version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 14
start: 6 3 115 15 31 37
data:
$ID,574
$MISSION,20
$DIVE,14
$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,-2361497.2
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,250716,050537,-4659.568,436.846,7,0.8,7,-23.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-79.1
$GPS2,250716,051337,-4659.467,437.019,8,0.9,8,-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,307.3,72026,-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,-107.1,129,2101,1555,1490,0.0,0.0,0,63,0.00,0.00,-45.90,0.000,16386,0.000,0.000,128,2101,2726,2712,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.61,-107.1,129,2101,2713,2741,3.2,-2.8,5,86,10.82,2.40,-1.40,0.000,18692,0.262,0.068,2639,3546,2792,2788,2796,0,0,0,0,0,0,25.37,25.59,25.84
$GC,172,-0.61,-107.1,2639,3546,2797,2790,29.2,-18.9,19,182,0.00,2.40,0.00,0.000,1030,0.000,0.064,2639,2127,2794,2799,2789,0,0,0,0,0,0,28.83,25.67,28.83
$GC,323,-0.61,-107.1,2638,2124,2800,2787,62.9,-22.9,44,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2123,2794,2801,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,650,-0.61,-107.1,2638,2124,2800,2787,134.8,-21.6,90,659,0.00,2.33,0.00,0.000,260,0.000,0.072,2629,3539,2794,2801,2787,0,0,0,0,0,0,28.83,25.91,28.83
$GC,748,-0.61,-107.1,1792,3538,2774,2782,154.7,-19.7,99,757,0.08,2.38,0.00,0.000,3078,0.180,0.066,2651,2125,2794,2802,2786,0,0,0,0,0,0,25.85,25.94,28.83
$GC,1056,-0.61,-107.1,2650,2121,2804,2785,216.2,-18.1,130,1061,0.00,2.33,0.00,0.000,516,0.000,0.066,2657,699,2794,2804,2785,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1075,-0.61,-107.1,1816,699,2778,2781,219.1,-18.2,131,1083,0.00,2.38,0.00,0.000,1030,0.000,0.063,2648,2118,2794,2804,2785,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1383,-0.61,-107.1,2648,2118,2806,2785,273.9,-17.6,162,1391,0.00,2.33,0.00,0.000,260,0.000,0.073,2637,3538,2795,2805,2785,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1521,-0.61,-107.1,2637,3538,2805,2785,296.7,-16.1,175,1525,0.00,2.33,0.00,0.000,1030,0.000,0.070,2637,2121,2795,2805,2785,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1829,-0.61,-107.1,2636,2118,2805,2785,354.1,-18.5,205,1838,0.00,2.33,0.00,0.000,260,0.000,0.077,2627,3534,2795,2805,2785,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1874,-0.61,-107.1,2627,3533,2805,2785,362.2,-18.5,209,1884,0.08,2.38,0.00,0.000,3078,0.190,0.071,2649,2120,2794,2805,2784,0,0,0,0,0,0,26.06,26.15,28.83
$GC,2192,-0.61,-107.1,2649,2117,2805,2785,419.2,-17.8,236,2196,0.00,2.35,0.00,0.000,260,0.000,0.079,2640,3536,2794,2805,2784,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2267,-0.61,-107.1,2640,3536,2805,2785,432.2,-17.2,240,2272,0.00,2.33,0.00,0.000,1030,0.000,0.075,2640,2122,2794,2805,2784,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2583,-0.61,-107.1,2640,2120,2806,2784,491.7,-18.8,256,2588,0.00,2.35,0.00,0.000,260,0.000,0.082,2630,3535,2795,2806,2784,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2599,-0.61,-107.1,2630,3535,2805,2784,494.8,-18.9,257,2603,0.00,2.33,0.00,0.000,1030,0.000,0.076,2630,2124,2794,2805,2784,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2637,-0.11,0.0,2630,2121,2805,2784,501.7,-19.4,259,2725,0.65,0.00,84.40,1.002,10246,0.180,0.000,2814,2121,2356,2389,2323,0,0,0,0,0,0,26.12,28.83,24.04
$STATE,2726,end apogee,CONTROL_FINISHED_OK
$STATE,2726,begin climb
