version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 463
start: 9 29 115 1 49 26
data:
$ID,574
$MISSION,20
$DIVE,463
$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,-2397773.8
$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,23
$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
$GPS1,191116,153103,-4616.292,632.577,35,1.1,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-72.9
$GPS2,191116,153844,-4616.278,632.593,4,1.2,4,-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,318.1,105839,-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,-87.6,129,2103,498,432,0.0,0.0,0,28,0.00,0.00,-10.07,0.000,16386,0.000,0.000,128,2103,729,767,692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-0.40,-87.6,128,2103,765,693,3.1,0.0,1,138,10.65,2.42,-87.18,0.000,19204,0.235,0.075,2699,3527,2680,2701,2659,0,0,0,0,0,0,24.93,25.29,26.06
$GC,199,-0.40,-87.6,2699,3527,2697,2662,8.0,-10.9,21,210,0.00,2.33,0.00,0.000,1030,0.000,0.054,2699,2135,2680,2698,2662,0,0,0,0,0,0,28.83,25.33,28.83
$GC,269,-0.40,-87.6,2699,2132,2699,2662,16.4,-12.6,30,278,0.00,2.38,0.00,0.000,516,0.000,0.054,2699,716,2680,2699,2662,0,0,0,0,0,0,28.83,25.35,28.83
$GC,288,-0.40,-87.6,2699,716,2699,2662,18.9,-12.3,32,298,0.00,2.35,0.00,0.000,1030,0.000,0.051,2689,2117,2680,2699,2662,0,0,0,0,0,0,28.83,25.37,28.83
$GC,357,-0.40,-87.6,2689,2117,2700,2662,27.7,-12.3,41,367,0.00,2.35,0.00,0.000,260,0.000,0.061,2678,3524,2680,2699,2662,0,0,0,0,0,0,28.83,25.33,28.83
$GC,379,-0.40,-87.6,2679,3524,2698,2662,30.5,-13.4,43,389,0.10,2.33,0.00,0.000,3078,0.195,0.052,2708,2124,2680,2698,2662,0,0,0,0,0,0,24.99,25.38,28.83
$GC,539,-0.40,-87.6,2708,2119,2700,2662,49.7,-11.3,68,547,0.00,2.35,0.00,0.000,516,0.000,0.054,2712,709,2681,2700,2662,0,0,0,0,0,0,28.83,25.44,28.83
$GC,573,-0.40,-87.6,2711,709,2700,2662,53.3,-11.6,73,580,0.00,2.33,0.00,0.000,1030,0.000,0.052,2703,2128,2681,2700,2662,0,0,0,0,0,0,28.83,25.44,28.83
$GC,910,-0.40,-87.6,2703,2128,2700,2662,95.3,-12.5,134,917,0.00,2.30,0.00,0.000,260,0.000,0.060,2692,3544,2681,2700,2662,0,0,0,0,0,0,28.83,25.43,28.83
$GC,990,-0.40,-87.6,2692,3543,2698,2662,104.1,-11.4,145,997,0.00,2.30,0.00,0.000,1030,0.000,0.053,2691,2121,2680,2699,2662,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1298,-0.40,-87.6,2692,2117,2700,2662,149.0,-14.1,176,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2117,2681,2700,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.40,-87.6,2692,2117,2701,2662,188.1,-11.7,206,1607,0.00,2.28,0.00,0.000,516,0.000,0.054,2692,712,2681,2701,2662,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1649,-0.40,-87.6,2692,712,2701,2662,193.6,-10.4,211,1658,0.12,2.30,0.00,0.000,3078,0.219,0.053,2710,2126,2681,2701,2662,0,0,0,0,0,0,25.18,25.58,28.83
$GC,1971,-0.40,-87.6,2710,2126,2701,2662,221.3,-8.9,231,1976,0.00,2.28,0.00,0.000,260,0.000,0.061,2701,3538,2681,2701,2662,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2017,-0.40,-87.6,2700,3538,2700,2662,224.7,-8.8,233,2021,0.00,2.28,0.00,0.000,1030,0.000,0.050,2701,2120,2681,2700,2662,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2824,-0.40,-87.6,2701,2116,2701,2662,312.3,-11.3,273,2830,0.00,2.28,0.00,0.000,516,0.000,0.055,2701,711,2681,2701,2662,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2864,-0.40,-87.6,2701,711,2701,2662,317.1,-11.6,275,2870,0.00,2.30,0.00,0.000,1030,0.000,0.052,2690,2124,2681,2701,2662,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3684,-0.40,-87.6,2690,2125,2701,2662,407.6,-8.9,316,3690,0.00,2.30,0.00,0.000,260,0.000,0.062,2680,3545,2681,2701,2661,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3786,-0.40,-87.6,2680,3544,2700,2661,415.3,-7.6,321,3792,0.10,2.25,0.00,0.000,3078,0.194,0.053,2710,2130,2680,2700,2661,0,0,0,0,0,0,25.20,25.64,28.83
