version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 126
start: 6 21 115 17 25 1
data:
$ID,574
$MISSION,20
$DIVE,126
$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,-2373615
$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,27
$R_STBD_OVSHOOT,35
$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
$GPS1,120816,065957,-4603.494,512.693,84,0.8,84,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-75.6
$GPS2,120816,070753,-4603.414,512.776,4,0.8,5,-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,242.4,30922,-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,-107.1,126,2133,1524,1451,0.0,0.0,0,64,0.00,0.00,-46.25,0.000,16386,0.000,0.000,126,2135,2604,2589,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.50,-107.1,126,2134,2590,2618,3.2,-2.5,8,91,10.40,2.28,-3.97,0.000,18692,0.243,0.066,2668,3520,2761,2760,2762,0,0,0,0,0,0,25.50,25.73,26.03
$GC,188,-0.50,-107.1,1744,3519,2735,2753,25.0,-14.3,31,195,0.00,2.25,0.00,0.000,1030,0.000,0.056,2667,2129,2761,2767,2756,0,0,0,0,0,0,28.83,25.81,28.83
$GC,317,-0.50,-107.1,1728,2124,2738,2749,49.2,-17.4,56,324,0.00,2.28,0.00,0.000,260,0.000,0.066,2658,3521,2762,2770,2754,0,0,0,0,0,0,28.83,25.86,28.83
$GC,342,-0.50,-107.1,2658,3521,2769,2753,53.6,-18.1,60,349,0.00,2.25,0.00,0.000,1030,0.000,0.057,2658,2123,2761,2770,2753,0,0,0,0,0,0,28.83,25.89,28.83
$GC,651,-0.50,-107.1,2657,2119,2771,2753,111.9,-18.5,115,655,0.00,2.28,0.00,0.000,260,0.000,0.064,2648,3522,2762,2771,2753,0,0,0,0,0,0,28.83,26.00,28.83
$GC,690,-0.50,-107.1,2648,3522,2771,2753,118.8,-19.0,118,698,0.15,2.25,0.00,0.000,3078,0.179,0.057,2684,2121,2762,2771,2753,0,0,0,0,0,0,25.89,26.02,28.83
$GC,997,-0.50,-107.1,2683,2117,2772,2752,168.3,-15.6,149,1001,0.00,2.28,0.00,0.000,260,0.000,0.064,2675,3524,2762,2773,2752,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1052,-0.50,-107.1,2674,3525,2773,2752,176.6,-14.5,154,1057,0.00,2.25,0.00,0.000,1030,0.000,0.057,2675,2118,2762,2772,2752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1358,-0.50,-107.1,2675,2114,2773,2752,218.9,-13.6,184,1367,0.00,2.28,0.00,0.000,260,0.000,0.065,2665,3523,2762,2773,2752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1411,-0.50,-107.1,1808,3522,2747,2747,225.8,-13.4,189,1418,0.00,2.28,0.00,0.000,1030,0.000,0.057,2664,2129,2762,2773,2752,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1719,-0.50,-107.1,2664,2125,2774,2752,272.6,-15.7,220,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2125,2763,2774,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2019,-0.50,-107.1,2664,2125,2774,2752,320.1,-16.2,250,2028,0.00,2.25,0.00,0.000,260,0.000,0.067,2654,3522,2762,2774,2751,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2042,-0.50,-107.1,1832,3521,2748,2747,323.4,-16.1,252,2049,0.00,2.28,0.00,0.000,1030,0.000,0.060,2654,2124,2763,2774,2752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2349,-0.50,-107.1,2654,2120,2774,2752,374.6,-16.3,283,2353,0.00,2.25,0.00,0.000,260,0.000,0.067,2645,3521,2763,2774,2752,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2407,-0.50,-107.1,1828,3520,2749,2748,383.7,-15.6,288,2416,0.10,2.28,0.00,0.000,3078,0.158,0.060,2676,2133,2762,2774,2751,0,0,0,0,0,0,26.16,26.27,28.83
