version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 59
start: 6 10 115 6 26 42
data:
$ID,574
$MISSION,20
$DIVE,59
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$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,333
$T_MISSION,343
$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,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,-2366312.5
$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,23
$R_STBD_OVSHOOT,25
$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,95
$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
$GPS1,310716,195657,-4652.628,435.045,105,0.9,105,-23.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-79.4
$GPS2,310716,200849,-4652.609,435.212,5,0.8,5,-23.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,TARGET
$TGT_LATLONG,-4700.000,340.000
$TGT_RADIUS,500.000
$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,303.4,71066,-16.4,-10.010,-19.35,2733
$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,14,-0.50,-107.1,127,2097,1530,1443,0.0,0.0,0,61,0.00,0.00,-44.33,0.000,16386,0.000,0.000,127,2098,2579,2556,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.50,-107.1,126,2098,2557,2603,3.1,-1.8,5,92,10.73,2.38,-4.57,0.000,19204,0.260,0.071,2664,3535,2762,2764,2760,0,0,0,0,0,0,25.60,25.86,26.15
$GC,115,-0.50,-107.1,2664,3534,2768,2757,13.8,-21.2,11,126,0.00,2.33,0.00,0.000,1030,0.000,0.057,2671,2133,2762,2769,2756,0,0,0,0,0,0,28.83,25.87,28.83
$GC,184,-0.50,-107.1,2671,2129,2773,2753,26.9,-19.5,20,194,0.00,2.33,0.00,0.000,260,0.000,0.067,2662,3522,2763,2773,2753,0,0,0,0,0,0,28.83,25.89,28.83
$GC,203,-0.50,-107.1,2662,3522,2773,2753,30.5,-19.4,22,212,0.00,2.33,0.00,0.000,1030,0.000,0.057,2663,2120,2763,2773,2753,0,0,0,0,0,0,28.83,25.91,28.83
$GC,356,-0.50,-107.1,2663,2116,2774,2752,59.6,-18.8,47,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2116,2763,2774,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,681,-0.50,-107.1,2663,2116,2775,2752,120.2,-17.8,97,685,0.00,2.30,0.00,0.000,260,0.000,0.066,2654,3529,2763,2775,2752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,749,-0.50,-107.1,1812,3528,2748,2748,131.3,-16.0,103,758,0.00,2.33,0.00,0.000,1030,0.000,0.060,2654,2125,2764,2775,2753,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1057,-0.50,-107.1,2653,2122,2775,2752,185.2,-16.4,134,1062,0.12,2.30,0.00,0.000,2308,0.300,0.067,2675,3532,2764,2775,2753,0,0,0,0,0,0,25.95,26.13,28.83
$GC,1133,-0.50,-107.1,2675,3532,2775,2752,196.5,-13.5,141,1138,0.00,2.30,0.00,0.000,1030,0.000,0.063,2679,2116,2763,2775,2752,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1438,-0.50,-107.1,2678,2115,2777,2752,238.0,-13.6,171,1443,0.00,2.30,0.00,0.000,260,0.000,0.069,2670,3529,2764,2777,2752,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1484,-0.50,-107.1,2669,3529,2776,2751,243.9,-13.3,175,1488,0.00,2.28,0.00,0.000,1030,0.000,0.063,2670,2122,2764,2776,2752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1789,-0.50,-107.1,2670,2119,2777,2752,285.5,-14.3,205,1793,0.00,2.30,0.00,0.000,260,0.000,0.070,2660,3531,2764,2777,2752,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1815,-0.50,-107.1,2659,3531,2776,2752,289.0,-14.0,207,1819,0.00,2.28,0.00,0.000,1030,0.000,0.063,2660,2123,2764,2776,2752,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2120,-0.50,-107.1,2660,2120,2777,2752,333.1,-14.5,237,2124,0.00,2.30,0.00,0.000,260,0.000,0.072,2650,3528,2764,2777,2752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2158,-0.50,-107.1,2650,3528,2776,2752,338.2,-14.3,240,2167,0.10,2.25,0.00,0.000,3078,0.253,0.064,2678,2125,2764,2777,2752,0,0,0,0,0,0,26.07,26.26,28.83
