version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 423
start: 9 19 115 13 12 38
data:
$ID,574
$MISSION,20
$DIVE,423
$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,-2395765.2
$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,24
$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
$GPS1,101116,024952,-4545.089,717.547,37,1.1,37,-24.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-76.4
$GPS2,101116,030116,-4545.155,717.615,4,1.0,4,-24.7
$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,302.8,175482,-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,15,-0.40,-87.6,129,2105,502,434,0.0,0.0,0,27,0.00,0.00,-9.60,0.000,16386,0.000,0.000,128,2105,723,755,691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.40,-87.6,129,2105,757,689,3.2,0.0,1,128,10.70,0.00,-85.68,0.000,18950,0.237,0.000,2706,2105,2680,2698,2663,0,0,0,0,0,0,24.77,28.83,25.94
$GC,187,-0.40,-87.6,2706,2106,2701,2662,9.7,-14.1,20,197,0.00,2.42,0.00,0.000,260,0.000,0.063,2696,3527,2681,2700,2662,0,0,0,0,0,0,28.83,25.18,28.83
$GC,214,-0.40,-87.6,2696,3528,2699,2663,13.3,-13.4,23,224,0.00,2.33,0.00,0.000,1030,0.000,0.052,2696,2136,2681,2700,2663,0,0,0,0,0,0,28.83,25.29,28.83
$GC,283,-0.40,-87.6,2696,2132,2701,2663,21.9,-13.0,32,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2132,2682,2701,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,452,-0.40,-87.6,2696,2132,2701,2663,45.7,-13.0,57,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2132,2682,2701,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,789,-0.40,-87.6,2697,2132,2701,2663,91.7,-13.9,118,795,0.00,2.30,0.00,0.000,260,0.000,0.061,2686,3528,2682,2701,2663,0,0,0,0,0,0,28.83,25.37,28.83
$GC,843,-0.40,-87.6,1712,3527,2667,2658,98.4,-11.5,127,850,0.00,2.30,0.00,0.000,1030,0.000,0.052,2686,2114,2681,2700,2663,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1157,-0.40,-87.6,2686,2110,2700,2663,144.5,-14.5,159,1166,0.00,2.33,0.00,0.000,260,0.000,0.062,2676,3528,2681,2700,2663,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1230,-0.40,-87.6,1824,3527,2673,2659,154.1,-12.6,166,1238,0.15,2.30,0.00,0.000,3078,0.188,0.055,2713,2116,2681,2700,2663,0,0,0,0,0,0,25.15,25.48,28.83
$GC,1538,-0.40,-87.6,2713,2113,2701,2664,190.8,-11.5,197,1548,0.00,2.33,0.00,0.000,260,0.000,0.060,2704,3529,2682,2701,2663,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1582,-0.40,-87.6,1840,3528,2673,2659,195.5,-11.6,201,1591,0.00,2.28,0.00,0.000,1030,0.000,0.051,2704,2121,2681,2700,2663,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1900,-0.40,-87.6,2704,2117,2701,2663,235.4,-12.5,219,1906,0.00,2.30,0.00,0.000,516,0.000,0.054,2704,707,2682,2701,2663,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1928,-0.40,-87.6,2704,707,2702,2664,237.9,-12.5,220,1932,0.00,2.30,0.00,0.000,1030,0.000,0.052,2694,2122,2683,2702,2664,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2735,-0.40,-87.6,2694,2122,2701,2664,335.9,-11.1,260,2741,0.00,2.33,0.00,0.000,260,0.000,0.063,2683,3544,2682,2701,2663,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2895,-0.40,-87.6,2683,3544,2700,2663,351.5,-9.5,268,2901,0.12,2.30,0.00,0.000,3078,0.148,0.054,2713,2122,2681,2700,2663,0,0,0,0,0,0,25.41,25.58,28.83
