version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 104
start: 6 17 115 23 2 36
data:
$ID,574
$MISSION,20
$DIVE,104
$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,-2371537
$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,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
$GPS1,080816,122800,-4650.811,441.277,67,1.2,68,-23.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-75.7
$GPS2,080816,124513,-4650.883,441.472,4,1.0,4,-23.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4609.000,470.000
$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,6.9,85770,-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,-107.1,128,2113,1530,1443,0.0,0.0,0,53,0.00,0.00,-36.97,0.000,16386,0.000,0.000,128,2113,2391,2384,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.50,-107.1,128,2113,2381,2403,3.1,-2.1,6,86,10.55,2.30,-10.32,0.000,18948,0.246,0.060,2676,720,2762,2768,2756,0,0,0,0,0,0,25.37,25.60,25.90
$GC,148,-0.50,-107.1,2676,720,2771,2756,18.0,-16.3,23,155,0.00,2.30,0.00,0.000,1030,0.000,0.052,2667,2126,2763,2771,2756,0,0,0,0,0,0,28.83,25.67,28.83
$GC,197,-0.50,-107.1,2667,2125,2773,2754,25.9,-17.6,32,203,0.00,2.28,0.00,0.000,260,0.000,0.059,2656,3536,2763,2773,2753,0,0,0,0,0,0,28.83,25.70,28.83
$GC,230,-0.50,-107.1,2656,3536,2772,2753,32.2,-19.7,38,237,0.00,2.28,0.00,0.000,1030,0.000,0.051,2658,2125,2763,2773,2753,0,0,0,0,0,0,28.83,25.74,28.83
$GC,358,-0.50,-107.1,1760,2120,2745,2748,56.8,-19.1,63,364,0.00,2.30,0.00,0.000,260,0.000,0.060,2648,3535,2762,2773,2752,0,0,0,0,0,0,28.83,25.81,28.83
$GC,380,-0.50,-107.1,1752,3534,2745,2748,61.2,-18.8,67,388,0.12,2.28,0.00,0.000,3078,0.183,0.053,2678,2124,2762,2773,2752,0,0,0,0,0,0,25.71,25.83,28.83
$GC,689,-0.50,-107.1,2678,2120,2775,2752,114.5,-17.3,120,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2120,2763,2775,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,990,-0.50,-107.1,2678,2120,2775,2752,165.3,-16.1,150,999,0.00,2.30,0.00,0.000,260,0.000,0.062,2669,3538,2763,2775,2752,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1084,-0.50,-107.1,2669,3538,2775,2752,180.2,-15.8,159,1091,0.00,2.30,0.00,0.000,1030,0.000,0.057,2670,2106,2763,2775,2752,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1391,-0.50,-107.1,2670,2102,2776,2752,230.4,-16.0,190,1400,0.00,2.33,0.00,0.000,260,0.000,0.067,2660,3531,2763,2776,2751,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1481,-0.50,-107.1,2660,3531,2775,2752,244.5,-14.6,199,1486,0.00,2.25,0.00,0.000,1030,0.000,0.057,2660,2124,2763,2775,2752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1786,-0.50,-107.1,2660,2121,2776,2752,293.7,-16.0,229,1791,0.00,2.28,0.00,0.000,260,0.000,0.065,2650,3532,2764,2776,2752,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1812,-0.50,-107.1,2649,3532,2775,2752,297.7,-15.3,231,1817,0.12,2.25,0.00,0.000,3078,0.175,0.057,2679,2124,2764,2776,2752,0,0,0,0,0,0,26.09,26.20,28.83
$GC,2117,-0.50,-107.1,2678,2120,2777,2752,340.3,-13.6,261,2121,0.00,2.28,0.00,0.000,260,0.000,0.066,2670,3531,2764,2777,2751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2174,-0.50,-107.1,2669,3530,2776,2752,347.7,-12.8,266,2182,0.00,2.25,0.00,0.000,1030,0.000,0.058,2670,2124,2764,2777,2752,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2483,-0.50,-107.1,2670,2120,2777,2751,392.5,-15.1,297,2487,0.00,2.28,0.00,0.000,260,0.000,0.067,2660,3532,2764,2776,2752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2529,-0.50,-107.1,2660,3532,2776,2751,399.1,-14.4,301,2533,0.00,2.28,0.00,0.000,1030,0.000,0.060,2660,2124,2763,2776,2751,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2844,-0.50,-107.1,2659,2120,2777,2751,449.1,-16.0,317,2848,0.00,2.28,0.00,0.000,260,0.000,0.067,2649,3531,2764,2777,2751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2893,-0.50,-107.1,2649,3531,2776,2751,454.7,-16.0,319,2900,0.12,2.25,0.00,0.000,3078,0.174,0.060,2678,2125,2763,2776,2751,0,0,0,0,0,0,26.20,26.29,28.83
