version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 425
start: 9 20 115 0 31 14
data:
$ID,574
$MISSION,20
$DIVE,425
$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,-2395869.5
$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,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
$GPS1,101116,141227,-4546.497,715.202,39,0.9,39,-24.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-74.5
$GPS2,101116,141956,-4546.491,715.198,4,0.9,4,-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,301.6,171702,-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,-87.6,126,2103,501,437,0.0,0.0,0,27,0.00,0.00,-9.68,0.000,16386,0.000,0.000,126,2103,725,757,693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.40,-87.6,126,2103,754,696,3.2,0.0,1,136,10.65,2.42,-86.72,0.000,18692,0.226,0.073,2701,3528,2678,2698,2659,0,0,0,0,0,0,24.82,25.23,26.02
$GC,197,-0.40,-87.6,2701,3532,2696,2662,7.4,-9.8,21,208,0.00,2.33,0.00,0.000,1030,0.000,0.050,2700,2133,2679,2697,2662,0,0,0,0,0,0,28.83,25.32,28.83
$GC,267,-0.40,-87.6,2700,2129,2698,2662,14.9,-11.9,30,276,0.00,2.40,0.00,0.000,516,0.000,0.054,2708,704,2680,2698,2662,0,0,0,0,0,0,28.83,25.29,28.83
$GC,302,-0.40,-87.6,2707,704,2698,2663,19.3,-12.9,34,312,0.00,2.38,0.00,0.000,1030,0.000,0.054,2699,2111,2680,2698,2662,0,0,0,0,0,0,28.83,25.31,28.83
$GC,371,-0.40,-87.6,2699,2111,2698,2662,27.9,-12.9,43,381,0.00,2.38,0.00,0.000,260,0.000,0.060,2688,3530,2680,2698,2662,0,0,0,0,0,0,28.83,25.27,28.83
$GC,418,-0.40,-87.6,2688,3530,2697,2662,34.0,-12.6,49,429,0.00,2.35,0.00,0.000,1030,0.000,0.054,2688,2123,2679,2697,2662,0,0,0,0,0,0,28.83,25.37,28.83
$GC,568,-0.40,-87.6,1728,2117,2666,2657,55.3,-14.5,74,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2119,2680,2698,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-0.40,-87.6,2688,2119,2698,2662,105.4,-15.5,133,913,0.00,2.35,0.00,0.000,260,0.000,0.062,2678,3542,2680,2698,2662,0,0,0,0,0,0,28.83,25.36,28.83
$GC,965,-0.40,-87.6,2678,3542,2697,2662,114.0,-13.4,139,974,0.15,2.33,0.00,0.000,3078,0.149,0.054,2715,2117,2679,2697,2662,0,0,0,0,0,0,25.21,25.44,28.83
$GC,1275,-0.40,-87.6,2715,2113,2699,2662,151.9,-11.7,170,1284,0.00,2.30,0.00,0.000,516,0.000,0.054,2715,701,2681,2700,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1319,-0.40,-87.6,1864,701,2673,2658,156.6,-11.4,174,1326,0.00,2.33,0.00,0.000,1030,0.000,0.052,2706,2125,2681,2700,2663,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1626,-0.40,-87.6,2706,2125,2700,2662,193.4,-12.0,205,1636,0.00,2.30,0.00,0.000,260,0.000,0.060,2695,3539,2680,2699,2662,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1696,-0.40,-87.6,2695,3539,2698,2662,200.1,-10.6,211,1700,0.00,2.30,0.00,0.000,1030,0.000,0.053,2695,2117,2680,2698,2662,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2503,-0.40,-87.6,2695,2114,2699,2662,292.6,-9.8,251,2509,0.00,2.33,0.00,0.000,260,0.000,0.061,2685,3534,2680,2699,2662,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2566,-0.40,-87.6,1832,3533,2671,2657,298.2,-9.5,254,2570,0.00,2.33,0.00,0.000,1030,0.000,0.054,2685,2126,2680,2698,2662,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3383,-0.40,-87.6,2684,2123,2699,2662,382.1,-10.2,295,3385,0.12,0.00,0.00,0.000,2054,0.171,0.000,2715,2122,2680,2699,2662,0,0,0,0,0,0,25.97,28.83,28.83
