version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 521
start: 10 13 115 5 34 30
data:
$ID,574
$MISSION,20
$DIVE,521
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,180
$T_MISSION,200
$T_ABORT,210
$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,-2400826.8
$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,35
$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
$GPS1,031216,191557,-4531.467,600.650,64,0.8,64,-24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-71.8
$GPS2,031216,192441,-4531.473,600.709,5,1.2,5,-24.2
$SPEED_LIMITS,0.303,0.313
$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,248.4,110823,-13.1,-9.259,-16.49,3891
$D_GRID,500
$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,-87.6,128,2091,498,429,0.0,0.0,0,52,0.00,0.00,-34.88,0.000,16386,0.000,0.000,128,2091,1346,1365,1327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.40,-87.6,128,2091,1369,1325,3.0,-0.6,4,138,10.85,2.45,-59.28,0.000,19204,0.243,0.072,2695,3534,2682,2700,2664,0,0,0,0,0,0,24.65,25.32,26.10
$GC,148,-0.40,-87.6,2695,3535,2698,2665,5.2,-7.2,14,158,0.00,2.30,0.00,0.000,1030,0.000,0.046,2697,2136,2681,2698,2665,0,0,0,0,0,0,28.83,25.39,28.83
$GC,217,-0.40,-87.6,2697,2132,2700,2664,13.5,-11.2,23,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2132,2682,2700,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,285,-0.40,-87.6,2697,2132,2700,2665,21.7,-12.6,32,295,0.00,2.35,0.00,0.000,260,0.000,0.060,2688,3533,2682,2700,2664,0,0,0,0,0,0,28.83,25.33,28.83
$GC,319,-0.40,-87.6,2688,3533,2699,2665,25.5,-11.2,36,330,0.00,2.35,0.00,0.000,1030,0.000,0.054,2688,2124,2682,2700,2664,0,0,0,0,0,0,28.83,25.39,28.83
$GC,487,-0.40,-87.6,2688,2120,2700,2664,49.0,-12.8,61,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2120,2682,2700,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-0.40,-87.6,2688,2120,2701,2664,94.8,-11.3,122,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2119,2683,2701,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.40,-87.6,2688,2120,2702,2664,133.5,-12.9,157,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2120,2683,2702,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1450,-0.40,-87.6,2688,2120,2702,2664,173.2,-13.2,187,1458,0.00,2.28,0.00,0.000,260,0.000,0.059,2680,3527,2682,2701,2664,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1471,-0.40,-87.6,2679,3527,2701,2664,176.5,-13.5,189,1481,0.12,2.28,0.00,0.000,3078,0.208,0.051,2709,2119,2682,2701,2664,0,0,0,0,0,0,25.21,25.58,28.83
$GC,1781,-0.40,-87.6,2709,2116,2702,2664,212.0,-11.2,215,1787,0.00,2.30,0.00,0.000,260,0.000,0.057,2700,3541,2683,2702,2664,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1814,-0.40,-87.6,2700,3541,2701,2664,214.3,-11.2,216,1821,0.00,2.28,0.00,0.000,1030,0.000,0.049,2700,2120,2682,2701,2664,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2621,-0.40,-87.6,2700,2117,2702,2664,315.6,-12.8,257,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2117,2683,2702,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3421,-0.40,-87.6,2700,2116,2702,2663,405.0,-10.1,297,3427,0.00,2.30,0.00,0.000,516,0.000,0.055,2701,700,2682,2702,2663,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3449,-0.40,-87.6,2700,700,2702,2663,407.2,-10.1,298,3453,0.00,2.30,0.00,0.000,1030,0.000,0.050,2690,2121,2682,2702,2663,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4256,-0.40,-87.6,2690,2121,2702,2663,490.3,-9.5,338,4261,0.00,2.30,0.00,0.000,260,0.000,0.062,2679,3537,2682,2702,2662,0,0,0,0,0,0,28.83,25.52,28.83
$GC,4359,-0.40,-87.6,2679,3537,2701,2662,498.9,-8.6,343,4364,0.12,2.30,0.00,0.000,3078,0.141,0.054,2710,2120,2681,2701,2662,0,0,0,0,0,0,25.47,25.62,28.83
