version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 459
start: 9 28 115 3 31 45
data:
$ID,574
$MISSION,20
$DIVE,459
$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,-2397589.8
$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,21
$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
$GPS1,181116,171303,-4613.244,646.798,33,1.0,33,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-75.0
$GPS2,181116,172058,-4613.288,646.785,4,1.0,4,-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,319.9,124385,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.40,-87.6,136,2107,508,433,0.0,0.0,0,27,0.00,0.00,-9.70,0.000,16386,0.000,0.000,136,2107,725,757,693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.40,-87.6,137,2107,759,693,3.2,0.0,1,136,10.38,0.00,-86.75,0.000,18950,0.228,0.000,2706,2107,2679,2698,2661,0,0,0,0,0,0,24.89,28.83,26.08
$GC,196,-0.40,-87.6,2706,2107,2701,2662,9.6,-12.3,21,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2107,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,264,-0.40,-87.6,2706,2107,2701,2662,19.0,-13.9,30,274,0.00,2.40,0.00,0.000,260,0.000,0.063,2696,3532,2681,2701,2662,0,0,0,0,0,0,28.83,25.28,28.83
$GC,284,-0.40,-87.6,2697,3532,2700,2662,21.2,-11.3,32,293,0.00,2.33,0.00,0.000,1030,0.000,0.049,2697,2126,2681,2701,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,459,-0.40,-87.6,2697,2122,2700,2662,44.3,-13.7,57,467,0.00,2.33,0.00,0.000,516,0.000,0.054,2697,710,2681,2701,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,479,-0.40,-87.6,2697,709,2701,2662,47.4,-14.6,60,489,0.00,2.38,0.00,0.000,1030,0.000,0.053,2689,2126,2681,2700,2662,0,0,0,0,0,0,28.83,25.40,28.83
$GC,818,-0.40,-87.6,2689,2125,2701,2663,91.9,-12.7,121,825,0.00,2.30,0.00,0.000,260,0.000,0.062,2678,3534,2681,2701,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,918,-0.40,-87.6,2678,3533,2700,2662,104.4,-11.7,136,925,0.15,2.30,0.00,0.000,3078,0.204,0.054,2714,2124,2681,2700,2662,0,0,0,0,0,0,25.05,25.50,28.83
$GC,1227,-0.40,-87.6,2714,2120,2701,2662,137.5,-10.3,167,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2120,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.40,-87.6,2714,2120,2702,2662,168.7,-10.1,197,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2121,2682,2702,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1826,-0.40,-87.6,2714,2120,2703,2663,198.3,-9.8,227,1835,0.00,2.30,0.00,0.000,260,0.000,0.061,2706,3534,2682,2702,2662,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1887,-0.40,-87.6,2706,3533,2701,2662,204.2,-9.8,231,1893,0.00,2.28,0.00,0.000,1030,0.000,0.052,2706,2121,2681,2701,2662,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2707,-0.40,-87.6,2705,2117,2701,2662,296.3,-11.2,272,2713,0.00,2.30,0.00,0.000,516,0.000,0.055,2706,704,2682,2701,2663,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2729,-0.40,-87.6,1840,704,2674,2658,298.6,-11.4,273,2734,0.00,2.35,0.00,0.000,1030,0.000,0.052,2696,2123,2682,2701,2663,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3547,-0.40,-87.6,2695,2123,2701,2662,388.6,-10.0,314,3553,0.00,2.30,0.00,0.000,260,0.000,0.063,2685,3535,2681,2701,2662,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3700,-0.40,-87.6,2684,3535,2701,2662,401.2,-8.6,321,3708,0.12,2.28,0.00,0.000,3078,0.203,0.053,2713,2124,2681,2701,2662,0,0,0,0,0,0,25.25,25.63,28.83
