version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 484
start: 10 4 115 3 37 29
data:
$ID,574
$MISSION,20
$DIVE,484
$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,-2398857.8
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,241116,171427,-4554.505,553.208,36,1.0,36,-24.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-76.1
$GPS2,241116,172707,-4554.412,553.337,4,1.0,4,-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,241.3,72915,-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,-87.6,127,2110,494,435,0.0,0.0,0,62,0.00,0.00,-44.08,0.000,16386,0.000,0.000,127,2112,1562,1565,1559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.40,-87.6,127,2112,1565,1560,3.1,-0.8,5,138,11.15,2.40,-52.53,0.000,19204,0.249,0.071,2692,3530,2676,2698,2654,0,0,0,0,0,0,24.70,25.27,26.04
$GC,310,-0.40,-87.6,2692,3535,2694,2660,19.6,-11.5,37,320,0.00,2.33,0.00,0.000,1030,0.000,0.052,2694,2130,2676,2694,2659,0,0,0,0,0,0,28.83,25.37,28.83
$GC,380,-0.40,-87.6,2694,2127,2695,2659,28.4,-14.1,46,390,0.00,2.38,0.00,0.000,516,0.000,0.054,2697,709,2677,2696,2659,0,0,0,0,0,0,28.83,25.38,28.83
$GC,400,-0.40,-87.6,2697,709,2696,2660,31.3,-13.9,48,409,0.00,2.38,0.00,0.000,1030,0.000,0.052,2688,2127,2677,2695,2660,0,0,0,0,0,0,28.83,25.40,28.83
$GC,556,-0.40,-87.6,2688,2127,2696,2659,53.7,-14.3,73,562,0.00,2.30,0.00,0.000,260,0.000,0.060,2678,3535,2677,2696,2659,0,0,0,0,0,0,28.83,25.37,28.83
$GC,617,-0.40,-87.6,1760,3534,2664,2655,62.2,-11.2,84,628,0.10,2.35,0.00,0.000,3078,0.153,0.054,2708,2120,2677,2695,2660,0,0,0,0,0,0,25.11,25.45,28.83
$GC,965,-0.40,-87.6,2709,2116,2696,2659,98.4,-11.0,145,971,0.00,2.30,0.00,0.000,516,0.000,0.054,2710,699,2678,2697,2660,0,0,0,0,0,0,28.83,25.51,28.83
$GC,989,-0.40,-87.6,2709,698,2697,2660,101.3,-10.0,148,997,0.00,2.33,0.00,0.000,1030,0.000,0.050,2701,2129,2678,2697,2660,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1299,-0.40,-87.6,2701,2129,2697,2659,136.7,-11.6,179,1308,0.00,2.28,0.00,0.000,260,0.000,0.060,2690,3534,2678,2697,2660,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1390,-0.40,-87.6,2690,3533,2696,2660,146.2,-9.8,188,1399,0.00,2.30,0.00,0.000,1030,0.000,0.053,2690,2121,2677,2695,2660,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1701,-0.40,-87.6,2690,2117,2697,2660,183.8,-12.4,219,1709,0.00,2.30,0.00,0.000,516,0.000,0.055,2690,703,2678,2697,2660,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1715,-0.40,-87.6,2690,703,2697,2660,184.9,-12.2,220,1722,0.12,2.33,0.00,0.000,3078,0.186,0.052,2709,2130,2678,2697,2660,0,0,0,0,0,0,25.27,25.58,28.83
$GC,2034,-0.40,-87.6,2708,2130,2697,2660,219.9,-10.6,243,2039,0.00,2.25,0.00,0.000,260,0.000,0.059,2700,3531,2678,2697,2659,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2105,-0.40,-87.6,2699,3531,2696,2660,225.9,-10.3,246,2112,0.00,2.28,0.00,0.000,1030,0.000,0.051,2700,2121,2677,2696,2659,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2912,-0.40,-87.6,2699,2117,2696,2659,320.3,-10.9,287,2918,0.00,2.30,0.00,0.000,260,0.000,0.060,2689,3532,2678,2697,2659,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2945,-0.40,-87.6,2689,3533,2696,2659,322.4,-10.9,288,2951,0.00,2.28,0.00,0.000,1030,0.000,0.053,2689,2118,2677,2696,2659,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3752,-0.40,-87.6,2689,2116,2697,2659,408.7,-9.2,329,3758,0.00,2.28,0.00,0.000,516,0.000,0.054,2689,710,2677,2696,2659,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3792,-0.40,-87.6,2689,710,2697,2659,412.5,-9.2,331,3799,0.12,2.30,0.00,0.000,3078,0.177,0.052,2709,2125,2678,2697,2659,0,0,0,0,0,0,25.35,25.62,28.83
