version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 460
start: 9 28 115 8 40 56
data:
$ID,574
$MISSION,20
$DIVE,460
$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,-2397630.2
$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,21
$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
$GPS1,181116,221833,-4614.483,643.641,26,1.4,26,-24.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-69.6
$GPS2,181116,223009,-4614.568,643.704,5,0.7,5,-24.4
$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,334.6,120244,-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,-87.6,127,2095,503,430,0.0,0.0,0,27,0.00,0.00,-9.55,0.000,16386,0.000,0.000,127,2096,719,744,694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,29,-0.40,-87.6,127,2096,750,687,3.2,0.0,1,137,10.40,2.33,-87.55,0.000,18948,0.226,0.059,2705,697,2681,2703,2659,0,0,0,0,0,0,24.91,25.36,26.04
$GC,232,-0.40,-87.6,2703,695,2702,2660,8.9,-10.9,26,242,0.00,2.38,0.00,0.000,1030,0.000,0.047,2693,2126,2681,2702,2660,0,0,0,0,0,0,28.83,25.39,28.83
$GC,301,-0.40,-87.6,2693,2125,2701,2659,18.7,-15.8,35,311,0.00,2.33,0.00,0.000,260,0.000,0.057,2682,3529,2680,2701,2659,0,0,0,0,0,0,28.83,25.35,28.83
$GC,335,-0.40,-87.6,2682,3528,2701,2659,23.9,-15.8,39,345,0.08,2.33,0.00,0.000,3078,0.193,0.051,2705,2122,2680,2701,2660,0,0,0,0,0,0,25.06,25.41,28.83
$GC,506,-0.40,-87.6,2705,2117,2701,2659,45.1,-13.1,64,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2118,2680,2701,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.40,-87.6,2704,2118,2701,2660,87.2,-12.0,125,849,0.00,2.33,0.00,0.000,260,0.000,0.059,2696,3545,2680,2701,2659,0,0,0,0,0,0,28.83,25.45,28.83
$GC,885,-0.40,-87.6,2695,3545,2701,2660,92.2,-11.2,132,895,0.00,2.33,0.00,0.000,1030,0.000,0.049,2696,2124,2680,2701,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1199,-0.40,-87.6,2695,2120,2701,2659,132.5,-12.7,168,1208,0.00,2.30,0.00,0.000,516,0.000,0.054,2697,707,2680,2701,2660,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1221,-0.40,-87.6,2697,707,2701,2660,135.4,-12.9,170,1229,0.00,2.33,0.00,0.000,1030,0.000,0.052,2688,2133,2680,2701,2660,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1530,-0.40,-87.6,2688,2133,2701,2661,173.8,-12.6,201,1540,0.00,2.28,0.00,0.000,260,0.000,0.059,2677,3539,2680,2701,2660,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1592,-0.40,-87.6,2677,3539,2701,2660,181.0,-11.3,207,1602,0.15,2.28,0.00,0.000,3078,0.207,0.051,2713,2120,2680,2701,2660,0,0,0,0,0,0,25.10,25.60,28.83
$GC,1912,-0.40,-87.6,2713,2116,2701,2660,213.2,-10.3,233,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2117,2681,2702,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-0.40,-87.6,2713,2116,2702,2660,288.3,-8.7,273,2718,0.00,2.28,0.00,0.000,516,0.000,0.052,2714,705,2681,2702,2660,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2761,-0.40,-87.6,2713,705,2702,2661,291.9,-8.8,275,2765,0.00,2.30,0.00,0.000,1030,0.000,0.051,2706,2125,2681,2702,2661,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3567,-0.40,-87.6,2705,2125,2702,2660,372.2,-10.2,315,3573,0.00,2.30,0.00,0.000,260,0.000,0.060,2695,3542,2681,2702,2660,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3697,-0.40,-87.6,2695,3543,2700,2660,383.2,-8.9,321,3701,0.00,2.30,0.00,0.000,1030,0.000,0.050,2695,2116,2680,2700,2660,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4502,-0.40,-87.6,2694,2112,2701,2659,467.7,-9.2,361,4508,0.00,2.28,0.00,0.000,516,0.000,0.055,2695,709,2680,2701,2659,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4524,-0.40,-87.6,1840,709,2674,2655,469.6,-9.2,362,4529,0.12,2.30,0.00,0.000,3078,0.225,0.052,2713,2123,2680,2701,2659,0,0,0,0,0,0,25.22,25.63,28.83
