version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 517
start: 10 12 115 6 38 59
data:
$ID,574
$MISSION,20
$DIVE,517
$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,-2400548.5
$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,27
$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
$GPS1,021216,201603,-4533.273,558.917,40,0.8,40,-24.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.8
$GPS2,021216,202909,-4533.145,559.126,5,0.9,5,-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,244.6,107128,-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,-87.6,128,2105,490,428,0.0,0.0,0,53,0.00,0.00,-35.10,0.000,16386,0.000,0.000,128,2104,1340,1358,1322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.40,-87.6,128,2105,1357,1326,3.0,-1.1,4,138,11.02,2.45,-64.05,0.000,18692,0.240,0.071,2704,3538,2681,2702,2661,0,0,0,0,0,0,24.67,25.31,26.06
$GC,325,-0.40,-87.6,2704,3543,2698,2664,16.9,-9.1,39,335,0.00,2.33,0.00,0.000,1030,0.000,0.051,2704,2137,2681,2698,2664,0,0,0,0,0,0,28.83,25.41,28.83
$GC,395,-0.40,-87.6,2704,2133,2700,2664,24.7,-12.0,48,405,0.00,2.38,0.00,0.000,516,0.000,0.053,2704,710,2682,2700,2664,0,0,0,0,0,0,28.83,25.43,28.83
$GC,422,-0.40,-87.6,2703,710,2701,2664,27.7,-11.3,51,432,0.00,2.35,0.00,0.000,1030,0.000,0.052,2695,2117,2682,2701,2664,0,0,0,0,0,0,28.83,25.45,28.83
$GC,586,-0.40,-87.6,2694,2117,2700,2664,48.1,-12.2,76,593,0.00,2.38,0.00,0.000,260,0.000,0.061,2684,3561,2682,2700,2664,0,0,0,0,0,0,28.83,25.40,28.83
$GC,628,-0.40,-87.6,2683,3561,2699,2664,53.2,-11.5,83,636,0.12,2.35,0.00,0.000,3078,0.193,0.051,2713,2114,2681,2699,2664,0,0,0,0,0,0,25.20,25.49,28.83
$GC,963,-0.40,-87.6,2713,2111,2701,2663,87.4,-10.7,144,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2111,2682,2701,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-0.40,-87.6,2713,2111,2701,2663,120.3,-10.2,186,1297,0.00,2.28,0.00,0.000,516,0.000,0.053,2714,707,2682,2701,2663,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1339,-0.40,-87.6,2714,707,2701,2664,125.5,-9.7,191,1348,0.00,2.33,0.00,0.000,1030,0.000,0.052,2706,2136,2683,2702,2664,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1649,-0.40,-87.6,2706,2136,2702,2664,159.1,-10.8,222,1658,0.00,2.28,0.00,0.000,260,0.000,0.061,2695,3538,2682,2701,2663,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1714,-0.40,-87.6,2695,3538,2700,2663,165.2,-9.8,228,1720,0.00,2.28,0.00,0.000,1030,0.000,0.050,2695,2120,2682,2701,2663,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2021,-0.40,-87.6,2694,2117,2702,2663,200.4,-11.2,259,2027,0.00,2.28,0.00,0.000,516,0.000,0.054,2695,712,2682,2702,2663,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2034,-0.40,-87.6,2694,711,2702,2663,200.4,-11.2,259,2041,0.12,2.30,0.00,0.000,3078,0.202,0.051,2713,2129,2683,2703,2664,0,0,0,0,0,0,25.25,25.62,28.83
$GC,2841,-0.40,-87.6,2712,2129,2701,2663,274.5,-8.9,300,2847,0.00,2.28,0.00,0.000,260,0.000,0.061,2703,3535,2682,2702,2663,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2965,-0.40,-87.6,2704,3535,2700,2662,284.5,-8.1,306,2969,0.00,2.28,0.00,0.000,1030,0.000,0.051,2704,2119,2681,2700,2662,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3777,-0.40,-87.6,2703,2116,2701,2662,356.5,-8.4,347,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2116,2681,2701,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4577,-0.40,-87.6,2703,2116,2701,2661,425.4,-9.0,387,4582,0.00,2.30,0.00,0.000,260,0.000,0.059,2693,3536,2681,2701,2661,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4620,-0.40,-87.6,2693,3536,2701,2661,429.0,-8.9,389,4624,0.00,2.28,0.00,0.000,1030,0.000,0.052,2693,2120,2680,2700,2661,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5432,-0.40,-87.6,2693,2117,2701,2661,508.6,-9.8,430,5437,0.00,2.28,0.00,0.000,516,0.000,0.054,2693,712,2680,2701,2660,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5451,-0.40,-87.6,2693,712,2701,2660,510.6,-9.8,431,5458,0.12,2.30,0.00,0.000,3078,0.213,0.053,2712,2131,2681,2701,2661,0,0,0,0,0,0,25.22,25.62,28.83
