,1851,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6119,0.61,107.1,3075,682,1953,1854,4.6,13.4,605,6128,0.00,2.30,0.00,0.000,1030,0.000,0.050,3076,2104,1905,1957,1853,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,6136,end climb,SURFACE_DEPTH_REACHED
$STATE,6136,begin surface coast
$FINISH,1.0,1.022973
$STATE,6159,end surface coast,CONTROL_FINISHED_OK
$STATE,6159,begin surface
$SM_CCo,6174,17.17,0.060,0,0,1743,150.12
$SM_GC,4.98,8.60,0.00,17.17,0.099,0.000,0.060,130,2109,1743,-8.45,-0.45,150.12,0,0,0,0,0,0,26.26,28.83,26.22
$IRIDIUM_FIX,-4641.78,428.52,210509,010132
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.21
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,23.6,4.694
$10V_AH,10.2,3.227
$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,21.350,65.100,173.925,17.175,0.000,30.272,26.747,395.267,0.000,0.000,172.939,1572.988,2783.550,281.732,2215.205,56.110,0.000,886.401,0.000,1569.253,0.000,0.989,0.000
$DEVICE_MAMPS,288.405,74.970,988.380,60.435,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.670,330.508,387.042,794.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353396
$DATA_FILE_SIZE,40409,610
$CAP_FILE_SIZE,75699,0
$CFSIZE,2097086464,2093285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198,108.1,1
$GPS,240716,152624,-4700.350,437.684,577,2.0,577,-23.5