version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 109
start: 6 18 115 19 58 30
data:
$ID,574
$MISSION,20
$DIVE,109
$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,-2371954.2
$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,28
$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
$GPS1,090816,093336,-4642.485,450.468,85,1.1,85,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-78.5
$GPS2,090816,094110,-4642.440,450.552,14,1.1,14,-23.6
$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,17.8,66769,-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,-107.1,126,2106,1518,1456,0.0,0.0,0,39,0.00,0.00,-22.90,0.000,16386,0.000,0.000,127,2106,2057,2063,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,41,-0.50,-107.1,126,2106,2067,2051,3.1,-2.8,4,88,10.45,2.28,-27.38,0.000,19204,0.246,0.069,2684,711,2761,2773,2749,0,0,0,0,0,0,25.55,25.75,26.08
$GC,231,-0.50,-107.1,2684,711,2775,2749,22.6,-12.4,40,237,0.00,2.30,0.00,0.000,1030,0.000,0.057,2675,2121,2762,2776,2749,0,0,0,0,0,0,28.83,25.86,28.83
$GC,358,-0.50,-107.1,1768,2119,2747,2744,43.5,-17.5,65,365,0.00,2.30,0.00,0.000,260,0.000,0.064,2664,3541,2761,2775,2748,0,0,0,0,0,0,28.83,25.91,28.83
$GC,421,-0.50,-107.1,1760,3539,2747,2743,53.7,-15.7,77,427,0.00,2.28,0.00,0.000,1030,0.000,0.057,2664,2132,2761,2775,2747,0,0,0,0,0,0,28.83,25.94,28.83
$GC,734,-0.50,-107.1,2664,2129,2776,2747,111.4,-18.9,133,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2128,2761,2776,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.50,-107.1,2664,2129,2776,2747,160.2,-16.0,163,1044,0.00,2.30,0.00,0.000,260,0.000,0.069,2654,3543,2761,2776,2747,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1096,-0.50,-107.1,2654,3544,2776,2747,169.0,-13.5,169,1101,0.12,2.30,0.00,0.000,3078,0.174,0.059,2683,2116,2761,2776,2747,0,0,0,0,0,0,26.03,26.13,28.83
$GC,1400,-0.50,-107.1,2682,2112,2777,2747,211.5,-14.1,199,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2112,2762,2777,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,-0.50,-107.1,2682,2112,2777,2747,257.1,-15.8,229,1710,0.00,2.30,0.00,0.000,260,0.000,0.067,2674,3537,2762,2777,2747,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1744,-0.50,-107.1,1832,3536,2751,2743,263.3,-15.5,233,1752,0.00,2.33,0.00,0.000,1030,0.000,0.060,2674,2120,2762,2777,2747,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2052,-0.50,-107.1,2674,2116,2777,2747,313.0,-15.8,264,2060,0.00,2.30,0.00,0.000,260,0.000,0.068,2664,3545,2762,2777,2747,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2082,-0.50,-107.1,2663,3544,2777,2747,318.0,-16.1,267,2086,0.00,2.30,0.00,0.000,1030,0.000,0.061,2664,2116,2762,2777,2747,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2387,-0.50,-107.1,2663,2113,2777,2747,367.9,-16.3,297,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2113,2762,2777,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2697,-0.50,-107.1,2663,2113,2777,2747,415.2,-14.5,323,2701,0.00,2.30,0.00,0.000,260,0.000,0.070,2653,3535,2762,2777,2747,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2786,-0.50,-107.1,2653,3535,2777,2747,425.2,-13.1,327,2795,0.12,2.30,0.00,0.000,3078,0.173,0.065,2682,2117,2762,2777,2747,0,0,0,0,0,0,26.21,26.29,28.83
