version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 440
start: 9 23 115 14 5 34
data:
$ID,574
$MISSION,20
$DIVE,440
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,363
$T_MISSION,395
$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,0
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$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,446.92932
$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,-2396665.2
$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,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,25
$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,96.25
$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
$GPS1,141116,034657,-4554.835,703.326,37,0.9,37,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-76.5
$GPS2,141116,035429,-4554.865,703.421,5,0.8,5,-24.6
$SPEED_LIMITS,0.300,0.310
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$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,302.8,152323,-13.1,-9.183,-16.48,3878
$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,16,-0.40,-87.6,130,2095,500,434,0.0,0.0,0,28,0.00,0.00,-10.02,0.000,16386,0.000,0.000,130,2095,731,760,703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.40,-87.6,130,2095,762,701,3.1,0.0,1,137,10.68,2.45,-86.40,0.000,18692,0.234,0.076,2706,3521,2676,2698,2655,0,0,0,0,0,0,24.81,25.23,26.04
$GC,268,-0.40,-87.6,2706,3522,2695,2659,8.3,-10.8,31,278,0.00,2.30,0.00,0.000,1030,0.000,0.050,2706,2132,2677,2695,2659,0,0,0,0,0,0,28.83,25.37,28.83
$GC,337,-0.40,-87.6,2706,2129,2697,2659,15.8,-11.0,40,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2129,2677,2696,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,405,-0.40,-87.6,2706,2129,2696,2659,23.6,-11.7,49,415,0.00,2.38,0.00,0.000,516,0.000,0.053,2706,706,2677,2696,2659,0,0,0,0,0,0,28.83,25.37,28.83
$GC,432,-0.40,-87.6,2706,706,2697,2660,26.9,-12.2,52,442,0.00,2.38,0.00,0.000,1030,0.000,0.053,2697,2121,2678,2697,2659,0,0,0,0,0,0,28.83,25.38,28.83
$GC,596,-0.40,-87.6,2697,2121,2696,2659,47.7,-12.1,77,602,0.00,2.33,0.00,0.000,260,0.000,0.062,2686,3540,2678,2697,2659,0,0,0,0,0,0,28.83,25.34,28.83
$GC,645,-0.40,-87.6,2686,3540,2695,2659,53.4,-11.4,85,652,0.00,2.30,0.00,0.000,1030,0.000,0.052,2686,2121,2677,2695,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,986,-0.40,-87.6,2686,2117,2696,2659,99.6,-13.8,146,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2118,2677,2696,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1292,-0.40,-87.6,2686,2118,2697,2659,140.5,-13.0,177,1301,0.00,2.30,0.00,0.000,260,0.000,0.061,2677,3528,2677,2696,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1343,-0.40,-87.6,2676,3528,2696,2659,147.0,-12.5,182,1354,0.15,2.30,0.00,0.000,3078,0.148,0.054,2714,2117,2677,2696,2659,0,0,0,0,0,0,25.29,25.52,28.83
$GC,1653,-0.40,-87.6,2714,2114,2697,2659,179.6,-11.1,213,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2114,2678,2697,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,-0.40,-87.6,2713,2114,2698,2659,214.0,-11.1,237,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2114,2678,2698,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.40,-87.6,2714,2114,2698,2659,293.0,-8.7,277,2759,0.00,2.33,0.00,0.000,260,0.000,0.060,2705,3543,2678,2698,2659,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2773,-0.40,-87.6,2705,3543,2695,2659,294.8,-8.7,278,2779,0.00,2.30,0.00,0.000,1030,0.000,0.050,2705,2116,2678,2697,2659,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3595,-0.40,-87.6,2705,2112,2696,2659,372.3,-9.3,319,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2112,2677,2696,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4394,-0.40,-87.6,2705,2112,2696,2658,445.7,-9.5,359