$GC,2467,-0.50,-107.1,2678,2122,2778,2752,379.4,-13.5,271,2476,0.00,2.30,0.00,0.000,260,0.000,0.071,2670,3534,2764,2777,2751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2491,-0.50,-107.1,1824,3533,2750,2747,382.5,-13.9,273,2498,0.00,2.35,0.00,0.000,1030,0.000,0.066,2669,2119,2764,2776,2752,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2798,-0.50,-107.1,2669,2116,2777,2751,427.3,-14.6,295,2802,0.00,2.30,0.00,0.000,260,0.000,0.072,2660,3528,2764,2777,2751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2827,-0.50,-107.1,2659,3528,2776,2752,429.6,-14.5,296,2834,0.00,2.33,0.00,0.000,1030,0.000,0.067,2659,2123,2764,2777,2751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3134,-0.50,-107.1,2659,2120,2777,2751,477.7,-15.1,312,3140,0.00,2.30,0.00,0.000,260,0.000,0.074,2649,3528,2764,2777,2751,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3174,-0.50,-107.1,2649,3528,2776,2752,483.8,-15.2,314,3179,0.12,2.28,0.00,0.000,3078,0.271,0.069,2676,2123,2763,2776,2751,0,0,0,0,0,0,26.14,26.32,28.83
$GC,3492,-0.50,-107.1,2676,2120,2777,2751,526.0,-13.3,330,3497,0.00,2.30,0.00,0.000,260,0.000,0.075,2667,3532,2764,2777,2751,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3510,-0.50,-107.1,2667,3532,2776,2751,528.6,-13.4,331,3514,0.00,2.30,0.00,0.000,1030,0.000,0.072,2667,2122,2763,2776,2750,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3827,-0.50,-107.1,2667,2119,2777,2751,572.9,-14.4,347,3833,0.00,2.33,0.00,0.000,260,0.000,0.076,2657,3539,2764,2777,2751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3848,-0.50,-107.1,1840,3538,2750,2747,575.9,-14.4,348,3853,0.00,2.35,0.00,0.000,1030,0.000,0.072,2657,2133,2763,2776,2751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4166,-0.50,-107.1,2656,2130,2777,2751,623.5,-14.9,364,4172,0.00,2.30,0.00,0.000,260,0.000,0.078,2647,3527,2764,2777,2751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4206,-0.50,-107.1,2646,3527,2776,2751,629.4,-14.9,366,4211,0.15,2.30,0.00,0.000,3078,0.270,0.071,2681,2120,2763,2776,2751,0,0,0,0,0,0,26.17,26.34,28.83
$GC,4522,-0.50,-107.1,2681,2117,2777,2750,667.0,-11.3,382,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2117,2763,2777,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4822,-0.50,-107.1,2681,2117,2777,2749,698.5,-10.3,397,4826,0.00,2.30,0.00,0.000,516,0.000,0.071,2684,708,2763,2777,2749,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4841,-0.50,-107.1,2684,707,2777,2750,700.2,-10.3,398,4845,0.00,2.33,0.00,0.000,1030,0.000,0.063,2675,2115,2763,2777,2750,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5158,-0.50,-107.1,2675,2115,2777,2748,733.2,-10.2,414,5162,0.00,2.33,0.00,0.000,260,0.000,0.073,2663,3548,2762,2777,2748,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5214,-0.50,-107.1,2663,3548,2775,2749,738.6,-9.7,417,5218,0.00,2.33,0.00,0.000,1030,0.000,0.071,2664,2118,2762,2776,2749,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5530,-0.50,-107.1,2664,2115,2776,2748,772.6,-10.9,433,5534,0.00,2.35,0.00,0.000,260,0.000,0.079,2653,3547,2762,2776,2748,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5559,-0.50,-107.1,2653,3547,2775,2749,774.3,-10.9,434,5566,0.12,2.35,0.00,0.000,3078,0.266,0.071,2681,2109,2762,2776,2748,0,0,0,0,0,0,26.22,26.39,28.83
$GC,5866,-0.50,-107.1,2681,2106,2776,2748,805.2,-9.5,450,5870,0.00,2.35,0.00,0.000,260,0.000,0.080,2672,3540,2762,2776,2748,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5885,-0.50,-107.1,2671,3540,2775,2747,806.8,-9.6,451,5889,0.00,2.33,0.00,0.000,1030,0.000,0.073,2672,2121,2761,2775,2748,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6197,-0.50,-107.1,2672,2119,2776,2747,839.1,-10.2,467,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2119,2761,2776,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6497,-0.50,-107.1,2671,2119,2776,2747,871.0,-10.7,482,6501,0.00,2.35,0.00,0.000,260,0.000,0.079,2661,3547,2761,2776,2746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6512