version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 435
start: 9 22 115 9 4 31
data:
$ID,574
$MISSION,20
$DIVE,435
$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,-2396407.8
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,121116,224503,-4552.443,706.435,33,0.9,33,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-74.0
$GPS2,121116,225321,-4552.456,706.546,4,0.9,4,-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,305.2,157520,-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,-87.6,128,2108,502,436,0.0,0.0,0,35,0.00,0.00,-18.08,0.000,16386,0.000,0.000,127,2108,949,984,915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,37,-0.40,-87.6,128,2108,981,921,3.2,-2.3,2,138,10.93,2.35,-77.05,0.000,18948,0.240,0.065,2705,717,2681,2701,2661,0,0,0,0,0,0,24.77,25.35,26.01
$GC,155,-0.40,-87.6,2705,716,2701,2661,3.9,-4.5,15,166,0.00,2.35,0.00,0.000,1030,0.000,0.050,2695,2119,2681,2701,2661,0,0,0,0,0,0,28.83,25.29,28.83
$GC,225,-0.40,-87.6,2695,2120,2701,2661,13.3,-14.4,24,234,0.00,2.38,0.00,0.000,260,0.000,0.060,2684,3541,2681,2701,2661,0,0,0,0,0,0,28.83,25.26,28.83
$GC,293,-0.40,-87.6,2684,3540,2700,2662,22.0,-10.9,33,304,0.08,2.35,0.00,0.000,3078,0.181,0.053,2706,2135,2681,2700,2662,0,0,0,0,0,0,25.05,25.34,28.83
$GC,468,-0.40,-87.6,1744,2130,2669,2657,43.2,-12.2,58,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2131,2681,2702,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.40,-87.6,2706,2131,2702,2662,84.6,-12.4,119,811,0.00,2.33,0.00,0.000,260,0.000,0.062,2698,3541,2681,2701,2662,0,0,0,0,0,0,28.83,25.38,28.83
$GC,836,-0.40,-87.6,2698,3541,2701,2662,88.7,-12.3,124,843,0.00,2.35,0.00,0.000,1030,0.000,0.052,2698,2120,2681,2701,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1153,-0.40,-87.6,2698,2117,2701,2662,127.8,-12.2,163,1162,0.00,2.33,0.00,0.000,260,0.000,0.062,2687,3538,2681,2701,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1189,-0.40,-87.6,2687,3538,2701,2662,131.7,-12.2,166,1196,0.00,2.30,0.00,0.000,1030,0.000,0.053,2687,2122,2681,2701,2662,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1495,-0.40,-87.6,2686,2118,2701,2662,170.4,-12.3,197,1504,0.00,2.33,0.00,0.000,260,0.000,0.062,2677,3534,2681,2701,2662,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1516,-0.40,-87.6,2677,3535,2701,2663,173.1,-12.5,199,1526,0.15,2.30,0.00,0.000,3078,0.186,0.054,2713,2119,2681,2701,2662,0,0,0,0,0,0,25.15,25.53,28.83
$GC,1826,-0.40,-87.6,2713,2115,2701,2662,204.0,-9.7,228,1832,0.00,2.33,0.00,0.000,260,0.000,0.060,2705,3541,2681,2701,2662,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1848,-0.40,-87.6,1840,3540,2673,2658,205.9,-9.8,229,1852,0.00,2.30,0.00,0.000,1030,0.000,0.050,2705,2118,2681,2701,2662,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2666,-0.40,-87.6,2705,2114,2702,2662,288.2,-10.3,270,2672,0.00,2.33,0.00,0.000,260,0.000,0.061,2694,3538,2682,2702,2662,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2714,-0.40,-87.6,2694,3538,2701,2662,292.4,-10.5,272,2718,0.00,2.28,0.00,0.000,1030,0.000,0.053,2694,2123,2681,2701,2662,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3521,-0.40,-87.6,2694,2119,2702,2662,379.5,-10.7,312,3527,0.00,2.33,0.00,0.000,260,0.000,0.061,2684,3544,2682,2702,2662,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3541,-0.40,-87.6,2684,3544,2701,2662,381.7,-10.8,313,3548,0.12,2.28,0.00,0.000,3078,0.203,0.052,2713,2124,2681,2700,2662,0,0,0,0,0,0,25.29,25.63,28.83