$GC,2716,-0.50,-107.1,2676,2129,2774,2752,429.5,-14.3,309,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2130,2763,2775,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,-0.50,-107.1,2676,2129,2774,2752,471.7,-13.8,324,3021,0.00,2.25,0.00,0.000,260,0.000,0.070,2667,3525,2763,2775,2752,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3083,-0.50,-107.1,2667,3525,2774,2752,479.8,-13.6,327,3088,0.00,2.30,0.00,0.000,1030,0.000,0.063,2667,2121,2762,2774,2751,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3395,-0.50,-107.1,2667,2117,2775,2752,524.7,-13.5,343,3399,0.00,2.28,0.00,0.000,260,0.000,0.069,2657,3528,2763,2775,2751,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3413,-0.50,-107.1,1824,3527,2748,2747,526.8,-13.4,344,3418,0.00,2.30,0.00,0.000,1030,0.000,0.064,2657,2128,2762,2774,2751,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3733,-0.50,-107.1,2656,2125,2775,2751,573.0,-14.5,360,3738,0.00,2.25,0.00,0.000,260,0.000,0.072,2647,3525,2762,2774,2751,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3760,-0.50,-107.1,2647,3525,2774,2750,575.9,-14.4,361,3765,0.15,2.25,0.00,0.000,3078,0.171,0.065,2683,2124,2762,2774,2751,0,0,0,0,0,0,26.22,26.33,28.83
$GC,4066,-0.50,-107.1,2683,2121,2775,2751,612.5,-11.4,376,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2121,2763,2775,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,-0.50,-107.1,2683,2120,2775,2751,647.4,-11.7,391,4373,0.00,2.25,0.00,0.000,260,0.000,0.070,2674,3525,2763,2775,2751,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4386,-0.50,-107.1,2674,3524,2774,2751,649.8,-11.6,392,4392,0.00,2.25,0.00,0.000,1030,0.000,0.064,2674,2121,2763,2775,2751,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4706,-0.50,-107.1,2675,2118,2775,2750,688.9,-12.3,408,4712,0.00,2.28,0.00,0.000,260,0.000,0.073,2664,3523,2762,2775,2750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4734,-0.50,-107.1,2663,3523,2774,2750,691.3,-12.3,409,4738,0.00,2.25,0.00,0.000,1030,0.000,0.067,2664,2123,2762,2774,2750,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5041,-0.50,-107.1,2664,2120,2774,2750,732.3,-12.8,424,5047,0.00,2.28,0.00,0.000,260,0.000,0.072,2653,3523,2762,2774,2750,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5081,-0.50,-107.1,2653,3524,2773,2750,737.3,-12.5,426,5086,0.12,2.25,0.00,0.000,3078,0.167,0.067,2683,2123,2761,2773,2750,0,0,0,0,0,0,26.27,26.36,28.83
$GC,5398,-0.50,-107.1,2682,2120,2774,2749,771.7,-10.6,442,5402,0.00,2.28,0.00,0.000,260,0.000,0.072,2674,3525,2761,2774,2749,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5426,-0.50,-107.1,2674,3525,2774,2749,773.4,-10.6,443,5435,0.00,2.25,0.00,0.000,1030,0.000,0.066,2674,2123,2762,2775,2749,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5734,-0.50,-107.1,2674,2119,2775,2748,808.5,-10.6,459,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2119,2761,2775,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.50,-107.1,2674,2119,2774,2748,840.5,-11.1,474,6038,0.00,2.28,0.00,0.000,260,0.000,0.074,2664,3521,2761,2774,2748,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6077,-0.50,-107.1,2663,3520,2774,2748,844.5,-11.2,476,6082,0.00,2.28,0.00,0.000,1030,0.000,0.066,2664,2115,2761,2774,2748,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6390,-0.50,-107.1,2663,2112,2774,2747,883.0,-12.2,492,6396,0.00,2.30,0.00,0.000,260,0.000,0.074,2653,3528,2760,2774,2747,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6452,-0.50,-107.1,2653,3528,2774,2747,889.8,-11.5,495,6457,0.12,2.28,0.00,0.000,3078,0.167,0.069,2683,2120,2760,2773,2747,0,0,0,0,0,0,26.29,26.37,28.83
