version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 66
start: 6 11 115 11 7 2
data:
$ID,574
$MISSION,20
$DIVE,66
$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,200
$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,-2366906
$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,26
$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,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
$GPS1,020816,004251,-4652.253,435.727,55,1.0,55,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-77.8
$GPS2,020816,004915,-4652.230,435.830,4,0.9,4,-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,306.8,71970,-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,15,-0.50,-107.1,128,2109,1526,1447,0.0,0.0,0,51,0.00,0.00,-34.12,0.000,16386,0.000,0.000,128,2110,2331,2324,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.50,-107.1,129,2109,2323,2341,3.0,-2.0,6,85,10.57,2.25,-13.02,0.000,18948,0.252,0.064,2684,714,2759,2771,2748,0,0,0,0,0,0,25.59,25.79,26.10
$GC,96,-0.50,-107.1,2683,714,2773,2749,7.7,-12.0,13,104,0.00,2.30,0.00,0.000,1030,0.000,0.054,2675,2129,2761,2773,2749,0,0,0,0,0,0,28.83,25.81,28.83
$GC,146,-0.50,-107.1,2675,2129,2773,2749,15.6,-16.9,22,152,0.00,2.30,0.00,0.000,260,0.000,0.063,2664,3546,2761,2773,2749,0,0,0,0,0,0,28.83,25.82,28.83
$GC,183,-0.50,-107.1,1760,3545,2743,2744,22.7,-19.7,29,191,0.00,2.30,0.00,0.000,1030,0.000,0.057,2664,2129,2760,2773,2748,0,0,0,0,0,0,28.83,25.85,28.83
$GC,313,-0.50,-107.1,2664,2126,2774,2748,45.8,-17.7,54,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2125,2761,2774,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,626,-0.50,-107.1,2664,2125,2774,2748,102.6,-17.5,115,630,0.00,2.30,0.00,0.000,260,0.000,0.067,2654,3533,2761,2774,2748,0,0,0,0,0,0,28.83,26.01,28.83
$GC,702,-0.50,-107.1,2654,3534,2774,2748,114.7,-15.0,122,712,0.12,2.30,0.00,0.000,3078,0.187,0.063,2681,2120,2761,2775,2748,0,0,0,0,0,0,25.94,26.04,28.83
$GC,1012,-0.50,-107.1,2682,2116,2775,2747,160.2,-14.0,153,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2116,2761,2775,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-0.50,-107.1,2681,2116,2776,2747,201.6,-12.6,183,1316,0.00,2.30,0.00,0.000,260,0.000,0.066,2673,3541,2761,2776,2747,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1341,-0.50,-107.1,2672,3541,2776,2747,205.2,-13.5,185,1349,0.00,2.33,0.00,0.000,1030,0.000,0.060,2672,2123,2761,2776,2747,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1648,-0.50,-107.1,2672,2120,2776,2747,249.3,-14.7,216,1652,0.00,2.30,0.00,0.000,260,0.000,0.068,2662,3535,2762,2777,2747,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1696,-0.50,-107.1,2662,3535,2776,2747,256.0,-14.5,220,1704,0.00,2.33,0.00,0.000,1030,0.000,0.061,2662,2093,2761,2776,2747,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2003,-0.50,-107.1,2662,2089,2777,2748,304.8,-16.6,251,2007,0.00,2.35,0.00,0.000,260,0.000,0.069,2651,3541,2762,2777,2747,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2089,-0.50,-107.1,2652,3541,2776,2747,318.1,-15.4,259,2094,0.12,2.30,0.00,0.000,3078,0.206,0.063,2680,2123,2761,2776,2747,0,0,0,0,0,0,26.15,26.25,28.83
