version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 469
start: 9 30 115 12 46 40
data:
$ID,574
$MISSION,20
$DIVE,469
$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,-2398078.5
$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,20
$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
$GPS1,211116,022127,-4609.079,608.520,36,1.2,37,-24.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-73.5
$GPS2,211116,023603,-4609.037,608.443,5,0.9,5,-24.2
$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,234.0,77442,-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,12,begin dive
$GC,15,-0.40,-87.6,128,2133,496,433,0.0,0.0,0,44,0.00,0.00,-26.62,0.000,16386,0.000,0.000,127,2133,1145,1172,1119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-0.40,-87.6,128,2133,1172,1123,3.0,-0.8,3,137,10.93,2.30,-71.75,0.000,18948,0.243,0.052,2704,706,2678,2698,2659,0,0,0,0,0,0,24.82,25.39,26.01
$GC,400,-0.40,-87.6,2703,705,2699,2659,20.7,-11.1,50,409,0.00,2.38,0.00,0.000,1030,0.000,0.053,2693,2121,2679,2699,2659,0,0,0,0,0,0,28.83,25.44,28.83
$GC,576,-0.40,-87.6,2693,2121,2699,2659,42.9,-12.5,75,583,0.00,2.33,0.00,0.000,260,0.000,0.060,2683,3547,2679,2699,2659,0,0,0,0,0,0,28.83,25.43,28.83
$GC,661,-0.40,-87.6,1736,3547,2665,2654,52.7,-10.9,90,671,0.08,2.35,0.00,0.000,3078,0.215,0.052,2706,2124,2678,2697,2659,0,0,0,0,0,0,25.13,25.52,28.83
$GC,1011,-0.40,-87.6,2706,2120,2698,2659,93.9,-11.9,151,1017,0.00,2.30,0.00,0.000,516,0.000,0.052,2712,699,2678,2697,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1029,-0.40,-87.6,1792,698,2668,2654,96.5,-12.1,154,1036,0.00,2.33,0.00,0.000,1030,0.000,0.051,2704,2129,2678,2698,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1343,-0.40,-87.6,2703,2129,2698,2659,134.7,-12.2,187,1351,0.00,2.25,0.00,0.000,260,0.000,0.059,2692,3533,2678,2698,2659,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1444,-0.40,-87.6,2692,3532,2697,2660,146.0,-10.3,197,1453,0.00,2.28,0.00,0.000,1030,0.000,0.051,2692,2117,2678,2697,2659,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1754,-0.40,-87.6,2692,2113,2698,2659,183.4,-12.3,228,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2114,2678,2698,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,-0.40,-87.6,2692,2113,2699,2659,219.8,-12.1,250,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2113,2678,2698,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2855,-0.40,-87.6,2692,2113,2699,2659,318.2,-11.9,290,2860,0.00,2.28,0.00,0.000,260,0.000,0.060,2682,3531,2679,2699,2659,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2883,-0.40,-87.6,2682,3531,2697,2659,320.6,-12.0,291,2893,0.12,2.25,0.00,0.000,3078,0.215,0.050,2712,2124,2678,2697,2659,0,0,0,0,0,0,25.29,25.68,28.83
$GC,3694,-0.40,-87.6,2711,2120,2698,2659,395.1,-8.2,332,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2121,2678,2698,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4494,-0.40,-87.6,2711,2120,2698,2658,449.2,-5.1,372,4500,0.00,2.30,0.00,0.000,260,0.000,0.060,2703,3539,2678,2698,2658,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4554,-0.40,-87.6,2703,3539,2697,2658,452.2,-4.9,375,4560,0.00,2.28,0.00,0.000,1030,0.000,0.052,2703,2117,2677,2697,2658,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5374,-0.40,-87.6,2703,2115,2698,2658,509.3,-7.9,416,5380,0.00,2.28,0.00,0.000,516,0.000,0.054,2703,712,2677,2698,2657,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5407,-0.40,-87.6,2703,712,2698,2657,511.1,-8.2,417,5414,0.00,2.30,0.00,0.000,1030,0.000,0.052,2692,2130,2677,2698,2657,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6215,-0.40,-87.6,2692,2130,2698,2655,589.3,-9.3,458,6220,0.00,2.25,0.00,0.000,260,0.000,0.062,2682,3529,2676,2698,2655,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6343,-0.40,-87.6,2682,3529,2696,2655,599.4,-7.9,464,6354,0.12,2.28,0.00,0.000,3078,0.203,0.053,2711,2119,2675,2696,2655,0,0,0,0,0,0,25.27,25.63,28.83