$GC,3200,-0.50,-107.1,2678,2122,2777,2751,498.0,-13.2,335,3204,0.00,2.28,0.00,0.000,260,0.000,0.067,2670,3533,2764,2777,2751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3243,-0.50,-107.1,2669,3533,2776,2751,502.8,-13.4,337,3248,0.00,2.30,0.00,0.000,1030,0.000,0.062,2669,2126,2763,2776,2751,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3555,-0.50,-107.1,2669,2123,2777,2751,547.2,-13.9,353,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2123,2764,2777,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3857,-0.50,-107.1,2669,2123,2777,2751,588.1,-13.3,368,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2123,2764,2777,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4155,-0.50,-107.1,2669,2123,2777,2751,627.3,-12.8,383,4160,0.00,2.28,0.00,0.000,260,0.000,0.070,2659,3528,2764,2777,2751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4184,-0.50,-107.1,2659,3528,2776,2751,629.2,-12.8,384,4191,0.00,2.30,0.00,0.000,1030,0.000,0.062,2659,2098,2763,2776,2751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4491,-0.50,-107.1,2659,2094,2777,2751,673.0,-13.8,400,4495,0.00,2.33,0.00,0.000,260,0.000,0.070,2648,3531,2763,2776,2751,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4530,-0.50,-107.1,1828,3530,2750,2747,677.9,-14.0,402,4535,0.10,2.30,0.00,0.000,3078,0.155,0.066,2679,2130,2763,2776,2751,0,0,0,0,0,0,26.27,26.38,28.83
$GC,4849,-0.50,-107.1,2679,2127,2777,2750,715.6,-11.7,418,4854,0.00,2.28,0.00,0.000,516,0.000,0.067,2683,714,2763,2776,2750,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4867,-0.50,-107.1,2684,714,2776,2751,718.1,-11.7,419,4871,0.00,2.25,0.00,0.000,1030,0.000,0.057,2675,2122,2764,2777,2751,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5185,-0.50,-107.1,2675,2122,2776,2749,755.8,-11.7,435,5190,0.00,2.25,0.00,0.000,260,0.000,0.070,2664,3532,2762,2776,2749,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5263,-0.50,-107.1,2664,3532,2775,2749,764.7,-11.2,439,5267,0.00,2.28,0.00,0.000,1030,0.000,0.067,2664,2122,2762,2776,2749,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5579,-0.50,-107.1,2664,2117,2776,2749,802.9,-12.0,455,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2762,2775,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5879,-0.50,-107.1,2664,2117,2776,2748,837.3,-11.2,470,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2762,2776,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6179,-0.50,-107.1,2664,2117,2776,2748,869.2,-10.1,485,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2762,2776,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6480,-0.50,-107.1,2664,2117,2776,2748,899.0,-9.8,500,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2762,2776,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,-0.50,-107.1,2664,2117,2776,2747,927.5,-9.5,515,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2761,2776,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7080,-0.50,-107.1,2664,2117,2776,2747,955.8,-9.4,530,7086,0.00,2.30,0.00,0.000,260,0.000,0.071,2653,3543,2761,2776,2747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7107,-0.50,-107.1,2654,3543,2775,2747,957.7,-9.4,531,7112,0.12,2.30,0.00,0.000,3078,0.166,0.065,2683,2116,2761,2775,2747,0,0,0,0,0,0,26.33,26.41,28.83
