version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 12
start: 6 3 115 11 45 29
data:
$ID,574
$MISSION,20
$DIVE,12
$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,-2361407.8
$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,26
$R_STBD_OVSHOOT,15
$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
$GPS1,250716,011551,-4659.952,436.402,13,1.2,13,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.5
$GPS2,250716,012728,-4659.973,436.554,6,1.1,6,-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,321.3,71431,-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,-107.1,129,2122,1551,1494,0.0,0.0,0,69,0.00,0.00,-48.30,0.000,16390,0.000,0.000,130,2123,2793,2785,2801,0,0,0,0,0,0,28.83,28.83,25.89
$GC,72,-0.61,-107.1,129,2122,2785,2801,3.8,-4.9,6,91,10.98,2.35,0.00,0.000,2308,0.265,0.052,2638,3570,2794,2788,2800,0,0,0,0,0,0,25.31,25.54,28.83
$GC,156,-0.61,-107.1,2638,3570,2798,2791,29.4,-23.9,17,166,0.00,2.42,0.00,0.000,1030,0.000,0.063,2638,2139,2795,2800,2790,0,0,0,0,0,0,28.83,25.60,28.83
$GC,308,-0.61,-107.1,1712,2134,2772,2785,62.7,-22.6,42,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2136,2795,2802,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,639,-0.61,-107.1,2638,2136,2803,2789,135.9,-22.3,88,643,0.00,2.33,0.00,0.000,260,0.000,0.070,2628,3543,2796,2803,2789,0,0,0,0,0,0,28.83,25.88,28.83
$GC,703,-0.61,-107.1,2629,3543,2803,2788,147.4,-19.1,93,711,0.00,2.38,0.00,0.000,1030,0.000,0.062,2629,2120,2795,2803,2788,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1011,-0.61,-107.1,2629,2117,2805,2788,208.6,-19.9,124,1016,0.12,2.35,0.00,0.000,2308,0.259,0.071,2650,3540,2796,2805,2787,0,0,0,0,0,0,25.89,25.99,28.83
$GC,1119,-0.61,-107.1,2650,3540,2805,2787,225.3,-15.5,133,1128,0.00,2.30,0.00,0.000,1030,0.000,0.065,2653,2119,2795,2805,2786,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1425,-0.61,-107.1,2653,2116,2806,2786,277.2,-16.3,164,1438,0.00,2.35,0.00,0.000,260,0.000,0.073,2644,3542,2796,2806,2786,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1470,-0.61,-107.1,2643,3542,2806,2786,284.7,-16.4,168,1474,0.00,2.33,0.00,0.000,1030,0.000,0.065,2644,2120,2796,2806,2786,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1775,-0.61,-107.1,2644,2116,2806,2786,336.2,-16.6,198,1779,0.00,2.35,0.00,0.000,260,0.000,0.074,2634,3542,2796,2806,2786,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1823,-0.61,-107.1,2634,3543,2806,2785,344.3,-16.8,202,1828,0.00,2.33,0.00,0.000,1030,0.000,0.068,2634,2122,2795,2806,2785,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2128,-0.61,-107.1,2634,2119,2806,2785,399.4,-17.9,232,2133,0.00,2.35,0.00,0.000,260,0.000,0.076,2624,3542,2796,2806,2786,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2196,-0.61,-107.1,2624,3542,2806,2785,409.4,-17.2,235,2201,0.08,2.38,0.00,0.000,3078,0.193,0.071,2653,2129,2796,2807,2785,0,0,0,0,0,0,26.08,26.19,28.83
$GC,2508,-0.61,-107.1,2653,2126,2806,2785,459.0,-15.4,251,2512,0.00,2.35,0.00,0.000,260,0.000,0.080,2644,3543,2796,2807,2785,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2536,-0.61,-107.1,2644,3543,2806,2785,461.5,-15.2,252,2545,0.00,2.40,0.00,0.000,1030,0.000,0.073,2644,2119,2796,2807,2785,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,2783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2783,begin apogee
$GC,2786,-0.11,0.0,2644,2116,2807,2785,501.7,-15.6,265,2874,0.60,0.00,84.95,1.009,10246,0.175,0.000,2815,2115,2355,2389,2322,0,0,0,0,0,0,26.14,28.83,24.03
$STATE,2875,end apogee,CONTROL_FINISHED_OK
$STATE,2875,begin climb
$GC,2876,0.61,107.1,2814,2115,2389,2322,504.8,0.0,269,2973,0.73,2.47,89.25,0.975,10756,0.092,0.048,3058,676,1920,1975,1865,0,0,0,0,0,0,24.72,24.29,23.62