$GC,4605,-0.40,-87.6,2710,2127,2701,2660,479.2,-8.2,362,4610,0.00,2.30,0.00,0.000,516,0.000,0.056,2711,708,2680,2701,2660,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4685,-0.40,-87.6,2711,708,2701,2660,485.1,-7.4,366,4690,0.00,2.28,0.00,0.000,1030,0.000,0.054,2702,2119,2680,2701,2660,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5504,-0.40,-87.6,2703,2119,2700,2659,550.1,-8.1,407,5510,0.00,2.30,0.00,0.000,260,0.000,0.064,2692,3532,2679,2701,2658,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5664,-0.40,-87.6,2691,3532,2699,2658,562.5,-6.8,415,5670,0.00,2.28,0.00,0.000,1030,0.000,0.055,2692,2122,2678,2699,2658,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6484,-0.40,-87.6,2691,2118,2700,2658,630.4,-8.7,456,6490,0.00,2.30,0.00,0.000,516,0.000,0.057,2692,712,2678,2699,2657,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6512,-0.40,-87.6,2692,711,2699,2658,632.1,-8.7,457,6517,0.12,2.30,0.00,0.000,3078,0.220,0.054,2710,2125,2678,2699,2658,0,0,0,0,0,0,25.18,25.59,28.83
$GC,7320,-0.40,-87.6,2710,2124,2699,2657,688.4,-6.8,497,7325,0.00,2.30,0.00,0.000,260,0.000,0.063,2701,3534,2678,2699,2657,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7412,-0.40,-87.6,2701,3533,2699,2656,694.3,-7.4,501,7420,0.00,2.30,0.00,0.000,1030,0.000,0.055,2701,2115,2677,2699,2656,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8220,-0.40,-87.6,2701,2112,2700,2656,752.0,-6.5,542,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2112,2678,2700,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9020,-0.40,-87.6,2701,2111,2700,2656,802.7,-7.0,582,9026,0.00,2.33,0.00,0.000,260,0.000,0.063,2690,3539,2677,2700,2655,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9079,-0.40,-87.6,2690,3539,2698,2656,806.5,-6.4,585,9085,0.00,2.30,0.00,0.000,1030,0.000,0.057,2690,2121,2677,2698,2656,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9900,-0.40,-87.6,2690,2118,2699,2655,869.9,-7.6,626,9905,0.00,2.30,0.00,0.000,516,0.000,0.059,2690,709,2677,2699,2655,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9962,-0.40,-87.6,2690,709,2700,2655,875.0,-8.1,629,9967,0.12,2.33,0.00,0.000,3078,0.218,0.054,2709,2130,2678,2700,2656,0,0,0,0,0,0,25.10,25.52,28.83
$GC,10776,-0.40,-87.6,2708,2130,2700,2656,928.3,-6.2,670,10781,0.00,2.28,0.00,0.000,260,0.000,0.063,2699,3534,2677,2699,2655,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10843,-0.40,-87.6,2699,3534,2698,2655,932.2,-6.2,673,10847,0.00,2.30,0.00,0.000,1030,0.000,0.056,2699,2119,2676,2698,2655,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11650,-0.40,-87.6,2699,2115,2699,2654,987.2,-6.7,713,11656,0.00,2.30,0.00,0.000,516,0.000,0.058,2699,712,2677,2699,2655,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11718,-0.40,-87.6,2699,712,2699,2655,991.7,-7.4,716,11722,0.00,2.30,0.00,0.000,1030,0.000,0.054,2689,2124,2677,2699,2655,0,0,0,0,0,0,28.83,25.50,28.83
$STATE,11823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11823,begin apogee
$GC,11828,0.00,0.0,2690,2123,2699,2655,1000.3,-7.6,721,11907,0.52,0.00,76.07,1.336,10246,0.189,0.000,2839,2123,2321,2359,2284,0,0,0,0,0,0,24.54,28.83,23.16
$STATE,11908,end apogee,CONTROL_FINISHED_OK
$STATE,11908,begin climb
$GC,11910,0.40,87.6,2839,2123,2360,2284,1001.6,0.0,725,11999,0.38,2.55,81.93,1.317,10756,0.094,0.046,2989,683,1963,2018,1909,0,0,0,0,0,0,24.59,23.72,22.40
