version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 438
start: 9 23 115 2 6 54
data:
$ID,574
$MISSION,20
$DIVE,438
$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,-2396559.5
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,131116,154803,-4553.371,704.360,40,1.1,40,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.10
$_SM_ANGLEo,-76.5
$GPS2,131116,155547,-4553.328,704.471,4,1.1,4,-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,297.0,154489,-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,-87.6,127,2132,496,433,0.0,0.0,0,27,0.00,0.00,-9.62,0.000,16386,0.000,0.000,126,2133,719,750,689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.40,-87.6,127,2133,751,687,3.1,0.0,1,136,10.60,2.38,-86.60,0.000,19204,0.233,0.058,2704,706,2679,2700,2659,0,0,0,0,0,0,24.79,25.32,26.02
$GC,154,-0.40,-87.6,2704,708,2700,2659,3.9,-4.3,15,164,0.00,2.38,0.00,0.000,1030,0.000,0.050,2694,2122,2679,2700,2659,0,0,0,0,0,0,28.83,25.31,28.83
$GC,223,-0.40,-87.6,2694,2122,2700,2659,12.8,-14.2,24,232,0.00,2.35,0.00,0.000,260,0.000,0.060,2683,3528,2679,2700,2659,0,0,0,0,0,0,28.83,25.26,28.83
$GC,249,-0.40,-87.6,2683,3528,2698,2659,16.2,-12.8,27,260,0.08,2.33,0.00,0.000,3078,0.142,0.051,2707,2135,2679,2699,2659,0,0,0,0,0,0,25.13,25.33,28.83
$GC,319,-0.40,-87.6,2706,2131,2699,2659,24.7,-12.3,36,328,0.00,2.38,0.00,0.000,516,0.000,0.053,2707,712,2679,2699,2659,0,0,0,0,0,0,28.83,25.34,28.83
$GC,345,-0.40,-87.6,2706,713,2699,2660,27.9,-12.3,39,355,0.00,2.38,0.00,0.000,1030,0.000,0.051,2699,2129,2679,2699,2660,0,0,0,0,0,0,28.83,25.37,28.83
$GC,509,-0.40,-87.6,1768,2127,2669,2655,49.3,-13.7,64,516,0.00,2.35,0.00,0.000,260,0.000,0.060,2688,3537,2680,2700,2660,0,0,0,0,0,0,28.83,25.32,28.83
$GC,556,-0.40,-87.6,1768,3536,2668,2655,55.3,-11.8,72,566,0.00,2.35,0.00,0.000,1030,0.000,0.053,2687,2123,2679,2698,2660,0,0,0,0,0,0,28.83,25.41,28.83
$GC,902,-0.40,-87.6,2687,2119,2698,2660,104.5,-14.3,131,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2120,2679,2698,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-0.40,-87.6,2688,2119,2699,2660,146.7,-13.7,161,1211,0.00,2.30,0.00,0.000,260,0.000,0.060,2677,3533,2679,2699,2660,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1226,-0.40,-87.6,1824,3532,2672,2656,149.7,-13.4,163,1234,0.15,2.30,0.00,0.000,3078,0.146,0.053,2714,2116,2679,2699,2660,0,0,0,0,0,0,25.29,25.51,28.83
$GC,1534,-0.40,-87.6,2714,2113,2700,2660,183.5,-10.6,194,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2113,2680,2700,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.40,-87.6,2715,2113,2700,2660,215.5,-10.6,218,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2113,2680,2700,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2644,-0.40,-87.6,2714,2113,2700,2660,291.1,-9.1,258,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2113,2680,2700,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3444,-0.40,-87.6,2714,2113,2700,2660,358.7,-8.4,298,3450,0.00,2.33,0.00,0.000,260,0.000,0.060,2706,3544,2679,2700,2659,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3487,-0.40,-87.6,2706,3544,2699,2660,362.0,-8.4,300,3491,0.00,2.28,0.00,0.000,1030,0.000,0.051,2706,2123,2679,2699,2660,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4299,-0.40,-87.6,2706,2119,2700,2659,434.5,-8.6,341,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2119,2680,2700,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5099,-0.40,-87.6,2706,2119,2699,2659,500.1,-7.9,381,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2119