$GC,3716,-0.40,-87.6,2713,2118,2701,2663,425.4,-8.6,309,3721,0.00,2.30,0.00,0.000,516,0.000,0.055,2714,702,2682,2701,2663,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3743,-0.40,-87.6,2714,702,2701,2664,427.1,-8.6,310,3748,0.00,2.33,0.00,0.000,1030,0.000,0.052,2706,2131,2682,2701,2663,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4552,-0.40,-87.6,2705,2131,2701,2663,502.6,-9.2,350,4557,0.00,2.28,0.00,0.000,260,0.000,0.063,2695,3541,2682,2701,2663,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4700,-0.40,-87.6,2694,3541,2700,2662,514.7,-8.5,357,4704,0.00,2.30,0.00,0.000,1030,0.000,0.054,2694,2118,2681,2700,2662,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5505,-0.40,-87.6,2694,2115,2701,2663,598.0,-10.0,397,5511,0.00,2.33,0.00,0.000,260,0.000,0.063,2684,3533,2681,2701,2662,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5533,-0.40,-87.6,2684,3533,2700,2662,600.0,-9.9,398,5538,0.12,2.28,0.00,0.000,3078,0.145,0.054,2714,2124,2681,2700,2662,0,0,0,0,0,0,25.41,25.56,28.83
$GC,6343,-0.40,-87.6,2714,2122,2700,2662,665.0,-7.5,438,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2122,2681,2701,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7141,-0.40,-87.6,2714,2120,2700,2661,716.2,-6.4,478,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2120,2681,2701,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,-0.40,-87.6,2714,2120,2701,2661,764.5,-5.7,518,7947,0.00,2.30,0.00,0.000,260,0.000,0.062,2706,3530,2680,2701,2660,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7960,-0.40,-87.6,2706,3530,2700,2660,765.7,-5.7,519,7966,0.00,2.28,0.00,0.000,1030,0.000,0.054,2706,2123,2680,2700,2661,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8782,-0.40,-87.6,2706,2122,2700,2660,822.6,-8.0,560,8787,0.00,2.30,0.00,0.000,516,0.000,0.058,2706,711,2680,2701,2660,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8804,-0.40,-87.6,2706,710,2701,2661,824.2,-8.1,561,8808,0.00,2.30,0.00,0.000,1030,0.000,0.052,2696,2127,2680,2700,2660,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9616,-0.40,-87.6,2696,2127,2700,2660,892.9,-7.8,602,9622,0.00,2.28,0.00,0.000,260,0.000,0.063,2685,3528,2680,2700,2660,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9765,-0.40,-87.6,2685,3528,2699,2660,903.7,-7.8,609,9769,0.12,2.30,0.00,0.000,3078,0.138,0.057,2716,2116,2679,2699,2660,0,0,0,0,0,0,25.34,25.47,28.83
$GC,10571,-0.40,-87.6,2716,2114,2700,2660,951.0,-5.5,649,10576,0.00,2.30,0.00,0.000,516,0.000,0.057,2717,701,2680,2700,2660,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10599,-0.40,-87.6,2717,701,2701,2660,952.4,-5.7,650,10603,0.00,2.33,0.00,0.000,1030,0.000,0.052,2708,2130,2680,2700,2660,0,0,0,0,0,0,28.83,25.52,28.83
$STATE,11303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11303,begin apogee
$GC,11309,0.00,0.0,2708,2086,2701,2660,1000.6,-6.5,685,11387,0.45,0.00,75.45,1.340,10246,0.135,0.000,2844,2086,2321,2357,2285,0,0,0,0,0,0,25.06,28.83,23.25
$STATE,11388,end apogee,CONTROL_FINISHED_OK
$STATE,11388,begin climb
$GC,11390,0.40,87.6,2844,2086,2359,2285,1001.7,0.0,689,11478,0.35,2.45,81.07,1.331,10756,0.047,0.047,2986,693,1963,2017,1909,0,0,0,0,0,0,24.68,23.76,22.54
$GC,11575,0.40,87.6,2986,693,2012,1905,988.3,12.0,697,11582,0.00,2.38,0.00,0.000,1030,0.000,0.042,2986,2105,1958,2012,1905,0,0,0,0,0,0,28.83,24.58,28.83
$GC,12382,0.40,87.6,2986,2105,2008,1899,881.2,13.1,738,12388,0.00,2.30,0.00,0.000,516,0.000,0.047,2996,690,1953,2007,1899,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12430,0.40,87.6,2996,690,2006,1899,875.8,13.3,740,12434,0.00,2.28,0.00,0.000,1030,0.000,0.042,2996,2105,1952,2005,1899,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13237,0.40,87.6,2996,2105,2006,1897,762.1,14.0,780,13243,0.00,2.28,0.00,0.000,516,0.000,0.047,3006,689,1951,2006,1897,0,0,0,0,0,0,28.83,25.63,28.83