$GC,5342,-0.40,-87.6,2713,2123,2701,2658,525.0,-6.5,403,5348,0.00,2.30,0.00,0.000,260,0.000,0.062,2703,3538,2680,2702,2658,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5493,-0.40,-87.6,2703,3538,2700,2658,533.8,-6.2,410,5502,0.00,2.25,0.00,0.000,1030,0.000,0.051,2704,2131,2679,2700,2658,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6304,-0.40,-87.6,2703,2128,2700,2658,593.7,-8.2,451,6309,0.00,2.30,0.00,0.000,516,0.000,0.054,2704,709,2679,2701,2658,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6350,-0.40,-87.6,2703,709,2701,2658,597.2,-8.5,453,6355,0.00,2.30,0.00,0.000,1030,0.000,0.053,2693,2123,2679,2701,2658,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7157,-0.40,-87.6,2693,2123,2701,2657,679.1,-10.1,493,7163,0.00,2.30,0.00,0.000,260,0.000,0.063,2682,3535,2678,2701,2656,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7245,-0.40,-87.6,2682,3534,2698,2657,686.9,-9.8,497,7250,0.12,2.28,0.00,0.000,3078,0.208,0.054,2712,2123,2677,2698,2656,0,0,0,0,0,0,25.24,25.59,28.83
$GC,8053,-0.40,-87.6,2712,2121,2700,2656,753.0,-7.8,537,8058,0.00,2.30,0.00,0.000,260,0.000,0.060,2703,3531,2678,2700,2656,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8100,-0.40,-87.6,2703,3531,2698,2656,756.1,-7.8,539,8105,0.00,2.28,0.00,0.000,1030,0.000,0.053,2703,2119,2677,2698,2656,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8907,-0.40,-87.6,2703,2117,2699,2656,817.1,-6.6,579,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2117,2677,2699,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.40,-87.6,2703,2116,2699,2656,870.8,-6.5,619,9713,0.00,2.33,0.00,0.000,260,0.000,0.062,2693,3541,2677,2699,2655,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9735,-0.40,-87.6,2692,3541,2698,2656,872.2,-6.6,620,9739,0.00,2.28,0.00,0.000,1030,0.000,0.053,2693,2124,2677,2698,2656,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10542,-0.40,-87.6,2692,2122,2699,2655,929.5,-7.0,660,10548,0.00,2.30,0.00,0.000,516,0.000,0.058,2693,713,2677,2699,2655,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10583,-0.40,-87.6,2693,712,2699,2655,932.5,-7.2,662,10589,0.08,2.28,0.00,0.000,3078,0.199,0.053,2706,2119,2677,2699,2655,0,0,0,0,0,0,25.13,25.55,28.83
$GC,11402,-0.40,-87.6,2706,2119,2700,2655,980.1,-5.3,703,11408,0.00,2.33,0.00,0.000,260,0.000,0.065,2696,3538,2677,2699,2655,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11547,-0.40,-87.6,2696,3538,2698,2655,987.8,-5.6,710,11553,0.00,2.30,0.00,0.000,1030,0.000,0.057,2697,2122,2676,2698,2655,0,0,0,0,0,0,28.83,25.50,28.83
$STATE,11760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11760,begin apogee
$GC,11765,0.00,0.0,2696,2118,2698,2655,1000.6,-5.9,721,11844,0.50,0.00,76.00,1.341,10246,0.179,0.000,2842,2118,2321,2358,2285,0,0,0,0,0,0,24.66,28.83,23.17
$STATE,11845,end apogee,CONTROL_FINISHED_OK
$STATE,11845,begin climb
$GC,11847,0.40,87.6,2842,2117,2358,2285,1001.0,0.0,725,11937,0.38,2.45,82.47,1.346,10500,0.076,0.050,2985,3511,1963,2018,1908,0,0,0,0,0,0,24.66,23.69,22.37
$GC,11960,0.41,99.7,2985,3511,2014,1908,992.0,8.9,730,11981,0.00,2.42,12.40,1.215,9222,0.000,0.045,2995,2097,1915,1971,1859,0,0,0,0,0,0,28.83,24.08,22.55
