version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 133
start: 6 22 115 21 55 33
data:
$ID,574
$MISSION,20
$DIVE,133
$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,446.92932
$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,-2374460.5
$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,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
$GPS1,130816,112556,-4553.653,515.906,111,1.0,115,-23.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-76.7
$GPS2,130816,113829,-4553.413,516.018,5,1.0,5,-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,234.9,49838,-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,-107.1,128,2091,1521,1446,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,16386,0.000,0.000,128,2091,2497,2482,2512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.50,-107.1,128,2091,2481,2512,3.1,-2.0,7,87,10.68,2.30,-7.30,0.000,18692,0.254,0.058,2669,3540,2759,2761,2758,0,0,0,0,0,0,25.58,25.84,26.15
$GC,165,-0.50,-107.1,2668,3541,2766,2756,18.9,-13.9,26,172,0.00,2.25,0.00,0.000,1030,0.000,0.050,2671,2129,2760,2766,2755,0,0,0,0,0,0,28.83,25.89,28.83
$GC,213,-0.50,-107.1,1764,2124,2739,2748,26.6,-17.1,35,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2125,2761,2770,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,340,-0.50,-107.1,2671,2125,2771,2752,47.5,-16.9,60,347,0.00,2.28,0.00,0.000,260,0.000,0.061,2662,3532,2761,2771,2752,0,0,0,0,0,0,28.83,25.94,28.83
$GC,374,-0.50,-107.1,2663,3532,2770,2753,53.1,-15.5,66,380,0.00,2.25,0.00,0.000,1030,0.000,0.052,2668,2123,2761,2771,2752,0,0,0,0,0,0,28.83,25.97,28.83
$GC,682,-0.50,-107.1,2668,2119,2772,2752,105.1,-16.1,124,686,0.00,2.28,0.00,0.000,260,0.000,0.061,2660,3535,2762,2772,2752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,728,-0.50,-107.1,2660,3535,2771,2752,112.8,-16.9,128,732,0.00,2.25,0.00,0.000,1030,0.000,0.052,2660,2119,2762,2772,2752,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1033,-0.50,-107.1,2660,2116,2772,2752,165.8,-16.8,158,1042,0.00,2.25,0.00,0.000,260,0.000,0.060,2650,3528,2762,2772,2752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1076,-0.50,-107.1,1824,3526,2746,2748,172.9,-17.7,162,1084,0.10,2.28,0.00,0.000,3078,0.157,0.053,2680,2123,2762,2772,2752,0,0,0,0,0,0,26.02,26.15,28.83
$GC,1384,-0.50,-107.1,2680,2120,2773,2752,218.5,-15.0,193,1388,0.00,2.25,0.00,0.000,260,0.000,0.060,2672,3531,2762,2773,2752,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1440,-0.50,-107.1,2671,3531,2772,2752,226.6,-14.0,198,1449,0.00,2.22,0.00,0.000,1030,0.000,0.053,2671,2124,2762,2772,2752,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1750,-0.50,-107.1,2672,2121,2773,2751,269.4,-12.9,229,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2121,2762,2773,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2052,-0.50,-107.1,2672,2120,2773,2751,308.6,-13.4,259,2060,0.00,2.22,0.00,0.000,260,0.000,0.062,2662,3525,2762,2773,2752,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2112,-0.50,-107.1,2661,3525,2773,2752,316.7,-12.9,265,2116,0.00,2.22,0.00,0.000,1030,0.000,0.054,2661,2118,2762,2773,2752,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2417,-0.50,-107.1,2661,2114,2773,2752,358.4,-13.8,295,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2115,2763,2774,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-0.50,-107.1,2662,2114,2774,2752,399.2,-13.4,325,2727,0.00,2.25,0.00,0.000,260,0.000,0.062,2651,3530,2762,2773,2752,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2772,-0.50,-107.1,2651,3530,2773,2752,404.6,-13.2,328,2779,0.12,2.22,0.00,0.000,3078,0.171,0.055,2681,2124,2762,2773,2752,0,0,0,0,0,0,26.20,26.32,28.83
$GC,3079,-0.50,-107.1,2680,2121,2774,2752,441.7,-11.9,344,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2121,2763,2774,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3380,-0.50,-107.1,2681,2120,2774,2752,478.9,-12.8,359,3386,0.00,2.22,0.00,0.000,516,0.000,0.056,2684,705,2763,2774,2752,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3402,-0.50,-107.1,2684,706,2774,2752,481.6,-12.9,360,3406,0.00,2.25,0.00,0.000,1030,0.000,0.054,2675,2125,2763,2775,2752,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3720,-0.50,-107.1,2675,2125,2774,2751,525.5,-14.0,376,3726,0.00,2.22,0.00,0.000,260,0.000,0.064,2664,3538,2762,2774,2751,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3807,-0.50,-107.1,2664,3538,2773,2751,536.2,-13.4,380,3811,0.00,2.25,0.00,0.000,1030,0.000,0.057,2664,2123,2762,2773,2751,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4119,-0.50,-107.1,2664,2121,2773,2751,581.8,-14.1,396,4123,0.00,2.25,0.00,0.000,516,0.000,0.060,2670,706,2762,2774,2751,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4138,-0.50,-107.1,2669,706,2774,2751,584.0,-13.9,397,4142,0.00,2.28,0.00,0.000,1030,0.000,0.055,2660,2131,2762,2774,2751,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4455,-0.50,-107.1,2660,2131,2774,2751,627.8,-13.6,413,4459,0.00,2.22,0.00,0.000,260,0.000,0.063,2649,3536,2762,2773,2751,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4594,-0.50,-107.1,2649,3536,2772,2751,645.0,-12.1,420,4599,0.12,2.25,0.00,0.000,3078,0.170,0.059,2679,2121,2761,2772,2751,0,0,0,0,0,0,26.26,26.37,28.83
