version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 48
start: 6 8 115 11 6 26
data:
$ID,574
$MISSION,20
$DIVE,48
$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,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,-2365114.8
$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,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,23
$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,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
$GPS1,300716,004051,-4652.637,434.636,63,0.8,63,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.8
$GPS2,300716,004845,-4652.640,434.708,4,1.4,4,-23.5
$SPEED_LIMITS,0.173,0.226
$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,302.6,70432,-21.4,-10.010,-23.93,1641
$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,14,begin dive
$GC,15,-0.61,-107.1,129,2099,1531,1443,0.0,0.0,0,53,0.00,0.00,-36.25,0.000,16386,0.000,0.000,129,2099,2403,2382,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.61,-107.1,129,2099,2385,2424,3.0,-1.9,4,84,10.50,2.28,-9.30,0.000,19204,0.253,0.060,2644,711,2760,2769,2751,0,0,0,0,0,0,25.48,25.71,25.98
$GC,94,-0.61,-107.1,2643,710,2770,2751,9.8,-16.3,8,103,0.00,2.33,0.00,0.000,1030,0.000,0.050,2635,2118,2760,2770,2751,0,0,0,0,0,0,28.83,25.70,28.83
$GC,162,-0.61,-107.1,2635,2118,2771,2751,24.8,-21.0,17,172,0.00,2.30,0.00,0.000,260,0.000,0.054,2624,3534,2761,2772,2751,0,0,0,0,0,0,28.83,25.75,28.83
$GC,238,-0.61,-107.1,2624,3534,2770,2751,40.7,-20.2,27,244,0.00,2.28,0.00,0.000,1030,0.000,0.051,2626,2126,2761,2771,2751,0,0,0,0,0,0,28.83,25.81,28.83
$GC,575,-0.61,-107.1,2626,2123,2772,2751,114.4,-22.6,83,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2123,2761,2772,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-0.61,-107.1,2626,2123,2773,2751,178.0,-20.8,113,879,0.00,2.28,0.00,0.000,260,0.000,0.062,2617,3541,2762,2773,2751,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1023,-0.61,-107.1,2617,3541,2773,2750,205.5,-18.2,127,1032,0.08,2.30,0.00,0.000,3078,0.207,0.052,2640,2129,2762,2773,2751,0,0,0,0,0,0,25.96,26.10,28.83
$GC,1331,-0.61,-107.1,2639,2125,2774,2750,261.2,-18.0,158,1335,0.00,2.28,0.00,0.000,260,0.000,0.061,2631,3542,2762,2774,2750,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1389,-0.61,-107.1,1832,3541,2749,2746,270.6,-16.5,163,1397,0.00,2.30,0.00,0.000,1030,0.000,0.054,2630,2133,2762,2774,2750,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1697,-0.61,-107.1,2630,2131,2775,2750,326.2,-18.1,194,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2131,2762,2775,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1997,-0.61,-107.1,2630,2130,2775,2750,380.8,-18.0,224,2001,0.00,2.28,0.00,0.000,260,0.000,0.063,2622,3547,2762,2775,2749,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2086,-0.61,-107.1,2621,3547,2774,2750,395.6,-16.5,232,2093,0.00,2.33,0.00,0.000,1030,0.000,0.056,2625,2117,2761,2774,2749,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2393,-0.61,-107.1,2625,2114,2775,2749,451.9,-17.7,249,2397,0.00,2.28,0.00,0.000,260,0.000,0.063,2616,3542,2762,2775,2749,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2461,-0.61,-107.1,2616,3542,2773,2749,461.7,-17.4,252,2469,0.08,2.33,0.00,0.000,3078,0.220,0.057,2646,2119,2762,2775,2749,0,0,0,0,0,0,26.16,26.27,28.83
