version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 498
start: 10 7 115 13 26 30
data:
$ID,574
$MISSION,20
$DIVE,498
$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,-2399576.8
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,281116,030803,-4544.039,553.460,38,0.7,38,-24.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-76.9
$GPS2,281116,031620,-4544.043,553.498,5,1.0,5,-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,239.2,86766,-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,-87.6,127,2130,498,435,0.0,0.0,0,62,0.00,0.00,-43.95,0.000,16386,0.000,0.000,127,2129,1570,1565,1575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.40,-87.6,127,2130,1572,1570,3.2,-0.6,5,138,10.93,2.33,-51.70,0.000,18692,0.243,0.066,2696,3527,2679,2700,2659,0,0,0,0,0,0,24.65,25.32,26.08
$GC,275,-0.40,-87.6,2696,3531,2697,2662,14.2,-10.2,32,285,0.00,2.30,0.00,0.000,1030,0.000,0.048,2697,2129,2679,2697,2662,0,0,0,0,0,0,28.83,25.41,28.83
$GC,344,-0.40,-87.6,2697,2125,2698,2662,22.6,-12.8,41,355,0.00,2.38,0.00,0.000,516,0.000,0.055,2699,710,2680,2699,2662,0,0,0,0,0,0,28.83,25.36,28.83
$GC,379,-0.40,-87.6,2699,710,2699,2662,27.3,-13.4,45,390,0.00,2.35,0.00,0.000,1030,0.000,0.052,2691,2114,2681,2699,2663,0,0,0,0,0,0,28.83,25.39,28.83
$GC,541,-0.40,-87.6,2690,2114,2700,2662,49.6,-12.9,70,548,0.00,2.33,0.00,0.000,260,0.000,0.060,2680,3535,2680,2699,2662,0,0,0,0,0,0,28.83,25.36,28.83
$GC,670,-0.40,-87.6,2680,3535,2698,2663,65.2,-11.9,93,678,0.12,2.30,0.00,0.000,3078,0.167,0.054,2709,2122,2680,2698,2663,0,0,0,0,0,0,25.22,25.46,28.83
$GC,1009,-0.40,-87.6,2709,2119,2700,2663,105.1,-12.1,151,1018,0.00,2.33,0.00,0.000,260,0.000,0.060,2701,3542,2681,2700,2662,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1030,-0.40,-87.6,2700,3542,2699,2662,107.7,-12.5,153,1040,0.00,2.30,0.00,0.000,1030,0.000,0.050,2701,2114,2681,2699,2663,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1340,-0.40,-87.6,2700,2111,2700,2663,146.6,-12.6,184,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2111,2681,2700,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,-0.40,-87.6,2701,2111,2700,2662,183.6,-11.8,214,1650,0.00,2.25,0.00,0.000,516,0.000,0.054,2701,714,2681,2701,2662,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1655,-0.40,-87.6,2700,714,2701,2662,184.8,-11.9,215,1662,0.00,2.30,0.00,0.000,1030,0.000,0.051,2690,2127,2682,2701,2663,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1973,-0.40,-87.6,2691,2127,2701,2663,226.2,-13.1,237,1979,0.00,2.30,0.00,0.000,260,0.000,0.061,2680,3546,2681,2700,2662,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2075,-0.40,-87.6,1824,3545,2673,2658,237.8,-11.3,242,2080,0.12,2.30,0.00,0.000,3078,0.176,0.052,2710,2121,2680,2699,2662,0,0,0,0,0,0,25.31,25.59,28.83
$GC,2888,-0.40,-87.6,2710,2117,2701,2662,320.4,-10.0,283,2893,0.00,2.28,0.00,0.000,516,0.000,0.054,2711,711,2681,2701,2662,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2901,-0.40,-87.6,2710,711,2701,2662,320.4,-10.0,283,2908,0.00,2.30,0.00,0.000,1030,0.000,0.050,2702,2134,2681,2701,2662,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3708,-0.40,-87.6,2702,2134,2701,2662,404.6,-10.0,324,3713,0.00,2.30,0.00,0.000,260,0.000,0.062,2691,3546,2681,2701,2661,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3834,-0.40,-87.6,1744,3545,2668,2656,415.5,-8.9,330,3839,0.00,2.28,0.00,0.000,1030,0.000,0.051,2691,2123,2680,2700,2661,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4648,-0.40,-87.6,2691,2122,2700,2661,499.0,-9.6,371,4654,0.00,2.30,0.00,0.000,516,0.000,0.057,2691,705,2681,2701,2661,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4676,-0.40,-87.6,2691,705,2701,2660,501.0,-9.7,372,4681,0.12,2.33,0.00,0.000,3078,0.220,0.054,2709,2130,2681,2701,2661,0,0,0,0,0,0,25.18,25.59,28.83
