version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 13
start: 6 3 115 13 39 36
data:
$ID,574
$MISSION,20
$DIVE,13
$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,-2361471.8
$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,12
$R_STBD_OVSHOOT,22
$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
$GPS1,250716,031051,-4659.782,436.564,48,1.5,48,-23.5
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-77.7
$GPS2,250716,032135,-4659.762,436.772,5,1.4,5,-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,315.1,71708,-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,-107.1,131,2126,1550,1494,0.0,0.0,0,71,0.00,0.00,-48.30,0.000,16390,0.000,0.000,131,2127,2794,2782,2806,0,0,0,0,0,0,28.83,28.83,25.88
$GC,73,-0.61,-107.1,131,2127,2782,2805,4.2,-5.1,6,92,11.02,2.33,0.00,0.000,2308,0.265,0.048,2638,3546,2795,2787,2803,0,0,0,0,0,0,25.30,25.54,28.83
$GC,199,-0.61,-107.1,2638,3546,2798,2793,38.1,-21.2,23,209,0.00,2.38,0.00,0.000,1030,0.000,0.057,2640,2123,2795,2800,2791,0,0,0,0,0,0,28.83,25.64,28.83
$GC,344,-0.61,-107.1,1736,2118,2772,2786,69.9,-21.8,48,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2120,2796,2802,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.61,-107.1,2640,2120,2803,2790,142.4,-22.5,91,675,0.00,2.33,0.00,0.000,260,0.000,0.067,2631,3536,2797,2803,2791,0,0,0,0,0,0,28.83,25.89,28.83
$GC,746,-0.61,-107.1,2631,3536,2803,2790,156.9,-19.5,97,753,0.00,2.35,0.00,0.000,1030,0.000,0.060,2631,2124,2796,2803,2790,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1053,-0.61,-107.1,2631,2120,2805,2790,225.2,-20.8,128,1057,0.00,2.33,0.00,0.000,260,0.000,0.068,2622,3540,2797,2805,2790,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1128,-0.61,-107.1,2622,3541,2805,2790,239.7,-19.5,134,1136,0.08,2.35,0.00,0.000,3078,0.196,0.060,2655,2121,2797,2805,2789,0,0,0,0,0,0,25.91,26.03,28.83
$GC,1440,-0.61,-107.1,2655,2117,2805,2789,293.7,-17.1,165,1449,0.00,2.30,0.00,0.000,260,0.000,0.068,2646,3531,2797,2805,2789,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1493,-0.61,-107.1,2646,3531,2805,2789,303.4,-16.7,170,1498,0.00,2.28,0.00,0.000,1030,0.000,0.060,2646,2124,2797,2806,2789,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1798,-0.61,-107.1,2646,2120,2806,2788,357.9,-18.3,200,1802,0.00,2.33,0.00,0.000,260,0.000,0.070,2636,3542,2797,2806,2789,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1861,-0.61,-107.1,2635,3543,2806,2788,368.3,-17.3,205,1869,0.00,2.30,0.00,0.000,1030,0.000,0.063,2636,2122,2796,2805,2788,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2168,-0.61,-107.1,2636,2118,2806,2788,427.2,-18.4,229,2174,0.00,2.33,0.00,0.000,260,0.000,0.071,2626,3541,2797,2806,2788,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2240,-0.61,-107.1,2625,3542,2806,2788,437.9,-17.9,232,2249,0.12,2.33,0.00,0.000,3078,0.210,0.065,2654,2113,2797,2806,2788,0,0,0,0,0,0,26.09,26.20,28.83
$GC,2547,-0.61,-107.1,2653,2110,2806,2788,489.4,-15.7,248,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2110,2797,2806,2788,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2626,begin apogee
$GC,2629,-0.11,0.0,2654,2110,2806,2788,502.1,-15.9,252,2717,0.55,0.00,84.95,0.999,10246,0.177,0.000,2812,2109,2356,2389,2323,0,0,0,0,0,0,26.14,28.83,24.03
$STATE,2718,end apogee,CONTROL_FINISHED_OK
$STATE,2718,begin climb
$GC,2719,0.61,107.1,2811,2109,2389,2322,506.0,0.0,256,2816,0.73,2.50,89.43,0.975,10756,0.094,0.050,3054,671,1918,1975,1862,0,0,0,0,0,0,24.73,24.29,23.61
