version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 9
start: 6 3 115 6 8 35
data:
$ID,574
$MISSION,20
$DIVE,9
$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,-2361272.8
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,240716,194322,-4700.214,437.345,227,1.0,227,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-72.5
$GPS2,240716,195034,-4700.227,437.379,5,2.0,5,-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,320.3,72474,-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,-107.1,131,2105,1554,1489,0.0,0.0,0,69,0.00,0.00,-48.62,0.000,16390,0.000,0.000,132,2106,2791,2781,2802,0,0,0,0,0,0,28.83,28.83,26.03
$GC,72,-0.61,-107.1,131,2105,2781,2802,3.6,-4.1,6,91,10.95,2.38,0.00,0.000,2308,0.268,0.058,2636,3532,2793,2786,2800,0,0,0,0,0,0,25.43,25.66,28.83
$GC,107,-0.61,-107.1,2636,3532,2794,2794,16.9,-34.8,10,117,0.00,2.33,0.00,0.000,1030,0.000,0.055,2639,2135,2794,2797,2791,0,0,0,0,0,0,28.83,25.66,28.83
$GC,175,-0.61,-107.1,2639,2132,2799,2789,32.8,-21.3,19,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2132,2795,2800,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,326,-0.61,-107.1,2639,2132,2801,2789,64.6,-19.9,44,334,0.00,2.35,0.00,0.000,260,0.000,0.070,2631,3525,2794,2800,2788,0,0,0,0,0,0,28.83,25.81,28.83
$GC,363,-0.61,-107.1,2630,3525,2801,2787,72.2,-20.0,50,369,0.00,2.30,0.00,0.000,1030,0.000,0.062,2631,2119,2793,2801,2786,0,0,0,0,0,0,28.83,25.82,28.83
$GC,687,-0.61,-107.1,2631,2116,2803,2786,146.1,-22.8,92,691,0.00,2.33,0.00,0.000,260,0.000,0.070,2622,3528,2794,2803,2786,0,0,0,0,0,0,28.83,25.94,28.83
$GC,822,-0.61,-107.1,2622,3528,2803,2786,173.4,-19.2,104,827,0.15,2.33,0.00,0.000,3078,0.210,0.065,2656,2117,2794,2803,2785,0,0,0,0,0,0,25.86,25.98,28.83
$GC,1128,-0.61,-107.1,2656,2114,2805,2785,230.3,-17.8,134,1137,0.00,2.35,0.00,0.000,260,0.000,0.074,2647,3535,2795,2805,2785,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1214,-0.61,-107.1,2646,3535,2805,2785,244.8,-15.6,142,1219,0.00,2.33,0.00,0.000,1030,0.000,0.070,2647,2122,2794,2805,2784,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1520,-0.61,-107.1,2647,2118,2806,2785,297.9,-17.3,172,1524,0.00,2.33,0.00,0.000,260,0.000,0.076,2637,3527,2795,2806,2785,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1584,-0.61,-107.1,2637,3527,2805,2784,307.8,-16.7,177,1592,0.00,2.35,0.00,0.000,1030,0.000,0.070,2637,2128,2795,2806,2784,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1892,-0.61,-107.1,2637,2125,2805,2785,364.1,-18.5,208,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2125,2795,2805,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2192,-0.61,-107.1,2637,2125,2806,2785,418.8,-18.6,233,2196,0.00,2.33,0.00,0.000,260,0.000,0.080,2627,3526,2794,2805,2784,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2221,-0.61,-107.1,2627,3527,2805,2785,421.8,-18.9,234,2229,0.12,2.38,0.00,0.000,3078,0.212,0.074,2654,2119,2794,2805,2784,0,0,0,0,0,0,26.10,26.20,28.83
$GC,2528,-0.61,-107.1,2655,2117,2806,2784,475.6,-17.0,250,2532,0.00,2.35,0.00,0.000,260,0.000,0.081,2646,3529,2795,2806,2784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2637,-0.61,-107.1,2645,3529,2805,2784,491.1,-15.9,255,2644,0.00,2.38,0.00,0.000,1030,0.000,0.076,2646,2120,2794,2805,2784,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,2683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2683,begin apogee
$GC,2686,-0.11,0.0,2645,2116,2806,2783,501.1,-16.5,258,2774,0.60,0.00,84.60,1.004,10246,0.181,0.000,2815,2116,2355,2388,2322,0,0,0,0,0,0,26.13,28.83,24.04