$GC,3093,-0.50,-107.1,2682,2114,2777,2747,462.6,-11.0,343,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2113,2762,2777,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3393,-0.50,-107.1,2681,2114,2778,2747,495.1,-10.6,358,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2113,2762,2777,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,-0.50,-107.1,2682,2113,2777,2746,527.3,-11.0,373,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2114,2761,2777,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3993,-0.50,-107.1,2682,2113,2777,2746,561.4,-11.9,388,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2113,2761,2777,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4294,-0.50,-107.1,2682,2113,2777,2746,597.7,-12.1,403,4300,0.00,2.28,0.00,0.000,260,0.000,0.073,2673,3528,2761,2777,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4333,-0.50,-107.1,2673,3527,2777,2745,602.5,-12.2,405,4337,0.00,2.25,0.00,0.000,1030,0.000,0.064,2674,2123,2761,2777,2745,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4649,-0.50,-107.1,2673,2119,2777,2745,645.4,-13.8,421,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2119,2761,2777,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,-0.50,-107.1,2673,2119,2777,2745,686.8,-13.9,436,4955,0.00,2.28,0.00,0.000,516,0.000,0.067,2674,712,2761,2777,2745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4982,-0.50,-107.1,2673,711,2779,2745,689.7,-14.2,437,4989,0.00,2.28,0.00,0.000,1030,0.000,0.060,2663,2130,2762,2779,2745,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5289,-0.50,-107.1,2662,2130,2778,2745,738.1,-15.1,453,5293,0.00,2.25,0.00,0.000,260,0.000,0.070,2652,3532,2761,2778,2745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5364,-0.50,-107.1,2652,3532,2777,2744,749.0,-14.3,457,5369,0.12,2.28,0.00,0.000,3078,0.169,0.067,2682,2120,2760,2777,2744,0,0,0,0,0,0,26.30,26.39,28.83
$GC,5681,-0.50,-107.1,2681,2117,2777,2744,787.5,-11.4,473,5685,0.00,2.30,0.00,0.000,260,0.000,0.073,2673,3536,2761,2778,2744,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5710,-0.50,-107.1,2672,3536,2777,2744,789.1,-11.3,474,5717,0.00,2.30,0.00,0.000,1030,0.000,0.067,2673,2116,2760,2777,2743,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6017,-0.50,-107.1,2672,2113,2777,2744,822.3,-9.7,490,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2113,2760,2777,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6317,-0.50,-107.1,2672,2113,2777,2744,849.1,-8.4,505,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2114,2760,2777,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,-0.50,-107.1,2672,2113,2777,2743,873.5,-7.9,520,6623,0.00,2.28,0.00,0.000,516,0.000,0.068,2672,712,2760,2777,2743,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6670,-0.50,-107.1,2672,712,2778,2743,877.1,-8.3,522,6677,0.00,2.28,0.00,0.000,1030,0.000,0.062,2662,2124,2760,2778,2743,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6977,-0.50,-107.1,2662,2124,2778,2743,906.1,-9.2,538,6983,0.00,2.28,0.00,0.000,260,0.000,0.073,2651,3531,2759,2777,2742,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7037,-0.50,-107.1,2651,3531,2777,2743,911.3,-9.0,541,7044,0.12,2.28,0.00,0.000,3078,0.167,0.070,2681,2122,2760,2777,2743,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7358,-0.50,-107.1,2681,2120,2777,2742,937.8,-8.5,557,7363,0.00,2.28,0.00,0.000,516,0.000,0.070,2684,713,2759,2777,2742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7385,-0.50,-107.1,2684,713,2778,2742,939.7,-8.7,558,7389,0.00,2.28,0.00,0.000,1030,0.000,0.061,2675,2123,2760,2778,2742,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7692,-0.50,-107.1,2675,2123,2778,2742,969.6,-9.4,573,7698,0.00,2.28,0.00,0.000,260,0.000,0.073,2664,3530,2759,2777,2742,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7795,-0.50,-107.1,2664,3529,2777,2742,979.5,-9.7,578,7800,0.00,2.30,0.00,0.000,1030,0.000,0.071,2664,2117,2760,2777,2743,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,7986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7986,begin apogee
