version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 125
start: 6 21 115 13 24 59
data:
$ID,574
$MISSION,20
$DIVE,125
$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,-2373516
$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,30
$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
$GPS1,120816,025751,-4604.562,512.305,85,1.2,86,-23.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-77.6
$GPS2,120816,030750,-4604.381,512.428,5,0.8,5,-23.8
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SOUTH
$TGT_LATLONG,-4620.000,470.000
$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,242.1,29093,-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,-107.1,129,2114,1529,1443,0.0,0.0,0,57,0.00,0.00,-40.05,0.000,16386,0.000,0.000,129,2115,2457,2437,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.50,-107.1,129,2115,2438,2478,3.0,-2.2,7,85,10.43,2.30,-8.38,0.000,18692,0.243,0.067,2668,3539,2758,2762,2755,0,0,0,0,0,0,25.43,25.70,26.01
$GC,153,-0.50,-107.1,2668,3539,2766,2752,15.8,-12.3,24,160,0.00,2.28,0.00,0.000,1030,0.000,0.055,2668,2134,2759,2767,2752,0,0,0,0,0,0,28.83,25.75,28.83
$GC,201,-0.50,-107.1,2668,2130,2769,2751,23.1,-15.2,33,209,0.00,2.33,0.00,0.000,516,0.000,0.056,2671,704,2760,2769,2751,0,0,0,0,0,0,28.83,25.79,28.83
$GC,215,-0.50,-107.1,2670,704,2769,2751,25.3,-16.5,35,221,0.00,2.33,0.00,0.000,1030,0.000,0.054,2662,2130,2760,2769,2751,0,0,0,0,0,0,28.83,25.79,28.83
$GC,343,-0.50,-107.1,2662,2130,2769,2751,48.1,-18.4,60,349,0.00,2.28,0.00,0.000,260,0.000,0.063,2651,3539,2760,2769,2751,0,0,0,0,0,0,28.83,25.86,28.83
$GC,386,-0.50,-107.1,2651,3539,2769,2751,56.1,-17.1,68,393,0.12,2.28,0.00,0.000,3078,0.181,0.054,2679,2122,2760,2769,2751,0,0,0,0,0,0,25.77,25.89,28.83
$GC,700,-0.50,-107.1,2678,2118,2771,2751,110.6,-17.2,124,704,0.00,2.30,0.00,0.000,260,0.000,0.064,2670,3541,2761,2771,2751,0,0,0,0,0,0,28.83,25.99,28.83
$GC,729,-0.50,-107.1,1844,3540,2745,2747,115.1,-17.7,126,736,0.00,2.33,0.00,0.000,1030,0.000,0.054,2670,2120,2761,2771,2751,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1036,-0.50,-107.1,2670,2116,2771,2751,169.0,-15.9,157,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2117,2761,2771,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.50,-107.1,2670,2117,2772,2751,217.1,-16.3,187,1346,0.00,2.25,0.00,0.000,260,0.000,0.063,2660,3530,2761,2772,2750,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1428,-0.50,-107.1,2660,3530,2771,2751,231.0,-14.1,196,1432,0.00,2.25,0.00,0.000,1030,0.000,0.056,2660,2117,2761,2771,2751,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1734,-0.50,-107.1,2660,2114,2772,2750,281.1,-16.6,226,1742,0.00,2.30,0.00,0.000,260,0.000,0.064,2649,3543,2761,2772,2750,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1764,-0.50,-107.1,2649,3543,2771,2750,286.1,-16.2,229,1769,0.12,2.28,0.00,0.000,3078,0.177,0.056,2678,2121,2761,2771,2751,0,0,0,0,0,0,26.09,26.21,28.83
$GC,2069,-0.50,-107.1,2678,2117,2772,2750,329.3,-13.9,259,2073,0.00,2.28,0.00,0.000,260,0.000,0.065,2670,3536,2761,2772,2750,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2095,-0.50,-107.1,2669,3537,2772,2750,332.9,-14.1,261,2099,0.00,2.25,0.00,0.000,1030,0.000,0.058,2669,2122,2761,2772,2750,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2400,-0.50,-107.1,2670,2118,2773,2750,376.0,-14.1,291,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2118,2761,2772,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2700,-0.50,-107.1,2669,2118,2773,2749,415.5,-12.8,315,2704,0.00,2.28,0.00,0.000,260,0.000,0.066,2659,3541