,4399,0.00,2.33,0.00,0.000,260,0.000,0.060,2695,3539,2677,2696,2658,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4433,-0.40,-87.6,2694,3539,2696,2657,449.3,-9.3,361,4439,0.00,2.28,0.00,0.000,1030,0.000,0.051,2695,2123,2677,2696,2658,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5253,-0.40,-87.6,2694,2120,2696,2657,528.0,-9.5,402,5259,0.00,2.33,0.00,0.000,260,0.000,0.062,2684,3544,2676,2696,2657,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5274,-0.40,-87.6,2684,3544,2696,2656,529.9,-9.4,403,5280,0.12,2.30,0.00,0.000,3078,0.180,0.053,2714,2116,2676,2696,2657,0,0,0,0,0,0,25.37,25.59,28.83
$GC,6093,-0.40,-87.6,2714,2114,2696,2656,588.5,-7.1,444,6099,0.00,2.30,0.00,0.000,516,0.000,0.055,2714,700,2676,2697,2656,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6136,-0.40,-87.6,2714,700,2697,2656,591.8,-7.8,446,6141,0.00,2.33,0.00,0.000,1030,0.000,0.052,2706,2128,2676,2697,2656,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6949,-0.40,-87.6,2706,2129,2697,2655,656.1,-7.6,487,6954,0.00,2.28,0.00,0.000,260,0.000,0.062,2695,3533,2675,2697,2654,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7052,-0.40,-87.6,2694,3532,2696,2655,663.9,-7.6,492,7056,0.00,2.28,0.00,0.000,1030,0.000,0.054,2695,2124,2675,2696,2655,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7865,-0.40,-87.6,2694,2122,2697,2654,731.8,-8.0,533,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2122,2675,2697,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8663,-0.40,-87.6,2694,2122,2697,2654,791.1,-7.3,573,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2122,2675,2697,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9463,-0.40,-87.6,2694,2121,2697,2653,849.3,-7.2,613,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2121,2675,2697,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10263,-0.40,-87.6,2695,2121,2697,2653,908.8,-7.1,653,10269,0.00,2.33,0.00,0.000,260,0.000,0.063,2684,3534,2674,2696,2653,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10306,-0.40,-87.6,1824,3533,2667,2649,911.8,-7.3,655,10311,0.12,2.30,0.00,0.000,3078,0.172,0.057,2714,2124,2674,2696,2653,0,0,0,0,0,0,25.26,25.48,28.83
$GC,11118,-0.40,-87.6,2714,2122,2696,2653,956.7,-5.4,696,11124,0.00,2.33,0.00,0.000,516,0.000,0.058,2715,698,2674,2696,2653,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11186,-0.40,-87.6,2715,699,2696,2653,960.2,-5.7,699,11191,0.00,2.33,0.00,0.000,1030,0.000,0.053,2706,2125,2674,2696,2653,0,0,0,0,0,0,28.83,25.51,28.83
$STATE,11873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11873,begin apogee
$GC,11878,0.00,0.0,2706,2089,2696,2653,1000.9,-5.8,733,11956,0.45,0.00,75.22,1.348,10246,0.145,0.000,2841,2087,2322,2359,2285,0,0,0,0,0,0,25.03,28.83,23.20
$STATE,11957,end apogee,CONTROL_FINISHED_OK
$STATE,11957,begin climb
$GC,11959,0.40,87.6,2840,2087,2360,2284,1001.6,0.0,737,12053,0.35,2.53,82.20,1.356,10756,0.088,0.047,2984,688,1962,2018,1907,0,0,0,0,0,0,24.62,23.70,22.42
$GC,12210,0.40,87.6,2984,687,2013,1902,977.6,13.3,749,12217,0.00,2.35,0.00,0.000,1030,0.000,0.044,2984,2101,1956,2012,1901,0,0,0,0,0,0,28.83,24.84,28.83
$GC,13017,0.40,87.6,2984,2102,2010,1896,865.4,13.1,790,13023,0.00,2.28,0.00,0.000,516,0.000,0.047,2994,689,1952,2009,1896,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13037,0.40,87.6,2994,688,2007,1895,862.7,13.2,791,13044,0.00,2.28,0.00,0.000,1030,0.000,0.044,2994,2100,1951,2007,1895,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13857,0.40,87.6,2994,2099,2007,1895,745.1,14.7,832,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2099,1950,2006,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14657,0.40,87.6,2994,2099,2006,1894,641.8,11.8,872,14663,0.00,2.25,0.00,0.000,260,0.000,0.053,2994,3511,1950,2006,1894,0,0,0,0,0,0,28.83,25.64,28.83
