version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 447
start: 9 25 115 6 24 9
data:
$ID,574
$MISSION,20
$DIVE,447
$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,-2397004.2
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,151116,200533,-4600.739,659.986,38,1.1,38,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-76.2
$GPS2,151116,201310,-4600.778,700.065,4,1.0,4,-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,307.5,145176,-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,-87.6,129,2108,497,434,0.0,0.0,0,28,0.00,0.00,-10.23,0.000,16386,0.000,0.000,128,2108,735,762,708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.40,-87.6,129,2108,769,699,3.1,0.0,1,138,10.93,2.33,-86.47,0.000,19204,0.242,0.062,2712,717,2679,2701,2658,0,0,0,0,0,0,24.72,25.31,26.04
$GC,227,-0.40,-87.6,2712,716,2700,2659,10.1,-11.5,25,236,0.00,2.35,0.00,0.000,1030,0.000,0.049,2702,2126,2679,2700,2659,0,0,0,0,0,0,28.83,25.36,28.83
$GC,296,-0.40,-87.6,2702,2126,2700,2659,17.7,-11.8,34,306,0.00,2.33,0.00,0.000,260,0.000,0.060,2691,3529,2679,2700,2659,0,0,0,0,0,0,28.83,25.29,28.83
$GC,365,-0.40,-87.6,2691,3529,2699,2659,26.5,-12.2,43,375,0.00,2.30,0.00,0.000,1030,0.000,0.050,2691,2136,2679,2699,2659,0,0,0,0,0,0,28.83,25.39,28.83
$GC,529,-0.40,-87.6,2691,2132,2699,2659,49.2,-13.0,68,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2132,2679,2699,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,869,-0.40,-87.6,2691,2133,2700,2659,95.7,-13.7,129,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2132,2679,2700,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1187,-0.40,-87.6,2691,2132,2700,2659,136.2,-12.0,163,1195,0.00,2.28,0.00,0.000,260,0.000,0.060,2681,3536,2679,2700,2659,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1230,-0.40,-87.6,1824,3535,2673,2655,141.4,-12.2,167,1238,0.12,2.30,0.00,0.000,3078,0.161,0.053,2711,2118,2680,2700,2660,0,0,0,0,0,0,25.29,25.52,28.83
$GC,1537,-0.40,-87.6,2710,2115,2701,2660,174.9,-10.7,198,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2115,2680,2701,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1848,-0.40,-87.6,2710,2115,2701,2659,206.7,-9.8,226,1854,0.00,2.28,0.00,0.000,516,0.000,0.054,2712,704,2680,2701,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1887,-0.40,-87.6,2711,704,2701,2660,210.7,-9.9,228,1893,0.00,2.30,0.00,0.000,1030,0.000,0.051,2703,2124,2680,2701,2660,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2707,-0.40,-87.6,2703,2124,2701,2659,293.6,-10.0,269,2713,0.00,2.30,0.00,0.000,260,0.000,0.062,2692,3543,2680,2701,2659,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2857,-0.40,-87.6,2692,3543,2699,2660,306.5,-8.9,276,2866,0.00,2.28,0.00,0.000,1030,0.000,0.051,2693,2122,2680,2700,2660,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3668,-0.40,-87.6,2692,2119,2701,2659,402.4,-12.1,317,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2119,2679,2700,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,-0.40,-87.6,2692,2119,2700,2659,487.2,-10.1,357,4473,0.00,2.33,0.00,0.000,260,0.000,0.061,2682,3544,2679,2700,2659,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4508,-0.40,-87.6,2682,3544,2699,2658,491.2,-10.1,359,4514,0.12,2.28,0.00,0.000,3078,0.158,0.053,2712,2125,2679,2699,2659,0,0,0,0,0,0,25.39,25.61,28.83