$GC,4508,-0.40,-87.6,2713,2120,2701,2662,465.9,-7.5,362,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2120,2681,2701,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.40,-87.6,2713,2120,2701,2660,526.0,-8.1,402,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2120,2680,2701,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6108,-0.40,-87.6,2713,2120,2701,2659,583.8,-6.9,442,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2119,2680,2701,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6908,-0.40,-87.6,2713,2120,2701,2659,628.0,-4.9,482,6914,0.00,2.30,0.00,0.000,260,0.000,0.062,2705,3530,2680,2701,2659,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6955,-0.40,-87.6,2705,3530,2700,2659,630.0,-4.7,484,6959,0.00,2.28,0.00,0.000,1030,0.000,0.054,2705,2121,2679,2701,2658,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7764,-0.40,-87.6,2705,2117,2701,2659,677.9,-6.3,524,7769,0.00,2.28,0.00,0.000,516,0.000,0.057,2705,713,2679,2701,2658,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7830,-0.40,-87.6,2705,713,2701,2659,682.2,-6.9,527,7834,0.00,2.30,0.00,0.000,1030,0.000,0.053,2695,2126,2680,2701,2659,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8637,-0.40,-87.6,2695,2126,2701,2658,744.4,-7.7,567,8643,0.00,2.30,0.00,0.000,260,0.000,0.063,2684,3539,2679,2701,2658,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8782,-0.40,-87.6,2684,3539,2700,2658,755.0,-7.2,574,8789,0.12,2.30,0.00,0.000,3078,0.210,0.056,2713,2121,2679,2701,2658,0,0,0,0,0,0,25.18,25.53,28.83
$GC,9597,-0.40,-87.6,2713,2119,2701,2658,799.8,-5.2,615,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2119,2679,2701,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10397,-0.40,-87.6,2713,2118,2701,2658,844.9,-5.5,655,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2118,2679,2701,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11197,-0.40,-87.6,2713,2117,2701,2658,890.8,-5.2,695,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2117,2679,2701,2658,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11855,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11855,begin apogee
$GC,11860,0.00,0.0,2713,2117,2701,2658,921.4,-4.5,728,11938,0.43,0.00,75.47,1.283,10246,0.161,0.000,2841,2116,2321,2359,2284,0,0,0,0,0,0,25.03,28.83,23.27
$STATE,11939,end apogee,CONTROL_FINISHED_OK
$STATE,11940,begin climb
$GC,11942,0.40,87.6,2841,2116,2360,2284,921.7,0.0,732,12030,0.35,2.50,80.90,1.287,10500,0.081,0.050,2979,3513,1963,2019,1908,0,0,0,0,0,0,24.71,23.81,22.52
$GC,12050,0.51,181.6,2978,3513,2017,1908,916.2,6.7,737,12145,0.00,2.42,88.35,1.278,9222,0.000,0.044,2988,2094,1580,1671,1490,0,0,0,0,0,0,28.83,24.12,22.18
$GC,12954,0.51,181.6,2989,2094,1659,1482,760.2,16.5,783,12959,0.00,2.25,0.00,0.000,260,0.000,0.050,2989,3506,1570,1659,1482,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13082,0.51,181.6,2989,3505,1656,1482,741.7,14.9,789,13086,0.00,2.25,0.00,0.000,1030,0.000,0.047,2999,2096,1569,1656,1482,0,0,0,0,0,0,28.83,25.64,28.83
