version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 92
start: 6 15 115 21 49 15
data:
$ID,574
$MISSION,20
$DIVE,92
$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,-2370110.5
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,060816,112434,-4650.607,441.926,88,1.0,89,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.8
$GPS2,060816,113144,-4650.629,441.972,4,1.0,4,-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,300.2,80175,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.50,-107.1,133,2115,1524,1452,0.0,0.0,0,39,0.00,0.00,-23.08,0.000,16386,0.000,0.000,133,2116,2062,2070,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.50,-107.1,133,2115,2066,2059,3.0,-3.7,4,84,10.35,2.40,-24.95,0.000,18692,0.243,0.077,2667,3533,2760,2771,2750,0,0,0,0,0,0,25.57,25.75,26.07
$GC,96,-0.50,-107.1,2667,3533,2771,2751,6.9,-13.1,13,102,0.00,2.25,0.00,0.000,1030,0.000,0.050,2671,2129,2761,2772,2751,0,0,0,0,0,0,28.83,25.78,28.83
$GC,144,-0.50,-107.1,2671,2124,2774,2748,16.5,-21.5,22,150,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2125,2761,2774,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,192,-0.50,-107.1,2671,2124,2774,2748,26.9,-21.5,31,198,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2125,2761,2774,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,320,-0.50,-107.1,2671,2125,2775,2748,50.7,-19.6,56,326,0.00,2.30,0.00,0.000,260,0.000,0.066,2662,3528,2761,2774,2748,0,0,0,0,0,0,28.83,25.89,28.83
$GC,382,-0.50,-107.1,1760,3527,2745,2743,61.8,-15.8,68,389,0.00,2.28,0.00,0.000,1030,0.000,0.057,2663,2120,2761,2774,2748,0,0,0,0,0,0,28.83,25.93,28.83
$GC,690,-0.50,-107.1,2663,2117,2774,2748,123.4,-21.2,118,694,0.00,2.30,0.00,0.000,260,0.000,0.065,2654,3532,2761,2774,2748,0,0,0,0,0,0,28.83,26.03,28.83
$GC,766,-0.50,-107.1,2654,3532,2775,2747,137.3,-17.0,125,771,0.12,2.28,0.00,0.000,3078,0.181,0.057,2683,2118,2761,2775,2748,0,0,0,0,0,0,25.95,26.05,28.83
$GC,1072,-0.50,-107.1,2683,2115,2775,2748,185.0,-14.5,155,1080,0.00,2.30,0.00,0.000,260,0.000,0.064,2674,3528,2761,2775,2748,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1142,-0.50,-107.1,2674,3528,2775,2748,194.3,-12.4,162,1146,0.00,2.25,0.00,0.000,1030,0.000,0.058,2676,2124,2761,2775,2747,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1447,-0.50,-107.1,2675,2120,2776,2748,238.0,-14.0,192,1451,0.00,2.28,0.00,0.000,260,0.000,0.067,2667,3525,2762,2776,2748,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1496,-0.50,-107.1,2666,3525,2775,2748,244.3,-13.9,196,1503,0.00,2.30,0.00,0.000,1030,0.000,0.057,2667,2094,2761,2775,2747,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1803,-0.50,-107.1,2666,2090,2776,2747,290.2,-14.5,227,1812,0.00,2.35,0.00,0.000,260,0.000,0.067,2656,3529,2761,2776,2747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1884,-0.50,-107.1,2656,3529,2776,2748,301.1,-12.4,235,1893,0.00,2.25,0.00,0.000,1030,0.000,0.060,2656,2124,2761,2776,2747,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2193,-0.50,-107.1,2656,2120,2776,2748,346.7,-14.7,266,2198,0.00,2.28,0.00,0.000,260,0.000,0.067,2646,3526,2762,2776,2748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2252,-0.50,-107.1,1832,3525,2751,2744,354.8,-14.2,271,2260,0.10,2.30,0.00,0.000,3078,0.160,0.060,2677,2125,2761,2776,2747,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2559,-0.50,-107.1,2676,2122,2776,2747,394.8,-12.8,302,2563,0.00,2.28,0.00,0.000,260,0.000,0.069,2668,3526,2761,2776,2747,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2577,-0.50,-107.1,1856,3525,2751,2743,396.8,-13