version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 483
start: 10 3 115 21 38 36
data:
$ID,574
$MISSION,20
$DIVE,483
$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,-2398807
$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,32
$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
$GPS1,241116,111621,-4554.782,553.779,39,0.9,39,-24.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-75.0
$GPS2,241116,112812,-4554.751,553.872,4,1.0,5,-24.1
$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,237.5,73033,-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,-87.6,128,2145,496,432,0.0,0.0,0,61,0.00,0.00,-43.47,0.000,16386,0.000,0.000,128,2145,1553,1547,1559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.40,-87.6,128,2145,1551,1558,3.0,-0.4,5,137,11.12,2.38,-52.45,0.000,18692,0.252,0.077,2701,3528,2679,2701,2658,0,0,0,0,0,0,24.70,25.21,26.03
$GC,317,-0.40,-87.6,2700,3533,2698,2662,19.6,-10.6,38,327,0.00,2.30,0.00,0.000,1030,0.000,0.050,2700,2133,2680,2698,2662,0,0,0,0,0,0,28.83,25.40,28.83
$GC,386,-0.40,-87.6,2700,2130,2698,2662,28.1,-13.4,47,396,0.00,2.38,0.00,0.000,516,0.000,0.053,2700,708,2680,2699,2662,0,0,0,0,0,0,28.83,25.38,28.83
$GC,413,-0.40,-87.6,2700,708,2700,2662,31.7,-13.2,50,423,0.00,2.35,0.00,0.000,1030,0.000,0.053,2690,2109,2681,2700,2663,0,0,0,0,0,0,28.83,25.40,28.83
$GC,569,-0.40,-87.6,2690,2109,2700,2662,53.6,-14.1,75,576,0.00,2.35,0.00,0.000,260,0.000,0.061,2679,3545,2681,2700,2662,0,0,0,0,0,0,28.83,25.37,28.83
$GC,663,-0.40,-87.6,2679,3545,2698,2662,65.5,-12.2,91,670,0.12,2.30,0.00,0.000,3078,0.191,0.052,2709,2122,2680,2699,2662,0,0,0,0,0,0,25.17,25.48,28.83
$GC,1003,-0.40,-87.6,2709,2119,2700,2662,104.7,-10.6,149,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2119,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1305,-0.40,-87.6,2709,2119,2701,2662,139.1,-12.3,179,1313,0.00,2.30,0.00,0.000,260,0.000,0.059,2700,3539,2681,2700,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1356,-0.40,-87.6,2700,3539,2699,2662,144.8,-10.7,184,1364,0.00,2.28,0.00,0.000,1030,0.000,0.050,2700,2124,2681,2700,2662,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1668,-0.40,-87.6,2700,2120,2701,2662,181.2,-11.5,215,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2121,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,-0.40,-87.6,2700,2121,2701,2662,217.1,-11.5,239,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2120,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,-0.40,-87.6,2700,2121,2701,2662,307.3,-10.8,279,2783,0.00,2.33,0.00,0.000,260,0.000,0.062,2690,3545,2681,2701,2661,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2824,-0.40,-87.6,2690,3545,2700,2661,311.6,-10.7,281,2828,0.00,2.30,0.00,0.000,1030,0.000,0.052,2690,2120,2680,2700,2661,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3633,-0.40,-87.6,2690,2118,2701,2661,407.0,-11.5,321,3638,0.00,2.28,0.00,0.000,516,0.000,0.057,2690,712,2680,2701,2660,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3651,-0.40,-87.6,2690,711,2701,2661,409.3,-11.5,322,3658,0.12,2.30,0.00,0.000,3078,0.211,0.052,2708,2130,2680,2700,2661,0,0,0,0,0,0,25.25,25.62,28.83
