version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 190
start: 7 2 115 14 23 23
data:
$ID,574
$MISSION,20
$DIVE,190
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$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,20
$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,-2380947
$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,2845
$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,25
$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,2322
$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
$GPS1,230816,035827,-4445.391,459.405,86,0.9,86,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-77.0
$GPS2,230816,040656,-4445.350,459.461,6,0.8,6,-23.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WEST
$TGT_LATLONG,-4445.506,453.665
$TGT_RADIUS,1000.000
$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,271.4,7628,-16.4,-10.010,-19.35,2733
$D_GRID,1000
$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,-0.50,-107.1,129,2100,1527,1445,0.0,0.0,0,45,0.00,0.00,-27.73,0.000,16386,0.000,0.000,129,2099,2164,2165,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-0.50,-107.1,130,2100,2161,2170,3.0,-4.2,3,85,10.30,2.38,-20.10,0.000,18692,0.234,0.080,2662,3539,2758,2770,2746,0,0,0,0,0,0,25.24,25.65,26.06
$GC,223,-0.50,-107.1,2663,3539,2769,2749,23.9,-16.6,26,233,0.00,2.30,0.00,0.000,1030,0.000,0.056,2663,2134,2758,2768,2749,0,0,0,0,0,0,28.83,25.79,28.83
$GC,385,-0.50,-107.1,2662,2131,2770,2748,52.9,-16.2,51,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2131,2759,2770,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,718,-0.50,-107.1,2663,2131,2771,2748,112.0,-19.1,107,727,0.00,2.25,0.00,0.000,260,0.000,0.063,2653,3530,2759,2770,2748,0,0,0,0,0,0,28.83,25.98,28.83
$GC,744,-0.50,-107.1,2653,3530,2770,2748,115.7,-16.9,109,754,0.08,2.22,0.00,0.000,3078,0.158,0.056,2676,2122,2759,2771,2748,0,0,0,0,0,0,25.84,26.01,28.83
$GC,1050,-0.50,-107.1,2676,2117,2771,2748,169.3,-17.1,140,1054,0.00,2.28,0.00,0.000,260,0.000,0.064,2667,3537,2759,2771,2748,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1090,-0.50,-107.1,2667,3537,2771,2748,175.9,-17.6,143,1099,0.00,2.25,0.00,0.000,1030,0.000,0.057,2668,2119,2759,2771,2747,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1399,-0.50,-107.1,2667,2116,2773,2746,231.9,-17.3,174,1409,0.00,2.28,0.00,0.000,260,0.000,0.064,2657,3536,2759,2772,2746,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1444,-0.50,-107.1,2657,3536,2772,2746,238.8,-15.5,178,1454,0.00,2.25,0.00,0.000,1030,0.000,0.057,2657,2119,2759,2773,2746,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1757,-0.50,-107.1,2657,2115,2773,2746,294.9,-17.7,209,1766,0.00,2.25,0.00,0.000,260,0.000,0.064,2647,3529,2759,2773,2746,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1803,-0.50,-107.1,2647,3529,2773,2746,302.7,-17.6,213,1812,0.10,2.28,0.00,0.000,3078,0.155,0.057,2678,2128,2759,2773,2746,0,0,0,0,0,0,26.01,26.17,28.83
$GC,2110,-0.50,-107.1,2678,2124,2774,2746,353.2,-16.1,244,2115,0.00,2.25,0.00,0.000,260,0.000,0.067,2669,3536,2760,2774,2746,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2162,-0.50,-107.1,2669,3536,2774,2746,360.7,-15.4,248,2172,0.00,2.30,0.00,0.000,1030,0.000,0.061,2669,2125,2759,2773,2746,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2469,-0.50,-107.1,2669,2122,2774,2746,407.1,-15.0,277,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2121,2760,2775,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2770,-0.50,-107.1,2669,2122,2775,2746,450.2,-14.0,292,2776,0.00,2.25,0.00,0.000,260,0.000,0.070,2659,3528,2760,2775,2746,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2857,-0.50,-107.1,2659,3528,2774,2745,460.6,-13.1,296,2861,0.00,2.25,0.00,0.000,1030,0.