version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 11
start: 6 3 115 9 49 7
data:
$ID,574
$MISSION,20
$DIVE,11
$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,-2361378.2
$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,22
$R_STBD_OVSHOOT,14
$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
$GPS1,240716,232333,-4700.072,436.485,40,0.8,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.0
$GPS2,240716,233106,-4700.107,436.530,5,0.7,5,-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,324.9,71401,-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,-107.1,132,2124,509,426,0.0,0.0,0,105,0.00,0.00,-88.05,0.000,16390,0.000,0.000,133,2125,2794,2782,2806,0,0,0,0,0,0,28.83,28.83,25.96
$GC,107,-0.61,-107.1,132,2124,2785,2806,3.3,-3.1,10,127,10.88,2.35,0.00,0.000,2308,0.264,0.053,2637,3549,2796,2791,2802,0,0,0,0,0,0,25.40,25.61,28.83
$GC,171,-0.61,-107.1,2637,3549,2800,2793,23.3,-26.1,18,181,0.00,2.40,0.00,0.000,1030,0.000,0.061,2639,2124,2796,2802,2791,0,0,0,0,0,0,28.83,25.64,28.83
$GC,332,-0.61,-107.1,2639,2121,2805,2790,58.8,-22.1,43,339,0.00,2.38,0.00,0.000,260,0.000,0.069,2630,3549,2797,2805,2790,0,0,0,0,0,0,28.83,25.74,28.83
$GC,389,-0.61,-107.1,1680,3548,2773,2785,71.6,-21.5,53,396,0.00,2.35,0.00,0.000,1030,0.000,0.060,2631,2118,2797,2805,2790,0,0,0,0,0,0,28.83,25.78,28.83
$GC,706,-0.61,-107.1,2631,2115,2805,2790,142.8,-22.2,95,710,0.00,2.35,0.00,0.000,260,0.000,0.070,2622,3541,2797,2805,2790,0,0,0,0,0,0,28.83,25.91,28.83
$GC,779,-0.61,-107.1,2622,3541,2805,2790,157.3,-20.0,101,788,0.10,2.38,0.00,0.000,3078,0.184,0.063,2651,2124,2798,2806,2790,0,0,0,0,0,0,25.83,25.95,28.83
$GC,1087,-0.61,-107.1,2651,2120,2807,2790,215.7,-17.4,132,1099,0.00,2.35,0.00,0.000,260,0.000,0.072,2642,3546,2798,2807,2789,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1242,-0.61,-107.1,2642,3546,2807,2789,241.0,-16.5,146,1249,0.00,2.33,0.00,0.000,1030,0.000,0.065,2642,2122,2798,2807,2789,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1551,-0.61,-107.1,2642,2119,2808,2788,299.0,-19.0,177,1560,0.00,2.33,0.00,0.000,260,0.000,0.073,2632,3539,2798,2808,2788,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1596,-0.61,-107.1,2631,3539,2808,2788,306.9,-18.4,181,1604,0.00,2.35,0.00,0.000,1030,0.000,0.067,2632,2133,2798,2808,2788,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1904,-0.61,-107.1,2631,2130,2808,2788,369.1,-20.7,212,1908,0.00,2.33,0.00,0.000,260,0.000,0.076,2622,3539,2798,2808,2788,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1953,-0.61,-107.1,2622,3539,2808,2788,378.8,-20.2,216,1966,0.15,2.33,0.00,0.000,3078,0.210,0.071,2656,2122,2798,2808,2788,0,0,0,0,0,0,26.05,26.16,28.83
$GC,2263,-0.61,-107.1,2656,2119,2809,2788,433.3,-17.6,238,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2119,2798,2809,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2562,-0.61,-107.1,2656,2119,2809,2787,485.3,-17.0,253,2567,0.00,2.35,0.00,0.000,260,0.000,0.078,2647,3540,2798,2809,2787,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2606,-0.61,-107.1,2647,3540,2809,2787,491.2,-16.8,255,2611,0.00,2.38,0.00,0.000,1030,0.000,0.073,2647,2128,2798,2809,2787,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,2657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2657,begin apogee
$GC,2661,-0.11,0.0,2647,2093,2809,2787,501.2,-16.6,258,2749,0.57,0.00,85.00,1.002,10246,0.175,0.000,2811,2093,2355,2389,2322,0,0,0,0,0,0,26.12,28.83,24.03
$STATE,2750,end apogee,CONTROL_FINISHED_OK
$STATE,2750,begin climb
$GC,2751,0.61,107.1,2811,2093,2389,2321,506.6,0.0,262,2845,0.75,0.00,90.47,0.984,10246,0.103,0.000,3044,2093,1918,1975,1862,0,0,0,0,0,0,24.68,28.83,23.61