$GC,5483,-0.40,-87.6,2709,2130,2701,2660,563.5,-7.5,412,5489,0.00,2.30,0.00,0.000,260,0.000,0.063,2700,3543,2680,2700,2660,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5614,-0.40,-87.6,2700,3543,2700,2660,572.1,-7.2,418,5622,0.00,2.25,0.00,0.000,1030,0.000,0.052,2700,2128,2680,2700,2660,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6424,-0.40,-87.6,2700,2125,2700,2659,640.3,-8.0,459,6429,0.00,2.30,0.00,0.000,516,0.000,0.058,2700,714,2679,2699,2660,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6466,-0.40,-87.6,1824,713,2672,2654,643.6,-8.0,461,6470,0.00,2.33,0.00,0.000,1030,0.000,0.054,2690,2133,2680,2701,2659,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7279,-0.40,-87.6,2690,2133,2701,2658,710.9,-7.4,502,7284,0.00,2.28,0.00,0.000,260,0.000,0.062,2679,3542,2679,2700,2658,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7393,-0.40,-87.6,2679,3542,2699,2658,718.3,-7.2,507,7400,0.12,2.30,0.00,0.000,3078,0.207,0.054,2709,2119,2678,2699,2658,0,0,0,0,0,0,25.19,25.56,28.83
$GC,8198,-0.40,-87.6,2709,2117,2700,2658,772.8,-7.1,548,8204,0.00,2.30,0.00,0.000,516,0.000,0.055,2711,711,2679,2700,2658,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8226,-0.40,-87.6,2711,711,2701,2658,774.4,-7.3,549,8231,0.00,2.30,0.00,0.000,1030,0.000,0.052,2703,2126,2679,2701,2658,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9033,-0.40,-87.6,2703,2126,2700,2657,836.7,-7.5,589,9039,0.00,2.30,0.00,0.000,260,0.000,0.063,2692,3540,2678,2700,2657,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9175,-0.40,-87.6,2692,3540,2699,2657,847.0,-7.1,596,9180,0.00,2.28,0.00,0.000,1030,0.000,0.054,2691,2124,2678,2699,2657,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9993,-0.40,-87.6,2692,2121,2699,2657,907.6,-6.8,637,9999,0.00,2.33,0.00,0.000,516,0.000,0.058,2692,701,2678,2700,2656,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10048,-0.40,-87.6,2692,700,2700,2656,910.6,-7.2,639,10055,0.12,2.33,0.00,0.000,3078,0.212,0.054,2710,2122,2678,2700,2657,0,0,0,0,0,0,25.10,25.51,28.83
$GC,10855,-0.40,-87.6,2710,2123,2700,2656,952.4,-5.2,680,10860,0.00,2.30,0.00,0.000,260,0.000,0.065,2701,3540,2678,2700,2656,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10983,-0.40,-87.6,2701,3540,2698,2656,958.8,-5.5,686,10992,0.00,2.30,0.00,0.000,1030,0.000,0.055,2701,2116,2677,2699,2656,0,0,0,0,0,0,28.83,25.50,28.83
$STATE,11631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11631,begin apogee
$GC,11636,0.00,0.0,2701,2116,2700,2656,1000.2,-6.7,719,11715,0.47,0.00,75.93,1.313,10246,0.170,0.000,2841,2116,2321,2359,2284,0,0,0,0,0,0,24.79,28.83,23.16
$STATE,11716,end apogee,CONTROL_FINISHED_OK
$STATE,11716,begin climb
$GC,11718,0.40,87.6,2841,2116,2360,2284,1001.5,0.0,723,11807,0.38,2.45,81.55,1.301,10500,0.092,0.050,2981,3507,1963,2018,1908,0,0,0,0,0,0,24.58,23.75,22.40
$GC,11844,0.53,197.6,2981,3507,2013,1908,995.6,6.3,728,11954,0.00,2.40,103.40,1.288,9222,0.000,0.044,2991,2100,1516,1608,1425,0,0,0,0,0,0,28.83,24.24,22.07
