version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 495
start: 10 6 115 19 37 1
data:
$ID,574
$MISSION,20
$DIVE,495
$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,-2399426.5
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,271116,091857,-4545.939,553.796,48,0.9,48,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-75.8
$GPS2,271116,092648,-4545.869,553.831,4,1.0,4,-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,248.0,84481,-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,-87.6,134,2112,500,432,0.0,0.0,0,79,0.00,0.00,-60.78,0.000,16386,0.000,0.000,134,2112,1947,1942,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.40,-87.6,135,2112,1944,1952,3.1,-1.1,7,129,10.93,2.42,-30.75,0.000,18692,0.242,0.071,2694,3541,2681,2700,2662,0,0,0,0,0,0,24.75,25.33,26.06
$GC,233,-0.40,-87.6,2694,3542,2700,2663,14.5,-10.3,26,242,0.00,2.33,0.00,0.000,1030,0.000,0.049,2694,2134,2682,2701,2664,0,0,0,0,0,0,28.83,25.41,28.83
$GC,302,-0.40,-87.6,2694,2130,2701,2663,23.3,-13.7,35,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2130,2682,2701,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,471,-0.40,-87.6,2694,2130,2702,2663,45.8,-13.7,60,481,0.00,2.40,0.00,0.000,516,0.000,0.057,2694,701,2682,2702,2663,0,0,0,0,0,0,28.83,25.43,28.83
$GC,552,-0.40,-87.6,2694,700,2702,2664,55.1,-10.5,73,559,0.12,2.33,0.00,0.000,3078,0.243,0.052,2711,2123,2683,2702,2664,0,0,0,0,0,0,24.99,25.47,28.83
$GC,897,-0.40,-87.6,2711,2123,2703,2664,94.5,-11.3,134,903,0.00,2.28,0.00,0.000,260,0.000,0.059,2702,3536,2683,2703,2664,0,0,0,0,0,0,28.83,25.46,28.83
$GC,988,-0.40,-87.6,2702,3536,2701,2664,103.8,-10.0,147,995,0.00,2.28,0.00,0.000,1030,0.000,0.050,2702,2117,2683,2702,2664,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1295,-0.40,-87.6,2702,2114,2704,2664,141.9,-12.4,178,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2114,2683,2703,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.40,-87.6,2701,2114,2703,2664,178.8,-12.0,208,1606,0.00,2.30,0.00,0.000,260,0.000,0.057,2692,3540,2683,2703,2664,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1618,-0.40,-87.6,2692,3540,2703,2664,181.6,-12.2,210,1627,0.00,2.28,0.00,0.000,1030,0.000,0.049,2692,2118,2683,2703,2664,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1928,-0.40,-87.6,2692,2113,2703,2664,220.2,-12.5,233,1934,0.00,2.28,0.00,0.000,516,0.000,0.052,2692,708,2683,2703,2664,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1956,-0.40,-87.6,2691,708,2702,2664,222.7,-12.2,234,1961,0.12,2.30,0.00,0.000,3078,0.242,0.051,2709,2128,2683,2702,2664,0,0,0,0,0,0,25.14,25.63,28.83
$GC,2764,-0.40,-87.6,2709,2127,2702,2664,299.9,-9.0,274,2769,0.00,2.25,0.00,0.000,260,0.000,0.059,2700,3529,2683,2703,2664,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2856,-0.40,-87.6,2700,3530,2702,2663,306.5,-8.3,278,2863,0.00,2.25,0.00,0.000,1030,0.000,0.050,2700,2123,2683,2703,2663,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3663,-0.40,-87.6,2700,2119,2703,2663,386.3,-9.5,319,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2119,2683,2704,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4463,-0.40,-87.6,2700,2119,2703,2661,461.0,-9.4,359,4469,0.00,2.28,0.00,0.000,516,0.000,0.054,2700,712,2682,2703,2661,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4496,-0.40,-87.6,2700,711,2704,2662,463.0,-9.7,360,4504,0.00,2.30,0.00,0.000,1030,0.000,0.052,2690,2130,2682,2703,2662,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5304,-0.40,-87.6,2689,2130,2704,2661,552.6,-11.1,401,5309,0.00,2.28,0.00,0.000,260,0.000,0.061,2679,3536,2682,2704,2661,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5426,-0.40,-87.6,1800,3535,2674,2656,564.6,-9.8,407,5430,0.12,2.28,0.00,0.000,3078,0.226,0.054,2708,2124,2681,2702,2660,0,0,0,0,0,0,25.17,25.62,28.83