$GC,7415,-0.50,-107.1,2683,2113,2775,2747,982.0,-7.5,546,7420,0.00,2.28,0.00,0.000,516,0.000,0.066,2683,699,2761,2776,2747,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7434,-0.50,-107.1,2684,699,2776,2747,983.6,-7.5,547,7438,0.00,2.28,0.00,0.000,1030,0.000,0.059,2675,2124,2761,2776,2747,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,7649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7649,begin apogee
$GC,7653,-0.11,0.0,2675,2085,2776,2747,1001.6,-8.8,558,7750,0.45,0.00,89.65,1.321,10246,0.148,0.000,2807,2085,2322,2364,2280,0,0,0,0,0,0,26.33,28.83,23.72
$STATE,7751,end apogee,CONTROL_FINISHED_OK
$STATE,7751,begin climb
$GC,7753,0.50,107.1,2807,2085,2364,2280,1002.6,0.0,563,7858,0.57,2.50,96.00,1.294,10756,0.077,0.048,3009,685,1883,1955,1812,0,0,0,0,0,0,24.68,24.16,23.35
$GC,7905,0.50,107.1,3009,685,1945,1811,985.7,15.9,570,7912,0.00,2.38,0.00,0.000,1030,0.000,0.044,3009,2100,1878,1945,1812,0,0,0,0,0,0,28.83,24.71,28.83
$GC,8211,0.50,107.1,3009,2103,1944,1807,927.2,17.7,586,8217,0.00,2.33,0.00,0.000,516,0.000,0.050,3019,681,1874,1943,1806,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8283,0.50,107.1,3019,681,1938,1806,916.2,18.3,589,8291,0.00,2.35,0.00,0.000,1030,0.000,0.044,3019,2127,1872,1938,1806,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8590,0.50,107.1,3019,2128,1938,1806,858.5,17.8,605,8595,0.00,2.33,0.00,0.000,516,0.000,0.048,3030,682,1872,1938,1806,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8626,0.50,107.1,3030,682,1936,1806,851.9,18.2,607,8630,0.00,2.28,0.00,0.000,1030,0.000,0.044,3030,2108,1870,1935,1806,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8942,0.50,107.1,3030,2109,1936,1806,791.4,19.3,623,8946,0.00,2.28,0.00,0.000,516,0.000,0.047,3040,685,1871,1936,1806,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9031,0.50,107.1,3040,685,1932,1806,776.4,19.8,627,9039,0.15,2.28,0.00,0.000,5126,0.212,0.043,3009,2118,1869,1932,1806,0,0,0,0,0,0,25.82,26.00,28.83
$GC,9338,0.50,107.1,3008,2118,1933,1806,719.7,17.5,643,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2118,1869,1933,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9638,0.50,107.1,3009,2118,1933,1806,665.0,18.2,658,9644,0.00,2.28,0.00,0.000,516,0.000,0.049,3018,685,1869,1933,1806,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9661,0.50,107.1,3018,685,1932,1806,661.3,18.4,659,9665,0.00,2.28,0.00,0.000,1030,0.000,0.044,3018,2094,1869,1932,1806,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,14004,end climb,SURFACE_DEPTH_REACHED
$STATE,14004,begin surface coast
$FINISH,1.5,1.022949
$STATE,14021,end surface coast,CONTROL_FINISHED_OK
$STATE,14021,begin surface
$SM_CCo,14034,27.55,0.054,0,0,1504,200.16
$SM_GC,2.39,7.80,0.00,27.55,0.044,0.000,0.054,126,2110,1504,-8.42,-0.42,200.16,0,0,0,0,0,0,26.18,28.83,26.15
$IRIDIUM_FIX,-4632.36,440.33,050609,010149
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.04
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.4,14.097
$10V_AH,10.3,11.385
$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
$DEVICE_SECS,20.500,140.975,208.375,27.550,0.000,117.501,151.221,454.488,0.000,0.000,7.982,2811.458,9152.347,409.650,2640.871,107.609,0.000,1420.337,0.000,1831.454,0.000,0.988,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353236
$DATA_FILE_SIZE,63719,1079
$CAP_FILE_SIZE,151725,0
$CFSIZE,2097086464,2080800768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.179, 97.9,1
$GPS,080816,164203,-4649.371,443.109,68,1.0,68,-23.5