version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 10
start: 6 3 115 8 2 25
data:
$ID,574
$MISSION,20
$DIVE,10
$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,455.26938
$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,-2361323.2
$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,24
$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
$GPS1,240716,212359,-4700.042,436.946,8,1.0,8,-23.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-74.0
$GPS2,240716,214424,-4700.161,436.894,32,0.8,32,-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,319.4,71861,-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,14,-0.61,-107.1,128,2102,1555,1494,0.0,0.0,0,64,0.00,0.00,-47.10,0.000,16386,0.000,0.000,129,2103,2762,2755,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.61,-107.1,129,2102,2754,2771,3.1,-3.1,5,87,11.00,2.38,-0.62,0.000,19204,0.266,0.070,2636,3547,2794,2792,2796,0,0,0,0,0,0,25.32,25.54,25.75
$GC,96,-0.61,-107.1,2636,3547,2796,2793,13.4,-25.4,8,105,0.00,2.35,0.00,0.000,1030,0.000,0.054,2637,2133,2794,2799,2790,0,0,0,0,0,0,28.83,25.57,28.83
$GC,164,-0.61,-107.1,2637,2130,2802,2788,29.2,-20.4,17,173,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2130,2795,2802,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,314,-0.61,-107.1,2637,2131,2803,2787,61.8,-22.8,42,325,0.00,2.35,0.00,0.000,260,0.000,0.066,2629,3528,2795,2804,2787,0,0,0,0,0,0,28.83,25.72,28.83
$GC,373,-0.61,-107.1,1728,3527,2774,2782,75.1,-20.6,52,381,0.00,2.35,0.00,0.000,1030,0.000,0.062,2630,2124,2795,2804,2786,0,0,0,0,0,0,28.83,25.77,28.83
$GC,696,-0.61,-107.1,2630,2121,2805,2785,145.2,-22.3,93,704,0.00,2.30,0.00,0.000,260,0.000,0.070,2622,3525,2795,2805,2785,0,0,0,0,0,0,28.83,25.90,28.83
$GC,824,-0.61,-107.1,2621,3525,2805,2785,172.0,-19.8,105,833,0.10,2.28,0.00,0.000,3078,0.194,0.063,2653,2122,2795,2805,2785,0,0,0,0,0,0,25.82,25.94,28.83
$GC,1131,-0.61,-107.1,2653,2118,2806,2785,229.0,-17.5,136,1135,0.00,2.33,0.00,0.000,260,0.000,0.072,2644,3528,2795,2806,2785,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1287,-0.61,-107.1,2644,3528,2806,2784,254.5,-16.2,150,1291,0.00,2.30,0.00,0.000,1030,0.000,0.063,2644,2118,2795,2805,2785,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1592,-0.61,-107.1,2644,2114,2807,2784,309.1,-18.3,180,1596,0.00,2.33,0.00,0.000,260,0.000,0.073,2634,3528,2795,2807,2784,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1656,-0.61,-107.1,2634,3528,2806,2784,319.4,-17.3,185,1664,0.00,2.33,0.00,0.000,1030,0.000,0.064,2635,2127,2795,2806,2784,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1963,-0.61,-107.1,2634,2124,2807,2784,376.6,-18.3,216,1967,0.00,2.30,0.00,0.000,260,0.000,0.076,2625,3528,2795,2807,2784,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1983,-0.61,-107.1,2624,3528,2806,2784,379.4,-17.9,217,1992,0.08,2.28,0.00,0.000,3078,0.216,0.069,2649,2123,2795,2806,2784,0,0,0,0,0,0,26.05,26.16,28.83
$GC,2290,-0.61,-107.1,2649,2119,2807,2784,432.1,-17.2,239,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2120,2795,2807,2784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,-0.61,-107.1,2649,2120,2807,2783,481.8,-16.9,254,2593,0.00,2.33,0.00,0.000,260,0.000,0.076,2640,3529,2795,2807,2784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2664,-0.61,-107.1,2640,3529,2806,2783,493.8,-15.9,258,2669,0.00,2.30,0.00,0.000,1030,0.000,0.071,2640,2122,2794,2806,2783,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2722,-0.11,0.0,2640,2118,2807,2783,503.1,-16.3,261,2810,0.62,0.00,84.65,1.002,10246,0.182,0.000,2816,2118,2355,2389,2322,0,0,0,0,0,0,26.12,28.83,24.03
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin climb