$GC,13887,0.51,181.6,2999,2096,1656,1481,615.6,15.1,829,13893,0.00,2.28,0.00,0.000,516,0.000,0.051,3010,677,1568,1655,1481,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14035,0.51,181.6,3009,677,1648,1481,594.7,14.6,836,14040,0.00,2.28,0.00,0.000,1030,0.000,0.044,3010,2101,1564,1648,1481,0,0,0,0,0,0,28.83,25.78,28.83
$GC,14842,0.51,181.6,3010,2104,1651,1481,459.0,17.0,876,14848,0.00,2.30,0.00,0.000,516,0.000,0.050,3019,676,1566,1651,1481,0,0,0,0,0,0,28.83,25.73,28.83
$GC,14895,0.51,181.6,3020,676,1647,1481,452.0,17.2,878,14902,0.00,2.28,0.00,0.000,1030,0.000,0.043,3020,2099,1564,1647,1481,0,0,0,0,0,0,28.83,25.82,28.83
$GC,15702,0.51,181.6,3020,2102,1649,1481,302.0,16.0,919,15708,0.00,2.28,0.00,0.000,516,0.000,0.050,3030,683,1565,1649,1481,0,0,0,0,0,0,28.83,25.73,28.83
$GC,15735,0.51,181.6,3030,683,1646,1481,298.9,15.7,920,15742,0.00,2.25,0.00,0.000,1030,0.000,0.043,3030,2098,1563,1646,1481,0,0,0,0,0,0,28.83,25.82,28.83
$GC,16543,0.51,181.6,3030,2102,1647,1481,173.9,15.1,969,16552,0.00,2.28,0.00,0.000,516,0.000,0.050,3040,683,1563,1646,1481,0,0,0,0,0,0,28.83,25.73,28.83
$GC,16676,0.51,181.6,3040,682,1644,1481,153.6,15.1,982,16685,0.00,2.22,0.00,0.000,1030,0.000,0.044,3040,2090,1562,1644,1481,0,0,0,0,0,0,28.83,25.81,28.83
$GC,16985,0.51,181.6,3040,2091,1646,1481,101.4,17.3,1013,16986,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2091,1563,1645,1481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17311,0.51,181.6,3040,2092,1646,1481,43.5,16.8,1072,17318,0.00,2.30,0.00,0.000,516,0.000,0.049,3051,686,1563,1645,1481,0,0,0,0,0,0,28.83,25.72,28.83
$GC,17354,0.51,181.6,3050,686,1644,1481,36.8,16.8,1078,17364,0.12,2.28,0.00,0.000,5126,0.227,0.042,3018,2094,1563,1645,1481,0,0,0,0,0,0,25.06,25.82,28.83
$GC,17537,0.51,181.6,3017,2098,1646,1481,10.6,13.7,1103,17546,0.00,2.33,0.00,0.000,516,0.000,0.050,3027,679,1563,1645,1481,0,0,0,0,0,0,28.83,25.72,28.83
$GC,17556,0.51,181.6,3026,679,1643,1481,7.0,15.9,1105,17566,0.00,2.30,0.00,0.000,1030,0.000,0.044,3027,2089,1563,1645,1481,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,17581,end climb,SURFACE_DEPTH_REACHED
$STATE,17581,begin surface coast
$FINISH,2.3,1.022999
$STATE,17604,end surface coast,CONTROL_FINISHED_OK
$STATE,17605,begin surface
$SM_CCo,17621,124.95,0.054,0,0,498,446.93
$SM_GC,3.37,7.72,0.00,124.95,0.043,0.000,0.054,127,2095,498,-8.42,-0.82,446.93,0,0,0,0,0,0,25.82,28.83,25.65
$IRIDIUM_FIX,-4551.85,645.13,150909,010139
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.80
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,22.2,48.266
$10V_AH,9.6,62.221
$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,19.400,78.350,244.725,124.950,0.000,24.898,40.351,295.906,0.000,0.000,7.970,2812.456,12129.866,471.755,2648.027,182.529,0.000,1505.559,0.000,2244.226,0.000,0.989,0.000
$DEVICE_MAMPS,227.970,63.495,1287.495,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.631,90.885,507.026,532.852,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353020
$DATA_FILE_SIZE,67104,1111
$CAP_FILE_SIZE,119531,0
$CFSIZE,2097086464,2033254400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.262,201.2,1
$GPS,181116,221833,-4614.483,643.641,26,1.4,26,-24.4