version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 430
start: 9 21 115 4 42 13
data:
$ID,574
$MISSION,20
$DIVE,430
$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,-2396119.2
$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,19
$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
$GPS1,111116,182333,-4549.611,709.862,40,0.9,40,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-66.2
$GPS2,111116,183059,-4549.563,709.938,4,1.0,4,-24.6
$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,296.4,163399,-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,16,-0.40,-87.6,131,2105,508,432,0.0,0.0,0,28,0.00,0.00,-10.12,0.000,16386,0.000,0.000,131,2106,736,765,708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.40,-87.6,131,2105,768,703,3.1,0.0,1,136,9.88,0.00,-86.07,0.000,18950,0.204,0.000,2705,2104,2681,2701,2661,0,0,0,0,0,0,24.98,28.83,26.06
$GC,196,-0.40,-87.6,2705,2104,2702,2661,12.4,-15.4,21,206,0.00,2.30,0.00,0.000,516,0.000,0.047,2705,711,2682,2702,2662,0,0,0,0,0,0,28.83,25.40,28.83
$GC,258,-0.40,-87.6,2705,711,2702,2662,22.2,-14.3,29,268,0.00,2.35,0.00,0.000,1030,0.000,0.049,2696,2119,2682,2702,2662,0,0,0,0,0,0,28.83,25.37,28.83
$GC,431,-0.40,-87.6,1748,2122,2671,2657,43.0,-12.6,54,440,0.00,2.38,0.00,0.000,260,0.000,0.063,2684,3541,2681,2701,2662,0,0,0,0,0,0,28.83,25.29,28.83
$GC,485,-0.40,-87.6,2684,3541,2701,2662,49.9,-12.1,63,492,0.12,2.33,0.00,0.000,3078,0.151,0.052,2714,2117,2681,2701,2662,0,0,0,0,0,0,25.21,25.39,28.83
$GC,820,-0.40,-87.6,1792,2112,2672,2658,89.4,-10.7,124,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2113,2682,2702,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.40,-87.6,2714,2114,2703,2662,122.6,-10.0,164,1150,0.00,2.35,0.00,0.000,260,0.000,0.060,2705,3545,2682,2702,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1163,-0.40,-87.6,2705,3544,2701,2662,124.5,-9.5,166,1171,0.00,2.30,0.00,0.000,1030,0.000,0.050,2705,2116,2681,2701,2662,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1472,-0.40,-87.6,2706,2112,2702,2662,159.3,-11.6,197,1482,0.00,2.35,0.00,0.000,260,0.000,0.060,2695,3546,2682,2702,2662,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1504,-0.40,-87.6,2694,3546,2702,2662,162.9,-11.3,200,1513,0.00,2.30,0.00,0.000,1030,0.000,0.051,2694,2123,2681,2701,2662,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1814,-0.40,-87.6,2694,2119,2703,2662,201.0,-12.1,231,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2119,2682,2703,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,-0.40,-87.6,2694,2119,2703,2663,298.1,-12.2,271,2621,0.00,2.30,0.00,0.000,260,0.000,0.062,2684,3533,2682,2703,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2676,-0.40,-87.6,1824,3533,2674,2658,305.2,-12.1,274,2681,0.12,2.30,0.00,0.000,3078,0.145,0.054,2714,2118,2682,2701,2663,0,0,0,0,0,0,25.41,25.57,28.83
$GC,3489,-0.40,-87.6,2714,2115,2703,2663,388.1,-9.7,315,3495,0.00,2.33,0.00,0.000,260,0.000,0.061,2706,3542,2682,2702,2662,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3522,-0.40,-87.6,2706,3542,2701,2662,390.1,-9.7,316,3529,0.00,2.30,0.00,0.000,1030,0.000,0.050,2706,2114,2681,2701,2662,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4329,-0.40,-87.6,2706,2111,2702,2662,467.3,-8.8,357,4335,0.00,2.33,0.00,0.000,260,0.000,0.062,2696,3535,2682,2702,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4352,-0.40,-87.6,2695,3535,2701,2662,469.1,-8.8,358,4356,0.00,2.28,0.00,0.000,1030,0.000,0.053,2695,2123,2681,2701,2662,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5164,-0.40,-87.6,2694,2119,2701,2662,542.5,-9.6,399,5170,0.00,2.33,0.00,0.000,260,0.000,0.063,2685,3535,2681,2701,2662,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5244,-0.40,-87.6,2685,3535,2701,2662,549.9,-9.3,403,5251,0.12,2.30,0.00,0.000,3078,0.142,0.056,2716,2120,2681,2700,2662,0,0,0,0,0,0,25.41,25.55,28.83
