version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 458
start: 9 27 115 22 32 49
data:
$ID,574
$MISSION,20
$DIVE,458
$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,-2397542.8
$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
$GPS1,181116,121133,-4613.158,648.146,40,1.0,40,-24.5
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,3.05
$_SM_ANGLEo,-71.1
$GPS2,181116,122202,-4613.149,648.174,4,1.0,4,-24.5
$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,333.7,126178,-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,-87.6,128,2138,493,431,0.0,0.0,0,28,0.00,0.00,-10.02,0.000,16386,0.000,0.000,128,2138,726,756,697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.40,-87.6,128,2138,761,692,3.2,0.0,1,137,10.48,2.40,-85.90,0.000,19204,0.221,0.062,2711,708,2681,2700,2662,0,0,0,0,0,0,24.75,25.33,26.01
$GC,191,-0.40,-87.6,2711,711,2700,2663,9.3,-12.2,20,200,0.00,2.38,0.00,0.000,1030,0.000,0.053,2702,2117,2681,2700,2662,0,0,0,0,0,0,28.83,25.31,28.83
$GC,260,-0.40,-87.6,2701,2119,2700,2662,17.5,-12.6,29,269,0.00,2.38,0.00,0.000,260,0.000,0.062,2691,3537,2681,2700,2662,0,0,0,0,0,0,28.83,25.27,28.83
$GC,315,-0.40,-87.6,2690,3536,2700,2662,25.3,-14.3,36,324,0.00,2.35,0.00,0.000,1030,0.000,0.051,2691,2123,2681,2700,2662,0,0,0,0,0,0,28.83,25.38,28.83
$GC,480,-0.40,-87.6,2690,2119,2700,2662,49.2,-14.1,61,486,0.00,2.33,0.00,0.000,516,0.000,0.055,2691,710,2681,2700,2662,0,0,0,0,0,0,28.83,25.39,28.83
$GC,519,-0.40,-87.6,2690,709,2701,2662,54.7,-15.0,67,526,0.12,2.35,0.00,0.000,3078,0.205,0.054,2709,2132,2681,2700,2662,0,0,0,0,0,0,25.08,25.41,28.83
$GC,859,-0.40,-87.6,2708,2132,2701,2662,98.4,-12.0,128,866,0.00,2.33,0.00,0.000,260,0.000,0.060,2700,3530,2681,2700,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,964,-0.40,-87.6,2700,3529,2700,2662,109.7,-10.0,139,973,0.00,2.28,0.00,0.000,1030,0.000,0.051,2700,2123,2681,2700,2662,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1274,-0.40,-87.6,2700,2119,2700,2662,146.8,-12.2,170,1283,0.00,2.30,0.00,0.000,516,0.000,0.054,2700,707,2681,2701,2662,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1315,-0.40,-87.6,2700,706,2701,2663,151.8,-12.2,174,1325,0.00,2.33,0.00,0.000,1030,0.000,0.054,2690,2128,2681,2700,2662,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1625,-0.40,-87.6,2690,2127,2701,2663,190.9,-12.3,205,1634,0.00,2.30,0.00,0.000,260,0.000,0.062,2679,3542,2681,2701,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1696,-0.40,-87.6,2678,3542,2701,2662,198.9,-10.4,212,1706,0.12,2.30,0.00,0.000,3078,0.201,0.053,2709,2115,2681,2701,2662,0,0,0,0,0,0,25.26,25.58,28.83
$GC,2017,-0.40,-87.6,2709,2112,2701,2662,230.0,-9.5,229,2022,0.00,2.28,0.00,0.000,516,0.000,0.054,2711,711,2681,2701,2662,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2045,-0.40,-87.6,2710,710,2701,2663,231.7,-9.2,230,2049,0.00,2.30,0.00,0.000,1030,0.000,0.051,2703,2126,2681,2701,2662,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2852,-0.40,-87.6,2703,2126,2701,2662,302.6,-9.0,270,2858,0.00,2.30,0.00,0.000,260,0.000,0.062,2692,3535,2681,2701,2662,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2981,-0.40,-87.6,2692,3535,2701,2661,313.3,-8.7,276,2985,0.00,2.28,0.00,0.000,1030,0.000,0.053,2692,2121,2681,2701,2661,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3787,-0.40,-87.6,2692,2118,2701,2661,405.6,-12.0,316,3792,0.00,2.30,0.00,0.000,516,0.000,0.055,2692,704,2681,2701,2661,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3810,-0.40,-87.6,2692,703,2701,2661,408.2,-12.3,317,3815,0.12,2.33,0.00,0.000,3078,0.200,0.054,2710,2128,2681,2701,2661,0,0,0,0,0,0,25.28,25.60,28.83