$GC,5328,-0.40,-87.6,2712,2122,2699,2658,559.1,-8.5,400,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2122,2678,2699,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6128,-0.40,-87.6,2711,2122,2699,2658,623.4,-7.9,440,6133,0.00,2.33,0.00,0.000,260,0.000,0.062,2703,3543,2678,2699,2657,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6176,-0.40,-87.6,2703,3543,2698,2658,626.6,-7.9,442,6180,0.00,2.30,0.00,0.000,1030,0.000,0.053,2703,2115,2677,2698,2657,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6983,-0.40,-87.6,2703,2113,2699,2657,695.0,-8.0,482,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2113,2678,2699,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7783,-0.40,-87.6,2703,2112,2699,2656,754.8,-7.1,522,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2112,2677,2699,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,-0.40,-87.6,2703,2112,2699,2655,806.9,-6.4,562,8588,0.00,2.30,0.00,0.000,516,0.000,0.057,2703,700,2677,2699,2655,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8605,-0.40,-87.6,2703,700,2699,2655,808.3,-6.5,563,8609,0.00,2.33,0.00,0.000,1030,0.000,0.052,2693,2127,2677,2699,2655,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9418,-0.40,-87.6,2693,2127,2699,2655,868.2,-7.3,604,9424,0.00,2.30,0.00,0.000,260,0.000,0.063,2682,3540,2676,2699,2654,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9547,-0.40,-87.6,2682,3540,2697,2655,876.8,-7.0,610,9552,0.12,2.30,0.00,0.000,3078,0.161,0.056,2712,2122,2676,2697,2655,0,0,0,0,0,0,25.31,25.50,28.83
$GC,10353,-0.40,-87.6,2712,2120,2698,2655,926.2,-6.4,650,10359,0.00,2.30,0.00,0.000,516,0.000,0.057,2713,708,2676,2698,2655,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10375,-0.40,-87.6,1840,709,2671,2650,927.7,-6.6,651,10379,0.00,2.33,0.00,0.000,1030,0.000,0.052,2704,2126,2677,2699,2655,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11193,-0.40,-87.6,2704,2126,2699,2655,988.3,-7.5,692,11199,0.00,2.30,0.00,0.000,260,0.000,0.063,2693,3540,2676,2698,2654,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11296,-0.40,-87.6,2692,3539,2697,2655,995.8,-7.4,697,11300,0.00,2.30,0.00,0.000,1030,0.000,0.056,2692,2121,2676,2697,2655,0,0,0,0,0,0,28.83,25.47,28.83
$STATE,11366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11366,begin apogee
$GC,11371,0.00,0.0,2692,2119,2698,2654,1001.6,-7.6,701,11448,0.50,0.00,74.68,1.337,10246,0.149,0.000,2839,2117,2321,2358,2285,0,0,0,0,0,0,24.87,28.83,23.17
$STATE,11449,end apogee,CONTROL_FINISHED_OK
$STATE,11449,begin climb
$GC,11451,0.40,87.6,2839,2117,2360,2285,1003.2,0.0,705,11539,0.38,0.00,82.05,1.343,10502,0.091,0.000,2980,2117,1963,2018,1909,0,0,0,0,0,0,24.58,28.83,22.39
$GC,12349,0.40,87.6,2980,2117,2008,1900,894.5,13.3,750,12354,0.00,2.30,0.00,0.000,516,0.000,0.048,2991,680,1953,2008,1899,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12388,0.40,87.6,2990,680,2006,1899,889.2,13.4,752,12394,0.00,2.28,0.00,0.000,1030,0.000,0.044,2991,2100,1952,2006,1899,0,0,0,0,0,0,28.83,25.59,28.83
$GC,13208,0.40,87.6,2990,2100,2005,1897,775.5,13.8,793,13213,0.00,2.28,0.00,0.000,516,0.000,0.047,3001,679,1951,2005,1897,0,0,0,0,0,0,28.83,25.66,28.83
$GC,13248,0.40,87.6,3001,679,2003,1897,770.0,13.8,795,13254,0.00,2.28,0.00,0.000,1030,0.000,0.043,3001,2108,1950,2003,1897,0,0,0,0,0,0,28.83,25.72,28.83
$GC,14068,0.40,87.6,3001,2110,2003,1896,654.2,13.4,836,14073,0.00,2.22,0.00,0.000,260,0.000,0.051,3001,3515,1949,2002,1896,0,0,0,0,0,0,28.83,25.67,28.83
$GC,14116,0.40,87.6,3000,3515,2002,1898,648.5,13.8,838,14121,0.15,2.28,0.00,0.000,5126,0.247,0.044,2979,2082,1949,2001,1898,0,0,0,0,0,0,25.08,25.73,28.83
