version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 8
start: 6 3 115 4 12 45
data:
$ID,574
$MISSION,20
$DIVE,8
$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,200
$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,-2361029.8
$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,14
$R_STBD_OVSHOOT,28
$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
$GPS1,240716,174057,-4700.073,437.656,181,1.0,181,-23.5
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-77.0
$GPS2,240716,175443,-4700.038,437.816,126,8.7,146,-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,298.1,73026,-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,-107.1,129,2097,1774,1700,0.0,0.0,0,55,0.00,0.00,-38.47,0.000,16386,0.000,0.000,129,2097,2788,2780,2796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.61,-107.1,129,2097,2780,2797,3.4,-4.5,4,76,11.10,2.38,0.00,0.000,2308,0.269,0.059,2641,3541,2790,2786,2795,0,0,0,0,0,0,25.35,25.60,28.83
$GC,134,-0.61,-107.1,2641,3541,2794,2788,25.7,-21.7,14,145,0.00,2.40,0.00,0.000,1030,0.000,0.066,2641,2125,2790,2796,2785,0,0,0,0,0,0,28.83,25.63,28.83
$GC,293,-0.61,-107.1,2641,2121,2798,2785,57.7,-20.5,39,300,0.00,2.38,0.00,0.000,260,0.000,0.072,2631,3535,2791,2798,2785,0,0,0,0,0,0,28.83,25.74,28.83
$GC,331,-0.61,-107.1,2631,3534,2798,2784,65.6,-21.8,45,338,0.00,2.35,0.00,0.000,1030,0.000,0.063,2631,2115,2791,2798,2784,0,0,0,0,0,0,28.83,25.77,28.83
$GC,655,-0.61,-107.1,2631,2112,2799,2783,136.7,-21.5,90,659,0.00,2.35,0.00,0.000,260,0.000,0.072,2623,3528,2791,2799,2784,0,0,0,0,0,0,28.83,25.90,28.83
$GC,738,-0.61,-107.1,2622,3528,2799,2783,152.7,-19.6,97,746,0.10,2.35,0.00,0.000,3078,0.187,0.063,2653,2124,2791,2799,2783,0,0,0,0,0,0,25.82,25.94,28.83
$GC,1046,-0.61,-107.1,2653,2121,2800,2782,211.1,-18.0,128,1050,0.00,2.33,0.00,0.000,260,0.000,0.073,2644,3528,2791,2801,2782,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1084,-0.61,-107.1,2644,3528,2800,2782,217.5,-16.8,131,1093,0.00,2.30,0.00,0.000,1030,0.000,0.064,2644,2120,2791,2800,2782,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1394,-0.61,-107.1,2644,2117,2801,2782,273.9,-18.1,162,1398,0.00,2.33,0.00,0.000,260,0.000,0.074,2634,3525,2791,2801,2782,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1454,-0.61,-107.1,1825,3524,2776,2777,284.2,-16.9,167,1462,0.00,2.33,0.00,0.000,1030,0.000,0.067,2635,2129,2791,2801,2781,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1762,-0.61,-107.1,2634,2126,2801,2781,343.1,-18.8,198,1766,0.00,2.33,0.00,0.000,260,0.000,0.076,2624,3531,2791,2801,2781,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1803,-0.61,-107.1,2624,3530,2802,2781,349.7,-19.0,201,1811,0.10,2.38,0.00,0.000,3078,0.187,0.070,2655,2116,2791,2801,2781,0,0,0,0,0,0,26.03,26.17,28.83
$GC,2110,-0.61,-107.1,2655,2113,2802,2781,401.7,-16.9,232,2114,0.00,2.33,0.00,0.000,260,0.000,0.077,2646,3525,2791,2802,2781,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2159,-0.61,-107.1,2646,3525,2802,2781,407.7,-17.2,234,2167,0.00,2.35,0.00,0.000,1030,0.000,0.070,2646,2123,2791,2801,2781,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2466,-0.61,-107.1,2646,2120,2802,2781,464.7,-17.9,250,2470,0.00,2.33,0.00,0.000,260,0.000,0.080,2636,3524,2791,2802,2780,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2564,-0.61,-107.1,1830,3523,2776,2775,480.6,-16.1,255,2569,0.00,2.35,0.00,0.000,1030,0.000,0.072,2636,2126,2791,2802,2780,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2686,-0.11,0.0,2635,2094,2802,2780,501.6,-18.1,261,2773,0.62,0.00,83.88,0.998,10246,0.182,0.000,2811,2093,2356,2390,2322,0,0,0,0,0,0,26.13,28.83,24.05
$STATE,2774,end apogee,CONTROL_FINISHED_OK
$STATE,2774,begin climb
$GC,2775,0.61,107.1,2811,2093,2390,2322,506.6,0.0,265,2872,0.73,2.45,89.80,0.978,10756,0.097,0.050,3052,679,1920,1977,1864,0,0,0,0,0,0,24.73,24.30,23.63
