version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 496
start: 10 7 115 1 34 17
data:
$ID,574
$MISSION,20
$DIVE,496
$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,-2399468
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,271116,151633,-4545.248,553.586,26,1.0,26,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-73.5
$GPS2,271116,152404,-4545.231,553.712,6,0.8,6,-24.1
$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,241.5,85268,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.40,-87.6,129,2101,495,429,0.0,0.0,0,62,0.00,0.00,-45.12,0.000,16386,0.000,0.000,128,2101,1583,1579,1588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.40,-87.6,128,2102,1582,1588,3.0,-0.8,5,138,10.98,2.40,-50.67,0.000,18692,0.246,0.073,2692,3527,2679,2697,2662,0,0,0,0,0,0,24.72,25.32,26.09
$GC,163,-0.40,-87.6,2692,3526,2697,2662,6.2,-11.0,16,172,0.00,2.33,0.00,0.000,1030,0.000,0.055,2692,2137,2680,2698,2662,0,0,0,0,0,0,28.83,25.33,28.83
$GC,232,-0.40,-87.6,2692,2133,2699,2662,14.6,-12.5,25,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2133,2680,2699,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,300,-0.40,-87.6,2692,2133,2700,2662,24.7,-15.1,34,310,0.00,2.35,0.00,0.000,260,0.000,0.060,2682,3533,2680,2699,2662,0,0,0,0,0,0,28.83,25.32,28.83
$GC,320,-0.40,-87.6,2682,3533,2698,2662,27.5,-14.2,36,330,0.08,2.35,0.00,0.000,3078,0.203,0.052,2708,2119,2680,2698,2662,0,0,0,0,0,0,25.03,25.39,28.83
$GC,487,-0.40,-87.6,2708,2115,2700,2662,49.2,-13.3,61,494,0.00,2.33,0.00,0.000,260,0.000,0.059,2699,3538,2681,2700,2662,0,0,0,0,0,0,28.83,25.37,28.83
$GC,529,-0.40,-87.6,2699,3538,2698,2662,54.4,-10.5,68,536,0.00,2.33,0.00,0.000,1030,0.000,0.050,2699,2127,2680,2699,2662,0,0,0,0,0,0,28.83,25.47,28.83
$GC,870,-0.40,-87.6,2699,2124,2701,2662,97.8,-13.0,129,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2124,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1179,-0.40,-87.6,2699,2124,2701,2662,139.2,-13.4,161,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2124,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.40,-87.6,2699,2123,2701,2662,178.6,-13.3,191,1488,0.00,2.28,0.00,0.000,260,0.000,0.061,2689,3531,2681,2701,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1514,-0.40,-87.6,2689,3531,2701,2662,182.7,-13.0,194,1521,0.00,2.28,0.00,0.000,1030,0.000,0.053,2689,2123,2681,2700,2662,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1831,-0.40,-87.6,2689,2119,2701,2662,224.0,-12.6,217,1837,0.00,2.30,0.00,0.000,260,0.000,0.060,2679,3528,2681,2701,2662,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1873,-0.40,-87.6,1824,3528,2673,2658,229.1,-12.6,219,1878,0.12,2.28,0.00,0.000,3078,0.209,0.051,2709,2116,2681,2700,2662,0,0,0,0,0,0,25.20,25.59,28.83
$GC,2686,-0.40,-87.6,2709,2112,2700,2662,307.9,-8.6,260,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2112,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3486,-0.40,-87.6,2709,2112,2701,2661,376.3,-8.7,300,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2112,2681,2701,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,-0.40,-87.6,2709,2112,2701,2660,446.8,-9.5,340,4291,0.00,2.30,0.00,0.000,260,0.000,0.060,2701,3529,2680,2700,2660,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4326,-0.40,-87.6,2700,3529,2700,2660,450.5,-9.4,342,4331,0.00,2.25,0.00,0.000,1030,0.000,0.051,2701,2123,2680,2700,2660,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5146,-0.40,-87.6,2701,2120,2701,2660,530.2,-9.5,383,5152,0.00,2.30,0.00,0.000,516,0.000,0.