version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 7
start: 6 3 115 2 13 0
data:
$ID,574
$MISSION,20
$DIVE,7
$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,-2360692.8
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,240716,152624,-4700.350,437.684,577,2.0,577,-23.5
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-78.6
$GPS2,240716,155458,-4700.361,437.899,74,2.8,94,-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,309.4,73133,-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,-107.1,130,2108,1773,1702,0.0,0.0,0,54,0.00,0.00,-37.75,0.000,16386,0.000,0.000,130,2108,2760,2750,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.61,-107.1,130,2108,2750,2770,3.0,-3.0,4,77,11.00,2.30,-0.68,0.000,18948,0.263,0.060,2658,699,2793,2790,2797,0,0,0,0,0,0,25.25,25.51,25.70
$GC,114,-0.61,-107.1,2657,699,2797,2794,21.4,-27.8,11,124,0.00,2.42,0.00,0.000,1030,0.000,0.061,2649,2117,2795,2799,2791,0,0,0,0,0,0,28.83,25.53,28.83
$GC,273,-0.61,-107.1,2648,2117,2804,2788,54.6,-20.5,36,283,0.00,2.40,0.00,0.000,260,0.000,0.070,2638,3537,2795,2803,2788,0,0,0,0,0,0,28.83,25.65,28.83
$GC,351,-0.61,-107.1,2638,3537,2803,2787,69.2,-19.4,49,358,0.00,2.35,0.00,0.000,1030,0.000,0.065,2638,2121,2795,2803,2787,0,0,0,0,0,0,28.83,25.71,28.83
$GC,677,-0.61,-107.1,2638,2118,2804,2786,138.5,-20.2,93,686,0.00,2.35,0.00,0.000,260,0.000,0.073,2628,3537,2795,2805,2786,0,0,0,0,0,0,28.83,25.86,28.83
$GC,764,-0.61,-107.1,2627,3536,2804,2786,155.2,-18.6,101,774,0.08,2.30,0.00,0.000,3078,0.190,0.067,2651,2129,2795,2805,2786,0,0,0,0,0,0,25.79,25.90,28.83
$GC,1070,-0.61,-107.1,2650,2126,2805,2786,212.8,-18.0,132,1075,0.00,2.35,0.00,0.000,260,0.000,0.075,2642,3543,2795,2805,2786,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1109,-0.61,-107.1,2642,3543,2805,2785,219.5,-17.9,135,1113,0.00,2.35,0.00,0.000,1030,0.000,0.068,2642,2117,2795,2805,2785,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1417,-0.61,-107.1,2641,2114,2806,2785,274.1,-17.6,165,1426,0.00,2.33,0.00,0.000,260,0.000,0.076,2632,3527,2795,2806,2785,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1493,-0.61,-107.1,2631,3527,2805,2785,287.3,-16.4,172,1504,0.00,2.35,0.00,0.000,1030,0.000,0.069,2632,2126,2795,2806,2785,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1800,-0.61,-107.1,2632,2123,2806,2786,345.9,-18.7,203,1804,0.00,2.33,0.00,0.000,260,0.000,0.079,2622,3531,2795,2806,2785,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1848,-0.61,-107.1,2622,3531,2806,2785,354.5,-18.1,207,1853,0.12,2.33,0.00,0.000,3078,0.212,0.072,2651,2121,2795,2806,2785,0,0,0,0,0,0,26.01,26.13,28.83
$GC,2163,-0.61,-107.1,2651,2118,2805,2785,408.2,-17.0,236,2167,0.00,2.35,0.00,0.000,260,0.000,0.079,2642,3532,2795,2806,2785,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2233,-0.61,-107.1,2642,3532,2806,2785,417.3,-16.7,239,2240,0.00,2.33,0.00,0.000,1030,0.000,0.073,2642,2123,2795,2806,2785,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2539,-0.61,-107.1,2642,2119,2806,2784,474.1,-18.0,255,2543,0.00,2.38,0.00,0.000,260,0.000,0.083,2632,3543,2795,2806,2785,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2558,-0.61,-107.1,2632,3543,2806,2784,476.8,-17.8,256,2562,0.00,2.40,0.00,0.000,1030,0.000,0.075,2632,2120,2795,2806,2785,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,2694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2694,begin apogee
$GC,2697,-0.11,0.0,2632,2117,2806,2784,502.5,-18.5,263,2785,0.65,0.00,84.65,0.995,10246,0.192,0.000,2814,2117,2355,2389,2322,0,0,0,0,0,0,26.10,28.83,24.04
$STATE,2786,end apogee,CONTROL_FINISHED_OK
$STATE,2786,begin climb
$GC,2787,0.61,107.1,2814,2117,2390,2322,507.0,0.0,267,2884,0.70,2.50,89.57,0.972,10756,0.096,0.051,3051,678,1918,1975,1862,0,0,0,0,0,0,24.72,24.30,23.63
$GC,2931,0.61,107.1,3051,678,1969,1861,494.0,13.5,275,2936,0.00,2.42,0.00,0.000,1030,0.000,0.050,3051,2109,1915,1969,1861,0,0,0,0,0,0,28.83,24.80,28.83