$GC,2876,0.61,107.1,3054,670,1966,1862,491.8,14.8,264,2884,0.00,2.45,0.00,0.000,1030,0.000,0.047,3054,2100,1914,1967,1862,0,0,0,0,0,0,28.83,24.87,28.83
$GC,3183,0.61,107.1,3054,2099,1965,1858,438.0,16.3,280,3187,0.00,2.35,0.00,0.000,516,0.000,0.050,3065,668,1911,1965,1858,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3233,0.61,107.1,3064,668,1961,1858,431.9,16.5,282,3240,0.00,2.35,0.00,0.000,1030,0.000,0.049,3065,2107,1909,1961,1858,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3539,0.61,107.1,3064,2107,1962,1858,378.8,16.7,304,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2107,1910,1962,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3841,0.61,107.1,3065,2107,1962,1857,329.8,16.5,334,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2107,1909,1961,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,0.61,107.1,3064,2107,1961,1858,281.3,16.3,364,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2107,1909,1961,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4440,0.61,107.1,3064,2107,1961,1857,234.8,15.2,394,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2107,1909,1961,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,0.61,107.1,3064,2106,1961,1857,191.7,14.2,424,4743,0.00,2.28,0.00,0.000,516,0.000,0.051,3075,675,1909,1961,1857,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4843,0.61,107.1,3074,675,1958,1857,176.9,14.7,433,4852,0.00,2.25,0.00,0.000,1030,0.000,0.049,3075,2100,1908,1959,1857,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5150,0.61,107.1,3075,2100,1959,1857,132.8,14.4,464,5154,0.00,2.28,0.00,0.000,516,0.000,0.049,3086,665,1908,1960,1857,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5170,0.61,107.1,3086,665,1958,1857,130.4,14.7,465,5180,0.10,2.25,0.00,0.000,5126,0.259,0.047,3061,2099,1907,1958,1857,0,0,0,0,0,0,26.00,26.20,28.83
$GC,5482,0.61,107.1,3061,2099,1960,1857,87.2,14.1,504,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2099,1908,1959,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5819,0.61,107.1,2064,2098,1925,1852,43.2,13.6,565,5827,0.00,2.28,0.00,0.000,516,0.000,0.051,3071,668,1908,1959,1857,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5944,0.61,107.1,2048,667,1921,1852,25.2,15.2,583,5954,0.00,2.30,0.00,0.000,1030,0.000,0.047,3070,2095,1908,1959,1857,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,6095,end climb,SURFACE_DEPTH_REACHED
$STATE,6096,begin surface coast
$FINISH,0.9,1.022917
$STATE,6120,end surface coast,CONTROL_FINISHED_OK
$STATE,6120,begin surface
$SM_CCo,6134,40.28,0.056,0,0,1539,200.16
$SM_GC,2.23,7.85,0.00,40.28,0.044,0.000,0.056,129,2099,1539,-8.44,-0.71,200.16,0,0,0,0,0,0,26.26,28.83,26.24
$IRIDIUM_FIX,-4641.78,447.65,210509,161634
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.56
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,23.6,5.299
$10V_AH,10.2,3.776
$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,20.450,51.175,174.375,40.275,0.000,50.396,108.706,343.082,0.000,0.000,9.460,1560.660,2823.381,298.846,2097.670,55.666,0.000,876.392,0.000,1569.300,0.000,0.989,0.000
$DEVICE_MAMPS,265.455,71.145,999.090,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.721,329.474,387.659,796.207,0.000,0.000,0.000,0.000,0.000,0.000
$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,40370,607
$CAP_FILE_SIZE,73844,0
$CFSIZE,2097086464,2092597248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.211,104.9,1
$GPS,250716,050537,-4659.568,436.846,7,0.8,7,-23.5