$GC,2768,-0.61,-107.1,2646,2116,2775,2748,512.4,-16.0,268,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2116,2762,2776,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.61,-107.1,2645,2116,2776,2748,559.9,-15.5,283,3076,0.00,2.28,0.00,0.000,260,0.000,0.064,2636,3543,2762,2776,2748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3149,-0.61,-107.1,2636,3543,2775,2747,571.6,-14.5,287,3155,0.00,2.28,0.00,0.000,1030,0.000,0.060,2636,2121,2761,2775,2747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3469,-0.61,-107.1,2636,2119,2776,2747,623.5,-16.4,303,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2119,2761,2775,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.61,-107.1,2636,2118,2775,2746,672.7,-16.3,318,3772,0.00,2.28,0.00,0.000,260,0.000,0.066,2626,3538,2760,2775,2746,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3865,-0.61,-107.1,2626,3538,2775,2746,687.6,-15.5,323,3870,0.00,2.28,0.00,0.000,1030,0.000,0.063,2626,2120,2760,2774,2746,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4186,-0.61,-107.1,2627,2117,2775,2746,740.4,-16.5,339,4191,0.00,2.28,0.00,0.000,260,0.000,0.068,2616,3538,2760,2775,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4204,-0.61,-107.1,2616,3538,2774,2746,743.8,-16.5,340,4209,0.12,2.28,0.00,0.000,3078,0.233,0.064,2645,2122,2760,2774,2746,0,0,0,0,0,0,26.25,26.36,28.83
$GC,4522,-0.61,-107.1,2645,2120,2775,2745,791.3,-14.8,356,4528,0.00,2.28,0.00,0.000,516,0.000,0.064,2646,709,2760,2775,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4573,-0.61,-107.1,2646,709,2775,2746,797.4,-15.1,358,4582,0.00,2.33,0.00,0.000,1030,0.000,0.060,2637,2124,2760,2775,2746,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4880,-0.61,-107.1,2637,2124,2775,2745,848.7,-16.1,374,4884,0.00,2.28,0.00,0.000,260,0.000,0.070,2626,3546,2760,2775,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4916,-0.61,-107.1,2626,3546,2774,2745,854.2,-15.7,376,4920,0.00,2.30,0.00,0.000,1030,0.000,0.066,2626,2119,2759,2774,2745,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5233,-0.61,-107.1,2625,2116,2775,2745,905.2,-16.1,392,5239,0.00,2.30,0.00,0.000,260,0.000,0.071,2616,3535,2759,2774,2745,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5280,-0.61,-107.1,2615,3535,2774,2745,911.8,-16.2,394,5285,0.05,2.33,0.00,0.000,3078,0.222,0.067,2643,2129,2759,2774,2745,0,0,0,0,0,0,26.28,26.39,28.83
$GC,5592,-0.61,-107.1,2644,2125,2775,2744,958.0,-14.2,410,5596,0.00,2.30,0.00,0.000,260,0.000,0.073,2634,3541,2759,2774,2744,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5630,-0.61,-107.1,2634,3542,2774,2744,963.2,-14.3,412,5635,0.00,2.35,0.00,0.000,1030,0.000,0.067,2635,2119,2759,2774,2744,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,5886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5886,begin apogee
$GC,5889,-0.11,0.0,2634,2116,2774,2744,1001.8,-14.9,425,5982,0.57,0.00,89.38,1.322,10246,0.183,0.000,2800,2116,2321,2361,2282,0,0,0,0,0,0,26.29,28.83,23.69
$STATE,5983,end apogee,CONTROL_FINISHED_OK
$STATE,5983,begin climb
$GC,5984,0.61,107.1,2800,2116,2361,2282,1005.8,0.0,429,6089,0.73,0.00,96.45,1.290,10502,0.093,0.000,3031,2115,1883,1948,1819,0,0,0,0,0,0,24.54,28.83,23.33
$GC,6387,0.61,107.1,3031,2115,1938,1813,938.7,19.4,450,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2116,1875,1938,1813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,0.61,107.1,3031,2115,1936,1812,880.1,20.1,465,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2116,1874,1936,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,0.61,107.1,3031,2116,1933,1811,818.4,20.5,480,6991,0.00,2.33,0.00,0.000,516,0.000,0.051,3041,676,1872,1933,1811,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7016,0.61,107.1,3041,676,1930,1811,815.1,20.7,481,7023,0.00,2.33,0.00,0.000,1030,0.000,0.047,3041,2102,1870,1930,1811,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7323,0.61,107.1,3041,2102,1931,1811,748.5,20.7,497,7327,0.00,2.30,0.00,0.000,516,0.000,0.050,3052,668,1871,1931,1811,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7379,0.61,107.1,3052,668,1927,1811,737.1,20.8,500,7383,0.00,2.28,0.00,0.000,1030,0.000,0.045,3052,2102,1869,1927,1811,