$GC,7155,-0.40,-87.6,2711,2116,2697,2655,652.4,-5.8,505,7160,0.00,2.30,0.00,0.000,260,0.000,0.060,2703,3539,2675,2697,2654,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7187,-0.40,-87.6,2702,3539,2695,2655,653.6,-5.8,506,7194,0.00,2.28,0.00,0.000,1030,0.000,0.051,2703,2122,2675,2696,2655,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7996,-0.40,-87.6,2703,2120,2696,2654,708.9,-6.6,547,8001,0.00,2.28,0.00,0.000,516,0.000,0.057,2703,709,2675,2697,2654,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8024,-0.40,-87.6,2702,709,2696,2654,710.4,-6.7,548,8033,0.00,2.30,0.00,0.000,1030,0.000,0.053,2693,2127,2675,2697,2654,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8836,-0.40,-87.6,2693,2127,2696,2654,770.4,-6.7,589,8841,0.00,2.28,0.00,0.000,260,0.000,0.062,2682,3535,2674,2696,2653,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8968,-0.40,-87.6,2681,3535,2695,2653,777.7,-5.8,595,8976,0.12,2.30,0.00,0.000,3078,0.194,0.055,2711,2116,2674,2695,2653,0,0,0,0,0,0,25.22,25.56,28.83
$GC,9774,-0.40,-87.6,2711,2114,2696,2653,821.0,-6.3,636,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2114,2674,2695,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10574,-0.40,-87.6,2711,2113,2695,2653,871.7,-6.9,676,10580,0.00,2.30,0.00,0.000,516,0.000,0.055,2712,700,2674,2696,2653,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10595,-0.40,-87.6,2712,700,2696,2653,873.1,-6.9,677,10600,0.00,2.30,0.00,0.000,1030,0.000,0.052,2703,2127,2674,2696,2653,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11414,-0.40,-87.6,2703,2127,2696,2653,927.0,-5.5,718,11420,0.00,2.30,0.00,0.000,260,0.000,0.062,2692,3541,2673,2694,2652,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11579,-0.40,-87.6,2692,3541,2694,2653,936.2,-5.7,726,11583,0.00,2.30,0.00,0.000,1030,0.000,0.054,2692,2121,2673,2694,2653,0,0,0,0,0,0,28.83,25.54,28.83
$STATE,11869,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11869,begin apogee
$GC,11873,0.00,0.0,2692,2118,2695,2653,954.2,-6.0,741,11951,0.50,0.00,74.47,1.307,10246,0.158,0.000,2838,2117,2322,2358,2286,0,0,0,0,0,0,24.94,28.83,23.27
$STATE,11952,end apogee,CONTROL_FINISHED_OK
$STATE,11952,begin climb
$GC,11954,0.40,87.6,2838,2117,2359,2286,954.3,0.0,745,12043,0.38,2.45,81.45,1.314,10500,0.072,0.051,2994,3507,1963,2017,1910,0,0,0,0,0,0,24.75,23.77,22.47
$GC,12053,0.44,122.8,2994,3507,2016,1910,947.3,8.2,750,12093,0.00,2.45,34.40,1.283,9222,0.000,0.043,3004,2087,1820,1884,1757,0,0,0,0,0,0,28.83,23.99,22.35
$GC,12911,0.44,122.8,3004,2087,1877,1743,799.0,17.2,793,12917,0.00,2.28,0.00,0.000,516,0.000,0.049,3015,680,1811,1878,1744,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13055,0.44,122.8,3015,680,1870,1743,774.9,17.2,800,13059,0.00,2.28,0.00,0.000,1030,0.000,0.043,3015,2102,1807,1870,1744,0,0,0,0,0,0,28.83,25.66,28.83
$GC,13868,0.44,122.8,3015,2103,1870,1743,635.9,16.9,841,13874,0.00,2.25,0.00,0.000,516,0.000,0.047,3025,688,1806,1870,1743,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13960,0.44,122.8,3025,688,1868,1743,622.1,17.1,845,13967,0.15,2.28,0.00,0.000,5126,0.252,0.044,2993,2108,1805,1869,1742,0,0,0,0,0,0,25.08,25.76,28.83