$GC,4472,-0.40,-87.6,2708,2130,2701,2659,485.8,-9.0,363,4478,0.00,2.28,0.00,0.000,260,0.000,0.063,2699,3539,2680,2701,2659,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4593,-0.40,-87.6,2699,3539,2700,2659,496.3,-8.5,369,4598,0.00,2.25,0.00,0.000,1030,0.000,0.050,2699,2125,2679,2700,2659,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5413,-0.40,-87.6,2699,2122,2701,2659,572.2,-8.5,410,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2121,2679,2700,2659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6211,-0.40,-87.6,2699,2121,2700,2658,638.7,-7.7,450,6217,0.00,2.30,0.00,0.000,516,0.000,0.057,2699,712,2679,2700,2658,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6254,-0.40,-87.6,2699,711,2700,2658,641.9,-7.8,452,6259,0.00,2.30,0.00,0.000,1030,0.000,0.053,2689,2127,2679,2700,2658,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7066,-0.40,-87.6,2689,2127,2700,2657,710.7,-8.0,493,7072,0.00,2.30,0.00,0.000,260,0.000,0.063,2678,3544,2678,2700,2656,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7174,-0.40,-87.6,2678,3544,2699,2657,718.4,-7.7,498,7180,0.15,2.30,0.00,0.000,3078,0.180,0.054,2716,2118,2678,2699,2657,0,0,0,0,0,0,25.19,25.57,28.83
$GC,7983,-0.40,-87.6,2715,2116,2700,2656,770.9,-6.6,538,7988,0.00,2.28,0.00,0.000,516,0.000,0.054,2716,701,2678,2700,2656,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8011,-0.40,-87.6,2716,701,2701,2656,772.2,-6.8,539,8020,0.00,2.33,0.00,0.000,1030,0.000,0.052,2707,2132,2678,2700,2656,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8823,-0.40,-87.6,2707,2132,2700,2655,833.0,-6.8,580,8828,0.00,2.25,0.00,0.000,260,0.000,0.061,2696,3528,2677,2700,2655,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8946,-0.40,-87.6,2696,3528,2698,2655,840.8,-6.2,586,8952,0.00,2.28,0.00,0.000,1030,0.000,0.053,2696,2116,2676,2698,2655,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9762,-0.40,-87.6,2696,2114,2699,2655,889.6,-5.6,627,9767,0.00,2.28,0.00,0.000,516,0.000,0.056,2696,706,2677,2700,2654,0,0,0,0,0,0,28.83,25.50,28.83
$GC,9810,-0.40,-87.6,2696,706,2700,2655,892.2,-6.0,629,9814,0.00,2.35,0.00,0.000,1030,0.000,0.056,2686,2132,2677,2700,2655,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10617,-0.40,-87.6,2686,2132,2700,2655,952.0,-7.7,669,10623,0.12,2.30,0.00,0.000,2308,0.210,0.062,2711,3533,2676,2699,2654,0,0,0,0,0,0,25.81,25.37,28.83
$GC,10740,-0.40,-87.6,2711,3533,2698,2655,959.3,-5.7,675,10744,0.00,2.28,0.00,0.000,1030,0.000,0.054,2711,2122,2676,2698,2655,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,11390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11391,begin apogee
$GC,11395,0.00,0.0,2711,2118,2699,2654,1000.1,-6.8,708,11475,0.43,0.00,75.97,1.345,10246,0.151,0.000,2839,2117,2322,2359,2285,0,0,0,0,0,0,25.01,28.83,23.13
$STATE,11475,end apogee,CONTROL_FINISHED_OK
$STATE,11476,begin climb
$GC,11478,0.40,87.6,2839,2117,2360,2284,1001.9,0.0,712,11567,0.38,2.45,82.25,1.349,10500,0.077,0.050,2984,3513,1963,2018,1909,0,0,0,0,0,0,24.63,23.68,22.32
$GC,11660,0.40,87.6,2984,3512,2012,1908,988.4,11.9,720,11669,0.00,2.38,0.00,0.000,1030,0.000,0.045,2995,2090,1959,2011,1907,0,0,0,0,0,0,28.83,24.58,28.83
$GC,12472,0.40,87.6,2995,2090,2006,1901,881.1,13.0,761,12478,0.00,2.25,0.00,0.000,516,0.000,0.048,3006,676,1952,2005,1900,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12573,0.40,87.6,2120,676,1973,1895,868.1,12.9,766,12578,0.12,2.28,0.00,0.000,5126,0.240,0.042,2981,2104,1950,2001,1900,0,0,0,0,0,0,25.15,25.67,28.83
$GC,13386,0.40,87.6,2981,2105,2003,1898,776.2,10.4,807,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2105,1950,2002,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14188,0.40,87.6,2981,2105,2002,1897,696.7,10.4,847,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2105,1949,2002,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14986,0.40,87.6,2980,2105,2002,1897,617.3,9.4,887,14992,0.00,2.28,0.00,0.000,516,0.000,0.048,2990,680,1949,2001,1897,0,0,0,0,0,0,28.83,25.71,28.83