.0,303,2585,0.00,2.30,0.00,0.000,1030,0.000,0.060,2668,2125,2761,2776,2747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2885,-0.50,-107.1,2668,2122,2777,2747,440.4,-14.5,320,2889,0.00,2.28,0.00,0.000,260,0.000,0.070,2658,3525,2761,2776,2747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2909,-0.50,-107.1,2658,3525,2776,2748,442.8,-14.6,321,2913,0.00,2.30,0.00,0.000,1030,0.000,0.061,2657,2098,2761,2776,2747,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3221,-0.50,-107.1,2657,2095,2777,2747,493.2,-15.8,337,3225,0.00,2.33,0.00,0.000,260,0.000,0.070,2647,3529,2762,2777,2747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3285,-0.50,-107.1,2647,3529,2777,2747,501.5,-15.0,340,3290,0.15,2.30,0.00,0.000,3078,0.174,0.063,2683,2106,2762,2777,2747,0,0,0,0,0,0,26.22,26.33,28.83
$GC,3597,-0.50,-107.1,2683,2103,2777,2747,542.6,-12.5,356,3601,0.00,2.33,0.00,0.000,260,0.000,0.072,2675,3532,2762,2777,2747,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3616,-0.50,-107.1,2675,3532,2777,2746,544.5,-12.4,357,3620,0.00,2.30,0.00,0.000,1030,0.000,0.066,2675,2117,2761,2776,2746,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3933,-0.50,-107.1,2674,2113,2777,2746,587.7,-13.8,373,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2113,2761,2777,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.50,-107.1,2674,2113,2777,2746,628.1,-13.3,388,4237,0.00,2.30,0.00,0.000,260,0.000,0.073,2664,3528,2761,2777,2746,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4256,-0.50,-107.1,2664,3528,2777,2746,630.2,-13.3,389,4261,0.00,2.28,0.00,0.000,1030,0.000,0.067,2664,2120,2761,2777,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4568,-0.50,-107.1,2664,2117,2777,2746,675.5,-13.9,405,4573,0.00,2.30,0.00,0.000,260,0.000,0.072,2654,3529,2761,2777,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4597,-0.50,-107.1,2653,3529,2777,2745,677.8,-13.9,406,4606,0.12,2.28,0.00,0.000,3078,0.168,0.067,2683,2124,2761,2777,2745,0,0,0,0,0,0,26.28,26.36,28.83
$GC,4904,-0.50,-107.1,2683,2121,2777,2745,719.0,-12.8,422,4908,0.00,2.28,0.00,0.000,260,0.000,0.073,2675,3524,2761,2777,2745,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4928,-0.50,-107.1,2674,3524,2777,2745,720.9,-12.8,423,4932,0.00,2.28,0.00,0.000,1030,0.000,0.065,2675,2117,2760,2777,2744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5240,-0.50,-107.1,2674,2114,2777,2745,762.8,-12.8,439,5246,0.00,2.30,0.00,0.000,260,0.000,0.073,2664,3526,2761,2777,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5262,-0.50,-107.1,1842,3525,2751,2740,765.4,-12.9,440,5267,0.00,2.30,0.00,0.000,1030,0.000,0.067,2664,2134,2761,2777,2745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5580,-0.50,-107.1,2664,2130,2777,2745,809.2,-13.3,456,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2130,2760,2777,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5880,-0.50,-107.1,2664,2130,2777,2744,849.0,-12.9,471,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2130,2760,2777,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6180,-0.50,-107.1,2664,2130,2777,2744,885.8,-12.1,486,6184,0.00,2.33,0.00,0.000,516,0.000,0.071,2669,707,2760,2777,2744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6199,-0.50,-107.1,1824,707,2751,2740,887.9,-12.1,487,6203,0.00,2.33,0.00,0.000,1030,0.000,0.063,2660,2112,2761,2778,2744,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6516,-0.50,-107.1,2659,2112,2777,2743,926.4,-11.9,503,6522,0.00,2.30,0.00,0.000,260,0.000,0.073,2649,3535,2760,2777,2744,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6559,-0.50,-107.1,2649,3535,2777,2743,931.1,-11.9,505,6564,0.12,2.30,0.00,0.000,3078,0.171,0.070,2678,2121,2760,2777,2743,0,0,0,0,0,0,26.32,26.40,28.83