,2761,2773,2750,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2729,-0.50,-107.1,2659,3540,2772,2750,417.7,-13.0,316,2736,0.00,2.25,0.00,0.000,1030,0.000,0.059,2659,2124,2761,2772,2750,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3036,-0.50,-107.1,2658,2121,2772,2749,461.8,-13.9,332,3040,0.00,2.28,0.00,0.000,260,0.000,0.066,2649,3542,2761,2772,2750,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3074,-0.50,-107.1,2649,3541,2772,2750,466.5,-13.6,334,3079,0.10,2.30,0.00,0.000,3078,0.157,0.058,2680,2127,2761,2772,2750,0,0,0,0,0,0,26.22,26.32,28.83
$GC,3394,-0.50,-107.1,2679,2124,2772,2750,504.6,-12.0,350,3399,0.00,2.25,0.00,0.000,260,0.000,0.069,2671,3536,2761,2773,2749,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3421,-0.50,-107.1,2670,3536,2773,2749,506.9,-12.0,351,3425,0.00,2.28,0.00,0.000,1030,0.000,0.060,2670,2115,2760,2772,2749,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3727,-0.50,-107.1,2670,2112,2773,2749,546.2,-12.7,366,3733,0.00,2.30,0.00,0.000,260,0.000,0.069,2660,3542,2760,2773,2748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3747,-0.50,-107.1,2660,3543,2772,2748,548.8,-12.7,367,3751,0.00,2.28,0.00,0.000,1030,0.000,0.062,2660,2120,2760,2772,2748,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4064,-0.50,-107.1,2660,2115,2772,2748,593.0,-14.1,383,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2115,2760,2773,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4364,-0.50,-107.1,2660,2116,2772,2748,637.0,-14.7,398,4370,0.00,2.28,0.00,0.000,260,0.000,0.067,2650,3538,2760,2773,2748,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4382,-0.50,-107.1,2649,3539,2772,2747,640.1,-14.8,399,4387,0.12,2.28,0.00,0.000,3078,0.177,0.063,2678,2118,2759,2772,2747,0,0,0,0,0,0,26.25,26.35,28.83
$GC,4701,-0.50,-107.1,2678,2115,2773,2747,680.7,-12.7,415,4706,0.00,2.25,0.00,0.000,516,0.000,0.063,2684,704,2759,2772,2747,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4719,-0.50,-107.1,2683,704,2773,2748,683.5,-12.8,416,4723,0.00,2.28,0.00,0.000,1030,0.000,0.057,2675,2129,2760,2773,2748,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5036,-0.50,-107.1,2674,2129,2773,2747,724.0,-12.5,432,5042,0.00,2.22,0.00,0.000,260,0.000,0.068,2664,3529,2759,2773,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5083,-0.50,-107.1,2664,3529,2772,2746,729.1,-12.5,434,5087,0.00,2.25,0.00,0.000,1030,0.000,0.061,2664,2118,2759,2772,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5395,-0.50,-107.1,2664,2116,2772,2746,771.7,-13.1,450,5401,0.00,2.25,0.00,0.000,516,0.000,0.062,2664,713,2759,2772,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5415,-0.50,-107.1,2664,712,2773,2747,774.5,-13.1,451,5420,0.12,2.28,0.00,0.000,3078,0.190,0.059,2681,2133,2759,2773,2746,0,0,0,0,0,0,26.24,26.38,28.83
$GC,5732,-0.50,-107.1,2680,2132,2772,2746,809.3,-10.4,467,5736,0.00,2.25,0.00,0.000,260,0.000,0.069,2672,3539,2759,2773,2746,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5800,-0.50,-107.1,2672,3538,2772,2745,815.3,-10.5,470,5808,0.00,2.28,0.00,0.000,1030,0.000,0.063,2672,2123,2759,2772,2746,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6108,-0.50,-107.1,2672,2120,2772,2745,850.7,-11.1,486,6114,0.00,2.28,0.00,0.000,260,0.000,0.070,2662,3531,2758,2772,2744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6140,-0.50,-107.1,2661,3531,2772,2746,852.9,-11.2,487,6148,0.00,2.25,0.00,0.000,1030,0.000,0.064,2662,2124,2758,2772,2745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6447,-0.50,-107.1,2661,2120,2772,2745,889.6,-11.5,503,6452,0.00,2.28,0.00,0.000,516,0.000,0.064,2662,704,2758,2772,2745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6463,-0.50,-107.1,2661,704,2773,2745,891.3,-11.6,504,6468,0.12,2.28,0.00,0.000,3078,0.188,0.060,2680,2124,2758,2772,2745,0,0,0,0,0,0,26.25,26.39,28.83