$GC,2394,-0.50,-107.1,2679,2120,2777,2747,363.3,-14.9,289,2398,0.00,2.30,0.00,0.000,260,0.000,0.070,2670,3540,2761,2776,2747,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2414,-0.50,-107.1,1792,3539,2747,2742,365.6,-15.1,290,2420,0.00,2.30,0.00,0.000,1030,0.000,0.063,2671,2117,2762,2777,2747,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2720,-0.50,-107.1,2670,2115,2777,2747,413.2,-15.3,317,2726,0.00,2.30,0.00,0.000,260,0.000,0.070,2660,3530,2762,2777,2747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2763,-0.50,-107.1,2660,3529,2776,2746,419.0,-15.1,319,2767,0.00,2.28,0.00,0.000,1030,0.000,0.064,2660,2122,2761,2776,2746,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3075,-0.50,-107.1,2660,2120,2777,2746,467.6,-15.5,335,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2120,2761,2777,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3375,-0.50,-107.1,2660,2118,2776,2746,512.5,-14.9,350,3381,0.00,2.30,0.00,0.000,260,0.000,0.073,2650,3533,2761,2776,2746,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3443,-0.50,-107.1,2650,3533,2776,2746,521.1,-14.6,353,3448,0.10,2.33,0.00,0.000,3078,0.161,0.067,2680,2131,2761,2776,2746,0,0,0,0,0,0,26.25,26.34,28.83
$GC,3755,-0.50,-107.1,2679,2128,2777,2746,558.4,-11.0,369,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2128,2761,2777,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-0.50,-107.1,2680,2128,2777,2745,590.3,-10.6,384,4062,0.00,2.30,0.00,0.000,260,0.000,0.076,2671,3541,2761,2777,2745,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4078,-0.50,-107.1,2671,3541,2777,2744,592.4,-10.5,385,4082,0.00,2.35,0.00,0.000,1030,0.000,0.068,2671,2123,2760,2777,2744,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4395,-0.50,-107.1,2671,2120,2777,2744,628.3,-11.6,401,4399,0.00,2.30,0.00,0.000,260,0.000,0.074,2661,3531,2761,2777,2745,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4434,-0.50,-107.1,2660,3531,2777,2744,632.6,-11.5,403,4438,0.00,2.33,0.00,0.000,1030,0.000,0.069,2660,2124,2760,2776,2744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4751,-0.50,-107.1,2660,2121,2777,2744,672.3,-12.4,419,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2121,2760,2777,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5051,-0.50,-107.1,2660,2121,2777,2744,709.0,-12.6,434,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2121,2761,2778,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5351,-0.50,-107.1,2660,2121,2777,2743,747.4,-12.9,449,5355,0.00,2.30,0.00,0.000,260,0.000,0.074,2650,3534,2760,2777,2743,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5370,-0.50,-107.1,2650,3534,2776,2743,749.3,-12.9,450,5375,0.12,2.30,0.00,0.000,3078,0.180,0.070,2678,2118,2759,2776,2743,0,0,0,0,0,0,26.32,26.39,28.83
$GC,5682,-0.50,-107.1,2678,2115,2777,2743,785.9,-11.5,466,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2115,2760,2777,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.50,-107.1,2678,2115,2777,2742,820.7,-11.9,481,5986,0.00,2.28,0.00,0.000,516,0.000,0.069,2684,711,2760,2777,2743,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6020,-0.50,-107.1,1856,711,2751,2738,825.2,-12.5,483,6024,0.00,2.30,0.00,0.000,1030,0.000,0.060,2675,2116,2760,2778,2742,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6337,-0.50,-107.1,2674,2116,2777,2742,865.7,-12.8,499,6341,0.00,2.30,0.00,0.000,260,0.000,0.073,2664,3542,2760,2778,2742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6426,-0.50,-107.1,2663,3542,2776,2742,875.1,-12.4,503,6433,0.00,2.33,0.00,0.000,1030,0.000,0.070,2664,2117,2759,2777,2742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6733,-0.50,-107.1,2664,2114,2777,2742,916.0,-12.7,519,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2114,2758,2775,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7035,-0.50,-107.1,2664,2114,2776,2742,952.4,-11.8,534,7040,0.00,2.28,0.00,0.000,516,0.000,0.071,2664,700,2758,2776,2741,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7055,-0.50,-107.1,1824,700,2751,2737,954.9,-11.8,535,7061,0.08,2.35,0.00,0.000,3078,0.183,0.063,2675,2122,2759,2777,2742,0,0,0,0,0,0,26.32,26.44,28.83