$GC,6877,-0.50,-107.1,2678,2117,2777,2743,963.6,-10.2,521,6883,0.00,2.28,0.00,0.000,516,0.000,0.069,2684,706,2760,2777,2743,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6899,-0.50,-107.1,2683,706,2778,2744,965.7,-10.3,522,6903,0.00,2.35,0.00,0.000,1030,0.000,0.062,2675,2129,2761,2778,2744,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7216,-0.50,-107.1,2675,2129,2777,2743,998.8,-10.6,538,7220,0.00,2.28,0.00,0.000,260,0.000,0.072,2664,3542,2760,2778,2743,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,7231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7231,begin apogee
$GC,7237,-0.11,0.0,2663,2097,2776,2743,1000.3,-10.4,539,7332,0.47,0.00,89.05,1.327,10246,0.148,0.000,2804,2094,2321,2365,2278,0,0,0,0,0,0,26.32,28.83,23.71
$STATE,7333,end apogee,CONTROL_FINISHED_OK
$STATE,7333,begin climb
$GC,7335,0.50,107.1,2804,2094,2365,2278,1002.8,0.0,544,7439,0.60,2.45,95.57,1.297,10756,0.080,0.048,3012,679,1884,1957,1811,0,0,0,0,0,0,24.66,24.16,23.37
$GC,7495,0.50,107.1,3011,679,1947,1811,984.3,16.4,552,7499,0.00,2.40,0.00,0.000,1030,0.000,0.044,3012,2104,1879,1947,1811,0,0,0,0,0,0,28.83,24.77,28.83
$GC,7812,0.50,107.1,3011,2106,1944,1807,927.8,17.0,568,7816,0.00,2.35,0.00,0.000,516,0.000,0.050,3022,671,1875,1944,1807,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7847,0.50,107.1,3021,670,1941,1807,921.4,17.5,570,7852,0.00,2.33,0.00,0.000,1030,0.000,0.044,3022,2108,1874,1941,1807,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8163,0.50,107.1,3022,2109,1941,1806,864.3,17.6,586,8168,0.00,2.33,0.00,0.000,516,0.000,0.049,3032,668,1874,1941,1807,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8267,0.50,107.1,3032,668,1937,1806,847.1,17.8,591,8272,0.00,2.30,0.00,0.000,1030,0.000,0.043,3032,2106,1872,1937,1807,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8580,0.50,107.1,3032,2106,1937,1806,788.5,18.2,607,8586,0.00,2.30,0.00,0.000,516,0.000,0.047,3042,668,1872,1937,1807,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8603,0.50,107.1,3042,668,1935,1807,784.7,18.3,608,8608,0.15,2.28,0.00,0.000,5126,0.207,0.042,3011,2102,1871,1935,1807,0,0,0,0,0,0,25.82,26.00,28.83
$GC,8914,0.50,107.1,3011,2102,1936,1806,731.1,17.0,624,8919,0.00,2.28,0.00,0.000,516,0.000,0.048,3020,676,1871,1936,1807,0,0,0,0,0,0,28.83,26.06,28.83
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$STATE,13963,end climb,SURFACE_DEPTH_REACHED
$STATE,13963,begin surface coast
$FINISH,1.9,1.023013
$STATE,13969,end surface coast,CONTROL_FINISHED_OK
$STATE,13969,begin surface
$SM_CCo,13984,39.85,0.059,0,0,1504,200.16
$SM_GC,2.50,7.72,2.22,39.85,0.044,0.041,0.059,128,2116,1504,-8.41,0.57,200.16,0,0,0,0,0,0,26.43,26.42,26.35
$IRIDIUM_FIX,-4635.50,440.59,020609,202009
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.45
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.4,12.871
$10V_AH,10.3,10.474
$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,20.350,159.300,184.625,39.850,0.000,26.358,22.077,290.111,0.000,0.000,7.958,2898.472,8773.714,412.648,2284.886,110.955,0.000,1454.643,0.000,1893.348,0.000,0.990,0.000
$DEVICE_MAMPS,243.270,77.265,1327.275,58.905,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353340
$DATA_FILE_SIZE,66879,1099
$CAP_FILE_SIZE,150629,0
$CFSIZE,2097086464,2082340864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206,103.2,1
$GPS,060816,152921,-4650.525,441.827,153,1.0,153,-23.5