$GC,6272,-0.40,-87.6,2711,2131,2701,2660,575.7,-7.8,472,6277,0.00,2.28,0.00,0.000,260,0.000,0.061,2703,3534,2680,2701,2660,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6406,-0.40,-87.6,2702,3533,2700,2660,584.5,-7.1,478,6412,0.00,2.28,0.00,0.000,1030,0.000,0.053,2703,2122,2680,2700,2660,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7212,-0.40,-87.6,2702,2118,2701,2660,646.0,-7.6,519,7217,0.00,2.30,0.00,0.000,516,0.000,0.056,2702,700,2680,2701,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7252,-0.40,-87.6,2702,700,2701,2659,649.2,-7.9,521,7257,0.00,2.33,0.00,0.000,1030,0.000,0.053,2692,2130,2680,2701,2659,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8072,-0.40,-87.6,2692,2131,2701,2659,718.6,-8.3,562,8077,0.00,2.25,0.00,0.000,260,0.000,0.062,2681,3528,2680,2701,2659,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8180,-0.40,-87.6,2681,3528,2699,2658,726.8,-8.0,567,8185,0.12,2.28,0.00,0.000,3078,0.193,0.054,2711,2119,2678,2699,2658,0,0,0,0,0,0,25.23,25.58,28.83
$GC,8987,-0.40,-87.6,2712,2116,2700,2659,781.8,-6.1,607,8992,0.00,2.28,0.00,0.000,516,0.000,0.054,2712,703,2679,2700,2659,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9026,-0.40,-87.6,2711,703,2701,2658,784.4,-6.3,609,9032,0.00,2.33,0.00,0.000,1030,0.000,0.052,2703,2134,2679,2700,2659,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9847,-0.40,-87.6,2703,2134,2700,2658,836.3,-6.5,650,9852,0.00,2.28,0.00,0.000,260,0.000,0.062,2692,3541,2678,2700,2657,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9951,-0.40,-87.6,2692,3541,2699,2657,842.7,-6.5,655,9957,0.00,2.30,0.00,0.000,1030,0.000,0.054,2692,2118,2678,2699,2657,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10767,-0.40,-87.6,2692,2115,2699,2658,903.5,-7.6,696,10772,0.00,2.30,0.00,0.000,516,0.000,0.057,2692,709,2679,2700,2658,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10820,-0.40,-87.6,2692,709,2700,2658,906.5,-7.6,698,10827,0.12,2.33,0.00,0.000,3078,0.210,0.054,2711,2131,2679,2700,2658,0,0,0,0,0,0,25.13,25.53,28.83
$GC,11627,-0.40,-87.6,2710,2131,2700,2657,954.3,-5.7,739,11632,0.00,2.30,0.00,0.000,260,0.000,0.063,2702,3537,2678,2699,2657,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11720,-0.40,-87.6,2702,3537,2698,2657,959.1,-6.1,743,11726,0.00,2.30,0.00,0.000,1030,0.000,0.054,2702,2117,2677,2698,2657,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,11864,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11864,begin apogee
$GC,11869,0.00,0.0,2701,2113,2699,2657,968.8,-6.2,751,11949,0.47,0.00,76.15,1.317,10246,0.181,0.000,2841,2113,2321,2359,2284,0,0,0,0,0,0,24.58,28.83,23.13
$STATE,11950,end apogee,CONTROL_FINISHED_OK
$STATE,11950,begin climb
$GC,11952,0.40,87.6,2840,2113,2360,2284,969.8,0.0,755,12041,0.38,2.45,82.00,1.309,10500,0.107,0.049,2979,3510,1963,2022,1904,0,0,0,0,0,0,24.56,23.74,22.35
$GC,12078,0.51,176.6,2979,3510,2018,1905,963.4,6.8,760,12168,0.00,2.40,84.00,1.294,9222,0.000,0.044,2989,2095,1601,1698,1504,0,0,0,0,0,0,28.83,24.24,22.06