$GC,15048,0.40,87.6,2112,680,1972,1892,611.3,10.0,890,15052,0.00,2.25,0.00,0.000,1030,0.000,0.044,2990,2097,1948,2000,1896,0,0,0,0,0,0,28.83,25.76,28.83
$GC,15866,0.40,87.6,2990,2098,2001,1896,523.6,11.1,931,15872,0.00,2.28,0.00,0.000,516,0.000,0.047,3000,674,1948,2001,1896,0,0,0,0,0,0,28.83,25.71,28.83
$GC,15968,0.40,87.6,2112,673,1972,1891,512.2,11.3,936,15972,0.00,2.28,0.00,0.000,1030,0.000,0.044,3000,2101,1947,1999,1895,0,0,0,0,0,0,28.83,25.77,28.83
$GC,16786,0.40,87.6,3000,2102,2000,1895,416.6,11.3,977,16791,0.00,2.22,0.00,0.000,260,0.000,0.051,3000,3508,1948,2000,1896,0,0,0,0,0,0,28.83,25.67,28.83
$GC,16799,0.40,87.6,3000,3509,1999,1896,416.6,11.3,977,16807,0.15,2.22,0.00,0.000,5126,0.245,0.043,2979,2089,1948,2000,1896,0,0,0,0,0,0,25.07,25.76,28.83
$GC,17608,0.40,91.5,2978,2087,1999,1896,336.0,9.1,1018,17613,0.00,2.22,0.00,0.000,516,0.000,0.047,2988,683,1947,1999,1895,0,0,0,0,0,0,28.83,25.69,28.83
$GC,17639,0.41,96.6,2988,682,1999,1895,334.1,9.0,1019,17652,0.00,2.25,6.07,0.753,9222,0.000,0.044,2988,2097,1927,1981,1874,0,0,0,0,0,0,28.83,25.75,24.25
$GC,18466,0.50,166.0,2988,2100,1982,1874,261.1,7.3,1061,18533,0.00,2.38,60.47,0.903,8708,0.000,0.048,2998,694,1644,1722,1567,0,0,0,0,0,0,28.83,25.14,23.96
$GC,18567,0.50,166.0,2998,694,1715,1566,251.2,10.5,1066,18572,0.00,2.28,0.00,0.000,1030,0.000,0.044,2998,2093,1641,1715,1567,0,0,0,0,0,0,28.83,25.19,28.83
$GC,19377,0.50,166.0,2997,2094,1713,1561,145.7,12.5,1126,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2094,1637,1713,1561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19677,0.50,166.0,2998,2094,1712,1560,108.4,11.6,1156,19685,0.00,2.25,0.00,0.000,516,0.000,0.048,3008,684,1635,1709,1561,0,0,0,0,0,0,28.83,25.58,28.83
$GC,19721,0.50,166.0,3008,683,1708,1561,103.3,12.2,1160,19728,0.00,2.28,0.00,0.000,1030,0.000,0.042,3008,2101,1634,1708,1561,0,0,0,0,0,0,28.83,25.66,28.83
$GC,20061,0.50,166.0,3008,2101,1708,1561,58.7,13.5,1219,20067,0.00,2.28,0.00,0.000,516,0.000,0.047,3018,685,1634,1708,1560,0,0,0,0,0,0,28.83,25.62,28.83
$GC,20108,0.50,166.0,3018,684,1705,1561,51.9,12.8,1227,20115,0.00,2.28,0.00,0.000,1030,0.000,0.043,3019,2106,1633,1705,1561,0,0,0,0,0,0,28.83,25.68,28.83
$STATE,20473,end climb,SURFACE_DEPTH_REACHED
$STATE,20473,begin surface coast
$FINISH,2.0,1.011277
$STATE,20506,end surface coast,CONTROL_FINISHED_OK
$STATE,20506,begin surface
$SM_CCo,20522,132.38,0.054,0,0,498,446.93
$SM_GC,2.96,7.82,0.00,132.38,0.047,0.000,0.054,127,2111,498,-8.41,-0.37,446.93,0,0,0,0,0,0,25.84,28.83,25.62
$IRIDIUM_FIX,-4539.49,550.33,200909,181846
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.56
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.60
$XPDR_PINGS,1
$24V_AH,22.3,50.625
$10V_AH,9.6,65.203
$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,20.550,100.950,224.775,132.375,0.000,71.124,89.832,366.115,0.250,0.000,8.151,3285.370,14238.320,464.364,3182.713,213.706,0.000,1635.906,0.000,2606.888,0.000,0.989,0.000
$DEVICE_MAMPS,252.450,77.265,1349.460,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.913,109.476,590.146,614.905,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353016
$DATA_FILE_SIZE,80274,1286
$CAP_FILE_SIZE,140005,0
$CFSIZE,2097086464,2030075904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150, 23.2,1
$GPS,241116,171427,-4554.505,553.208,36,1.0,36,-24.1