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7696,0.61,107.1,3052,2102,1928,1811,670.8,20.8,516,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2102,1869,1928,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,0.61,107.1,3052,2102,1928,1811,607.9,21.0,531,8001,0.00,2.22,0.00,0.000,260,0.000,0.054,3052,3511,1869,1928,1810,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8034,0.61,107.1,3052,3511,1927,1811,599.3,21.3,533,8039,0.00,2.25,0.00,0.000,1030,0.000,0.047,3062,2083,1868,1926,1811,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8350,0.61,107.1,3062,2083,1927,1811,532.3,20.8,549,8354,0.00,2.22,0.00,0.000,516,0.000,0.051,3073,676,1869,1927,1811,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8466,0.61,107.1,3073,675,1923,1811,508.3,20.7,555,8473,0.12,2.25,0.00,0.000,5126,0.246,0.046,3048,2106,1867,1923,1811,0,0,0,0,0,0,26.05,26.20,28.83
$GC,8786,0.61,107.1,3048,2107,1925,1811,446.1,19.6,571,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2107,1868,1925,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,0.61,107.1,3048,2106,1926,1811,389.2,17.7,589,9090,0.00,2.25,0.00,0.000,516,0.000,0.050,3057,682,1868,1925,1811,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9104,0.61,107.1,3057,682,1923,1811,386.3,17.8,590,9112,0.00,2.28,0.00,0.000,1030,0.000,0.045,3057,2101,1867,1924,1811,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9412,0.61,107.1,3057,2101,1924,1810,330.8,17.2,621,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2101,1867,1924,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9712,0.61,107.1,3057,2101,1924,1811,278.9,17.4,651,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2100,1867,1924,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10012,0.61,107.1,3057,2101,1924,1811,226.6,17.7,681,10016,0.00,2.25,0.00,0.000,516,0.000,0.050,3068,677,1867,1924,1811,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10059,0.61,107.1,3068,677,1922,1811,218.1,18.6,685,10068,0.00,2.22,0.00,0.000,1030,0.000,0.046,3068,2098,1866,1922,1811,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10369,0.61,107.1,3067,2098,1923,1811,160.6,19.4,716,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2098,1867,1924,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10668,0.61,107.1,3067,2098,1923,1811,109.8,16.3,746,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2098,1867,1923,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10992,0.61,107.1,3068,2101,1923,1811,55.8,16.8,799,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2101,1867,1923,1811,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11288,end climb,SURFACE_DEPTH_REACHED
$STATE,11289,begin surface coast
$FINISH,1.7,1.022971
$STATE,11312,end surface coast,CONTROL_FINISHED_OK
$STATE,11312,begin surface
$SM_CCo,11325,39.38,0.057,0,0,1505,200.16
$SM_GC,2.28,7.75,0.00,39.38,0.041,0.000,0.057,128,2101,1505,-8.41,-0.65,200.16,0,0,0,0,0,0,26.41,28.83,26.34
$IRIDIUM_FIX,-4632.36,415.23,260509,070703
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.04
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.3,8.536
$10V_AH,10.1,6.808
$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,20.000,86.800,185.825,39.375,0.000,37.285,18.568,323.475,0.000,0.000,8.110,2227.458,7054.475,330.386,2161.630,75.346,0.000,1142.930,0.000,1727.346,0.000,0.989,0.000
$DEVICE_MAMPS,253.215,72.675,1321.920,57.375,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.229,68.857,350.859,485.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353388
$DATA_FILE_SIZE,53747,847
$CAP_FILE_SIZE,113479,0
$CFSIZE,2097086464,2088140800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210,110.2,1
$GPS,300716,040052,-4652.662,434.443,102,1.1,102,-23.5