,2679,2699,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-0.40,-87.6,2706,2119,2699,2659,565.3,-8.6,421,5905,0.00,2.30,0.00,0.000,516,0.000,0.056,2706,710,2679,2699,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5947,-0.40,-87.6,2706,710,2699,2659,569.0,-9.1,423,5951,0.00,2.30,0.00,0.000,1030,0.000,0.053,2695,2126,2679,2699,2659,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6754,-0.40,-87.6,2695,2126,2699,2659,643.9,-8.4,463,6760,0.00,2.28,0.00,0.000,260,0.000,0.062,2685,3537,2678,2699,2658,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6854,-0.40,-87.6,2684,3537,2698,2658,652.2,-8.0,468,6860,0.12,2.30,0.00,0.000,3078,0.142,0.056,2715,2118,2678,2698,2658,0,0,0,0,0,0,25.41,25.55,28.83
$GC,7675,-0.40,-87.6,2715,2116,2699,2658,705.4,-6.8,509,7681,0.00,2.30,0.00,0.000,260,0.000,0.060,2707,3531,2678,2699,2658,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7715,-0.40,-87.6,2706,3531,2698,2658,708.1,-6.8,511,7720,0.00,2.28,0.00,0.000,1030,0.000,0.054,2707,2120,2678,2698,2658,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8534,-0.40,-87.6,2706,2119,2698,2658,766.6,-6.9,552,8540,0.00,2.30,0.00,0.000,516,0.000,0.057,2707,711,2678,2698,2658,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8577,-0.40,-87.6,2706,711,2699,2658,769.5,-7.2,554,8581,0.00,2.30,0.00,0.000,1030,0.000,0.053,2696,2123,2678,2698,2658,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9390,-0.40,-87.6,2696,2123,2699,2658,830.4,-7.3,595,9395,0.00,2.30,0.00,0.000,260,0.000,0.064,2685,3535,2678,2699,2657,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9535,-0.40,-87.6,2685,3535,2697,2657,840.2,-6.9,602,9540,0.00,2.28,0.00,0.000,1030,0.000,0.057,2685,2125,2677,2697,2657,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10350,-0.40,-87.6,2685,2124,2698,2657,905.1,-7.9,643,10356,0.12,2.33,0.00,0.000,2308,0.172,0.065,2712,3527,2677,2698,2657,0,0,0,0,0,0,25.98,25.33,28.83
$GC,10397,-0.40,-87.6,2712,3527,2697,2657,907.6,-7.2,645,10401,0.00,2.28,0.00,0.000,1030,0.000,0.056,2712,2124,2677,2697,2657,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11204,-0.40,-87.6,2712,2119,2698,2657,956.2,-5.6,685,11210,0.00,2.30,0.00,0.000,516,0.000,0.057,2712,712,2677,2698,2657,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11284,-0.40,-87.6,2712,711,2698,2657,961.3,-6.3,689,11290,0.00,2.30,0.00,0.000,1030,0.000,0.054,2702,2123,2677,2698,2657,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,11862,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11862,begin apogee
$GC,11866,0.00,0.0,2702,2123,2698,2657,996.6,-6.0,718,11945,0.45,0.00,75.88,1.354,10246,0.124,0.000,2839,2122,2321,2358,2285,0,0,0,0,0,0,25.22,28.83,23.16
$STATE,11946,end apogee,CONTROL_FINISHED_OK
$STATE,11946,begin climb
$GC,11948,0.40,87.6,2838,2122,2359,2285,997.0,0.0,722,12038,0.35,2.55,82.38,1.365,10756,0.045,0.046,2995,683,1963,2018,1908,0,0,0,0,0,0,24.68,23.69,22.38
$GC,12185,0.40,87.6,2995,683,2012,1902,972.0,13.9,733,12189,0.00,2.38,0.00,0.000,1030,0.000,0.043,2995,2100,1957,2012,1902,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12997,0.40,87.6,2995,2100,2010,1895,859.9,14.0,774,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2100,1952,2010,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13797,0.40,87.6,2995,2100,2007,1894,754.5,12.8,814,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2100,1951,2008,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14597,0.40,87.6,2995,2100,2006,1895,652.1,13.4,854,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2100,1950,2006,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15397,0.40,87.6,2995,2100,2006,1894,551.7,11.9,894,15402,0.00,2.30,0.00,0.000,516,0.000,0.048,3005,670,1950,2006,1894,0,0,0,0,0,0,28.83,25.68,28.83