$GC,6770,-0.50,-107.1,2682,2116,2774,2747,920.2,-9.4,511,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2116,2760,2773,2747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7070,-0.50,-107.1,2683,2116,2774,2747,947.7,-8.9,526,7076,0.00,2.28,0.00,0.000,260,0.000,0.073,2674,3521,2760,2774,2746,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7143,-0.50,-107.1,2674,3521,2774,2746,953.0,-8.8,529,7150,0.00,2.25,0.00,0.000,1030,0.000,0.067,2674,2123,2760,2774,2746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7450,-0.50,-107.1,2674,2120,2774,2746,983.5,-9.8,545,7456,0.00,2.30,0.00,0.000,516,0.000,0.070,2674,704,2760,2774,2746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7472,-0.50,-107.1,2674,704,2774,2747,985.7,-10.1,546,7477,0.00,2.28,0.00,0.000,1030,0.000,0.062,2664,2109,2760,2774,2747,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7608,begin apogee
$GC,7612,-0.11,0.0,2663,2109,2774,2746,1000.6,-10.8,553,7704,0.47,0.00,89.40,1.320,10246,0.155,0.000,2802,2109,2321,2362,2281,0,0,0,0,0,0,26.28,28.83,23.75
$STATE,7705,end apogee,CONTROL_FINISHED_OK
$STATE,7705,begin climb
$GC,7707,0.50,107.1,2801,2108,2361,2281,1002.3,0.0,557,7811,0.60,2.50,95.45,1.303,10756,0.085,0.049,3008,675,1885,1954,1816,0,0,0,0,0,0,24.64,24.17,23.37
$GC,7862,0.50,107.1,3008,675,1944,1815,984.1,16.0,565,7866,0.00,2.40,0.00,0.000,1030,0.000,0.043,3008,2103,1879,1944,1815,0,0,0,0,0,0,28.83,24.73,28.83
$GC,8169,0.50,107.1,3008,2107,1942,1810,925.3,18.2,580,8175,0.00,2.33,0.00,0.000,516,0.000,0.048,3018,679,1876,1941,1811,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8202,0.50,107.1,3018,678,1937,1810,921.6,18.1,581,8209,0.00,2.30,0.00,0.000,1030,0.000,0.043,3018,2101,1874,1938,1811,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8509,0.50,107.1,3018,2101,1938,1809,861.1,18.5,597,8513,0.00,2.30,0.00,0.000,516,0.000,0.048,3029,673,1873,1937,1809,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8528,0.50,107.1,3029,672,1935,1810,858.1,18.7,598,8532,0.00,2.28,0.00,0.000,1030,0.000,0.042,3028,2098,1871,1934,1809,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8846,0.50,107.1,3028,2098,1935,1809,797.4,18.4,614,8852,0.00,2.20,0.00,0.000,260,0.000,0.050,3029,3508,1872,1935,1809,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8857,0.50,107.1,3028,3508,1934,1809,797.4,18.4,614,8865,0.15,2.28,0.00,0.000,5126,0.229,0.044,3008,2096,1871,1933,1810,0,0,0,0,0,0,25.77,25.96,28.83
$GC,9165,0.50,107.1,3008,2095,1934,1809,744.1,16.2,630,9169,0.00,2.25,0.00,0.000,516,0.000,0.050,3018,678,1871,1934,1809,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9248,0.50,107.1,3018,678,1931,1808,731.8,16.1,634,9253,0.00,2.25,0.00,0.000,1030,0.000,0.043,3018,2101,1870,1931,1809,0,0,0,0,0,0,28.83,26.08,28.83
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$GC,11626,0.50,107.1,3043,678,1927,1809,329.0,16.9,774,11631,0.15,2.22,0.00,0.000,5126,0.203,0.044,3010,2101,1867,1927,1808,0,0,0,0,0,0,26.14,26.34,28.83
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$STATE,13734,end climb,SURFACE_DEPTH_REACHED
$STATE,13734,begin surface coast
$FINISH,1.4,1.011819
$STATE,13750,end surface coast,CONTROL_FINISHED_OK
$STATE,13750,begin surface
$SM_CCo,13764,39.30,0.059,0,0,1505,200.16
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$IRIDIUM_FIX,-4545.66,507.73,080609,161602
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.08
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.4,16.194
$10V_AH,10.3,13.044
$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
$DEVICE_SECS,20.400,149.175,184.850,39.300,0.000,31.624,42.133,305.281,0.000,0.000,8.748,2764.874,8783.330,400.908,2245.758,109.346,0.000,1405.650,0.000,1811.271,0.000,0.991,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63591,1047
$CAP_FILE_SIZE,145640,0
$CFSIZE,2097086464,2077917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.370, 35.2,1
$GPS,120816,110021,-4602.287,513.293,65,1.7,65,-23.8