$GC,12982,0.51,176.6,2989,2095,1684,1497,811.5,16.4,806,12988,0.00,2.25,0.00,0.000,260,0.000,0.050,2989,3505,1590,1684,1497,0,0,0,0,0,0,28.83,25.62,28.83
$GC,13130,0.51,176.6,2989,3505,1681,1497,790.3,14.8,813,13134,0.00,2.28,0.00,0.000,1030,0.000,0.047,3000,2086,1589,1682,1497,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13936,0.51,176.6,2999,2086,1680,1496,652.8,17.2,853,13942,0.00,2.25,0.00,0.000,516,0.000,0.049,3011,680,1587,1679,1496,0,0,0,0,0,0,28.83,25.74,28.83
$GC,14085,0.51,176.6,3011,680,1672,1496,630.2,15.9,860,14090,0.00,2.28,0.00,0.000,1030,0.000,0.043,3011,2104,1584,1672,1496,0,0,0,0,0,0,28.83,25.80,28.83
$GC,14892,0.51,176.6,3010,2108,1674,1496,495.3,16.1,900,14898,0.00,2.28,0.00,0.000,516,0.000,0.048,3021,684,1584,1673,1496,0,0,0,0,0,0,28.83,25.76,28.83
$GC,15022,0.51,176.6,3021,684,1670,1496,476.0,15.8,906,15026,0.00,2.25,0.00,0.000,1030,0.000,0.041,3021,2104,1583,1670,1497,0,0,0,0,0,0,28.83,25.83,28.83
$GC,15828,0.51,176.6,3021,2106,1671,1496,332.5,17.1,946,15833,0.00,2.28,0.00,0.000,516,0.000,0.047,3032,683,1583,1671,1496,0,0,0,0,0,0,28.83,25.76,28.83
$GC,15860,0.51,176.6,3031,683,1669,1496,329.1,17.1,947,15867,0.00,2.25,0.00,0.000,1030,0.000,0.041,3031,2102,1582,1669,1496,0,0,0,0,0,0,28.83,25.83,28.83
$GC,16667,0.51,176.6,3031,2103,1671,1496,188.7,16.2,991,16676,0.00,2.28,0.00,0.000,516,0.000,0.047,3042,679,1583,1670,1496,0,0,0,0,0,0,28.83,25.76,28.83
$GC,16731,0.51,176.6,3041,679,1668,1496,178.5,16.5,997,16740,0.12,2.25,0.00,0.000,5126,0.252,0.043,3016,2098,1582,1668,1496,0,0,0,0,0,0,25.23,25.81,28.83
$GC,17038,0.51,176.6,3016,2098,1670,1496,133.2,14.2,1028,17047,0.00,2.28,0.00,0.000,516,0.000,0.047,3025,677,1582,1669,1496,0,0,0,0,0,0,28.83,25.74,28.83
$GC,17070,0.51,176.6,3025,677,1668,1496,128.7,14.1,1031,17078,0.00,2.25,0.00,0.000,1030,0.000,0.042,3025,2097,1582,1669,1496,0,0,0,0,0,0,28.83,25.80,28.83
$GC,17389,0.51,176.6,2064,2097,1647,1494,81.8,14.5,1073,17396,0.00,2.28,0.00,0.000,516,0.000,0.047,3035,684,1582,1669,1496,0,0,0,0,0,0,28.83,25.73,28.83
$GC,17406,0.51,176.6,3035,684,1668,1496,79.5,14.7,1075,17413,0.00,2.25,0.00,0.000,1030,0.000,0.042,3036,2106,1582,1668,1496,0,0,0,0,0,0,28.83,25.81,28.83
$GC,17764,0.51,176.6,3036,2110,1669,1496,24.9,18.2,1136,17773,0.00,2.30,0.00,0.000,516,0.000,0.047,3045,693,1582,1668,1496,0,0,0,0,0,0,28.83,25.73,28.83
$GC,17854,0.51,176.6,3046,693,1666,1496,8.0,18.2,1148,17864,0.12,2.25,0.00,0.000,5126,0.243,0.040,3013,2097,1582,1668,1496,0,0,0,0,0,0,25.01,25.85,28.83
$STATE,17886,end climb,SURFACE_DEPTH_REACHED
$STATE,17886,begin surface coast
$FINISH,2.3,1.023010
$STATE,17910,end surface coast,CONTROL_FINISHED_OK
$STATE,17910,begin surface
$SM_CCo,17926,128.00,0.054,0,0,499,446.93
$SM_GC,2.92,8.48,0.00,128.00,0.103,0.000,0.054,130,2101,499,-8.41,-0.65,446.93,0,0,0,0,0,0,25.51,28.83,25.58
$IRIDIUM_FIX,-4514.89,600.70,290909,090913
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.94
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,22.1,54.051
$10V_AH,9.6,69.468
$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,21.225,114.825,242.150,128.000,0.000,59.356,87.509,424.965,0.000,0.000,8.952,2959.157,12069.231,503.754,3102.314,223.835,0.000,1638.378,0.000,2462.348,0.000,0.989,0.000
$DEVICE_MAMPS,252.450,71.145,1317.330,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.726,107.116,575.805,604.079,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352996
$DATA_FILE_SIZE,70487,1155
$CAP_FILE_SIZE,138106,0
$CFSIZE,2097086464,2025619456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.185, 55.6,1
$GPS,031216,013203,-4532.815,559.318,36,1.0,36,-24.2