$GC,2902,0.61,107.1,3052,679,1971,1863,497.0,10.8,272,2906,0.00,2.45,0.00,0.000,1030,0.000,0.049,3052,2090,1917,1971,1863,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3219,0.61,107.1,3053,2089,1969,1858,442.4,16.6,288,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2090,1913,1969,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3522,0.61,107.1,3052,2089,1968,1857,392.0,17.3,305,3530,0.00,2.28,0.00,0.000,260,0.000,0.057,3053,3511,1913,1968,1858,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3565,0.61,107.1,3052,3511,1967,1858,384.4,17.9,309,3573,0.00,2.25,0.00,0.000,1030,0.000,0.047,3063,2094,1912,1967,1858,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3872,0.61,107.1,3063,2092,1965,1857,329.3,17.8,340,3876,0.00,2.28,0.00,0.000,516,0.000,0.053,3074,677,1911,1966,1857,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3933,0.61,107.1,3074,677,1962,1856,318.9,17.7,345,3942,0.00,2.28,0.00,0.000,1030,0.000,0.050,3074,2099,1909,1962,1856,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4240,0.61,107.1,3073,2100,1963,1856,266.0,16.6,376,4244,0.00,2.25,0.00,0.000,260,0.000,0.057,3074,3508,1909,1963,1856,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4259,0.61,107.1,3074,3508,1962,1857,263.4,16.7,377,4268,0.10,2.22,0.00,0.000,5126,0.279,0.047,3062,2090,1909,1962,1856,0,0,0,0,0,0,25.82,26.03,28.83
$GC,4566,0.61,107.1,3061,2089,1962,1856,214.1,15.7,408,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2089,1909,1962,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4866,0.61,107.1,3062,2089,1962,1856,171.6,12.8,438,4870,0.00,2.25,0.00,0.000,516,0.000,0.054,3071,678,1909,1962,1856,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4934,0.61,107.1,3071,678,1960,1856,162.7,13.2,444,4938,0.00,2.28,0.00,0.000,1030,0.000,0.050,3071,2104,1908,1960,1856,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5239,0.61,107.1,3071,2104,1961,1855,121.8,13.2,474,5243,0.00,2.28,0.00,0.000,516,0.000,0.051,3082,677,1908,1961,1855,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5280,0.61,107.1,3081,676,1960,1855,116.9,13.5,477,5288,0.08,2.33,0.00,0.000,5126,0.278,0.050,3065,2104,1907,1960,1855,0,0,0,0,0,0,25.99,26.20,28.83
$GC,5606,0.61,107.1,3064,2104,1962,1855,74.3,13.9,526,5613,0.00,2.25,0.00,0.000,516,0.000,0.052,3073,685,1908,1961,1855,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5638,0.61,107.1,3073,685,1960,1854,69.8,14.2,531,5644,0.00,2.25,0.00,0.000,1030,0.000,0.050,3073,2102,1907,1960,1855,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6009,0.61,107.1,3073,2106,1961,1855,22.3,14.2,592,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2105,1908,1961,1855,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6153,end climb,SURFACE_DEPTH_REACHED
$STATE,6153,begin surface coast
$FINISH,0.9,1.011894
$STATE,6176,end surface coast,CONTROL_FINISHED_OK
$STATE,6177,begin surface
$SM_CCo,6190,40.53,0.058,0,0,1539,200.16
$SM_GC,1.91,7.93,0.00,40.53,0.051,0.000,0.058,132,2105,1539,-8.44,-0.54,200.16,0,0,0,0,0,0,26.29,28.83,26.23
$IRIDIUM_FIX,-4638.64,522.23,210509,050539
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,23.6,4.893
$10V_AH,10.2,3.408
$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,20.750,69.650,173.675,40.525,0.000,30.036,58.966,504.897,0.000,0.000,149.909,1599.614,2722.412,314.208,2375.701,61.091,0.000,894.140,0.000,1606.311,0.000,0.989,0.000
$DEVICE_MAMPS,279.225,175.185,998.325,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.396,334.146,411.148,817.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353408
$DATA_FILE_SIZE,40444,615
$CAP_FILE_SIZE,78997,0
$CFSIZE,2097086464,2093088768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,131.7,1
$GPS,240716,194322,-4700.214,437.345,227,1.0,227,-23.5