$GC,2812,0.61,107.1,2816,2118,2390,2322,507.3,0.0,265,2910,0.70,2.50,89.82,0.978,10756,0.097,0.052,3053,677,1919,1974,1864,0,0,0,0,0,0,24.70,24.28,23.61
$GC,2919,0.63,128.8,2192,677,1940,1859,500.0,8.6,271,2945,0.00,2.47,19.98,0.922,9222,0.000,0.048,3053,2095,1829,1895,1764,0,0,0,0,0,0,28.83,24.51,23.72
$GC,3257,0.63,128.8,3053,2094,1890,1758,436.9,18.6,288,3261,0.00,2.33,0.00,0.000,260,0.000,0.056,3053,3515,1824,1890,1758,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3293,0.63,128.8,3053,3515,1888,1758,430.1,18.8,290,3297,0.00,2.33,0.00,0.000,1030,0.000,0.049,3064,2084,1823,1888,1758,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3599,0.63,128.8,3064,2083,1887,1757,371.5,19.0,312,3603,0.00,2.28,0.00,0.000,516,0.000,0.054,3074,682,1822,1887,1757,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3714,0.63,128.8,2240,682,1855,1754,350.1,18.5,322,3723,0.00,2.35,0.00,0.000,1030,0.000,0.049,3075,2106,1819,1881,1757,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4025,0.63,128.8,3074,2107,1881,1757,289.9,19.1,353,4033,0.00,2.28,0.00,0.000,516,0.000,0.053,3085,689,1819,1881,1757,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4055,0.63,128.8,3085,689,1879,1757,283.5,19.2,356,4059,0.00,2.28,0.00,0.000,1030,0.000,0.049,3085,2105,1818,1879,1757,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4360,0.63,128.8,3085,2106,1880,1757,225.4,18.5,386,4364,0.00,2.30,0.00,0.000,516,0.000,0.053,3096,676,1818,1880,1757,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4389,0.63,128.8,3096,676,1878,1757,220.7,18.1,388,4400,0.12,2.33,0.00,0.000,5126,0.260,0.050,3066,2094,1818,1879,1757,0,0,0,0,0,0,25.84,26.03,28.83
$GC,4697,0.63,128.8,3066,2094,1879,1757,171.5,15.2,419,4701,0.00,2.25,0.00,0.000,260,0.000,0.057,3066,3508,1818,1879,1757,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4725,0.63,128.8,3066,3508,1879,1757,167.2,16.0,421,4734,0.00,2.22,0.00,0.000,1030,0.000,0.047,3075,2091,1818,1879,1757,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5032,0.63,128.8,3074,2090,1879,1757,113.6,16.9,452,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2090,1818,1879,1757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,0.63,128.8,2176,2088,1851,1753,56.6,16.9,504,5363,0.00,2.28,0.00,0.000,516,0.000,0.053,3086,685,1817,1878,1757,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5451,0.63,128.8,2128,685,1845,1753,39.9,17.2,521,5461,0.00,2.30,0.00,0.000,1030,0.000,0.052,3086,2093,1817,1877,1757,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5634,0.63,128.8,3086,2098,1878,1757,8.5,18.4,546,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2098,1817,1878,1756,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5665,end climb,SURFACE_DEPTH_REACHED
$STATE,5665,begin surface coast
$FINISH,1.0,1.022938
$STATE,5682,end surface coast,CONTROL_FINISHED_OK
$STATE,5682,begin surface
$SM_CCo,5696,153.00,0.056,0,0,498,455.27
$SM_GC,1.55,7.90,0.03,153.00,0.046,0.221,0.056,132,2121,498,-8.43,-0.74,455.27,0,0,0,0,0,0,26.22,26.34,26.06
$IRIDIUM_FIX,-4641.78,434.81,210509,111111
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,23.6,5.070
$10V_AH,10.2,3.553
$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,20.525,64.975,194.450,153.000,0.000,144.398,175.632,453.436,0.000,0.000,36.361,1443.647,2775.648,429.823,2373.740,67.797,0.000,1005.158,0.000,1455.569,0.000,0.988,0.000
$DEVICE_MAMPS,266.220,221.085,1002.150,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.410,300.260,341.885,709.967,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353348
$DATA_FILE_SIZE,37033,552
$CAP_FILE_SIZE,81529,0
$CFSIZE,2097086464,2092826624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,142.2,1
$GPS,240716,232333,-4700.072,436.485,40,0.8,40,-23.5