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4374,0.00,0.0,2710,2118,2701,2662,500.2,-8.5,344,4451,0.43,0.00,72.32,1.038,10246,0.129,0.000,2838,2115,2321,2359,2284,0,0,0,0,0,0,25.29,28.83,23.63
$STATE,4452,end apogee,CONTROL_FINISHED_OK
$STATE,4453,begin climb
$GC,4455,0.40,87.6,2838,2115,2360,2284,501.5,0.0,348,4539,0.35,2.42,76.05,1.042,10500,0.041,0.048,2995,3511,1964,2022,1906,0,0,0,0,0,0,25.07,24.31,23.11
$GC,4545,0.40,87.6,2995,3510,2020,1906,502.0,-0.3,352,4553,0.12,2.38,0.00,0.000,5126,0.190,0.041,2981,2091,1962,2020,1905,0,0,0,0,0,0,24.22,24.45,28.83
$GC,5353,0.44,121.0,2981,2088,2012,1896,426.5,8.4,393,5391,0.00,2.38,28.15,0.989,8708,0.000,0.047,2990,678,1827,1893,1761,0,0,0,0,0,0,28.83,25.37,24.15
$GC,5455,0.44,121.0,2990,677,1888,1761,416.8,9.9,398,5460,0.00,2.30,0.00,0.000,1030,0.000,0.043,2990,2100,1824,1888,1761,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6274,0.44,121.0,2990,2100,1888,1758,329.0,11.6,439,6280,0.00,2.28,0.00,0.000,516,0.000,0.046,3000,684,1822,1887,1758,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6322,0.44,121.0,3000,684,1885,1758,324.2,11.8,441,6326,0.00,2.28,0.00,0.000,1030,0.000,0.043,3001,2106,1821,1885,1758,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7129,0.44,121.0,3000,2105,1885,1757,227.5,11.2,481,7135,0.00,2.28,0.00,0.000,516,0.000,0.045,3010,683,1821,1885,1757,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7182,0.44,121.0,3010,683,1882,1757,223.0,11.2,483,7189,0.00,2.25,0.00,0.000,1030,0.000,0.043,3010,2098,1820,1883,1757,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7989,0.44,121.0,3011,2098,1883,1757,136.5,10.1,554,7998,0.00,2.22,0.00,0.000,260,0.000,0.050,3011,3506,1820,1883,1757,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8091,0.44,121.0,3010,3506,1881,1757,125.7,10.7,564,8100,0.12,2.22,0.00,0.000,5126,0.194,0.043,2993,2090,1819,1882,1757,0,0,0,0,0,0,25.44,25.82,28.83
$GC,8404,0.47,144.2,2993,2089,1882,1757,96.9,8.6,598,8432,0.00,2.25,19.65,0.792,8708,0.000,0.046,3003,678,1732,1807,1658,0,0,0,0,0,0,28.83,25.84,24.58
$GC,8444,0.47,144.2,3002,678,1804,1657,93.0,9.5,604,8451,0.00,2.30,0.00,0.000,1030,0.000,0.042,3003,2094,1731,1805,1658,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8781,0.47,144.2,2048,2094,1776,1654,57.6,9.6,665,8789,0.00,2.22,0.00,0.000,260,0.000,0.050,3003,3508,1730,1804,1656,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8823,0.47,144.2,3003,3508,1804,1657,53.3,10.2,672,8833,0.00,2.28,0.00,0.000,1030,0.000,0.044,3013,2097,1729,1803,1656,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9227,0.47,144.2,3013,2092,1802,1656,4.7,15.1,733,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2092,1729,1805,1654,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9244,end climb,SURFACE_DEPTH_REACHED
$STATE,9244,begin surface coast
$FINISH,2.7,1.022952
$STATE,9267,end surface coast,CONTROL_FINISHED_OK
$STATE,9267,begin surface
$SM_CCo,9284,144.75,0.055,0,0,499,446.93
$SM_GC,2.71,7.60,0.00,144.75,0.028,0.000,0.055,128,2092,499,-8.41,-0.90,446.93,0,0,0,0,0,0,25.89,28.83,25.65
$IRIDIUM_FIX,-4511.83,600.06,300909,020205
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.45
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.1,54.429
$10V_AH,9.6,69.933
$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,19.725,59.825,196.175,144.750,0.000,19.370,47.905,335.930,0.000,0.000,8.950,1862.749,5453.842,454.288,2046.545,155.856,0.000,1166.976,0.000,1624.685,0.000,0.990,0.000
$DEVICE_MAMPS,243.270,71.910,1041.930,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.218,107.730,572.980,600.944,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352960
$DATA_FILE_SIZE,47077,738
$CAP_FILE_SIZE,83641,0
$CFSIZE,2097086464,2025193472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196, 70.6,1
$GPS,031216,220351,-4531.722,601.045,36,0.9,36,-24.2