$GC,4361,-0.40,-87.6,2713,2120,2702,2662,451.9,-8.3,354,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2120,2682,2702,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.40,-87.6,2713,2120,2702,2661,520.4,-9.3,394,5167,0.00,2.30,0.00,0.000,260,0.000,0.061,2705,3533,2681,2702,2661,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5189,-0.40,-87.6,2705,3533,2701,2661,522.2,-9.2,395,5193,0.00,2.28,0.00,0.000,1030,0.000,0.053,2705,2123,2681,2701,2661,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5996,-0.40,-87.6,2704,2121,2701,2660,602.3,-9.6,435,6002,0.00,2.33,0.00,0.000,260,0.000,0.062,2694,3542,2680,2701,2660,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6064,-0.40,-87.6,2694,3542,2701,2660,607.6,-9.1,438,6068,0.00,2.30,0.00,0.000,1030,0.000,0.054,2694,2122,2681,2701,2661,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6871,-0.40,-87.6,2694,2119,2701,2660,679.6,-8.5,478,6877,0.00,2.30,0.00,0.000,516,0.000,0.057,2694,711,2680,2701,2660,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6891,-0.40,-87.6,2694,711,2701,2660,681.5,-8.7,479,6898,0.12,2.30,0.00,0.000,3078,0.224,0.054,2712,2127,2680,2701,2660,0,0,0,0,0,0,25.15,25.58,28.83
$GC,7712,-0.40,-87.6,2712,2128,2701,2659,733.3,-6.4,520,7717,0.00,2.28,0.00,0.000,260,0.000,0.064,2703,3530,2680,2701,2659,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7799,-0.40,-87.6,2703,3530,2700,2659,738.2,-6.2,524,7803,0.00,2.28,0.00,0.000,1030,0.000,0.055,2703,2124,2679,2700,2659,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8607,-0.40,-87.6,2703,2119,2701,2659,798.2,-7.8,564,8612,0.00,2.30,0.00,0.000,260,0.000,0.063,2692,3529,2680,2701,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8634,-0.40,-87.6,2692,3529,2700,2659,799.9,-7.9,565,8638,0.00,2.28,0.00,0.000,1030,0.000,0.054,2692,2123,2679,2700,2659,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9443,-0.40,-87.6,2692,2120,2701,2659,869.8,-7.8,605,9448,0.00,2.30,0.00,0.000,516,0.000,0.057,2692,707,2680,2701,2659,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9481,-0.40,-87.6,2692,707,2701,2659,873.2,-8.1,607,9488,0.12,2.33,0.00,0.000,3078,0.219,0.055,2711,2128,2680,2701,2659,0,0,0,0,0,0,25.10,25.53,28.83
$GC,10302,-0.40,-87.6,2710,2128,2701,2659,919.8,-5.3,648,10307,0.00,2.28,0.00,0.000,260,0.000,0.063,2702,3527,2679,2701,2658,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10451,-0.40,-87.6,2701,3526,2699,2658,926.9,-5.0,655,10461,0.00,2.28,0.00,0.000,1030,0.000,0.054,2701,2119,2679,2700,2658,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11263,-0.40,-87.6,2701,2119,2701,2658,971.2,-5.8,696,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2119,2679,2700,2659,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11719,begin apogee
$GC,11724,0.00,0.0,2701,2119,2700,2658,1000.7,-6.9,719,11803,0.47,0.00,75.82,1.327,10246,0.170,0.000,2841,2119,2321,2358,2285,0,0,0,0,0,0,24.77,28.83,23.20
$STATE,11804,end apogee,CONTROL_FINISHED_OK
$STATE,11804,begin climb
$GC,11806,0.40,87.6,2841,2119,2359,2285,1001.2,0.0,723,11894,0.38,2.53,81.45,1.320,10756,0.094,0.047,2991,689,1964,2017,1911,0,0,0,0,0,0,24.58,23.76,22.49
$GC,11926,0.48,149.7,2991,689,2013,1908,993.8,7.5,728,11991,0.00,2.42,58.62,1.297,9222,0.000,0.043,2991,2105,1710,1788,1632,0,0,0,0,0,0,28.83,24.20,22.32