057,2700,701,2680,2701,2660,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5186,-0.40,-87.6,2700,701,2701,2660,534.1,-9.9,385,5191,0.00,2.30,0.00,0.000,1030,0.000,0.054,2691,2121,2680,2701,2660,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6006,-0.40,-87.6,2690,2121,2701,2659,611.4,-7.8,426,6012,0.00,2.30,0.00,0.000,260,0.000,0.063,2680,3532,2680,2701,2659,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6188,-0.40,-87.6,1808,3531,2671,2654,624.4,-7.3,435,6193,0.12,2.30,0.00,0.000,3078,0.214,0.056,2709,2117,2679,2700,2659,0,0,0,0,0,0,25.19,25.56,28.83
$GC,7001,-0.40,-87.6,2709,2115,2700,2658,681.0,-7.8,476,7007,0.00,2.33,0.00,0.000,260,0.000,0.061,2701,3540,2679,2700,2658,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7024,-0.40,-87.6,2700,3540,2699,2658,682.6,-7.9,477,7028,0.00,2.28,0.00,0.000,1030,0.000,0.051,2700,2123,2678,2699,2658,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7836,-0.40,-87.6,2700,2120,2700,2658,757.9,-9.9,518,7841,0.00,2.30,0.00,0.000,516,0.000,0.056,2700,711,2679,2700,2658,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7899,-0.40,-87.6,2700,711,2701,2658,763.6,-9.7,521,7903,0.00,2.30,0.00,0.000,1030,0.000,0.054,2690,2123,2678,2700,2657,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8711,-0.40,-87.6,2690,2123,2700,2657,834.8,-7.3,562,8717,0.00,2.33,0.00,0.000,260,0.000,0.063,2680,3545,2678,2700,2657,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8819,-0.40,-87.6,2679,3544,2698,2657,841.9,-7.1,567,8824,0.12,2.33,0.00,0.000,3078,0.185,0.054,2709,2119,2677,2698,2657,0,0,0,0,0,0,25.22,25.53,28.83
$GC,9627,-0.40,-87.6,2709,2117,2699,2657,880.8,-5.0,607,9632,0.00,2.28,0.00,0.000,516,0.000,0.055,2711,704,2678,2700,2656,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9649,-0.40,-87.6,2711,704,2700,2657,881.9,-5.2,608,9653,0.00,2.33,0.00,0.000,1030,0.000,0.052,2703,2130,2678,2700,2657,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10461,-0.40,-87.6,2702,2130,2700,2656,929.8,-6.3,649,10467,0.00,2.30,0.00,0.000,260,0.000,0.061,2691,3544,2677,2699,2656,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10575,-0.40,-87.6,2691,3544,2698,2656,936.3,-6.5,654,10583,0.00,2.30,0.00,0.000,1030,0.000,0.053,2691,2121,2677,2698,2656,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11382,-0.40,-87.6,2691,2119,2698,2655,995.1,-7.4,695,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2119,2677,2699,2656,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11459,begin apogee
$GC,11464,0.00,0.0,2691,2119,2699,2656,1000.8,-7.1,699,11543,0.50,0.00,75.78,1.329,10246,0.178,0.000,2837,2116,2322,2361,2283,0,0,0,0,0,0,24.61,28.83,23.14
$STATE,11544,end apogee,CONTROL_FINISHED_OK
$STATE,11544,begin climb
$GC,11546,0.40,87.6,2837,2116,2361,2283,1001.9,0.0,703,11635,0.38,2.45,81.65,1.317,10500,0.093,0.050,2975,3506,1964,2025,1904,0,0,0,0,0,0,24.59,23.73,22.37
$GC,11647,0.40,87.6,2975,3506,2023,1904,999.3,4.2,707,11651,0.00,2.45,0.00,0.000,1030,0.000,0.044,2986,2091,1963,2023,1904,0,0,0,0,0,0,28.83,23.98,28.83
$GC,12454,0.40,87.6,2985,2090,2012,1898,893.6,11.7,747,12460,0.00,2.28,0.00,0.000,516,0.000,0.048,2997,679,1954,2012,1896,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12607,0.40,87.6,2997,679,2008,1895,876.4,12.3,754,12615,0.00,2.28,0.00,0.000,1030,0.000,0.044,2996,2103,1951,2008,1895,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13415,0.40,87.6,2997,2103,2008,1895,774.9,12.1,795,13421,0.00,2.22,0.00,0.000,260,0.000,0.052,2997,3507,1951,2008,1894,0,0,0,0,0,0,28.83,25.66,28.83