000,0.062,2659,2120,2759,2774,2745,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3169,-0.50,-107.1,2659,2118,2774,2746,506.8,-14.6,312,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2118,2760,2775,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3469,-0.50,-107.1,2659,2116,2774,2746,549.4,-13.7,327,3473,0.00,2.28,0.00,0.000,260,0.000,0.069,2649,3529,2760,2775,2745,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3548,-0.50,-107.1,2649,3529,2774,2745,559.8,-13.6,331,3553,0.12,2.25,0.00,0.000,3078,0.171,0.063,2678,2122,2759,2774,2745,0,0,0,0,0,0,26.13,26.27,28.83
$GC,3860,-0.50,-107.1,2678,2121,2774,2745,598.1,-12.0,347,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2121,2759,2774,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4161,-0.50,-107.1,2678,2121,2774,2744,634.1,-12.0,362,4166,0.00,2.28,0.00,0.000,516,0.000,0.065,2684,707,2759,2774,2744,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4200,-0.50,-107.1,2684,706,2775,2744,639.0,-12.1,364,4204,0.00,2.25,0.00,0.000,1030,0.000,0.057,2675,2123,2759,2775,2744,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4518,-0.50,-107.1,2675,2123,2775,2743,677.2,-12.1,380,4523,0.00,2.22,0.00,0.000,260,0.000,0.068,2664,3529,2758,2774,2743,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4579,-0.50,-107.1,2664,3529,2774,2743,684.3,-11.8,383,4583,0.00,2.25,0.00,0.000,1030,0.000,0.062,2664,2119,2758,2774,2743,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4898,-0.50,-107.1,2664,2116,2774,2742,725.1,-13.0,399,4903,0.00,2.25,0.00,0.000,516,0.000,0.064,2669,705,2758,2774,2742,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4929,-0.50,-107.1,2669,705,2774,2742,727.6,-13.0,400,4936,0.00,2.28,0.00,0.000,1030,0.000,0.059,2660,2127,2758,2774,2742,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5236,-0.50,-107.1,2659,2126,2774,2742,771.4,-14.0,416,5240,0.00,2.25,0.00,0.000,260,0.000,0.069,2649,3542,2757,2774,2741,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5305,-0.50,-107.1,2649,3542,2774,2741,779.2,-14.1,419,5313,0.12,2.28,0.00,0.000,3078,0.171,0.063,2678,2117,2757,2773,2741,0,0,0,0,0,0,26.15,26.29,28.83
$GC,5612,-0.50,-107.1,2678,2116,2773,2740,818.0,-11.8,435,5616,0.00,2.25,0.00,0.000,516,0.000,0.064,2684,712,2757,2773,2741,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5641,-0.50,-107.1,2684,712,2774,2741,820.1,-12.0,436,5648,0.00,2.28,0.00,0.000,1030,0.000,0.059,2675,2131,2757,2773,2741,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5948,-0.50,-107.1,2675,2131,2774,2741,858.8,-11.8,452,5952,0.00,2.25,0.00,0.000,260,0.000,0.070,2664,3542,2757,2773,2741,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5997,-0.50,-107.1,2664,3542,2772,2741,862.9,-11.4,454,6004,0.00,2.28,0.00,0.000,1030,0.000,0.063,2664,2119,2756,2773,2740,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6305,-0.50,-107.1,2664,2118,2773,2740,900.2,-11.6,470,6310,0.00,2.28,0.00,0.000,516,0.000,0.067,2664,702,2756,2772,2740,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6324,-0.50,-107.1,2664,702,2773,2741,902.6,-11.6,471,6329,0.12,2.30,0.00,0.000,3078,0.186,0.063,2682,2131,2757,2773,2741,0,0,0,0,0,0,26.12,26.30,28.83
$GC,6642,-0.50,-107.1,2682,2131,2773,2740,933.8,-9.8,487,6647,0.00,2.25,0.00,0.000,260,0.000,0.071,2673,3533,2756,2773,2740,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6694,-0.50,-107.1,2673,3533,2772,2740,937.4,-9.3,489,6702,0.00,2.25,0.00,0.000,1030,0.000,0.065,2673,2123,2756,2773,2740,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7001,-0.50,-107.1,2673,2121,2772,2740,970.4,-10.8,505,7005,0.00,2.28,0.00,0.000,516,0.000,0.067,2673,711,2756,2772,2740,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7050,-0.50,-107.1,2673,711,2773,2740,974.7,-11.3,507,7057,0.00,2.28,0.00,0.000,1030,0.000,0.060,2663,2123,2756,2773,2740,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,7256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7256,begin apogee