,-0.50,-107.1,2661,3547,2775,2747,872.7,-10.7,483,6517,0.00,2.35,0.00,0.000,1030,0.000,0.073,2661,2116,2761,2775,2747,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6828,-0.50,-107.1,2661,2113,2776,2746,909.5,-11.8,499,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2113,2761,2776,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,-0.50,-107.1,2661,2113,2776,2746,945.7,-12.3,514,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2113,2761,2776,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7430,-0.50,-107.1,2661,2114,2776,2746,981.6,-11.7,529,7436,0.00,2.35,0.00,0.000,260,0.000,0.081,2651,3539,2760,2775,2746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7458,-0.50,-107.1,2650,3539,2775,2746,984.0,-11.9,530,7463,0.12,2.33,0.00,0.000,3078,0.262,0.076,2678,2123,2760,2774,2747,0,0,0,0,0,0,26.25,26.41,28.83
$STATE,7602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7606,-0.11,0.0,2678,2092,2776,2746,1001.0,-10.7,537,7704,0.43,0.00,89.62,1.325,10246,0.215,0.000,2801,2092,2322,2361,2283,0,0,0,0,0,0,26.34,28.83,23.71
$STATE,7704,end apogee,CONTROL_FINISHED_OK
$STATE,7705,begin climb
$GC,7706,0.50,107.1,2801,2092,2360,2283,1004.4,0.0,542,7806,0.65,0.00,96.97,1.301,10246,0.156,0.000,2999,2091,1884,1953,1816,0,0,0,0,0,0,24.53,28.83,23.34
$GC,8104,0.50,107.1,2999,2092,1943,1810,947.8,16.3,562,8110,0.00,2.33,0.00,0.000,516,0.000,0.051,3010,674,1876,1943,1810,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8131,0.50,107.1,3009,674,1938,1810,944.5,16.3,563,8136,0.00,2.35,0.00,0.000,1030,0.000,0.047,3010,2108,1874,1938,1810,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8443,0.50,107.1,3009,2108,1938,1808,890.2,17.0,579,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2109,1873,1938,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,0.50,107.1,3010,2109,1937,1808,838.5,17.5,594,8748,0.00,2.30,0.00,0.000,516,0.000,0.050,3020,681,1872,1937,1808,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8801,0.50,107.1,3020,681,1932,1808,828.5,17.8,597,8807,0.00,2.28,0.00,0.000,1030,0.000,0.046,3020,2108,1870,1933,1808,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9119,0.50,107.1,3020,2108,1933,1808,769.6,18.3,613,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2108,1870,1933,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9420,0.50,107.1,3020,2108,1933,1808,716.2,17.3,628,9425,0.00,2.28,0.00,0.000,516,0.000,0.050,3030,681,1870,1932,1808,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,10843,0.50,107.1,3040,676,1927,1808,469.8,17.0,700,10850,0.15,2.25,0.00,0.000,5126,0.304,0.045,3009,2103,1868,1928,1808,0,0,0,0,0,0,26.03,26.27,28.83
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$GC,12089,0.50,107.1,3019,2096,1928,1808,278.8,15.0,801,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2095,1868,1928,1808,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,14076,end climb,SURFACE_DEPTH_REACHED
$STATE,14076,begin surface coast
$FINISH,1.2,1.015479
$STATE,14106,end surface coast,CONTROL_FINISHED_OK
$STATE,14106,begin surface
$SM_CCo,14120,150.73,0.056,0,0,498,446.93
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$IRIDIUM_FIX,-4632.36,431.17,280509,090942
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,23.3,9.595
$10V_AH,10.1,7.884
$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
$DEVICE_SECS,20.725,151.325,189.300,150.725,0.000,157.468,110.148,82.557,0.000,0.000,8.967,2774.161,9113.549,522.419,2484.753,113.583,0.000,1520.838,0.000,2069.506,0.000,0.989,0.000
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$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,67046,1045
$CAP_FILE_SIZE,146066,0
$CFSIZE,2097086464,2086469632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248,102.5,1
$GPS,010816,000857,-4652.513,435.511,58,1.0,58,-23.5