$GC,14766,0.44,122.8,2993,2110,1869,1742,505.7,14.3,886,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2110,1806,1870,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15567,0.44,122.8,2993,2110,1869,1741,393.4,14.1,926,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2110,1805,1869,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16366,0.44,122.8,2993,2110,1869,1741,293.1,11.0,966,16372,0.00,2.30,0.00,0.000,516,0.000,0.048,3003,673,1805,1869,1741,0,0,0,0,0,0,28.83,25.72,28.83
$GC,16454,0.44,122.8,3003,672,1865,1741,284.2,11.0,970,16459,0.00,2.28,0.00,0.000,1030,0.000,0.044,3003,2098,1803,1866,1741,0,0,0,0,0,0,28.83,25.78,28.83
$GC,17262,0.44,122.8,3002,2099,1868,1740,194.1,11.6,1012,17271,0.00,2.28,0.00,0.000,516,0.000,0.047,3013,676,1803,1867,1740,0,0,0,0,0,0,28.83,25.71,28.83
$GC,17303,0.44,122.8,3013,676,1865,1740,188.9,12.2,1016,17313,0.00,2.28,0.00,0.000,1030,0.000,0.045,3013,2102,1803,1867,1740,0,0,0,0,0,0,28.83,25.75,28.83
$GC,17613,0.44,122.8,3013,2103,1868,1740,151.5,11.6,1047,17622,0.00,2.22,0.00,0.000,260,0.000,0.050,3013,3509,1803,1867,1740,0,0,0,0,0,0,28.83,25.69,28.83
$GC,17658,0.44,122.8,3013,3509,1867,1740,146.0,13.5,1051,17665,0.15,2.22,0.00,0.000,5126,0.246,0.044,2990,2093,1803,1867,1740,0,0,0,0,0,0,25.08,25.76,28.83
$GC,17965,0.44,122.8,2989,2092,1867,1740,112.8,10.6,1082,17973,0.00,2.25,0.00,0.000,516,0.000,0.048,3000,681,1803,1866,1740,0,0,0,0,0,0,28.83,25.69,28.83
$GC,18019,0.44,122.8,3000,681,1864,1740,107.6,10.3,1087,18025,0.00,2.25,0.00,0.000,1030,0.000,0.044,3000,2099,1802,1865,1740,0,0,0,0,0,0,28.83,25.77,28.83
$GC,18356,0.44,122.8,3000,2099,1867,1739,73.9,10.0,1141,18362,0.00,2.22,0.00,0.000,260,0.000,0.051,3000,3507,1803,1867,1739,0,0,0,0,0,0,28.83,25.67,28.83
$GC,18375,0.44,122.8,3000,3507,1867,1740,71.7,10.1,1144,18383,0.00,2.28,0.00,0.000,1030,0.000,0.044,3010,2092,1803,1867,1740,0,0,0,0,0,0,28.83,25.74,28.83
$GC,18736,0.44,122.8,3010,2090,1867,1739,32.9,10.5,1205,18744,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2090,1803,1867,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18916,0.44,122.8,3009,2088,1867,1740,12.6,12.0,1230,18925,0.00,2.28,0.00,0.000,516,0.000,0.049,3021,692,1802,1866,1739,0,0,0,0,0,0,28.83,25.68,28.83
$GC,18950,0.44,122.8,3020,691,1864,1739,8.7,11.7,1234,18960,0.10,2.28,0.00,0.000,5126,0.230,0.042,2994,2105,1803,1867,1740,0,0,0,0,0,0,25.12,25.78,28.83
$STATE,19003,end climb,SURFACE_DEPTH_REACHED
$STATE,19003,begin surface coast
$FINISH,2.2,1.022822
$STATE,19041,end surface coast,CONTROL_FINISHED_OK
$STATE,19041,begin surface
$SM_CCo,19057,151.12,0.054,0,0,499,446.93
$SM_GC,2.88,7.78,0.00,151.12,0.047,0.000,0.054,130,2111,499,-8.41,-0.40,446.93,0,0,0,0,0,0,25.68,28.83,25.60
$IRIDIUM_FIX,-4551.85,610.46,170909,151534
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.45
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.70
$XPDR_PINGS,1
$24V_AH,22.4,49.242
$10V_AH,9.6,63.461
$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,20.425,100.725,190.325,151.125,0.000,46.752,40.886,573.962,0.250,0.000,8.762,3162.248,12902.779,491.992,3329.736,216.502,0.000,1625.266,0.000,2603.068,0.000,0.989,0.000
$DEVICE_MAMPS,252.450,61.965,1313.505,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.700,128.009,704.846,732.285,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352980
$DATA_FILE_SIZE,76978,1246
$CAP_FILE_SIZE,138940,0
$CFSIZE,2097086464,2031910912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.232,351.5,1
$GPS,211116,075803,-4607.828,606.188,28,1.0,29,-24.2