$GC,4625,-0.40,-87.6,2710,2127,2701,2660,486.0,-8.6,358,4630,0.00,2.28,0.00,0.000,260,0.000,0.064,2701,3528,2680,2701,2660,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4725,-0.40,-87.6,2701,3528,2701,2659,494.2,-8.0,363,4729,0.00,2.28,0.00,0.000,1030,0.000,0.052,2701,2118,2680,2701,2659,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5538,-0.40,-87.6,2701,2115,2701,2658,566.8,-8.1,404,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2115,2680,2701,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,-0.40,-87.6,2701,2115,2701,2658,627.6,-7.3,444,6344,0.00,2.30,0.00,0.000,260,0.000,0.063,2691,3535,2679,2701,2658,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6406,-0.40,-87.6,2690,3535,2701,2657,632.2,-7.6,447,6410,0.00,2.30,0.00,0.000,1030,0.000,0.054,2691,2119,2679,2701,2657,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7213,-0.40,-87.6,2691,2115,2701,2656,702.9,-9.0,487,7219,0.00,2.28,0.00,0.000,516,0.000,0.056,2691,711,2679,2702,2656,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7236,-0.40,-87.6,2691,711,2701,2656,704.8,-9.1,488,7241,0.12,2.30,0.00,0.000,3078,0.206,0.054,2709,2123,2678,2701,2656,0,0,0,0,0,0,25.21,25.56,28.83
$GC,8049,-0.40,-87.6,2709,2123,2701,2655,768.2,-7.0,529,8054,0.00,2.30,0.00,0.000,260,0.000,0.065,2701,3533,2678,2701,2655,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8183,-0.40,-87.6,2700,3533,2701,2655,776.0,-6.6,535,8189,0.00,2.28,0.00,0.000,1030,0.000,0.054,2700,2124,2678,2701,2655,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8988,-0.40,-87.6,2700,2120,2701,2654,837.4,-7.9,576,8994,0.00,2.33,0.00,0.000,260,0.000,0.063,2690,3536,2677,2701,2654,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9051,-0.40,-87.6,1808,3535,2672,2650,842.0,-7.8,579,9055,0.00,2.30,0.00,0.000,1030,0.000,0.057,2690,2120,2677,2700,2654,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9865,-0.40,-87.6,2690,2116,2701,2654,910.5,-7.9,620,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2116,2677,2701,2654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10664,-0.40,-87.6,2690,2116,2701,2654,968.8,-7.0,660,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2117,2677,2700,2654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11101,begin apogee
$GC,11106,0.00,0.0,2690,2116,2700,2654,1000.8,-7.0,682,11184,0.50,0.00,74.25,1.327,10246,0.152,0.000,2837,2115,2321,2361,2282,0,0,0,0,0,0,24.91,28.83,23.22
$STATE,11185,end apogee,CONTROL_FINISHED_OK
$STATE,11185,begin climb
$GC,11187,0.40,87.6,2838,2116,2361,2282,1001.4,0.0,686,11276,0.38,2.50,81.38,1.330,10500,0.066,0.052,2981,3503,1963,2018,1909,0,0,0,0,0,0,24.70,23.75,22.45
$GC,11292,0.51,175.8,2981,3503,2017,1909,995.9,6.8,691,11385,0.00,2.42,83.82,1.323,9222,0.000,0.044,2992,2093,1605,1692,1518,0,0,0,0,0,0,28.83,24.03,22.13