$GC,6238,-0.40,-87.6,2708,2121,2702,2660,632.0,-7.8,448,6244,0.00,2.30,0.00,0.000,516,0.000,0.057,2709,710,2680,2702,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6291,-0.40,-87.6,2709,709,2702,2659,635.2,-7.9,450,6298,0.00,2.30,0.00,0.000,1030,0.000,0.053,2700,2125,2681,2703,2660,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7098,-0.40,-87.6,2700,2125,2703,2659,695.9,-7.0,491,7104,0.00,2.30,0.00,0.000,260,0.000,0.062,2689,3543,2680,2702,2659,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7220,-0.40,-87.6,2688,3543,2702,2658,704.5,-6.9,497,7226,0.00,2.25,0.00,0.000,1030,0.000,0.054,2689,2132,2680,2702,2659,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8039,-0.40,-87.6,2689,2129,2702,2658,766.9,-7.4,538,8044,0.00,2.33,0.00,0.000,516,0.000,0.058,2689,709,2680,2703,2658,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8058,-0.40,-87.6,2689,709,2702,2658,768.7,-7.7,539,8065,0.15,2.30,0.00,0.000,3078,0.229,0.054,2714,2122,2681,2703,2659,0,0,0,0,0,0,24.96,25.56,28.83
$GC,8879,-0.40,-87.6,2714,2122,2703,2658,818.1,-6.0,580,8884,0.00,2.33,0.00,0.000,260,0.000,0.065,2705,3545,2680,2703,2657,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9000,-0.40,-87.6,2705,3544,2701,2657,825.7,-6.4,586,9005,0.00,2.28,0.00,0.000,1030,0.000,0.054,2705,2122,2679,2701,2657,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9819,-0.40,-87.6,2705,2118,2701,2657,884.5,-7.2,627,9824,0.00,2.30,0.00,0.000,516,0.000,0.057,2705,710,2679,2701,2657,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9892,-0.40,-87.6,2705,710,2701,2657,889.2,-7.8,630,9898,0.00,2.33,0.00,0.000,1030,0.000,0.054,2694,2132,2679,2701,2658,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10699,-0.40,-87.6,2694,2132,2701,2657,953.4,-7.7,671,10704,0.00,2.30,0.00,0.000,260,0.000,0.063,2684,3545,2679,2702,2656,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10807,-0.40,-87.6,2683,3545,2701,2656,960.8,-7.4,676,10812,0.12,2.30,0.00,0.000,3078,0.223,0.055,2713,2123,2679,2701,2657,0,0,0,0,0,0,25.09,25.51,28.83
$STATE,11531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11531,begin apogee
$GC,11536,0.00,0.0,2713,2120,2702,2656,1000.7,-4.8,712,11616,0.43,0.00,76.45,1.334,10246,0.207,0.000,2838,2118,2321,2362,2281,0,0,0,0,0,0,24.52,28.83,23.12
$STATE,11617,end apogee,CONTROL_FINISHED_OK
$STATE,11617,begin climb
$GC,11619,0.40,87.6,2838,2119,2362,2282,1001.0,0.0,716,11713,0.38,2.55,82.40,1.331,10500,0.129,0.051,2971,3518,1961,2020,1902,0,0,0,0,0,0,24.51,23.70,22.34
$GC,11819,0.40,87.6,2112,3517,1985,1897,982.4,13.0,726,11823,0.00,2.38,0.00,0.000,1030,0.000,0.044,2982,2093,1957,2013,1901,0,0,0,0,0,0,28.83,24.70,28.83
$GC,12637,0.40,87.6,2981,2093,2011,1896,874.2,13.2,767,12643,0.00,2.28,0.00,0.000,516,0.000,0.048,2992,676,1953,2011,1895,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12798,0.40,87.6,2992,676,2007,1895,854.0,12.2,775,12804,0.00,2.28,0.00,0.000,1030,0.000,0.043,2992,2103,1951,2007,1895,0,0,0,0,0,0,28.83,25.69,28.83
$GC,13618,0.40,87.6,2992,2103,2008,1895,757.8,11.8,816,13624,0.00,2.28,0.00,0.000,516,0.000,0.047,3002,682,1952,2009,1895,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13666,0.40,87.6,3002,682,2007,1895,752.9,12.0,818,13670,0.00,2.25,0.00,0.000,1030,0.000,0.043,3002,2097,1951,2007,1895,0,0,0,0,0,0,28.83,25.77,28.83