$GC,12031,0.48,155.0,2989,683,2012,1906,994.4,7.4,730,12103,0.00,2.45,63.58,1.297,9222,0.000,0.043,2988,2109,1690,1770,1611,0,0,0,0,0,0,28.83,24.17,22.20
$GC,12903,0.48,155.0,2988,2109,1759,1601,848.5,16.5,774,12909,0.00,2.33,0.00,0.000,516,0.000,0.048,2999,671,1680,1758,1602,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12996,0.48,155.0,2999,671,1750,1602,835.4,16.4,778,13003,0.00,2.30,0.00,0.000,1030,0.000,0.044,2999,2104,1676,1751,1601,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13803,0.48,155.0,2999,2105,1752,1602,692.4,17.7,819,13804,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2105,1677,1752,1602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14603,0.48,155.0,2999,2105,1751,1601,550.0,17.8,859,14609,0.00,2.30,0.00,0.000,516,0.000,0.049,3009,678,1675,1750,1601,0,0,0,0,0,0,28.83,25.73,28.83
$GC,14692,0.48,155.0,3009,677,1746,1601,536.4,17.0,863,14697,0.00,2.28,0.00,0.000,1030,0.000,0.044,3009,2099,1674,1747,1601,0,0,0,0,0,0,28.83,25.79,28.83
$GC,15498,0.48,155.0,3009,2102,1748,1601,411.1,14.5,903,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2102,1674,1748,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16298,0.48,155.0,3009,2102,1748,1602,280.3,15.3,943,16304,0.00,2.30,0.00,0.000,516,0.000,0.048,3020,672,1675,1748,1602,0,0,0,0,0,0,28.83,25.73,28.83
$GC,16346,0.48,155.0,3020,672,1744,1601,274.3,14.9,945,16350,0.00,2.30,0.00,0.000,1030,0.000,0.044,3020,2106,1673,1744,1602,0,0,0,0,0,0,28.83,25.79,28.83
$GC,17153,0.48,155.0,3020,2107,1747,1601,158.4,14.0,999,17162,0.00,2.22,0.00,0.000,260,0.000,0.051,3020,3508,1674,1746,1602,0,0,0,0,0,0,28.83,25.71,28.83
$GC,17197,0.48,155.0,2152,3508,1724,1599,152.1,15.3,1003,17204,0.00,2.25,0.00,0.000,1030,0.000,0.044,3030,2090,1673,1745,1601,0,0,0,0,0,0,28.83,25.76,28.83
$GC,17506,0.48,155.0,3030,2089,1746,1601,106.5,14.6,1034,17515,0.00,2.22,0.00,0.000,516,0.000,0.048,3041,690,1673,1745,1601,0,0,0,0,0,0,28.83,25.72,28.83
$GC,17582,0.48,155.0,2112,690,1718,1599,94.9,15.2,1044,17592,0.12,2.28,0.00,0.000,5126,0.225,0.043,3007,2094,1672,1743,1601,0,0,0,0,0,0,25.06,25.80,28.83
$GC,17930,0.48,155.0,3007,2095,1745,1601,51.1,12.6,1105,17937,0.00,2.25,0.00,0.000,260,0.000,0.050,3007,3518,1673,1745,1602,0,0,0,0,0,0,28.83,25.70,28.83
$GC,17972,0.48,155.0,3007,3517,1745,1601,44.7,14.0,1112,17979,0.00,2.28,0.00,0.000,1030,0.000,0.045,3016,2102,1674,1746,1602,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,18270,end climb,SURFACE_DEPTH_REACHED
$STATE,18270,begin surface coast
$FINISH,2.2,1.023009
$STATE,18293,end surface coast,CONTROL_FINISHED_OK
$STATE,18293,begin surface
$SM_CCo,18309,136.12,0.053,0,0,498,446.93
$SM_GC,2.92,7.68,0.00,136.12,0.042,0.000,0.053,132,2097,498,-8.41,-0.76,446.93,0,0,0,0,0,0,25.82,28.83,25.64
$IRIDIUM_FIX,-4558.05,636.23,150909,232313
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.08
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,22.2,48.677
$10V_AH,9.6,62.692
$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,19.925,110.750,221.575,136.125,0.000,25.705,18.664,300.753,0.000,0.000,7.798,2964.393,12483.275,490.319,2792.259,195.950,0.000,1598.039,0.000,2403.218,0.000,0.989,0.000
$DEVICE_MAMPS,234.855,74.970,1335.690,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.390,102.468,559.394,583.273,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353012
$DATA_FILE_SIZE,73605,1158
$CAP_FILE_SIZE,132757,0
$CFSIZE,2097086464,2032697344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155,258.9,1
$GPS,191116,204803,-4615.596,628.179,31,1.1,31,-24.3