$GC,14923,0.40,87.6,2979,2081,2001,1897,557.0,10.6,878,14928,0.00,2.22,0.00,0.000,516,0.000,0.050,2988,687,1948,2001,1896,0,0,0,0,0,0,28.83,25.68,28.83
$GC,15163,0.40,87.6,2988,687,2000,1895,530.6,10.9,890,15168,0.00,2.25,0.00,0.000,1030,0.000,0.044,2988,2102,1948,2000,1896,0,0,0,0,0,0,28.83,25.75,28.83
$GC,15983,0.40,87.6,2988,2105,2001,1895,443.6,10.8,931,15984,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2105,1948,2001,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16783,0.40,87.6,2988,2105,2001,1895,354.1,11.2,971,16789,0.00,2.22,0.00,0.000,260,0.000,0.051,2988,3509,1948,2001,1895,0,0,0,0,0,0,28.83,25.66,28.83
$GC,16886,0.40,87.6,2988,3509,2000,1896,342.3,11.9,976,16890,0.00,2.22,0.00,0.000,1030,0.000,0.044,2998,2095,1948,2000,1896,0,0,0,0,0,0,28.83,25.74,28.83
$GC,17698,0.40,87.6,2998,2096,2000,1895,250.4,10.8,1017,17703,0.00,2.25,0.00,0.000,516,0.000,0.048,3009,683,1947,2000,1895,0,0,0,0,0,0,28.83,25.67,28.83
$GC,17778,0.40,87.6,3009,683,1999,1895,241.7,10.8,1021,17784,0.15,2.25,0.00,0.000,5126,0.230,0.044,2977,2101,1947,1999,1895,0,0,0,0,0,0,25.11,25.75,28.83
$GC,18589,0.42,104.0,2977,2101,2000,1894,171.4,8.7,1078,18607,0.00,0.00,12.45,0.779,8198,0.000,0.000,2977,2100,1896,1952,1841,0,0,0,0,0,0,28.83,28.83,24.45
$GC,18909,0.43,111.5,2977,2101,1952,1841,142.2,9.0,1110,18927,0.00,2.22,7.95,0.709,8452,0.000,0.051,2977,3508,1866,1923,1810,0,0,0,0,0,0,28.83,25.91,24.49
$GC,18989,0.43,111.5,2977,3508,1923,1811,133.6,10.9,1118,18999,0.00,2.22,0.00,0.000,1030,0.000,0.045,2986,2098,1867,1923,1811,0,0,0,0,0,0,28.83,25.77,28.83
$GC,19301,0.43,111.5,2986,2096,1923,1810,101.5,10.2,1149,19309,0.00,2.25,0.00,0.000,516,0.000,0.049,2997,682,1865,1921,1809,0,0,0,0,0,0,28.83,25.69,28.83
$GC,19439,0.43,111.5,2997,682,1918,1810,88.4,9.4,1172,19446,0.00,2.30,0.00,0.000,1030,0.000,0.045,2997,2097,1864,1919,1810,0,0,0,0,0,0,28.83,25.75,28.83
$GC,19779,0.43,111.5,2997,2096,1920,1809,55.5,10.0,1233,19786,0.00,2.22,0.00,0.000,260,0.000,0.050,2997,3508,1864,1920,1809,0,0,0,0,0,0,28.83,25.67,28.83
$GC,19820,0.43,111.5,2064,3507,1891,1806,51.1,10.8,1240,19827,0.00,2.28,0.00,0.000,1030,0.000,0.044,3007,2092,1864,1919,1809,0,0,0,0,0,0,28.83,25.75,28.83
$GC,20225,0.43,111.5,1952,2087,1886,1804,8.2,11.7,1301,20235,0.00,2.28,0.00,0.000,516,0.000,0.048,3017,688,1863,1918,1809,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,20271,end climb,SURFACE_DEPTH_REACHED
$STATE,20272,begin surface coast
$FINISH,2.2,1.002300
$STATE,20301,end surface coast,CONTROL_FINISHED_OK
$STATE,20301,begin surface
$SM_CCo,20320,157.68,0.056,0,0,499,446.93
$SM_GC,3.24,7.80,2.33,157.68,0.049,0.041,0.056,128,2126,499,-8.40,-0.96,446.93,0,0,0,0,0,0,25.84,25.78,25.63
$IRIDIUM_FIX,-4539.49,659.43,120909,030302
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.29
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,22.4,47.053
$10V_AH,9.6,60.776
$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,20.275,95.850,177.125,157.675,0.000,23.264,21.153,295.439,0.000,0.000,7.954,3325.613,13899.840,465.844,3057.103,206.854,0.000,1644.850,0.000,2670.319,0.000,0.990,0.000
$DEVICE_MAMPS,247.095,63.495,1342.575,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.630,119.132,642.567,669.598,0.000,0.000,0.000,0.000,0.000,0.000
$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,80458,1311
$CAP_FILE_SIZE,138611,0
$CFSIZE,2097086464,2034794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.245,141.8,1
$GPS,161116,015632,-4602.156,659.942,35,0.9,40,-24.6