$GC,13436,0.40,87.6,2997,3507,2007,1895,772.4,12.2,796,13442,0.10,2.20,0.00,0.000,5126,0.251,0.044,2980,2097,1951,2007,1895,0,0,0,0,0,0,25.07,25.75,28.83
$GC,14254,0.40,87.6,2980,2097,2007,1894,679.3,11.7,837,14260,0.00,2.25,0.00,0.000,516,0.000,0.049,2990,683,1950,2007,1894,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14378,0.40,87.6,2064,683,1976,1890,665.5,11.5,843,14382,0.00,2.25,0.00,0.000,1030,0.000,0.044,2990,2099,1950,2006,1894,0,0,0,0,0,0,28.83,25.77,28.83
$GC,15190,0.40,87.6,2990,2099,2006,1893,570.7,11.4,884,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2099,1949,2006,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15990,0.40,87.6,2990,2099,2006,1893,487.2,9.9,924,15996,0.00,2.22,0.00,0.000,260,0.000,0.052,2990,3507,1949,2006,1893,0,0,0,0,0,0,28.83,25.67,28.83
$GC,16043,0.40,87.6,2990,3507,2005,1894,482.9,10.2,926,16050,0.00,2.22,0.00,0.000,1030,0.000,0.044,3000,2093,1949,2005,1894,0,0,0,0,0,0,28.83,25.75,28.83
$GC,16852,0.40,87.6,3000,2093,2005,1893,394.6,11.0,967,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2093,1949,2005,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17650,0.40,87.6,3000,2093,2005,1893,310.8,10.2,1007,17656,0.00,2.25,0.00,0.000,516,0.000,0.048,3011,676,1948,2004,1893,0,0,0,0,0,0,28.83,25.68,28.83
$GC,17693,0.40,87.6,3011,675,2003,1893,306.8,9.9,1009,17698,0.15,2.28,0.00,0.000,5126,0.272,0.043,2979,2105,1948,2003,1893,0,0,0,0,0,0,24.93,25.75,28.83
$GC,18505,0.40,91.6,2979,2105,2004,1892,231.9,9.1,1050,18511,0.00,2.22,0.00,0.000,260,0.000,0.050,2979,3515,1948,2004,1892,0,0,0,0,0,0,28.83,25.65,28.83
$GC,18598,0.40,91.6,2979,3516,2004,1894,224.2,9.6,1054,18605,0.00,2.22,0.00,0.000,1030,0.000,0.044,2988,2096,1949,2004,1894,0,0,0,0,0,0,28.83,25.72,28.83
$GC,19405,0.55,212.3,2988,2095,2004,1893,160.1,6.0,1122,19516,0.10,2.35,101.80,0.812,10756,0.178,0.047,3030,683,1455,1555,1355,0,0,0,0,0,0,26.18,24.85,23.80
$GC,19612,0.55,212.3,2152,683,1523,1353,133.9,14.3,1142,19620,0.00,2.33,0.00,0.000,1030,0.000,0.043,3030,2105,1447,1540,1355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,19928,0.55,212.3,3030,2107,1539,1350,82.2,16.4,1182,19939,0.00,2.35,0.00,0.000,516,0.000,0.050,3041,687,1443,1537,1350,0,0,0,0,0,0,28.83,25.43,28.83
$GC,19996,0.55,212.3,3040,687,1533,1350,71.5,15.2,1193,20003,0.00,2.28,0.00,0.000,1030,0.000,0.042,3040,2106,1441,1533,1350,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,20381,end climb,SURFACE_DEPTH_REACHED
$STATE,20381,begin surface coast
$FINISH,2.1,1.022933
$STATE,20406,end surface coast,CONTROL_FINISHED_OK
$STATE,20406,begin surface
$SM_CCo,20422,109.85,0.053,0,0,498,446.93
$SM_GC,2.79,7.95,0.00,109.85,0.055,0.000,0.053,126,2111,498,-8.42,-0.37,446.93,0,0,0,0,0,0,25.69,28.83,25.54
$IRIDIUM_FIX,-4524.09,546.01,230909,222205
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.51
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,22.4,51.959
$10V_AH,9.6,66.809
$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,20.600,101.100,259.225,109.850,0.000,22.644,17.576,291.042,0.000,0.000,9.759,3183.424,14256.030,481.791,2871.713,211.471,0.000,1647.577,0.000,2489.833,0.000,0.988,0.000
$DEVICE_MAMPS,271.575,72.675,1328.805,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.611,89.213,485.799,507.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,77053,1257
$CAP_FILE_SIZE,137607,0
$CFSIZE,2097086464,2028371968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185, 37.8,1
$GPS,271116,210822,-4544.800,553.707,41,0.8,41,-24.1