$GC,4612,-0.40,-87.6,2709,2124,2697,2658,472.0,-8.1,372,4618,0.00,2.30,0.00,0.000,260,0.000,0.062,2700,3545,2677,2697,2658,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4705,-0.40,-87.6,2699,3544,2695,2657,478.0,-7.5,376,4712,0.00,2.28,0.00,0.000,1030,0.000,0.051,2700,2123,2676,2695,2657,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5512,-0.40,-87.6,2700,2120,2695,2656,551.8,-9.7,417,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2120,2675,2695,2656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.40,-87.6,2699,2120,2696,2655,624.1,-8.3,457,6318,0.00,2.30,0.00,0.000,516,0.000,0.056,2700,707,2675,2695,2655,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6355,-0.40,-87.6,1828,707,2667,2650,627.5,-8.5,459,6359,0.00,2.33,0.00,0.000,1030,0.000,0.054,2689,2128,2675,2696,2655,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7167,-0.40,-87.6,2689,2127,2696,2654,700.1,-9.1,500,7173,0.00,2.28,0.00,0.000,260,0.000,0.063,2679,3532,2674,2695,2654,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7280,-0.40,-87.6,2678,3532,2695,2654,709.1,-8.9,505,7287,0.12,2.28,0.00,0.000,3078,0.158,0.055,2709,2123,2674,2695,2653,0,0,0,0,0,0,25.36,25.56,28.83
$GC,8087,-0.40,-87.6,2709,2123,2695,2653,771.0,-7.1,546,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2123,2674,2695,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8887,-0.40,-87.6,2709,2123,2696,2653,827.7,-7.2,586,8893,0.00,2.30,0.00,0.000,516,0.000,0.057,2709,711,2674,2696,2653,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8920,-0.40,-87.6,2709,711,2696,2653,829.3,-7.3,587,8927,0.00,2.30,0.00,0.000,1030,0.000,0.052,2701,2128,2674,2696,2653,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9727,-0.40,-87.6,2700,2128,2696,2653,894.5,-8.3,628,9733,0.00,2.30,0.00,0.000,260,0.000,0.062,2690,3543,2674,2696,2652,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9851,-0.40,-87.6,1768,3542,2664,2648,904.7,-8.4,634,9855,0.00,2.30,0.00,0.000,1030,0.000,0.054,2690,2121,2673,2694,2653,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10663,-0.40,-87.6,2689,2118,2695,2653,975.1,-8.3,675,10669,0.00,2.28,0.00,0.000,516,0.000,0.058,2690,716,2673,2695,2652,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10691,-0.40,-87.6,2690,716,2695,2652,976.9,-8.5,676,10696,0.12,2.30,0.00,0.000,3078,0.173,0.053,2709,2128,2674,2696,2653,0,0,0,0,0,0,25.28,25.53,28.83
$STATE,11016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11016,begin apogee
$GC,11021,0.00,0.0,2709,2086,2695,2653,1001.1,-6.8,692,11100,0.43,0.00,75.20,1.349,10246,0.135,0.000,2840,2085,2321,2358,2285,0,0,0,0,0,0,25.16,28.83,23.14
$STATE,11101,end apogee,CONTROL_FINISHED_OK
$STATE,11101,begin climb
$GC,11103,0.40,87.6,2840,2085,2358,2285,1002.6,0.0,696,11192,0.38,2.45,82.30,1.353,10756,0.061,0.045,2994,692,1963,2019,1907,0,0,0,0,0,0,24.68,23.69,22.32
$GC,11224,0.51,180.4,2993,691,2016,1904,996.5,6.7,701,11319,0.00,2.42,88.35,1.353,9222,0.000,0.043,2994,2106,1586,1679,1493,0,0,0,0,0,0,28.83,24.17,22.03