$GC,7373,-0.50,-107.1,2675,2122,2777,2741,987.1,-9.7,551,7377,0.00,2.30,0.00,0.000,260,0.000,0.076,2666,3542,2759,2776,2742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7438,-0.50,-107.1,2665,3543,2775,2742,992.6,-9.6,554,7442,0.00,2.33,0.00,0.000,1030,0.000,0.072,2665,2119,2759,2776,2742,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,7523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7527,-0.11,0.0,2665,2117,2776,2741,1002.0,-9.9,558,7619,0.47,0.00,89.20,1.320,10246,0.159,0.000,2804,2115,2321,2363,2280,0,0,0,0,0,0,26.34,28.83,23.72
$STATE,7620,end apogee,CONTROL_FINISHED_OK
$STATE,7620,begin climb
$GC,7621,0.50,107.1,2803,2115,2363,2280,1003.8,0.0,562,7725,0.60,0.00,96.28,1.297,10502,0.087,0.000,2999,2115,1886,1958,1815,0,0,0,0,0,0,24.59,28.83,23.35
$GC,8024,0.50,107.1,2999,2115,1947,1808,942.0,16.8,583,8028,0.00,2.38,0.00,0.000,516,0.000,0.051,3010,669,1877,1946,1808,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8108,0.50,107.1,3009,669,1940,1808,929.1,17.3,587,8112,0.00,2.38,0.00,0.000,1030,0.000,0.047,3010,2097,1874,1940,1808,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8420,0.50,107.1,3009,2098,1941,1808,872.7,17.4,603,8424,0.00,2.30,0.00,0.000,516,0.000,0.052,3020,675,1873,1940,1807,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8455,0.50,107.1,3019,675,1937,1807,866.4,17.4,605,8460,0.00,2.30,0.00,0.000,1030,0.000,0.047,3020,2104,1872,1937,1807,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8773,0.50,107.1,3020,2105,1938,1807,809.7,18.0,621,8778,0.00,2.30,0.00,0.000,516,0.000,0.050,3030,674,1872,1937,1807,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8791,0.50,107.1,3030,674,1935,1807,806.1,17.7,622,8796,0.00,2.28,0.00,0.000,1030,0.000,0.044,3030,2104,1871,1935,1807,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9109,0.50,107.1,3030,2104,1936,1807,746.8,18.8,638,9115,0.00,2.28,0.00,0.000,516,0.000,0.049,3040,671,1871,1936,1807,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9155,0.50,107.1,3040,670,1932,1807,738.9,19.3,640,9160,0.08,2.33,0.00,0.000,5126,0.199,0.044,3013,2104,1869,1932,1807,0,0,0,0,0,0,25.89,26.06,28.83
$GC,9467,0.50,107.1,3013,2104,1934,1807,684.1,16.6,656,9471,0.00,2.28,0.00,0.000,516,0.000,0.050,3022,675,1870,1934,1807,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9511,0.50,107.1,3022,674,1932,1807,678.1,16.6,658,9515,0.00,2.30,0.00,0.000,1030,0.000,0.045,3022,2097,1869,1932,1807,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,11612,0.50,107.1,3039,676,1929,1807,327.3,16.8,785,11617,0.15,2.22,0.00,0.000,5126,0.207,0.046,3007,2097,1867,1928,1807,0,0,0,0,0,0,26.17,26.34,28.83
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$STATE,13924,end climb,SURFACE_DEPTH_REACHED
$STATE,13924,begin surface coast
$FINISH,1.4,1.022947
$STATE,13946,end surface coast,CONTROL_FINISHED_OK
$STATE,13946,begin surface
$SM_CCo,13959,39.25,0.057,0,0,1505,200.16
$SM_GC,2.30,7.78,0.00,39.25,0.050,0.000,0.057,129,2105,1505,-8.40,-0.54,200.16,0,0,0,0,0,0,26.42,28.83,26.35
$IRIDIUM_FIX,-4632.36,437.45,290509,101016
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.35
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.4,10.245
$10V_AH,10.3,8.480
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.425,137.150,185.475,39.250,0.000,24.625,23.247,243.734,0.000,0.000,7.963,2877.073,8811.659,408.816,2217.966,92.653,0.000,1418.513,0.000,1870.451,0.000,0.989,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353408
$DATA_FILE_SIZE,63754,1093
$CAP_FILE_SIZE,145784,0
$CFSIZE,2097086464,2085781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.242,104.0,1
$GPS,020816,044452,-4652.025,436.140,60,0.9,60,-23.5