version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 429
start: 9 20 115 23 37 53
data:
$ID,574
$MISSION,20
$DIVE,429
$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,-2396065
$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,28
$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
$GPS1,111116,131851,-4549.474,711.034,35,1.6,35,-24.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-70.6
$GPS2,111116,132638,-4549.436,711.178,4,0.8,5,-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,302.2,164970,-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,-87.6,128,2106,511,433,0.0,0.0,0,36,0.00,0.00,-18.80,0.000,16386,0.000,0.000,128,2106,967,997,938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,38,-0.40,-87.6,127,2105,998,939,3.0,-1.1,2,131,10.43,0.00,-77.35,0.000,18950,0.217,0.000,2708,2105,2679,2700,2658,0,0,0,0,0,0,24.82,28.83,25.96
$GC,190,-0.40,-87.6,2708,2105,2703,2659,6.6,-9.3,20,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2105,2680,2702,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,258,-0.40,-87.6,2708,2105,2703,2659,14.5,-12.0,29,267,0.00,2.38,0.00,0.000,260,0.000,0.060,2698,3522,2680,2702,2659,0,0,0,0,0,0,28.83,25.25,28.83
$GC,277,-0.40,-87.6,2697,3522,2701,2659,16.8,-12.6,31,287,0.00,2.30,0.00,0.000,1030,0.000,0.048,2697,2130,2680,2701,2659,0,0,0,0,0,0,28.83,25.36,28.83
$GC,346,-0.40,-87.6,2697,2125,2701,2659,25.6,-12.6,40,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2125,2680,2701,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,509,-0.40,-87.6,2697,2126,2701,2660,47.7,-12.6,65,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2126,2680,2702,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.40,-87.6,2697,2126,2702,2660,93.6,-13.8,126,858,0.00,2.35,0.00,0.000,260,0.000,0.064,2687,3523,2680,2701,2660,0,0,0,0,0,0,28.83,25.37,28.83
$GC,894,-0.40,-87.6,2687,3523,2701,2660,99.4,-12.9,133,901,0.00,2.28,0.00,0.000,1030,0.000,0.052,2687,2116,2680,2701,2660,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1198,-0.40,-87.6,2687,2114,2702,2660,143.7,-14.6,164,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2114,2681,2702,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-0.40,-87.6,2687,2114,2702,2660,185.7,-13.4,194,1508,0.00,2.30,0.00,0.000,260,0.000,0.062,2677,3524,2681,2702,2660,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1551,-0.40,-87.6,2677,3524,2700,2661,192.3,-12.1,199,1561,0.15,2.28,0.00,0.000,3078,0.148,0.053,2714,2123,2681,2701,2661,0,0,0,0,0,0,25.32,25.54,28.83
$GC,1872,-0.40,-87.6,2714,2119,2702,2661,222.6,-9.8,219,1878,0.00,2.28,0.00,0.000,516,0.000,0.054,2714,711,2681,2703,2660,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1914,-0.40,-87.6,2714,711,2703,2661,226.6,-10.0,221,1918,0.00,2.30,0.00,0.000,1030,0.000,0.051,2706,2124,2682,2703,2662,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2727,-0.40,-87.6,2706,2124,2702,2661,315.4,-10.8,262,2732,0.00,2.28,0.00,0.000,260,0.000,0.063,2695,3527,2681,2702,2661,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2867,-0.40,-87.6,2695,3526,2700,2661,329.7,-9.9,269,2872,0.00,2.25,0.00,0.000,1030,0.000,0.052,2695,2119,2681,2701,2661,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3686,-0.40,-87.6,2695,2116,2701,2661,420.4,-10.4,310,3691,0.00,2.33,0.00,0.000,260,0.000,0.062,2685,3539,2681,2701,2661,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3708,-0.40,-87.6,1832,3538,2673,2656,422.5,-10.4,311,3713,0.12,2.30,0.00,0.000,3078,0.144,0.053,2715,2120,2680,2700,2661,0,0,0,0,0,0,25.44,25.60,28.83
$GC,4526,-0.40,-87.6,2715,2115,2701,2661,485.5,-6.8,352,4532,0.00,2.33,0.00,0.000,260,0.000,0.061,2706,3542,2680,2701,2660,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4579,-0.40,-87.6,2706,3542,2700,2660,488.3,-7.0,354,4587,0.00,2.28,0.00,0.000,1030,0.000,0.052,2706,2123,2680,2700,2660,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5386,-0.40,-87.6,2706,2120,2700,2660,555.3,-8.5,395,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2120,2680,2701,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6187,-0.40,-87.6,2706,2120,2701,2659,618.0,-7.0,435,6192,0.00,2.28,0.00,0.000,516,0.000,0.056,2706,717,2680,2701,2659,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6209,-0.40,-87.6,2706,717,2701,2659,619.5,-7.0,436,6213,0.00,2.30,0.00,0.000,1030,0.000,0.052,2696,2131,2680,2701,2659,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7021,-0.40,-87.6,2696,2131,2701,2659,685.8,-8.1,477,7027,0.00,2.30,0.00,0.000,260,0.000,0.063,2685,3541,2680,2701,2659,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7155,-0.40,-87.6,2685,3541,2699,2659,695.3,-7.9,483,7162,0.12,2.30,0.00,0.000,3078,0.142,0.054,2716,2118,2679,2699,2659,0,0,0,0,0,0,25.41,25.56,28.83