$GC,2727,0.61,107.1,2813,2121,2390,2323,506.9,0.0,263,2824,0.75,2.53,90.30,0.978,10756,0.090,0.049,3061,671,1918,1974,1862,0,0,0,0,0,0,24.72,24.29,23.61
$GC,2835,0.65,138.8,3061,671,1970,1862,500.7,8.0,269,2872,0.00,2.45,28.50,0.942,9222,0.000,0.046,3061,2106,1788,1861,1715,0,0,0,0,0,0,28.83,24.51,23.68
$GC,3172,0.65,138.8,3060,2107,1856,1709,438.5,18.8,286,3178,0.00,2.38,0.00,0.000,516,0.000,0.050,3071,673,1781,1855,1708,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3219,0.65,138.8,3071,673,1850,1708,430.9,19.0,288,3223,0.00,2.35,0.00,0.000,1030,0.000,0.047,3071,2111,1778,1849,1708,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3531,0.65,138.8,3071,2111,1850,1708,368.0,20.6,312,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2111,1779,1851,1708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3833,0.65,138.8,3071,2111,1849,1707,307.6,20.4,342,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2111,1778,1849,1707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,0.65,138.8,3070,2111,1847,1707,246.2,20.8,372,4136,0.00,2.30,0.00,0.000,516,0.000,0.050,3082,678,1776,1847,1706,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4160,0.65,138.8,3082,678,1845,1706,240.3,21.1,374,4164,0.00,2.28,0.00,0.000,1030,0.000,0.049,3082,2100,1775,1845,1706,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4465,0.65,138.8,3082,2103,1846,1707,177.9,19.4,404,4469,0.00,2.30,0.00,0.000,516,0.000,0.052,3093,668,1776,1846,1707,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4601,0.65,138.8,2240,667,1816,1703,152.4,18.5,416,4612,0.08,2.33,0.00,0.000,5126,0.240,0.048,3074,2096,1775,1843,1707,0,0,0,0,0,0,25.91,26.10,28.83
$GC,4909,0.65,138.8,3074,2096,1844,1707,98.9,17.3,447,4915,0.00,2.28,0.00,0.000,516,0.000,0.050,3083,677,1775,1844,1707,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4960,0.65,138.8,3083,676,1841,1707,90.2,17.1,456,4969,0.00,2.30,0.00,0.000,1030,0.000,0.048,3083,2096,1774,1842,1707,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5312,0.65,138.8,3083,2096,1843,1707,28.6,18.2,517,5322,0.00,2.30,0.00,0.000,516,0.000,0.050,3094,676,1774,1841,1707,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5394,0.65,138.8,3094,676,1840,1707,12.8,18.9,528,5404,0.10,2.28,0.00,0.000,5126,0.248,0.047,3069,2092,1773,1840,1706,0,0,0,0,0,0,26.02,26.22,28.83
$STATE,5448,end climb,SURFACE_DEPTH_REACHED
$STATE,5448,begin surface coast
$FINISH,0.9,1.022973
$STATE,5471,end surface coast,CONTROL_FINISHED_OK
$STATE,5471,begin surface
$SM_CCo,5484,25.98,0.060,0,0,1539,200.16
$SM_GC,2.41,7.90,0.00,25.98,0.046,0.000,0.060,128,2096,1539,-8.44,-0.85,200.16,0,0,0,0,0,0,26.21,28.83,26.17
$IRIDIUM_FIX,-4641.78,431.67,210509,161651
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.33
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,23.6,5.379
$10V_AH,10.2,3.843
$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,20.450,60.950,203.200,25.975,0.000,29.558,50.402,312.993,0.000,0.000,12.151,1397.954,2408.415,314.851,1831.860,53.301,0.000,856.687,0.000,1410.321,0.000,0.988,0.000
$DEVICE_MAMPS,262.395,81.855,1002.150,60.435,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.622,291.647,339.231,702.469,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353328
$DATA_FILE_SIZE,33699,538
$CAP_FILE_SIZE,71289,0
$CFSIZE,2097086464,2092498944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.208,116.5,1
$GPS,250716,064803,-4659.405,436.865,95,0.8,95,-23.5