$GC,13265,0.40,87.6,3006,689,2004,1896,759.3,14.1,781,13270,0.12,2.25,0.00,0.000,5126,0.262,0.042,2981,2098,1950,2004,1897,0,0,0,0,0,0,25.08,25.67,28.83
$GC,14072,0.40,87.6,2981,2098,2005,1896,662.7,11.1,821,14078,0.00,2.25,0.00,0.000,260,0.000,0.052,2981,3511,1950,2004,1896,0,0,0,0,0,0,28.83,25.60,28.83
$GC,14105,0.40,87.6,2981,3511,2002,1898,660.4,11.3,822,14113,0.00,2.22,0.00,0.000,1030,0.000,0.044,2990,2101,1950,2003,1898,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14912,0.40,87.6,2990,2101,2002,1897,562.5,11.1,863,14918,0.00,2.28,0.00,0.000,516,0.000,0.049,3001,682,1949,2002,1897,0,0,0,0,0,0,28.83,25.64,28.83
$GC,15041,0.40,87.6,3001,681,2001,1896,549.0,11.1,869,15045,0.00,2.28,0.00,0.000,1030,0.000,0.044,3002,2104,1948,2001,1896,0,0,0,0,0,0,28.83,25.71,28.83
$GC,15847,0.40,87.6,3001,2105,2002,1896,462.7,10.0,909,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2104,1949,2002,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16647,0.40,87.6,3001,2105,2002,1896,387.3,9.7,949,16653,0.00,2.22,0.00,0.000,260,0.000,0.051,3001,3507,1948,2001,1896,0,0,0,0,0,0,28.83,25.62,28.83
$GC,16781,0.40,87.6,3001,3507,2000,1898,373.9,11.4,955,16788,0.15,2.22,0.00,0.000,5126,0.252,0.044,2980,2097,1949,2000,1898,0,0,0,0,0,0,24.99,25.72,28.83
$GC,17587,0.40,87.6,2980,2097,2000,1896,297.3,9.4,996,17593,0.00,2.25,0.00,0.000,516,0.000,0.047,2990,687,1948,2000,1896,0,0,0,0,0,0,28.83,25.64,28.83
$GC,17669,0.40,87.6,2112,687,1972,1892,289.5,9.8,1000,17673,0.00,2.25,0.00,0.000,1030,0.000,0.044,2990,2098,1947,2000,1895,0,0,0,0,0,0,28.83,25.70,28.83
$GC,18487,0.44,124.8,2989,2098,2001,1895,215.6,8.2,1041,18528,0.00,2.33,29.70,0.844,8452,0.000,0.050,2990,3510,1812,1876,1749,0,0,0,0,0,0,28.83,25.71,24.54
$GC,18558,0.46,137.3,2990,3510,1875,1749,209.9,8.9,1044,18577,0.00,2.25,11.90,0.793,9222,0.000,0.044,3000,2098,1761,1830,1693,0,0,0,0,0,0,28.83,25.59,24.32
$GC,19380,0.46,137.3,2999,2097,1827,1690,107.8,11.4,1122,19389,0.00,2.25,0.00,0.000,516,0.000,0.048,3010,686,1756,1824,1689,0,0,0,0,0,0,28.83,25.56,28.83
$GC,19533,0.46,137.3,3010,686,1821,1689,89.1,12.4,1144,19540,0.00,2.30,0.00,0.000,1030,0.000,0.043,3010,2098,1756,1823,1689,0,0,0,0,0,0,28.83,25.65,28.83
$GC,19874,0.46,137.3,3010,2099,1824,1689,46.9,12.5,1205,19881,0.00,2.28,0.00,0.000,516,0.000,0.047,3021,686,1756,1823,1689,0,0,0,0,0,0,28.83,25.60,28.83
$GC,19905,0.46,137.3,3021,686,1821,1688,43.1,12.3,1210,19913,0.00,2.25,0.00,0.000,1030,0.000,0.042,3021,2099,1755,1822,1688,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,20199,end climb,SURFACE_DEPTH_REACHED
$STATE,20199,begin surface coast
$FINISH,2.7,1.023088
$STATE,20222,end surface coast,CONTROL_FINISHED_OK
$STATE,20222,begin surface
$SM_CCo,20238,147.25,0.054,0,0,498,446.93
$SM_GC,3.21,7.85,0.00,147.25,0.050,0.000,0.054,127,2103,498,-8.41,-0.57,446.93,0,0,0,0,0,0,25.70,28.83,25.60
$IRIDIUM_FIX,-4527.17,716.30,060909,161650
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,22.5,44.737
$10V_AH,9.6,57.863
$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,20.150,105.600,198.125,147.250,0.000,50.275,61.006,367.146,0.000,0.000,9.011,3202.017,14101.841,477.683,3105.478,205.131,0.000,1635.483,0.000,2551.797,0.000,0.989,0.000
$DEVICE_MAMPS,261.630,110.925,1339.515,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.966,101.653,540.987,565.286,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353004
$DATA_FILE_SIZE,76941,1255
$CAP_FILE_SIZE,141417,0
$CFSIZE,2097086464,2037940224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,147.0,1
$GPS,101116,084303,-4545.728,716.375,37,0.9,37,-24.7