$GC,6065,-0.40,-87.6,2715,2116,2701,2661,618.9,-7.8,444,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2116,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-0.40,-87.6,2715,2116,2701,2661,675.2,-7.1,484,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2115,2680,2700,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7665,-0.40,-87.6,2715,2115,2700,2661,732.8,-7.4,524,7670,0.00,2.33,0.00,0.000,260,0.000,0.062,2707,3535,2680,2700,2660,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7693,-0.40,-87.6,2707,3535,2700,2660,734.3,-7.3,525,7697,0.00,2.30,0.00,0.000,1030,0.000,0.053,2707,2114,2680,2700,2660,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8501,-0.40,-87.6,2707,2112,2701,2660,798.9,-8.2,565,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2112,2680,2701,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9300,-0.40,-87.6,2707,2111,2700,2660,863.6,-8.2,605,9305,0.00,2.35,0.00,0.000,260,0.000,0.063,2696,3535,2680,2700,2660,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9340,-0.40,-87.6,2696,3535,2700,2660,866.9,-8.2,607,9345,0.00,2.30,0.00,0.000,1030,0.000,0.055,2696,2123,2680,2700,2660,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10160,-0.40,-87.6,2696,2120,2701,2660,929.9,-6.7,648,10165,0.00,2.33,0.00,0.000,516,0.000,0.060,2696,708,2680,2701,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10208,-0.40,-87.6,2696,708,2701,2660,932.7,-6.8,650,10212,0.00,2.33,0.00,0.000,1030,0.000,0.055,2686,2126,2680,2701,2660,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11015,-0.40,-87.6,2686,2125,2700,2659,993.5,-7.5,690,11021,0.12,2.33,0.00,0.000,2308,0.170,0.064,2707,3541,2680,2701,2659,0,0,0,0,0,0,26.06,25.32,28.83
$STATE,11134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11134,begin apogee
$GC,11141,0.00,0.0,2707,2091,2700,2659,1001.0,-5.9,696,11221,0.45,0.00,76.18,1.345,10246,0.150,0.000,2843,2088,2322,2360,2284,0,0,0,0,0,0,25.06,28.83,23.19
$STATE,11221,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11224,0.40,87.6,2843,2087,2360,2284,1003.2,0.0,700,11315,0.35,2.55,81.57,1.345,10500,0.070,0.051,2981,3503,1964,2017,1911,0,0,0,0,0,0,24.61,23.71,22.45
$GC,11367,0.40,87.6,2981,3503,2012,1909,994.1,10.6,707,11372,0.00,2.40,0.00,0.000,1030,0.000,0.044,2992,2085,1960,2012,1909,0,0,0,0,0,0,28.83,24.33,28.83
$GC,12174,0.40,87.6,2991,2085,2005,1901,883.5,12.9,747,12180,0.00,2.28,0.00,0.000,516,0.000,0.048,3002,673,1952,2005,1900,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12316,0.40,87.6,3003,673,2001,1900,865.8,12.2,754,12321,0.00,2.28,0.00,0.000,1030,0.000,0.043,3003,2103,1950,2001,1900,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13134,0.40,87.6,3002,2104,2001,1899,759.2,13.2,795,13140,0.00,2.28,0.00,0.000,516,0.000,0.046,3013,681,1950,2001,1899,0,0,0,0,0,0,28.83,25.66,28.83
$GC,13187,0.40,87.6,3013,681,2000,1899,753.7,13.6,797,13195,0.15,2.25,0.00,0.000,5126,0.195,0.041,2981,2100,1949,2000,1899,0,0,0,0,0,0,25.24,25.72,28.83