$GC,12781,0.41,99.7,2995,2096,1962,1852,865.6,14.8,771,12787,0.00,2.28,0.00,0.000,516,0.000,0.048,3006,682,1906,1961,1852,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12853,0.41,99.7,3006,681,1958,1851,856.4,15.3,774,12861,0.00,2.28,0.00,0.000,1030,0.000,0.042,3006,2107,1904,1958,1851,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13662,0.41,99.7,3006,2108,1958,1850,733.2,14.3,815,13663,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2107,1904,1958,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14461,0.41,99.7,3006,2108,1957,1849,623.0,13.5,855,14466,0.00,2.22,0.00,0.000,260,0.000,0.051,3006,3516,1903,1958,1849,0,0,0,0,0,0,28.83,25.71,28.83
$GC,14602,0.41,99.7,3006,3515,1956,1850,602.8,14.5,862,14608,0.10,2.25,0.00,0.000,5126,0.224,0.045,2989,2085,1903,1956,1850,0,0,0,0,0,0,25.18,25.77,28.83
$GC,15422,0.41,99.7,2989,2085,1956,1849,498.9,13.2,903,15428,0.00,2.22,0.00,0.000,516,0.000,0.049,2998,682,1902,1956,1848,0,0,0,0,0,0,28.83,25.73,28.83
$GC,15501,0.41,99.7,2998,682,1953,1848,489.1,12.3,907,15507,0.00,2.25,0.00,0.000,1030,0.000,0.043,2998,2097,1900,1953,1848,0,0,0,0,0,0,28.83,25.79,28.83
$GC,16320,0.41,99.7,2998,2098,1954,1848,395.0,10.7,948,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2098,1901,1955,1848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17120,0.41,99.7,2998,2098,1954,1848,312.3,10.9,988,17126,0.00,2.28,0.00,0.000,516,0.000,0.047,3008,679,1901,1954,1848,0,0,0,0,0,0,28.83,25.72,28.83
$GC,17181,0.41,99.7,3008,679,1953,1848,305.5,11.1,991,17187,0.00,2.25,0.00,0.000,1030,0.000,0.042,3009,2097,1900,1953,1848,0,0,0,0,0,0,28.83,25.79,28.83
$GC,18000,0.41,99.7,3009,2099,1954,1848,218.2,10.6,1032,18006,0.00,2.28,0.00,0.000,516,0.000,0.047,3019,677,1900,1954,1847,0,0,0,0,0,0,28.83,25.72,28.83
$GC,18083,0.41,99.7,3018,677,1952,1848,209.4,11.1,1036,18088,0.15,2.28,0.00,0.000,5126,0.240,0.043,2986,2102,1899,1952,1847,0,0,0,0,0,0,25.10,25.77,28.83
$GC,18896,0.51,175.2,2986,2102,1954,1847,143.4,7.2,1112,18967,0.00,2.33,61.72,0.825,8708,0.000,0.047,2995,684,1605,1686,1524,0,0,0,0,0,0,28.83,25.24,24.15
$GC,19040,0.51,175.2,2995,684,1677,1524,129.6,11.1,1126,19049,0.00,2.30,0.00,0.000,1030,0.000,0.043,2995,2096,1600,1677,1524,0,0,0,0,0,0,28.83,25.31,28.83
$GC,19356,0.51,175.2,2995,2095,1677,1523,91.4,12.1,1163,19362,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2095,1599,1677,1522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19696,0.51,175.2,2056,2094,1654,1519,49.3,12.7,1224,19705,0.00,2.33,0.00,0.000,516,0.000,0.049,3005,689,1598,1675,1521,0,0,0,0,0,0,28.83,25.55,28.83
$GC,19729,0.51,175.2,3005,688,1672,1521,45.1,13.6,1229,19736,0.00,2.25,0.00,0.000,1030,0.000,0.042,3005,2096,1596,1672,1521,0,0,0,0,0,0,28.83,25.62,28.83
$STATE,20032,end climb,SURFACE_DEPTH_REACHED
$STATE,20032,begin surface coast
$FINISH,2.2,1.023005
$STATE,20055,end surface coast,CONTROL_FINISHED_OK
$STATE,20055,begin surface
$SM_CCo,20071,128.82,0.053,0,0,498,446.93
$SM_GC,3.07,7.90,0.00,128.82,0.054,0.000,0.053,130,2102,498,-8.41,-0.62,446.93,0,0,0,0,0,0,25.63,28.83,25.57
$IRIDIUM_FIX,-4554.95,636.23,150909,111132
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.41
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,22.4,48.375
$10V_AH,9.6,62.344
$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,19.975,105.675,232.600,128.825,0.000,47.511,44.188,388.851,0.000,0.000,8.788,3242.306,13806.555,485.362,3173.793,213.148,0.000,1677.176,0.000,2610.338,0.000,0.989,0.000
$DEVICE_MAMPS,240.210,65.025,1346.400,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.602,107.550,578.049,603.974,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352968
$DATA_FILE_SIZE,77053,1276
$CAP_FILE_SIZE,142310,0
$CFSIZE,2097086464,2033090560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180,196.1,1
$GPS,191116,040851,-4615.073,641.173,37,0.9,37,-24.4