$GC,7260,-0.11,0.0,2662,2090,2772,2740,1000.6,-12.2,518,7351,0.50,0.00,87.90,1.320,10246,0.155,0.000,2807,2089,2322,2367,2278,0,0,0,0,0,0,26.08,28.83,23.85
$STATE,7352,end apogee,CONTROL_FINISHED_OK
$STATE,7352,begin climb
$GC,7354,0.50,107.1,2807,2089,2367,2278,1003.1,0.0,522,7458,0.57,2.40,95.18,1.300,10756,0.080,0.047,3010,690,1885,1958,1812,0,0,0,0,0,0,24.70,24.20,23.46
$GC,7514,0.50,107.1,3009,690,1946,1812,987.1,14.5,530,7521,0.00,2.35,0.00,0.000,1030,0.000,0.043,3010,2105,1879,1946,1812,0,0,0,0,0,0,28.83,24.80,28.83
$GC,7821,0.50,107.1,3010,2107,1944,1807,933.8,16.6,546,7827,0.00,2.30,0.00,0.000,516,0.000,0.048,3021,680,1875,1944,1807,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7869,0.50,107.1,3019,680,1941,1807,926.9,17.0,548,7873,0.00,2.28,0.00,0.000,1030,0.000,0.043,3021,2104,1873,1940,1807,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8181,0.50,107.1,3020,2106,1941,1806,869.6,17.7,564,8185,0.00,2.28,0.00,0.000,516,0.000,0.047,3031,676,1873,1940,1806,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8205,0.50,107.1,3030,676,1937,1806,866.7,17.7,565,8209,0.00,2.25,0.00,0.000,1030,0.000,0.041,3031,2099,1871,1937,1806,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8517,0.50,107.1,3030,2099,1937,1806,807.6,18.5,581,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2099,1872,1938,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8817,0.50,107.1,3031,2098,1937,1805,753.8,18.0,596,8821,0.00,2.22,0.00,0.000,516,0.000,0.046,3041,686,1871,1937,1805,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8846,0.50,107.1,3040,685,1934,1805,751.0,17.8,597,8855,0.15,2.22,0.00,0.000,5126,0.203,0.041,3008,2108,1869,1934,1805,0,0,0,0,0,0,25.82,26.08,28.83
$GC,9153,0.50,107.1,3008,2108,1936,1805,700.2,15.2,613,9157,0.00,2.25,0.00,0.000,516,0.000,0.047,3018,677,1870,1936,1805,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9212,0.50,107.1,3018,677,1932,1805,691.5,15.3,616,9216,0.00,2.22,0.00,0.000,1030,0.000,0.043,3018,2100,1868,1932,1805,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9529,0.50,107.1,3018,2100,1933,1805,639.6,16.0,632,9533,0.00,2.22,0.00,0.000,516,0.000,0.046,3028,680,1869,1933,1805,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9545,0.50,107.1,3028,680,1932,1805,637.1,16.0,633,9549,0.00,2.20,0.00,0.000,1030,0.000,0.041,3028,2097,1868,1932,1805,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,13789,end climb,SURFACE_DEPTH_REACHED
$STATE,13789,begin surface coast
$FINISH,1.5,1.020105
$STATE,13811,end surface coast,CONTROL_FINISHED_OK
$STATE,13811,begin surface
$SM_CCo,13829,39.00,0.056,0,0,1504,200.16
$SM_GC,2.97,7.57,2.30,39.00,0.032,0.046,0.056,127,2127,1504,-8.41,-0.85,200.16,0,0,0,0,0,0,26.39,26.35,26.29
$IRIDIUM_FIX,-4429.25,500.68,190609,131316
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.09
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.5,22.548
$10V_AH,10.1,20.999
$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
$DEVICE_SECS,20.100,152.850,183.075,39.000,0.000,25.465,23.492,356.444,0.000,0.000,9.955,2727.219,8086.629,405.828,3027.545,152.982,0.000,1460.592,0.000,2571.447,0.000,0.990,0.000
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$SENSOR_SECS,734.910,203.845,1101.431,897.380,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353252
$DATA_FILE_SIZE,70297,1029
$CAP_FILE_SIZE,144910,0
$CFSIZE,2097086464,2069495808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,302.7,1
$GPS,230816,080027,-4445.607,456.777,64,1.0,64,-23.8