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2776,0.61,107.1,2814,2116,2388,2323,506.0,0.0,262,2873,0.73,2.50,90.32,0.980,10756,0.094,0.051,3053,673,1919,1974,1864,0,0,0,0,0,0,24.73,24.29,23.61
$GC,2883,0.65,145.5,3053,672,1970,1864,499.8,7.6,268,2923,0.00,2.42,34.33,0.945,9222,0.000,0.048,3054,2093,1760,1835,1686,0,0,0,0,0,0,28.83,24.51,23.67
$GC,3240,0.65,145.5,3053,2093,1829,1680,434.4,18.8,286,3244,0.00,2.33,0.00,0.000,260,0.000,0.056,3053,3512,1754,1828,1680,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3269,0.65,145.5,3053,3512,1827,1680,431.4,19.1,287,3276,0.00,2.38,0.00,0.000,1030,0.000,0.050,3064,2087,1753,1826,1680,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3576,0.65,145.5,3064,2087,1825,1679,369.6,19.1,310,3580,0.00,2.28,0.00,0.000,516,0.000,0.054,3075,685,1752,1825,1679,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3711,0.65,145.5,3075,685,1819,1679,343.8,18.9,322,3715,0.00,2.30,0.00,0.000,1030,0.000,0.050,3075,2107,1749,1819,1679,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4016,0.65,145.5,3075,2108,1820,1679,284.1,20.0,352,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2107,1749,1819,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,0.65,145.5,3075,2107,1819,1679,223.7,20.1,382,4320,0.00,2.30,0.00,0.000,516,0.000,0.053,3086,678,1749,1819,1680,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4364,0.65,145.5,3085,678,1816,1679,214.1,19.7,386,4369,0.00,2.28,0.00,0.000,1030,0.000,0.050,3086,2099,1747,1815,1679,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4669,0.65,145.5,3085,2101,1817,1679,154.7,19.1,416,4674,0.00,2.25,0.00,0.000,260,0.000,0.057,3086,3512,1748,1817,1679,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4698,0.65,145.5,3085,3512,1817,1679,148.7,20.2,418,4704,0.12,2.25,0.00,0.000,5126,0.313,0.049,3073,2088,1748,1817,1680,0,0,0,0,0,0,25.86,26.10,28.83
$GC,5009,0.65,145.5,3073,2088,1817,1680,90.4,18.6,452,5017,0.00,2.28,0.00,0.000,516,0.000,0.054,3083,690,1747,1816,1679,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5033,0.65,145.5,3082,690,1814,1679,85.6,19.1,456,5044,0.00,2.28,0.00,0.000,1030,0.000,0.050,3083,2093,1747,1814,1680,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5406,0.65,145.5,3083,2095,1815,1679,18.0,18.5,517,5415,0.00,2.25,0.00,0.000,516,0.000,0.047,3093,692,1746,1814,1679,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5459,0.65,145.5,3093,691,1812,1679,6.2,21.4,524,5470,0.00,2.28,0.00,0.000,1030,0.000,0.050,3093,2098,1746,1813,1680,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,5478,end climb,SURFACE_DEPTH_REACHED
$STATE,5478,begin surface coast
$FINISH,1.1,1.013928
$STATE,5501,end surface coast,CONTROL_FINISHED_OK
$STATE,5501,begin surface
$SM_CCo,5514,22.98,0.060,0,0,1538,200.16
$SM_GC,2.50,7.90,0.00,22.98,0.043,0.000,0.060,129,2103,1538,-8.44,-0.65,200.16,0,0,0,0,0,0,26.23,28.83,26.17
$IRIDIUM_FIX,-4641.78,434.81,210509,070735
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.29
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.6,4.973
$10V_AH,10.2,3.477
$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,20.575,65.125,209.250,22.975,0.000,24.600,49.776,268.974,0.000,0.000,9.136,1380.894,2467.238,323.075,1762.028,52.401,0.000,861.673,0.000,1385.863,0.000,0.989,0.000
$DEVICE_MAMPS,312.885,81.090,1004.445,59.670,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.860,287.001,322.814,681.580,0.000,0.000,0.000,0.000,0.000,0.000
$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,33680,529
$CAP_FILE_SIZE,71311,0
$CFSIZE,2097086464,2092990464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,136.4,1
$GPS,240716,212359,-4700.042,436.946,8,1.0,8,-23.5