$GC,4184,-0.40,-87.6,2715,2122,2699,2661,445.8,-8.7,335,4189,0.00,2.33,0.00,0.000,260,0.000,0.063,2706,3543,2680,2699,2661,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4277,-0.40,-87.6,2706,3543,2698,2661,452.9,-8.9,339,4283,0.00,2.30,0.00,0.000,1030,0.000,0.053,2706,2116,2679,2698,2661,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5083,-0.40,-87.6,2706,2114,2699,2661,539.7,-10.6,380,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2114,2680,2699,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-0.40,-87.6,2706,2113,2700,2660,617.4,-9.1,420,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2113,2679,2699,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6684,-0.40,-87.6,2706,2113,2699,2659,684.4,-7.9,460,6689,0.00,2.35,0.00,0.000,260,0.000,0.062,2696,3545,2679,2699,2659,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6724,-0.40,-87.6,2696,3545,2698,2659,687.7,-8.0,462,6730,0.00,2.28,0.00,0.000,1030,0.000,0.054,2696,2129,2678,2698,2659,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7544,-0.40,-87.6,2696,2127,2698,2659,754.0,-8.1,503,7549,0.00,2.35,0.00,0.000,516,0.000,0.060,2696,698,2678,2698,2659,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7592,-0.40,-87.6,2696,698,2698,2659,757.4,-8.3,505,7596,0.00,2.35,0.00,0.000,1030,0.000,0.054,2686,2131,2679,2699,2659,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8399,-0.40,-87.6,2686,2130,2698,2659,828.0,-8.4,545,8404,0.00,2.30,0.00,0.000,260,0.000,0.063,2676,3540,2677,2697,2658,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8540,-0.40,-87.6,2675,3540,2698,2658,839.5,-8.1,552,8546,0.10,2.30,0.00,0.000,3078,0.129,0.057,2708,2123,2678,2698,2658,0,0,0,0,0,0,25.25,25.48,28.83
$GC,9360,-0.40,-87.6,2708,2122,2698,2658,897.8,-7.3,593,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2122,2678,2698,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10159,-0.40,-87.6,2708,2121,2698,2658,952.1,-6.1,633,10164,0.00,2.33,0.00,0.000,516,0.000,0.058,2709,702,2679,2699,2659,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10187,-0.40,-87.6,2709,701,2699,2659,953.3,-6.1,634,10191,0.00,2.33,0.00,0.000,1030,0.000,0.054,2700,2127,2679,2699,2659,0,0,0,0,0,0,28.83,25.50,28.83
$STATE,10931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10931,begin apogee
$GC,10937,0.00,0.0,2700,2083,2699,2658,1001.1,-6.0,671,11015,0.47,0.00,75.15,1.333,10246,0.122,0.000,2845,2083,2321,2357,2285,0,0,0,0,0,0,25.20,28.83,23.25
$STATE,11016,end apogee,CONTROL_FINISHED_OK
$STATE,11016,begin climb
$GC,11018,0.40,87.6,2844,2083,2358,2285,1001.6,0.0,675,11106,0.35,2.42,81.05,1.321,10756,0.089,0.046,2996,693,1964,2017,1911,0,0,0,0,0,0,24.66,23.77,22.54
$GC,11294,0.40,87.6,2996,693,2009,1905,970.5,14.4,689,11300,0.00,2.35,0.00,0.000,1030,0.000,0.043,2996,2107,1956,2009,1904,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12114,0.40,87.6,2996,2107,2006,1899,851.5,13.9,730,12120,0.00,2.30,0.00,0.000,516,0.000,0.046,3006,683,1952,2006,1899,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12161,0.40,87.6,3006,683,2004,1899,845.6,14.3,732,12167,0.12,2.28,0.00,0.000,5126,0.223,0.041,2982,2100,1952,2005,1899,0,0,0,0,0,0,25.10,25.58,28.83
$GC,12969,0.40,87.6,2982,2100,2005,1898,745.1,11.7,772,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2100,1951,2005,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13768,0.40,87.6,2982,2100,2005,1897,654.5,10.8,812,13774,0.00,2.28,0.00,0.000,516,0.000,0.047,2991,687,1950,2004,1897,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13817,0.40,87.6,2991,687,2002,1896,649.8,11.1,814,13821,0.00,2.25,0.00,0.000,1030,0.000,0.044,2991,2095,1949,2002,1897,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14624,0.40,87.6,2990,2097,2003,1896,556.2,11.0,854,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2097,1949,2003,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15424,0.40,87.6,2991,2097,2003,1896,474.4,10.0,894,15430,0.00,2.25,0.00,0.000,260,0.000,0.052,2991,3508,1949,2002,1896,0,0,0,0,0,0,28.83,25.62,28.83