$GC,7961,-0.40,-87.6,2716,2116,2700,2659,752.9,-7.0,524,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2116,2679,2700,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8761,-0.40,-87.6,2715,2115,2700,2659,805.3,-6.4,564,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2115,2679,2700,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9561,-0.40,-87.6,2716,2115,2700,2659,851.4,-5.2,604,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2115,2679,2700,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10361,-0.40,-87.6,2715,2115,2700,2658,892.3,-5.4,644,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2115,2679,2700,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11161,-0.40,-87.6,2716,2115,2700,2658,934.2,-5.5,684,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2115,2679,2700,2658,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11859,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11859,begin apogee
$GC,11864,0.00,0.0,2715,2115,2700,2657,971.3,-5.0,719,11942,0.40,0.00,75.25,1.333,10246,0.141,0.000,2838,2114,2321,2359,2284,0,0,0,0,0,0,25.18,28.83,23.25
$STATE,11943,end apogee,CONTROL_FINISHED_OK
$STATE,11943,begin climb
$GC,11945,0.40,87.6,2838,2114,2360,2284,971.6,0.0,723,12033,0.38,2.47,81.28,1.335,10500,0.042,0.050,2993,3515,1963,2017,1910,0,0,0,0,0,0,24.71,23.75,22.51
$GC,12049,0.50,166.9,2993,3516,2015,1910,965.8,7.1,728,12130,0.00,2.45,75.18,1.324,9222,0.000,0.043,3003,2090,1640,1727,1554,0,0,0,0,0,0,28.83,24.03,22.22
$GC,12938,0.50,166.9,3003,2090,1716,1546,799.2,18.7,773,12943,0.00,2.28,0.00,0.000,516,0.000,0.049,3014,682,1630,1715,1545,0,0,0,0,0,0,28.83,25.51,28.83
$GC,13201,0.50,166.9,3014,682,1707,1545,752.5,17.6,786,13205,0.00,2.28,0.00,0.000,1030,0.000,0.042,3014,2106,1626,1707,1545,0,0,0,0,0,0,28.83,25.65,28.83
$GC,14013,0.50,166.9,3014,2108,1708,1545,605.7,17.9,827,14019,0.00,2.30,0.00,0.000,516,0.000,0.049,3025,677,1627,1708,1546,0,0,0,0,0,0,28.83,25.67,28.83
$GC,14133,0.50,166.9,3025,677,1702,1545,584.5,17.3,833,14138,0.00,2.28,0.00,0.000,1030,0.000,0.041,3025,2101,1624,1702,1546,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14953,0.50,166.9,3025,2103,1704,1546,434.6,17.7,874,14958,0.00,2.30,0.00,0.000,516,0.000,0.048,3035,672,1624,1704,1545,0,0,0,0,0,0,28.83,25.70,28.83
$GC,15061,0.50,166.9,3035,672,1701,1545,416.7,17.7,879,15065,0.00,2.28,0.00,0.000,1030,0.000,0.044,3035,2096,1623,1701,1546,0,0,0,0,0,0,28.83,25.75,28.83
$GC,15868,0.50,166.9,3035,2100,1702,1546,266.8,18.0,919,15874,0.00,2.30,0.00,0.000,516,0.000,0.049,3045,674,1624,1702,1546,0,0,0,0,0,0,28.83,25.70,28.83
$GC,15997,0.50,166.9,3045,673,1699,1546,244.4,18.4,925,16002,0.15,2.28,0.00,0.000,5126,0.249,0.043,3013,2096,1622,1699,1546,0,0,0,0,0,0,25.06,25.77,28.83
$GC,16803,0.50,166.9,3012,2098,1702,1546,113.3,16.1,992,16811,0.00,2.28,0.00,0.000,516,0.000,0.048,3022,681,1623,1701,1546,0,0,0,0,0,0,28.83,25.69,28.83
$GC,16929,0.50,166.9,3022,680,1698,1546,94.1,15.2,1007,16935,0.00,2.25,0.00,0.000,1030,0.000,0.043,3022,2096,1622,1699,1546,0,0,0,0,0,0,28.83,25.75,28.83
$GC,17269,0.50,166.9,2080,2100,1678,1543,44.5,16.3,1068,17279,0.00,2.33,0.00,0.000,516,0.000,0.050,3033,683,1623,1700,1546,0,0,0,0,0,0,28.83,25.67,28.83
$GC,17339,0.50,166.9,3033,683,1698,1546,33.3,15.5,1078,17350,0.00,2.30,0.00,0.000,1030,0.000,0.043,3033,2100,1622,1699,1546,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,17522,end climb,SURFACE_DEPTH_REACHED
$STATE,17522,begin surface coast
$FINISH,2.6,1.023067
$STATE,17544,end surface coast,CONTROL_FINISHED_OK
$STATE,17545,begin surface
$SM_CCo,17560,131.48,0.053,0,0,498,446.93
$SM_GC,3.22,7.72,0.00,131.48,0.034,0.000,0.053,131,2106,498,-8.41,-0.54,446.93,0,0,0,0,0,0,25.89,28.83,25.65
$IRIDIUM_FIX,-4530.24,710.57,070909,212137
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.12
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,22.2,45.332
$10V_AH,9.6,58.581
$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,19.475,73.725,231.700,131.475,0.000,31.197,21.781,299.771,0.000,0.000,8.961,2809.557,12063.876,460.962,2669.258,176.620,0.000,1495.972,0.000,2276.751,0.000,0.989,0.000
$DEVICE_MAMPS,249.390,64.260,1334.925,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.500,94.918,523.127,544.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352940
$DATA_FILE_SIZE,67127,1106
$CAP_FILE_SIZE,118824,0
$CFSIZE,2097086464,2037186560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,146.2,1
$GPS,111116,182333,-4549.611,709.862,40,0.9,40,-24.6