$GC,12184,0.51,175.8,2992,2093,1680,1510,839.5,16.8,736,12190,0.00,2.28,0.00,0.000,260,0.000,0.050,2992,3511,1595,1680,1510,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12293,0.51,175.8,2992,3511,1677,1510,823.4,15.8,741,12302,0.00,2.28,0.00,0.000,1030,0.000,0.047,3002,2091,1593,1677,1510,0,0,0,0,0,0,28.83,25.63,28.83
$GC,13105,0.51,175.8,3001,2091,1677,1508,684.3,17.0,782,13110,0.00,2.25,0.00,0.000,516,0.000,0.051,3013,684,1592,1676,1509,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13311,0.51,175.8,3013,684,1667,1508,651.9,16.5,792,13316,0.00,2.28,0.00,0.000,1030,0.000,0.042,3013,2111,1587,1667,1508,0,0,0,0,0,0,28.83,25.78,28.83
$GC,14119,0.51,175.8,3013,2113,1669,1508,517.5,15.3,832,14125,0.00,2.30,0.00,0.000,516,0.000,0.050,3023,683,1588,1669,1508,0,0,0,0,0,0,28.83,25.73,28.83
$GC,14178,0.51,175.8,3023,683,1665,1508,508.5,14.9,835,14184,0.00,2.28,0.00,0.000,1030,0.000,0.045,3023,2105,1586,1665,1508,0,0,0,0,0,0,28.83,25.78,28.83
$GC,14999,0.51,175.8,3023,2108,1667,1508,369.9,17.4,876,15005,0.00,2.28,0.00,0.000,516,0.000,0.048,3034,679,1587,1667,1508,0,0,0,0,0,0,28.83,25.75,28.83
$GC,15246,0.51,175.8,3033,679,1663,1508,329.6,16.5,888,15251,0.00,2.28,0.00,0.000,1030,0.000,0.044,3034,2097,1585,1663,1508,0,0,0,0,0,0,28.83,25.79,28.83
$GC,16054,0.51,175.8,3033,2100,1665,1508,182.2,18.1,932,16063,0.00,2.28,0.00,0.000,516,0.000,0.049,3044,680,1586,1664,1508,0,0,0,0,0,0,28.83,25.73,28.83
$GC,16155,0.51,175.8,3043,679,1662,1508,164.0,18.0,942,16164,0.15,2.28,0.00,0.000,5126,0.223,0.043,3011,2104,1585,1663,1508,0,0,0,0,0,0,25.22,25.80,28.83
$GC,16465,0.51,175.8,3011,2107,1665,1508,114.4,16.1,973,16474,0.00,2.28,0.00,0.000,516,0.000,0.048,3020,683,1585,1664,1507,0,0,0,0,0,0,28.83,25.72,28.83
$GC,16488,0.51,175.8,2144,682,1642,1506,110.9,15.8,975,16496,0.00,2.25,0.00,0.000,1030,0.000,0.043,3020,2100,1586,1664,1508,0,0,0,0,0,0,28.83,25.79,28.83
$GC,16818,0.51,175.8,3021,2101,1665,1508,58.6,15.0,1030,16824,0.00,2.28,0.00,0.000,516,0.000,0.048,3030,684,1586,1665,1508,0,0,0,0,0,0,28.83,25.71,28.83
$GC,16854,0.51,175.8,2080,683,1640,1506,52.9,16.4,1036,16861,0.00,2.30,0.00,0.000,1030,0.000,0.043,3030,2101,1585,1663,1508,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,17179,end climb,SURFACE_DEPTH_REACHED
$STATE,17180,begin surface coast
$FINISH,2.2,1.007440
$STATE,17202,end surface coast,CONTROL_FINISHED_OK
$STATE,17202,begin surface
$SM_CCo,17218,127.03,0.054,0,0,499,446.93
$SM_GC,3.38,7.88,0.00,127.03,0.050,0.000,0.054,137,2107,499,-8.40,-0.48,446.93,0,0,0,0,0,0,25.83,28.83,25.64
$IRIDIUM_FIX,-4551.85,651.31,140909,191928
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.43
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,22.1,48.154
$10V_AH,9.6,62.115
$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,19.875,101.475,239.450,127.025,0.000,23.749,19.535,466.955,0.000,0.000,7.962,2789.065,11660.716,487.720,2868.121,188.262,0.000,1556.178,0.000,2313.174,0.000,0.989,0.000
$DEVICE_MAMPS,222.615,65.025,1330.335,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.930,94.272,511.049,535.960,0.000,0.000,0.000,0.000,0.000,0.000
$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,67113,1088
$CAP_FILE_SIZE,127353,0
$CFSIZE,2097086464,2033385472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,186.1,1
$GPS,181116,171303,-4613.244,646.798,33,1.0,33,-24.5