$GC,3013,0.61,107.1,3058,676,1969,1864,492.3,13.1,276,3021,0.00,2.47,0.00,0.000,1030,0.000,0.047,3058,2137,1916,1968,1864,0,0,0,0,0,0,28.83,24.76,28.83
$GC,3320,0.61,107.1,3058,2137,1966,1859,433.4,17.9,292,3324,0.00,2.40,0.00,0.000,516,0.000,0.050,3069,674,1912,1966,1859,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3384,0.61,107.1,3069,675,1962,1859,423.2,18.0,295,3388,0.00,2.33,0.00,0.000,1030,0.000,0.048,3069,2099,1910,1962,1859,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3696,0.61,107.1,3069,2099,1962,1858,366.0,17.7,320,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2099,1910,1962,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3998,0.61,107.1,3068,2099,1962,1858,313.2,18.1,350,4006,0.00,2.28,0.00,0.000,516,0.000,0.050,3079,672,1909,1960,1858,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4018,0.61,107.1,3079,672,1959,1858,309.1,18.6,352,4022,0.00,2.30,0.00,0.000,1030,0.000,0.048,3079,2106,1909,1960,1858,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4323,0.61,107.1,3079,2107,1960,1858,251.8,18.7,382,4327,0.00,2.30,0.00,0.000,516,0.000,0.050,3090,668,1909,1960,1858,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4338,0.61,107.1,3090,668,1959,1857,248.9,19.1,383,4343,0.17,2.30,0.00,0.000,5126,0.271,0.048,3055,2109,1908,1958,1858,0,0,0,0,0,0,25.82,26.03,28.83
$GC,4648,0.61,107.1,3055,2110,1960,1857,199.3,15.5,413,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2110,1908,1960,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4953,0.61,107.1,3055,2109,1960,1857,152.5,14.6,444,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2110,1908,1960,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5254,0.61,107.1,3055,2109,1959,1857,113.1,13.5,474,5258,0.00,2.28,0.00,0.000,516,0.000,0.050,3064,674,1907,1959,1856,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5338,0.61,107.1,3064,673,1958,1856,102.1,13.9,481,5345,0.00,2.30,0.00,0.000,1030,0.000,0.048,3064,2097,1907,1959,1856,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5684,0.61,107.1,3064,2097,1959,1856,52.0,14.1,541,5690,0.00,2.28,0.00,0.000,516,0.000,0.050,3075,664,1907,1959,1856,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5781,0.61,107.1,3075,664,1957,1856,37.7,14.9,557,5791,0.00,2.33,0.00,0.000,1030,0.000,0.048,3075,2103,1907,1958,1856,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5961,0.61,107.1,3075,2105,1959,1856,10.3,15.3,582,5971,0.00,2.30,0.00,0.000,516,0.000,0.051,3086,679,1907,1958,1856,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,6014,end climb,SURFACE_DEPTH_REACHED
$STATE,6014,begin surface coast
$FINISH,1.2,1.022985
$STATE,6037,end surface coast,CONTROL_FINISHED_OK
$STATE,6037,begin surface
$SM_CCo,6053,40.22,0.058,0,0,1538,200.16
$SM_GC,1.64,7.85,2.35,40.22,0.042,0.048,0.058,131,2122,1538,-8.43,-0.79,200.16,0,0,0,0,0,0,26.27,26.25,26.21
$IRIDIUM_FIX,-4641.78,434.81,210509,141420
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.01
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,23.6,5.222
$10V_AH,10.2,3.701
$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,20.525,65.625,174.200,40.225,0.000,48.945,95.793,370.595,0.000,0.000,10.167,1539.573,2789.028,301.412,2119.853,57.494,0.000,881.932,0.000,1540.545,0.000,0.989,0.000
$DEVICE_MAMPS,270.810,79.560,1009.035,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.091,322.949,371.237,775.513,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353364
$DATA_FILE_SIZE,37059,592
$CAP_FILE_SIZE,76671,0
$CFSIZE,2097086464,2092695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.192,115.7,1
$GPS,250716,031051,-4659.782,436.564,48,1.5,48,-23.5