$GC,12138,0.51,180.4,2994,2107,1667,1484,835.6,17.0,747,12144,0.00,2.28,0.00,0.000,516,0.000,0.049,3004,685,1575,1666,1484,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12277,0.51,180.4,3003,685,1657,1484,811.1,17.2,754,12283,0.00,2.25,0.00,0.000,1030,0.000,0.044,3004,2100,1570,1656,1484,0,0,0,0,0,0,28.83,25.69,28.83
$GC,13097,0.51,180.4,3003,2102,1658,1484,656.7,19.1,795,13102,0.00,2.28,0.00,0.000,516,0.000,0.049,3013,689,1571,1658,1484,0,0,0,0,0,0,28.83,25.73,28.83
$GC,13245,0.51,180.4,3014,688,1654,1484,630.8,18.1,802,13249,0.00,2.25,0.00,0.000,1030,0.000,0.044,3014,2099,1569,1654,1484,0,0,0,0,0,0,28.83,25.79,28.83
$GC,14052,0.51,180.4,3013,2100,1655,1484,484.3,17.1,842,14057,0.00,2.25,0.00,0.000,516,0.000,0.048,3024,689,1569,1655,1484,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14125,0.51,180.4,3024,689,1652,1484,474.2,17.0,845,14131,0.00,2.25,0.00,0.000,1030,0.000,0.044,3024,2105,1568,1653,1484,0,0,0,0,0,0,28.83,25.81,28.83
$GC,14932,0.51,180.4,3024,2107,1654,1484,335.5,17.5,886,14937,0.00,2.28,0.00,0.000,516,0.000,0.049,3034,684,1569,1654,1484,0,0,0,0,0,0,28.83,25.75,28.83
$GC,15020,0.51,180.4,3034,684,1653,1484,321.4,17.6,890,15024,0.00,2.25,0.00,0.000,1030,0.000,0.044,3034,2099,1568,1652,1484,0,0,0,0,0,0,28.83,25.80,28.83
$GC,15827,0.51,180.4,3034,2101,1653,1484,173.2,16.1,937,15835,0.00,2.28,0.00,0.000,516,0.000,0.048,3044,680,1568,1653,1484,0,0,0,0,0,0,28.83,25.74,28.83
$GC,15928,0.51,180.4,3044,680,1651,1484,157.5,14.7,947,15938,0.12,2.28,0.00,0.000,5126,0.215,0.044,3018,2103,1568,1652,1484,0,0,0,0,0,0,25.37,25.80,28.83
$GC,16238,0.51,180.4,3018,2107,1652,1484,115.2,13.4,978,16239,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2107,1567,1651,1484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16555,0.51,180.4,3018,2107,1652,1484,71.5,14.1,1026,16565,0.00,2.30,0.00,0.000,516,0.000,0.048,3028,694,1568,1652,1484,0,0,0,0,0,0,28.83,25.74,28.83
$GC,16582,0.51,180.4,3027,694,1651,1484,67.4,14.8,1030,16590,0.00,2.25,0.00,0.000,1030,0.000,0.043,3028,2107,1568,1652,1484,0,0,0,0,0,0,28.83,25.80,28.83
$GC,16967,0.51,180.4,3027,2110,1653,1484,10.1,14.8,1091,16976,0.00,2.33,0.00,0.000,516,0.000,0.049,3038,684,1568,1652,1484,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,17012,end climb,SURFACE_DEPTH_REACHED
$STATE,17012,begin surface coast
$FINISH,2.1,1.022970
$STATE,17036,end surface coast,CONTROL_FINISHED_OK
$STATE,17036,begin surface
$SM_CCo,17055,125.60,0.054,0,0,499,446.93
$SM_GC,2.99,7.72,2.38,125.60,0.044,0.045,0.054,129,2135,499,-8.41,-0.59,446.93,0,0,0,0,0,0,25.86,25.76,25.63
$IRIDIUM_FIX,-4539.49,553.73,210909,060617
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.27
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,22.0,50.748
$10V_AH,9.6,65.315
$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,20.400,105.975,245.850,125.600,0.000,80.782,107.151,326.153,0.000,0.000,8.135,2806.027,11578.712,496.302,2878.165,200.525,0.000,1562.771,0.000,2317.218,0.000,0.989,0.000
$DEVICE_MAMPS,249.390,110.925,1352.520,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.945,102.705,557.483,578.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352984
$DATA_FILE_SIZE,66967,1100
$CAP_FILE_SIZE,128128,0
$CFSIZE,2097086464,2029977600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235, 33.2,1
$GPS,241116,221527,-4553.430,552.821,37,1.3,37,-24.1