$GC,14680,0.40,87.6,2112,3510,1974,1891,639.3,12.0,873,14684,0.00,2.22,0.00,0.000,1030,0.000,0.044,3004,2099,1949,2003,1895,0,0,0,0,0,0,28.83,25.72,28.83
$GC,15493,0.40,87.6,3004,2099,2003,1895,535.5,12.2,914,15499,0.00,2.25,0.00,0.000,516,0.000,0.049,3015,682,1948,2002,1894,0,0,0,0,0,0,28.83,25.69,28.83
$GC,15605,0.40,87.6,3014,682,2001,1894,523.0,12.5,919,15612,0.17,2.28,0.00,0.000,5126,0.244,0.044,2976,2105,1947,2001,1894,0,0,0,0,0,0,24.92,25.75,28.83
$GC,16412,0.40,87.6,2976,2105,2002,1894,437.5,10.6,960,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2106,1948,2002,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17212,0.40,87.6,2976,2106,2002,1893,355.1,10.1,1000,17218,0.00,2.22,0.00,0.000,260,0.000,0.051,2976,3508,1947,2002,1893,0,0,0,0,0,0,28.83,25.64,28.83
$GC,17240,0.40,87.6,2976,3508,2001,1894,353.0,10.1,1001,17244,0.00,2.22,0.00,0.000,1030,0.000,0.044,2985,2097,1947,2001,1894,0,0,0,0,0,0,28.83,25.73,28.83
$GC,18047,0.40,87.6,2985,2097,2001,1894,270.3,10.2,1041,18053,0.00,2.28,0.00,0.000,516,0.000,0.047,2996,679,1948,2002,1894,0,0,0,0,0,0,28.83,25.67,28.83
$GC,18195,0.40,87.6,2996,678,2000,1894,255.9,10.3,1048,18199,0.00,2.28,0.00,0.000,1030,0.000,0.044,2996,2099,1947,2000,1894,0,0,0,0,0,0,28.83,25.72,28.83
$GC,19003,0.45,127.3,2996,2099,2001,1893,179.8,8.1,1099,19043,0.00,2.30,31.62,0.835,8708,0.000,0.048,3006,683,1802,1866,1738,0,0,0,0,0,0,28.83,25.68,24.50
$GC,19076,0.45,127.3,3006,683,1863,1737,173.2,9.8,1106,19085,0.00,2.28,0.00,0.000,1030,0.000,0.043,3006,2097,1799,1863,1736,0,0,0,0,0,0,28.83,25.60,28.83
$GC,19386,0.45,127.3,3006,2100,1863,1733,137.7,12.5,1137,19395,0.00,2.30,0.00,0.000,516,0.000,0.047,3017,677,1797,1862,1733,0,0,0,0,0,0,28.83,25.55,28.83
$GC,19437,0.45,127.3,3016,676,1860,1733,131.7,12.0,1142,19446,0.00,2.30,0.00,0.000,1030,0.000,0.044,3016,2103,1797,1861,1733,0,0,0,0,0,0,28.83,25.60,28.83
$GC,19754,0.45,127.3,3016,2103,1861,1732,93.9,11.9,1177,19760,0.00,2.25,0.00,0.000,260,0.000,0.050,3017,3512,1796,1861,1732,0,0,0,0,0,0,28.83,25.56,28.83
$GC,19795,0.45,127.3,3017,3513,1860,1733,87.9,13.2,1184,19803,0.08,2.30,0.00,0.000,5126,0.235,0.044,2998,2094,1796,1860,1733,0,0,0,0,0,0,24.98,25.63,28.83
$GC,20140,0.45,127.3,2998,2090,1860,1732,49.9,11.2,1245,20147,0.00,2.28,0.00,0.000,516,0.000,0.047,3007,676,1796,1860,1732,0,0,0,0,0,0,28.83,25.60,28.83
$GC,20188,0.45,127.3,3007,676,1859,1732,44.5,10.8,1253,20194,0.00,2.28,0.00,0.000,1030,0.000,0.042,3007,2101,1795,1859,1732,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,20544,end climb,SURFACE_DEPTH_REACHED
$STATE,20544,begin surface coast
$FINISH,2.3,1.023031
$STATE,20574,end surface coast,CONTROL_FINISHED_OK
$STATE,20574,begin surface
$SM_CCo,20590,150.52,0.054,0,0,498,446.93
$SM_GC,3.18,7.72,0.00,150.52,0.047,0.000,0.054,128,2106,498,-8.40,-0.51,446.93,0,0,0,0,0,0,25.70,28.83,25.60
$IRIDIUM_FIX,-4536.40,704.82,100909,111135
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.17
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,22.4,46.377
$10V_AH,9.6,59.919
$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,19.850,96.775,189.050,150.525,0.000,24.601,24.663,286.374,0.000,0.000,8.003,3302.026,14237.584,477.116,2990.668,205.431,0.000,1627.190,0.000,2613.861,0.000,0.988,0.000
$DEVICE_MAMPS,244.035,132.345,1356.345,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,939.771,118.948,660.315,683.158,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353028
$DATA_FILE_SIZE,80394,1309
$CAP_FILE_SIZE,137139,0
$CFSIZE,2097086464,2035712000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.188,144.8,1
$GPS,141116,094203,-4556.151,702.348,29,1.0,29,-24.6