$GC,14473,0.40,87.6,3002,2097,2010,1895,648.7,12.6,858,14479,0.00,2.22,0.00,0.000,260,0.000,0.051,3003,3506,1953,2010,1896,0,0,0,0,0,0,28.83,25.68,28.83
$GC,14513,0.40,87.6,3002,3506,2008,1898,643.5,12.7,860,14520,0.15,2.22,0.00,0.000,5126,0.274,0.044,2981,2092,1953,2008,1898,0,0,0,0,0,0,24.98,25.76,28.83
$GC,15333,0.40,87.6,2981,2092,2011,1897,553.4,10.6,901,15339,0.00,2.25,0.00,0.000,516,0.000,0.049,2991,677,1953,2010,1897,0,0,0,0,0,0,28.83,25.70,28.83
$GC,15413,0.40,87.6,2990,677,2008,1896,544.5,11.1,905,15419,0.00,2.25,0.00,0.000,1030,0.000,0.044,2991,2096,1953,2009,1897,0,0,0,0,0,0,28.83,25.77,28.83
$GC,16233,0.40,87.6,2990,2096,2011,1897,459.2,9.7,946,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2096,1954,2011,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17033,0.40,87.6,2990,2095,2012,1897,381.7,9.6,986,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2096,1954,2012,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17833,0.40,87.6,2990,2096,2012,1897,305.3,9.6,1026,17839,0.00,2.22,0.00,0.000,260,0.000,0.051,2991,3505,1955,2012,1898,0,0,0,0,0,0,28.83,25.65,28.83
$GC,17861,0.40,87.6,2990,3505,2012,1900,303.3,9.6,1027,17865,0.00,2.22,0.00,0.000,1030,0.000,0.044,3000,2097,1955,2011,1900,0,0,0,0,0,0,28.83,25.75,28.83
$GC,18668,0.44,122.8,3000,2094,2012,1899,228.5,8.2,1067,18708,0.00,2.33,30.08,0.844,8708,0.000,0.048,3011,683,1819,1882,1756,0,0,0,0,0,0,28.83,25.69,24.39
$GC,18763,0.44,122.8,3011,683,1879,1755,220.4,9.9,1071,18770,0.00,2.28,0.00,0.000,1030,0.000,0.044,3012,2099,1816,1879,1754,0,0,0,0,0,0,28.83,25.60,28.83
$GC,19570,0.44,122.8,3011,2098,1878,1751,125.7,11.3,1144,19572,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2098,1815,1879,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19877,0.44,122.8,3012,2098,1878,1751,90.2,11.0,1181,19883,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2098,1814,1878,1751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20215,0.44,122.8,3011,2098,1878,1751,51.1,11.8,1242,20224,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2098,1814,1878,1750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20621,0.44,122.8,3011,2101,1878,1751,8.0,10.8,1303,20630,0.00,2.25,0.00,0.000,260,0.000,0.050,3011,3501,1813,1877,1750,0,0,0,0,0,0,28.83,25.66,28.83
$STATE,20666,end climb,SURFACE_DEPTH_REACHED
$STATE,20667,begin surface coast
$FINISH,1.8,1.014283
$STATE,20703,end surface coast,CONTROL_FINISHED_OK
$STATE,20704,begin surface
$SM_CCo,20722,152.85,0.052,0,0,498,446.93
$SM_GC,2.84,7.72,2.22,152.85,0.044,0.038,0.052,129,2109,498,-8.41,0.54,446.93,0,0,0,0,0,0,25.84,25.84,25.63
$IRIDIUM_FIX,-4527.17,546.32,230909,161653
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.15
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.80
$XPDR_PINGS,1
$24V_AH,22.3,51.855
$10V_AH,9.6,66.695
$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,20.250,100.875,188.925,152.850,0.000,22.102,24.844,303.339,0.250,0.000,8.149,3340.285,14235.180,472.751,3098.870,217.589,0.000,1669.366,0.000,2702.220,0.000,0.990,0.000
$DEVICE_MAMPS,273.870,71.145,1334.160,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,940.441,117.479,626.464,656.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353008
$DATA_FILE_SIZE,80384,1314
$CAP_FILE_SIZE,140537,0
$CFSIZE,2097086464,2028503040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.170, 34.6,1
$GPS,271116,151633,-4545.248,553.586,26,1.0,26,-24.1