$GC,12772,0.53,197.6,2991,2099,1596,1414,833.3,18.2,775,12778,0.00,2.28,0.00,0.000,260,0.000,0.050,2991,3517,1505,1596,1414,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12873,0.53,197.6,2112,3516,1574,1413,816.3,16.7,780,12878,0.00,2.28,0.00,0.000,1030,0.000,0.047,3001,2095,1503,1593,1414,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13691,0.53,197.6,3001,2095,1592,1413,665.8,18.1,821,13697,0.00,2.25,0.00,0.000,260,0.000,0.050,3001,3512,1502,1592,1413,0,0,0,0,0,0,28.83,25.72,28.83
$GC,13825,0.53,197.6,3001,3512,1590,1413,646.3,15.6,827,13832,0.00,2.25,0.00,0.000,1030,0.000,0.047,3011,2098,1501,1590,1413,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14631,0.53,197.6,3011,2098,1590,1413,501.5,17.6,868,14637,0.00,2.25,0.00,0.000,260,0.000,0.050,3011,3514,1501,1590,1413,0,0,0,0,0,0,28.83,25.75,28.83
$GC,14755,0.53,197.6,2080,3513,1569,1411,481.9,15.8,874,14759,0.00,2.25,0.00,0.000,1030,0.000,0.047,3021,2095,1501,1589,1413,0,0,0,0,0,0,28.83,25.77,28.83
$GC,15567,0.53,197.6,3021,2095,1589,1413,336.7,18.2,915,15572,0.00,2.25,0.00,0.000,516,0.000,0.050,3032,682,1501,1589,1413,0,0,0,0,0,0,28.83,25.74,28.83
$GC,15759,0.53,197.6,3032,681,1581,1412,305.3,17.1,924,15766,0.00,2.25,0.00,0.000,1030,0.000,0.044,3032,2101,1497,1582,1412,0,0,0,0,0,0,28.83,25.81,28.83
$GC,16566,0.53,197.6,3032,2102,1583,1413,156.1,17.8,977,16575,0.00,2.28,0.00,0.000,516,0.000,0.048,3042,681,1497,1583,1412,0,0,0,0,0,0,28.83,25.74,28.83
$GC,16637,0.53,197.6,3042,680,1581,1412,143.7,17.0,984,16646,0.00,2.25,0.00,0.000,1030,0.000,0.043,3042,2101,1496,1581,1412,0,0,0,0,0,0,28.83,25.81,28.83
$GC,16957,0.53,197.6,3042,2101,1582,1413,85.5,18.1,1022,16964,0.00,2.28,0.00,0.000,516,0.000,0.048,3052,680,1497,1582,1413,0,0,0,0,0,0,28.83,25.72,28.83
$GC,16994,0.53,197.6,3052,680,1581,1413,78.4,18.9,1028,17002,0.08,2.30,0.00,0.000,5126,0.236,0.043,3023,2105,1496,1581,1412,0,0,0,0,0,0,25.10,25.82,28.83
$GC,17370,0.53,197.6,3022,2110,1583,1413,16.9,16.6,1089,17379,0.00,2.25,0.00,0.000,260,0.000,0.050,3012,3507,1498,1583,1413,0,0,0,0,0,0,28.83,25.72,28.83
$GC,17425,0.53,197.6,3012,3507,1582,1413,9.5,11.5,1096,17435,0.00,2.28,0.00,0.000,1030,0.000,0.047,3022,2098,1497,1582,1413,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,17471,end climb,SURFACE_DEPTH_REACHED
$STATE,17471,begin surface coast
$FINISH,2.0,1.022033
$STATE,17496,end surface coast,CONTROL_FINISHED_OK
$STATE,17496,begin surface
$SM_CCo,17512,117.05,0.054,0,0,498,446.93
$SM_GC,2.90,7.72,0.00,117.05,0.045,0.000,0.054,127,2092,498,-8.41,-0.90,446.93,0,0,0,0,0,0,25.94,28.83,25.63
$IRIDIUM_FIX,-4527.17,552.46,240909,101031
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.51
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,22.1,52.171
$10V_AH,9.6,67.048
$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,20.200,110.225,260.875,117.050,0.000,28.650,19.212,329.194,0.000,0.000,8.979,2843.872,11767.625,501.167,2826.518,206.931,0.000,1614.579,0.000,2402.408,0.000,0.989,0.000
$DEVICE_MAMPS,242.505,65.790,1312.740,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.667,98.486,550.801,570.181,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353020
$DATA_FILE_SIZE,70356,1105
$CAP_FILE_SIZE,130404,0
$CFSIZE,2097086464,2028142592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168, 53.4,1
$GPS,281116,081204,-4543.593,554.021,31,0.8,31,-24.1