$GC,15565,0.40,87.6,2991,3508,2001,1898,458.8,11.1,901,15570,0.00,2.20,0.00,0.000,1030,0.000,0.044,3001,2103,1949,2001,1898,0,0,0,0,0,0,28.83,25.72,28.83
$GC,16384,0.40,87.6,3001,2103,2000,1897,369.4,10.5,942,16390,0.00,2.28,0.00,0.000,516,0.000,0.048,3012,678,1948,2000,1896,0,0,0,0,0,0,28.83,25.65,28.83
$GC,16497,0.40,87.6,3011,677,1999,1896,358.7,10.8,947,16504,0.15,2.28,0.00,0.000,5126,0.191,0.044,2979,2101,1947,1999,1896,0,0,0,0,0,0,25.23,25.72,28.83
$GC,17304,0.44,121.1,2979,2101,2000,1895,286.5,8.3,988,17336,0.00,2.30,26.75,0.877,8708,0.000,0.047,2988,683,1828,1888,1768,0,0,0,0,0,0,28.83,25.73,24.53
$GC,17347,0.48,155.7,2988,683,1885,1768,285.0,8.3,989,17382,0.00,2.28,30.33,0.876,9222,0.000,0.043,2989,2102,1686,1759,1614,0,0,0,0,0,0,28.83,25.70,24.18
$GC,18186,0.48,155.7,2988,2103,1755,1608,177.7,12.3,1040,18194,0.00,2.28,0.00,0.000,516,0.000,0.047,2999,682,1680,1752,1609,0,0,0,0,0,0,28.83,25.52,28.83
$GC,18266,0.48,155.7,2998,683,1749,1608,167.7,12.3,1048,18275,0.00,2.28,0.00,0.000,1030,0.000,0.044,2999,2097,1679,1750,1608,0,0,0,0,0,0,28.83,25.58,28.83
$GC,18576,0.48,155.7,2998,2098,1751,1608,127.7,12.4,1079,18585,0.00,2.25,0.00,0.000,260,0.000,0.051,2999,3510,1679,1750,1609,0,0,0,0,0,0,28.83,25.56,28.83
$GC,18648,0.48,155.7,2998,3510,1750,1608,118.8,12.6,1086,18657,0.00,2.25,0.00,0.000,1030,0.000,0.045,3009,2095,1679,1750,1609,0,0,0,0,0,0,28.83,25.60,28.83
$GC,18973,0.48,155.7,3009,2095,1750,1609,76.2,13.1,1133,18980,0.00,2.28,0.00,0.000,516,0.000,0.048,3020,675,1678,1749,1608,0,0,0,0,0,0,28.83,25.60,28.83
$GC,19027,0.48,155.7,2048,674,1720,1605,68.8,13.9,1142,19033,0.00,2.28,0.00,0.000,1030,0.000,0.042,3020,2104,1677,1747,1608,0,0,0,0,0,0,28.83,25.68,28.83
$GC,19400,0.48,155.7,3019,2105,1748,1608,16.3,14.2,1203,19409,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2105,1678,1749,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19470,0.48,155.7,3020,2107,1748,1608,6.3,14.5,1212,19479,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2108,1678,1748,1609,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,19487,end climb,SURFACE_DEPTH_REACHED
$STATE,19487,begin surface coast
$FINISH,2.3,1.011652
$STATE,19509,end surface coast,CONTROL_FINISHED_OK
$STATE,19510,begin surface
$SM_CCo,19525,138.77,0.055,0,0,498,446.93
$SM_GC,3.13,7.78,0.00,138.77,0.037,0.000,0.055,128,2108,498,-8.41,-0.45,446.93,0,0,0,0,0,0,25.86,28.83,25.60
$IRIDIUM_FIX,-4527.17,716.30,060909,222225
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.04
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,22.5,44.941
$10V_AH,9.6,58.100
$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,19.900,97.125,213.275,138.775,0.000,27.396,21.154,287.703,0.000,0.000,7.931,3092.331,13516.349,485.909,2845.837,194.046,0.000,1622.713,0.000,2465.751,0.000,0.989,0.000
$DEVICE_MAMPS,226.440,108.630,1333.395,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.071,97.426,543.412,563.738,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352992
$DATA_FILE_SIZE,76899,1217
$CAP_FILE_SIZE,133862,0
$CFSIZE,2097086464,2037678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141,152.4,1
$GPS,101116,194933,-4547.290,713.586,30,1.1,30,-24.7