$GC,3138,0.61,107.1,3043,2093,1969,1857,459.4,14.5,282,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2092,1913,1969,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,0.61,107.1,3044,2093,1968,1856,416.6,14.1,297,3442,0.00,2.30,0.00,0.000,516,0.000,0.051,3054,672,1912,1968,1856,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3518,0.61,107.1,3054,672,1964,1855,405.6,14.4,301,3523,0.00,2.33,0.00,0.000,1030,0.000,0.047,3055,2112,1909,1964,1855,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3829,0.61,107.1,3054,2112,1963,1855,358.1,15.0,330,3833,0.00,2.33,0.00,0.000,516,0.000,0.050,3065,669,1909,1964,1855,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3877,0.61,107.1,3065,669,1962,1854,350.7,15.3,334,3881,0.00,2.30,0.00,0.000,1030,0.000,0.047,3065,2104,1907,1961,1854,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4183,0.61,107.1,3065,2104,1962,1854,300.9,16.6,364,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2104,1908,1962,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4482,0.61,107.1,3065,2104,1961,1854,251.1,16.5,394,4487,0.00,2.28,0.00,0.000,516,0.000,0.050,3076,677,1908,1962,1854,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4511,0.61,107.1,2240,676,1933,1850,246.8,16.5,396,4522,0.00,2.33,0.00,0.000,1030,0.000,0.047,3076,2103,1906,1960,1853,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4818,0.61,107.1,3076,2103,1960,1853,195.4,16.1,427,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2103,1906,1960,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5123,0.61,107.1,3076,2102,1960,1853,148.8,17.0,457,5131,0.00,2.20,0.00,0.000,260,0.000,0.054,3076,3504,1907,1960,1854,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5196,0.61,107.1,3076,3504,1960,1854,136.1,16.6,464,5209,0.15,2.22,0.00,0.000,5126,0.279,0.046,3058,2083,1906,1959,1854,0,0,0,0,0,0,25.98,26.20,28.83
$GC,5510,0.61,107.1,3058,2081,1959,1853,91.6,13.4,500,5517,0.00,2.25,0.00,0.000,516,0.000,0.051,3068,690,1905,1959,1852,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5594,0.61,107.1,3068,690,1958,1853,79.8,13.3,515,5601,0.00,2.22,0.00,0.000,1030,0.000,0.048,3068,2098,1906,1959,1853,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5940,0.61,107.1,2048,2096,1924,1847,32.9,13.7,576,5949,0.00,2.28,0.00,0.000,516,0.000,0.050,3077,690,1905,1959,1852,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6028,0.61,107.1,3077,690,1958,1853,19.0,17.1,588,6038,0.00,2.28,0.00,0.000,1030,0.000,0.047,3078,2100,1905,1959,1852,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6097,0.61,107.1,3077,2104,1960,1852,7.5,16.5,597,6106,0.00,2.28,0.00,0.000,516,0.000,0.049,3088,686,1905,1959,1852,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6115,0.61,107.1,3088,683,1953,1854,3.9,18.1,599,6126,0.12,2.28,0.00,0.000,5126,0.262,0.050,3059,2094,1904,1958,1850,0,0,0,0,0,0,26.07,26.27,28.83
$STATE,6134,end climb,SURFACE_DEPTH_REACHED
$STATE,6134,begin surface coast
$FINISH,0.8,1.022905
$STATE,6158,end surface coast,CONTROL_FINISHED_OK
$STATE,6158,begin surface
$SM_CCo,6172,39.95,0.058,0,0,1539,200.16
$SM_GC,1.43,7.95,0.03,39.95,0.057,0.224,0.058,130,2118,1539,-8.44,-0.79,200.16,0,0,0,0,0,0,26.27,26.39,26.22
$IRIDIUM_FIX,-4638.64,437.96,210509,111125
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,23.6,5.142
$10V_AH,10.2,3.627
$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,20.675,64.850,175.475,39.950,0.000,25.908,23.764,322.537,0.000,0.000,9.193,1550.066,2784.147,353.321,1935.164,59.766,0.000,947.451,0.000,1540.693,0.000,0.988,0.000
$DEVICE_MAMPS,279.225,224.145,1002.150,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.283,325.648,389.652,794.443,0.000,0.000,0.000,0.000,0.000,0.000
$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,40426,604
$CAP_FILE_SIZE,76103,0
$CFSIZE,2097086464,2092793856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.173,127.5,1
$GPS,250716,011551,-4659.952,436.402,13,1.2,13,-23.5