$GC,13995,0.40,87.6,2981,2101,2001,1898,652.2,12.2,838,14000,0.00,2.22,0.00,0.000,260,0.000,0.051,2981,3506,1949,2000,1899,0,0,0,0,0,0,28.83,25.64,28.83
$GC,14014,0.40,87.6,2980,3506,2000,1899,649.6,12.2,839,14020,0.00,2.22,0.00,0.000,1030,0.000,0.044,2989,2093,1949,2000,1899,0,0,0,0,0,0,28.83,25.72,28.83
$GC,14836,0.40,87.6,2989,2093,2000,1899,549.4,12.2,880,14841,0.00,2.22,0.00,0.000,516,0.000,0.047,3000,683,1949,2000,1898,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14877,0.40,87.6,3000,683,1999,1897,544.3,12.6,882,14881,0.00,2.25,0.00,0.000,1030,0.000,0.044,3000,2096,1948,1999,1898,0,0,0,0,0,0,28.83,25.74,28.83
$GC,15689,0.40,87.6,3000,2096,1999,1897,447.8,10.9,923,15695,0.00,2.28,0.00,0.000,516,0.000,0.047,3011,677,1947,1998,1897,0,0,0,0,0,0,28.83,25.69,28.83
$GC,15762,0.40,87.6,3010,677,1998,1897,440.9,11.5,926,15770,0.15,2.28,0.00,0.000,5126,0.192,0.043,2978,2103,1947,1998,1897,0,0,0,0,0,0,25.25,25.74,28.83
$GC,16571,0.40,87.6,2978,2104,1999,1896,359.9,9.5,967,16572,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2104,1948,1999,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17369,0.40,87.8,2978,2104,1999,1896,286.5,9.2,1007,17375,0.00,2.22,0.00,0.000,260,0.000,0.050,2978,3509,1948,1999,1897,0,0,0,0,0,0,28.83,25.63,28.83
$GC,17397,0.40,87.8,2978,3509,1999,1898,284.3,9.4,1008,17401,0.00,2.22,0.00,0.000,1030,0.000,0.043,2987,2097,1948,1999,1898,0,0,0,0,0,0,28.83,25.73,28.83
$GC,18204,0.47,146.6,2987,2097,1999,1897,209.5,7.6,1048,18257,0.00,2.30,47.50,0.855,8708,0.000,0.048,2998,685,1722,1795,1650,0,0,0,0,0,0,28.83,25.41,24.30
$GC,18309,0.47,146.6,2998,685,1787,1649,200.0,9.9,1052,18313,0.00,2.30,0.00,0.000,1030,0.000,0.042,2998,2102,1718,1788,1649,0,0,0,0,0,0,28.83,25.37,28.83
$GC,19115,0.47,146.6,2998,2106,1786,1648,102.2,11.6,1131,19123,0.00,2.30,0.00,0.000,516,0.000,0.047,3008,687,1716,1785,1647,0,0,0,0,0,0,28.83,25.53,28.83
$GC,19205,0.47,146.6,2048,687,1756,1644,90.7,13.5,1145,19212,0.00,2.25,0.00,0.000,1030,0.000,0.042,3008,2097,1715,1783,1647,0,0,0,0,0,0,28.83,25.60,28.83
$GC,19542,0.47,146.6,2048,2101,1758,1643,57.8,12.5,1206,19552,0.00,2.33,0.00,0.000,516,0.000,0.049,3018,687,1714,1782,1647,0,0,0,0,0,0,28.83,25.58,28.83
$GC,19579,0.47,146.6,3018,687,1780,1646,53.0,13.2,1212,19589,0.00,2.30,0.00,0.000,1030,0.000,0.045,3018,2091,1713,1781,1646,0,0,0,0,0,0,28.83,25.61,28.83
$STATE,19915,end climb,SURFACE_DEPTH_REACHED
$STATE,19915,begin surface coast
$FINISH,2.3,1.023042
$STATE,19938,end surface coast,CONTROL_FINISHED_OK
$STATE,19938,begin surface
$SM_CCo,19954,142.23,0.054,0,0,498,446.93
$SM_GC,3.18,7.97,0.00,142.23,0.050,0.000,0.054,128,2097,498,-8.41,-0.76,446.93,0,0,0,0,0,0,25.79,28.83,25.56
$IRIDIUM_FIX,-4530.24,707.50,080909,020204
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.64
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,22.5,45.426
$10V_AH,9.6,58.698
$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,19.450,101.500,205.250,142.225,0.000,30.225,20.829,280.826,0.000,0.000,7.908,3206.365,13817.470,473.945,2872.009,197.103,0.000,1611.376,0.000,2492.180,0.000,0.989,0.000
$DEVICE_MAMPS,204.255,64.260,1344.870,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.704,106.263,540.455,572.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352988
$DATA_FILE_SIZE,77005,1266
$CAP_FILE_SIZE,133922,0
$CFSIZE,2097086464,2037022720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168,126.2,1
$GPS,121116,000757,-4550.310,709.106,38,1.3,39,-24.6