$GC,15520,0.40,87.6,2088,670,1973,1890,537.5,11.5,900,15525,0.12,2.30,0.00,0.000,5126,0.195,0.044,2980,2108,1948,2002,1894,0,0,0,0,0,0,25.37,25.75,28.83
$GC,16333,0.40,87.6,2979,2107,2003,1893,452.7,10.1,941,16338,0.00,2.22,0.00,0.000,260,0.000,0.051,2979,3509,1948,2003,1893,0,0,0,0,0,0,28.83,25.65,28.83
$GC,16361,0.40,87.6,2979,3509,2002,1894,450.4,10.4,942,16365,0.00,2.25,0.00,0.000,1030,0.000,0.044,2989,2089,1947,2001,1894,0,0,0,0,0,0,28.83,25.74,28.83
$GC,17168,0.41,97.0,2988,2090,2002,1894,369.9,8.9,982,17177,0.00,0.00,6.62,0.795,8198,0.000,0.000,2988,2089,1925,1981,1869,0,0,0,0,0,0,28.83,28.83,24.37
$GC,17968,0.41,97.0,2988,2089,1982,1870,288.7,10.8,1022,17973,0.00,2.25,0.00,0.000,516,0.000,0.048,3000,678,1925,1981,1870,0,0,0,0,0,0,28.83,25.75,28.83
$GC,18201,0.41,97.0,2999,677,1979,1869,264.1,11.0,1033,18208,0.00,2.28,0.00,0.000,1030,0.000,0.044,2999,2107,1924,1979,1869,0,0,0,0,0,0,28.83,25.80,28.83
$GC,19008,0.42,101.9,2999,2107,1980,1869,183.9,9.1,1082,19018,0.00,0.00,5.80,0.681,8198,0.000,0.000,3000,2107,1905,1962,1849,0,0,0,0,0,0,28.83,28.83,24.49
$GC,19320,0.43,113.4,2999,2107,1963,1849,155.7,8.9,1113,19339,0.00,2.28,11.60,0.783,8708,0.000,0.046,3010,684,1858,1916,1800,0,0,0,0,0,0,28.83,25.94,24.64
$GC,19433,0.43,113.4,3009,684,1914,1799,144.7,9.9,1124,19441,0.00,2.22,0.00,0.000,1030,0.000,0.044,3009,2091,1857,1915,1799,0,0,0,0,0,0,28.83,25.78,28.83
$GC,19741,0.43,113.4,3009,2092,1915,1799,114.1,9.6,1155,19750,0.00,2.25,0.00,0.000,516,0.000,0.046,3020,686,1856,1914,1799,0,0,0,0,0,0,28.83,25.72,28.83
$GC,19805,0.43,113.4,2144,686,1887,1795,107.9,10.1,1161,19813,0.15,2.28,0.00,0.000,5126,0.185,0.043,2986,2104,1856,1913,1799,0,0,0,0,0,0,25.32,25.76,28.83
$GC,20132,0.44,122.9,2016,2103,1884,1795,77.8,8.9,1214,20145,0.00,0.00,9.23,0.716,8198,0.000,0.000,2986,2105,1821,1882,1760,0,0,0,0,0,0,28.83,28.83,24.61
$GC,20474,0.44,122.9,2985,2105,1882,1759,45.7,10.2,1276,20481,0.00,2.28,0.00,0.000,260,0.000,0.051,2986,3508,1820,1882,1759,0,0,0,0,0,0,28.83,25.67,28.83
$GC,20496,0.44,122.9,2986,3507,1881,1759,43.7,9.5,1279,20504,0.00,2.22,0.00,0.000,1030,0.000,0.044,2995,2096,1819,1880,1759,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,20889,end climb,SURFACE_DEPTH_REACHED
$STATE,20889,begin surface coast
$FINISH,2.3,1.014320
$STATE,20928,end surface coast,CONTROL_FINISHED_OK
$STATE,20928,begin surface
$SM_CCo,20944,152.52,0.053,0,0,499,446.93
$SM_GC,3.10,7.78,0.00,152.52,0.047,0.000,0.053,127,2091,499,-8.42,-0.93,446.93,0,0,0,0,0,0,25.66,28.83,25.66
$IRIDIUM_FIX,-4536.40,702.12,090909,232341
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.54
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,22.4,46.196
$10V_AH,9.6,59.666
$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,19.925,92.250,191.500,152.525,0.000,24.516,18.929,301.074,0.000,0.000,8.016,3401.787,14407.581,467.346,3096.297,206.667,0.000,1657.345,0.000,2706.273,0.000,0.989,0.000
$DEVICE_MAMPS,232.560,65.025,1364.760,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.070,118.910,640.250,673.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352996
$DATA_FILE_SIZE,83578,1341
$CAP_FILE_SIZE,141873,0
$CFSIZE,2097086464,2035974144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,143.4,1
$GPS,131116,214927,-4554.522,703.378,40,1.0,40,-24.6