$GC,3247,0.61,107.1,3051,2109,1967,1857,442.7,16.1,291,3251,0.00,2.35,0.00,0.000,516,0.000,0.051,3061,676,1912,1967,1857,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3297,0.61,107.1,3062,676,1963,1856,436.9,15.9,293,3305,0.00,2.33,0.00,0.000,1030,0.000,0.051,3062,2100,1909,1963,1856,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3606,0.61,107.1,3062,2100,1963,1855,383.4,17.1,313,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2100,1909,1963,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,0.61,107.1,3062,2100,1963,1855,329.2,17.5,344,3917,0.00,2.30,0.00,0.000,516,0.000,0.052,3072,673,1908,1962,1855,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3932,0.61,107.1,3072,673,1960,1854,326.6,17.0,345,3941,0.00,2.28,0.00,0.000,1030,0.000,0.050,3072,2095,1907,1961,1854,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4239,0.61,107.1,3072,2094,1961,1854,273.5,17.0,376,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2094,1907,1961,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4540,0.61,107.1,3072,2094,1961,1854,222.5,17.0,406,4548,0.00,2.28,0.00,0.000,516,0.000,0.053,3082,673,1907,1960,1854,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4573,0.61,107.1,3082,673,1959,1853,217.2,17.2,409,4583,0.10,2.25,0.00,0.000,5126,0.288,0.050,3060,2091,1906,1960,1853,0,0,0,0,0,0,25.85,26.10,28.83
$GC,4880,0.61,107.1,3059,2092,1960,1853,170.6,14.8,440,4884,0.00,2.28,0.00,0.000,516,0.000,0.052,3069,669,1906,1960,1853,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4943,0.61,107.1,3069,669,1959,1853,162.0,14.5,445,4952,0.00,2.33,0.00,0.000,1030,0.000,0.050,3069,2093,1906,1959,1853,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5251,0.61,107.1,3069,2093,1960,1852,118.1,14.0,476,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2093,1906,1960,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,0.61,107.1,2112,2092,1927,1848,76.1,13.5,522,5574,0.00,2.30,0.00,0.000,516,0.000,0.052,3079,677,1905,1959,1852,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5590,0.61,107.1,3079,677,1958,1852,72.5,13.6,526,5597,0.00,2.28,0.00,0.000,1030,0.000,0.050,3079,2108,1906,1959,1853,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5958,0.61,107.1,3079,2111,1959,1852,18.5,13.8,587,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2111,1905,1959,1852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,0.61,107.1,3079,2111,1959,1852,7.5,16.7,596,6035,0.00,2.33,0.00,0.000,516,0.000,0.054,3090,678,1905,1957,1853,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6045,0.61,107.1,3090,678,1957,1854,4.0,17.7,598,6055,0.15,2.28,0.00,0.000,5126,0.356,0.048,3057,2095,1905,1959,1852,0,0,0,0,0,0,25.97,26.28,28.83
$STATE,6063,end climb,SURFACE_DEPTH_REACHED
$STATE,6063,begin surface coast
$FINISH,0.8,1.022963
$STATE,6086,end surface coast,CONTROL_FINISHED_OK
$STATE,6086,begin surface
$SM_CCo,6100,17.23,0.061,0,0,1743,150.12
$SM_GC,4.78,8.02,0.00,17.23,0.060,0.000,0.061,129,2094,1743,-8.46,-0.82,150.12,0,0,0,0,0,0,26.27,28.83,26.23
$IRIDIUM_FIX,-4638.64,441.10,210509,050516
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.60
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,23.6,4.808
$10V_AH,10.2,3.324
$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,20.825,70.075,174.225,17.225,0.000,134.679,213.997,824.679,0.000,0.000,98.038,1557.686,2966.018,293.051,2966.545,65.589,0.000,886.997,0.000,1555.024,0.000,0.988,0.000
$DEVICE_MAMPS,355.725,82.620,995.265,61.200,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.605,326.330,376.568,779.988,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353380
$DATA_FILE_SIZE,40322,603
$CAP_FILE_SIZE,88706,0
$CFSIZE,2097086464,2093187072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.147, 97.0,1
$GPS,240716,174057,-4700.073,437.656,181,1.0,181,-23.5