$GC,7989,-0.11,0.0,2664,2115,2777,2742,1001.8,-12.2,588,8087,0.47,0.00,89.30,1.320,10246,0.153,0.000,2803,2113,2322,2364,2280,0,0,0,0,0,0,26.32,28.83,23.75
$STATE,8087,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8089,0.50,107.1,2803,2113,2364,2280,1005.8,0.0,593,8192,0.60,2.50,95.72,1.287,10756,0.083,0.049,3012,672,1884,1954,1814,0,0,0,0,0,0,24.70,24.17,23.37
$GC,8217,0.50,107.1,3012,672,1945,1815,996.2,10.8,599,8226,0.00,2.42,0.00,0.000,1030,0.000,0.044,3011,2103,1880,1945,1815,0,0,0,0,0,0,28.83,24.56,28.83
$GC,8524,0.50,107.1,3011,2107,1942,1809,944.3,16.6,615,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2107,1875,1942,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,0.50,107.1,3011,2107,1940,1808,894.0,17.1,630,8829,0.00,2.33,0.00,0.000,516,0.000,0.050,3020,675,1873,1939,1808,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8853,0.50,107.1,3020,675,1935,1807,891.2,17.2,631,8861,0.00,2.33,0.00,0.000,1030,0.000,0.043,3021,2124,1872,1936,1808,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9160,0.50,107.1,3021,2126,1936,1808,832.5,18.3,647,9165,0.00,2.33,0.00,0.000,516,0.000,0.050,3031,675,1872,1936,1808,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9279,0.50,107.1,2176,675,1905,1804,810.7,18.7,653,9283,0.00,2.30,0.00,0.000,1030,0.000,0.041,3031,2099,1869,1932,1807,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9596,0.50,107.1,3031,2099,1932,1807,747.3,19.9,669,9600,0.00,2.28,0.00,0.000,516,0.000,0.048,3041,671,1870,1932,1808,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9680,0.50,107.1,3041,671,1930,1807,732.2,19.9,673,9685,0.15,2.25,0.00,0.000,5126,0.205,0.043,3009,2097,1868,1930,1807,0,0,0,0,0,0,25.91,26.08,28.83
$GC,9992,0.50,107.1,3009,2097,1931,1807,678.0,16.3,689,9996,0.00,2.25,0.00,0.000,516,0.000,0.049,3018,676,1869,1931,1807,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10011,0.50,107.1,3018,676,1930,1808,675.4,16.3,690,10015,0.00,2.28,0.00,0.000,1030,0.000,0.043,3018,2121,1868,1930,1807,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10328,0.50,107.1,3018,2121,1931,1807,621.3,16.5,706,10332,0.00,2.30,0.00,0.000,516,0.000,0.049,3029,672,1869,1931,1808,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10425,0.50,107.1,3029,672,1928,1807,606.2,15.7,711,10431,0.00,2.25,0.00,0.000,1030,0.000,0.044,3029,2102,1867,1928,1807,0,0,0,0,0,0,28.83,26.20,28.83
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$GC,12538,0.50,107.1,3021,2092,1928,1807,270.5,14.4,855,12542,0.00,2.22,0.00,0.000,516,0.000,0.049,3031,679,1867,1928,1806,0,0,0,0,0,0,28.83,26.34,28.83
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$STATE,14465,end climb,SURFACE_DEPTH_REACHED
$STATE,14465,begin surface coast
$FINISH,1.7,1.023046
$STATE,14470,end surface coast,CONTROL_FINISHED_OK
$STATE,14470,begin surface
$SM_CCo,14486,21.50,0.060,0,0,1504,200.16
$SM_GC,4.09,7.80,2.22,21.50,0.041,0.042,0.060,127,2116,1504,-8.41,0.62,200.16,0,0,0,0,0,0,26.19,26.21,26.15
$IRIDIUM_FIX,-4626.10,449.21,050609,181819
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.00
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.4,14.598
$10V_AH,10.3,11.772
$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
$DEVICE_SECS,20.300,140.700,218.275,21.500,0.000,29.568,46.025,274.024,0.000,0.000,18.240,2860.680,9277.318,419.141,2323.996,107.505,0.000,1461.601,0.000,1910.747,0.000,0.988,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353200
$DATA_FILE_SIZE,66931,1099
$CAP_FILE_SIZE,147277,0
$CFSIZE,2097086464,2080112640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132, 69.6,1
$GPS,090816,134551,-4640.346,452.084,92,1.2,93,-23.6