$GC,6781,-0.50,-107.1,2679,2124,2772,2745,922.0,-9.8,520,6786,0.00,2.25,0.00,0.000,260,0.000,0.070,2670,3533,2758,2772,2744,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6835,-0.50,-107.1,2669,3533,2772,2744,926.2,-10.0,522,6841,0.00,2.28,0.00,0.000,1030,0.000,0.065,2670,2116,2758,2772,2744,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7140,-0.50,-107.1,2670,2114,2772,2744,958.9,-10.4,538,7146,0.00,2.28,0.00,0.000,516,0.000,0.066,2670,700,2758,2772,2744,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7163,-0.50,-107.1,2669,700,2772,2745,961.1,-10.3,539,7167,0.00,2.30,0.00,0.000,1030,0.000,0.060,2660,2130,2758,2772,2745,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7475,-0.50,-107.1,2660,2130,2772,2744,994.4,-10.1,555,7479,0.00,2.25,0.00,0.000,260,0.000,0.070,2649,3533,2758,2772,2744,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7550,begin apogee
$GC,7556,-0.11,0.0,2649,2096,2771,2744,1001.9,-10.0,559,7651,0.52,0.00,89.03,1.320,10246,0.152,0.000,2804,2094,2321,2362,2280,0,0,0,0,0,0,26.27,28.83,23.76
$STATE,7652,end apogee,CONTROL_FINISHED_OK
$STATE,7653,begin climb
$GC,7654,0.50,107.1,2803,2094,2361,2280,1003.4,0.0,564,7758,0.62,2.45,95.80,1.294,10500,0.082,0.053,3004,3508,1886,1956,1816,0,0,0,0,0,0,24.69,24.18,23.38
$GC,7779,0.50,107.1,3004,3508,1951,1815,989.5,14.6,570,7784,0.00,2.40,0.00,0.000,1030,0.000,0.047,3014,2088,1883,1951,1815,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8086,0.50,107.1,3014,2087,1945,1810,929.0,18.7,585,8090,0.00,2.30,0.00,0.000,516,0.000,0.050,3025,675,1877,1945,1810,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8115,0.50,107.1,3025,675,1941,1810,925.9,18.7,586,8122,0.00,2.33,0.00,0.000,1030,0.000,0.043,3025,2109,1875,1941,1810,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8422,0.50,107.1,3025,2111,1941,1810,861.8,20.4,602,8428,0.00,2.30,0.00,0.000,516,0.000,0.048,3035,680,1875,1941,1810,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8455,0.50,107.1,3035,680,1938,1810,858.0,20.1,603,8462,0.12,2.28,0.00,0.000,5126,0.210,0.042,3010,2104,1874,1938,1810,0,0,0,0,0,0,25.64,25.81,28.83
$GC,8762,0.50,107.1,3010,2104,1939,1810,799.0,18.3,619,8766,0.00,2.22,0.00,0.000,260,0.000,0.050,3009,3513,1874,1939,1810,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,13687,end climb,SURFACE_DEPTH_REACHED
$STATE,13688,begin surface coast
$FINISH,1.5,1.023097
$STATE,13708,end surface coast,CONTROL_FINISHED_OK
$STATE,13708,begin surface
$SM_CCo,13723,39.75,0.058,0,0,1504,200.16
$SM_GC,3.13,7.55,0.08,39.75,0.034,0.113,0.058,127,2134,1504,-8.42,-0.82,200.16,0,0,0,0,0,0,26.37,26.48,26.34
$IRIDIUM_FIX,-4548.76,513.91,080609,121222
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.52
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.4,16.101
$10V_AH,10.3,12.970
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.600,172.200,184.825,39.750,0.000,61.491,96.862,281.061,0.000,0.000,9.317,2825.395,8676.590,447.559,2322.047,115.791,0.000,1466.935,0.000,1825.625,0.000,0.990,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353128
$DATA_FILE_SIZE,63647,1067
$CAP_FILE_SIZE,152877,0
$CFSIZE,2097086464,2078048256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.328, 34.0,1
$GPS,120816,065957,-4603.494,512.693,84,0.8,84,-23.8