$GC,12793,0.48,149.7,2991,2105,1779,1624,844.5,16.0,771,12799,0.00,2.33,0.00,0.000,516,0.000,0.048,3001,677,1701,1778,1625,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12893,0.48,149.7,3001,676,1771,1624,828.2,16.4,776,12899,0.00,2.28,0.00,0.000,1030,0.000,0.042,3001,2096,1697,1771,1624,0,0,0,0,0,0,28.83,25.62,28.83
$GC,13714,0.48,149.7,3001,2096,1772,1624,689.4,16.8,817,13720,0.00,2.28,0.00,0.000,516,0.000,0.049,3010,685,1697,1771,1624,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13776,0.48,149.7,3011,684,1767,1624,679.1,17.2,820,13780,0.00,2.25,0.00,0.000,1030,0.000,0.043,3011,2095,1696,1768,1624,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14589,0.48,149.7,3011,2098,1770,1624,540.2,16.0,861,14594,0.00,2.28,0.00,0.000,516,0.000,0.049,3021,683,1696,1769,1624,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14671,0.48,149.7,2160,682,1743,1621,527.0,16.5,865,14675,0.00,2.25,0.00,0.000,1030,0.000,0.044,3021,2098,1695,1766,1624,0,0,0,0,0,0,28.83,25.77,28.83
$GC,15488,0.48,149.7,3021,2099,1768,1624,386.3,17.2,906,15494,0.00,2.28,0.00,0.000,516,0.000,0.049,3031,686,1696,1768,1624,0,0,0,0,0,0,28.83,25.71,28.83
$GC,15568,0.48,149.7,3031,686,1764,1624,372.7,16.9,910,15575,0.12,2.25,0.00,0.000,5126,0.265,0.044,3006,2097,1694,1765,1624,0,0,0,0,0,0,25.16,25.77,28.83
$GC,16388,0.48,149.7,3006,2101,1766,1624,242.6,15.6,951,16394,0.00,2.28,0.00,0.000,516,0.000,0.048,3015,680,1695,1766,1624,0,0,0,0,0,0,28.83,25.72,28.83
$GC,16436,0.48,149.7,3016,680,1764,1624,236.5,15.5,953,16440,0.00,2.28,0.00,0.000,1030,0.000,0.043,3016,2107,1694,1764,1624,0,0,0,0,0,0,28.83,25.78,28.83
$GC,17243,0.48,149.7,3016,2109,1766,1624,115.4,13.2,1022,17252,0.00,2.28,0.00,0.000,516,0.000,0.047,3026,685,1695,1766,1624,0,0,0,0,0,0,28.83,25.72,28.83
$GC,17298,0.48,149.7,3026,686,1763,1624,108.7,13.0,1027,17304,0.00,2.25,0.00,0.000,1030,0.000,0.044,3026,2098,1694,1765,1624,0,0,0,0,0,0,28.83,25.77,28.83
$GC,17633,0.48,149.7,3026,2099,1766,1624,63.3,14.5,1082,17639,0.00,2.28,0.00,0.000,516,0.000,0.047,3036,677,1695,1766,1624,0,0,0,0,0,0,28.83,25.70,28.83
$GC,17657,0.48,149.7,3035,676,1764,1624,59.7,14.7,1086,17667,0.10,2.30,0.00,0.000,5126,0.238,0.044,3009,2097,1694,1765,1624,0,0,0,0,0,0,25.11,25.77,28.83
$GC,18057,0.48,149.7,3009,2102,1766,1624,7.2,13.9,1147,18067,0.00,2.30,0.00,0.000,516,0.000,0.046,3019,686,1695,1766,1624,0,0,0,0,0,0,28.83,25.71,28.83
$STATE,18091,end climb,SURFACE_DEPTH_REACHED
$STATE,18091,begin surface coast
$FINISH,2.4,1.023080
$STATE,18122,end surface coast,CONTROL_FINISHED_OK
$STATE,18122,begin surface
$SM_CCo,18140,140.48,0.055,0,0,497,446.93
$SM_GC,3.22,7.90,2.35,140.48,0.054,0.040,0.055,127,2138,497,-8.41,-0.57,446.93,0,0,0,0,0,0,25.82,25.82,25.63
$IRIDIUM_FIX,-4530.24,704.43,090909,060632
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.56
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,22.3,45.924
$10V_AH,9.6,59.282
$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,20.500,110.700,215.900,140.475,0.000,23.812,40.707,317.208,0.000,0.000,7.965,2955.063,12373.216,483.342,2797.142,190.976,0.000,1568.211,0.000,2373.184,0.000,0.989,0.000
$DEVICE_MAMPS,264.690,65.025,1326.510,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.008,104.808,568.599,596.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353028
$DATA_FILE_SIZE,70428,1155
$CAP_FILE_SIZE,130060,0
$CFSIZE,2097086464,2036400128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,131.7,1
$GPS,131116,040003,-4552.462,705.168,37,1.1,37,-24.6