$GC,4906,-0.50,-107.1,2678,2117,2774,2750,681.4,-11.5,436,4910,0.00,2.28,0.00,0.000,260,0.000,0.066,2670,3543,2761,2773,2750,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4922,-0.50,-107.1,2670,3543,2773,2750,683.2,-11.4,437,4926,0.00,2.25,0.00,0.000,1030,0.000,0.059,2670,2123,2761,2773,2750,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5239,-0.50,-107.1,2670,2120,2773,2750,718.8,-11.1,453,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2120,2761,2773,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-0.50,-107.1,2670,2120,2773,2749,751.0,-10.6,468,5545,0.00,2.25,0.00,0.000,260,0.000,0.065,2660,3535,2760,2773,2748,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5561,-0.50,-107.1,2660,3534,2772,2749,753.1,-10.4,469,5565,0.00,2.30,0.00,0.000,1030,0.000,0.060,2659,2118,2760,2773,2748,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5878,-0.50,-107.1,2659,2115,2772,2748,789.8,-11.4,485,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2115,2760,2773,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6179,-0.50,-107.1,2659,2115,2772,2748,823.7,-11.3,500,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2115,2760,2772,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6479,-0.50,-107.1,2659,2115,2773,2747,859.2,-12.0,515,6485,0.00,2.22,0.00,0.000,516,0.000,0.061,2660,714,2759,2772,2747,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6497,-0.50,-107.1,2659,713,2773,2747,861.7,-12.2,516,6502,0.12,2.25,0.00,0.000,3078,0.194,0.057,2677,2126,2760,2773,2747,0,0,0,0,0,0,26.26,26.41,28.83
$GC,6816,-0.50,-107.1,2677,2126,2773,2746,897.4,-11.4,532,6821,0.00,2.22,0.00,0.000,260,0.000,0.069,2668,3529,2759,2772,2746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6867,-0.50,-107.1,2668,3529,2772,2746,902.1,-11.7,534,6874,0.00,2.25,0.00,0.000,1030,0.000,0.059,2668,2116,2759,2772,2746,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7175,-0.50,-107.1,2668,2113,2772,2746,942.3,-12.7,550,7180,0.00,2.28,0.00,0.000,260,0.000,0.067,2658,3530,2759,2772,2746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7214,-0.50,-107.1,2658,3531,2771,2746,947.5,-12.8,552,7218,0.00,2.25,0.00,0.000,1030,0.000,0.062,2657,2119,2758,2771,2746,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7532,-0.50,-107.1,2657,2116,2772,2746,988.2,-12.6,568,7537,0.00,2.25,0.00,0.000,516,0.000,0.063,2658,705,2758,2771,2746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7543,-0.50,-107.1,2658,704,2771,2746,988.2,-12.6,568,7551,0.12,2.28,0.00,0.000,3078,0.194,0.059,2677,2122,2758,2771,2746,0,0,0,0,0,0,26.25,26.41,28.83
$STATE,7649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7649,begin apogee
$GC,7653,-0.11,0.0,2677,2121,2772,2746,1001.2,-10.4,574,7745,0.43,0.00,88.78,1.317,10246,0.149,0.000,2802,2121,2321,2362,2281,0,0,0,0,0,0,26.27,28.83,23.80
$STATE,7746,end apogee,CONTROL_FINISHED_OK
$STATE,7746,begin climb
$GC,7747,0.50,107.1,2802,2121,2362,2281,1003.4,0.0,578,7851,0.60,2.50,95.20,1.294,10756,0.086,0.048,3009,682,1884,1954,1814,0,0,0,0,0,0,24.65,24.20,23.41
$GC,7894,0.50,107.1,3009,682,1945,1813,986.0,15.4,586,7901,0.00,2.38,0.00,0.000,1030,0.000,0.044,3009,2100,1879,1945,1814,0,0,0,0,0,0,28.83,24.72,28.83
$GC,8215,0.50,107.1,3009,2103,1944,1808,930.0,17.1,602,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2103,1876,1944,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,0.50,107.1,3009,2103,1941,1807,879.9,16.3,617,8521,0.00,2.28,0.00,0.000,516,0.000,0.050,3019,679,1873,1940,1807,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8557,0.50,107.1,3019,678,1936,1807,873.2,16.5,619,8561,0.00,2.28,0.00,0.000,1030,0.000,0.044,3019,2104,1871,1936,1807,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8874,0.50,107.1,3019,2104,1936,1807,818.2,17.5,635,8878,0.00,2.28,0.00,0.000,516,0.000,0.047,3030,678,1872,1937,1807,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8898,0.50,107.1,3029,678,1933,1807,815.5,17.6,636,8902,0.00,2.25,0.00,0.000,1030,0.000,0.041,3030,2099,1870,1933,1807,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9210,0.50,107.1,3030,2098,1934,1807,755.4,19.0,652,9214,0.00,2.25,0.00,0.000,516,0.000,0.047,3040,679,1870,1934,1807,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9234,0.50,107.1,3040,678,1932,1807,752.3,19.0,653,9239,0.15,2.25,0.00,0.000,5126,0.204,0.041,3008,2103,1869,1932,1807,0,0,0,0,0,0,25.89,26.08,28.83
$GC,9546,0.50,107.1,3008,2103,1933,1807,695.7,17.3,669,9550,0.00,2.28,0.00,0.000,516,0.000,0.048,3018,672,1870,1933,1807,0,0,0,0,0,0,28.83,26.13,28.83
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$GC,11247,0.50,107.1,3032,2109,1929,1806,415.4,16.4,754,11252,0.00,2.20,0.00,0.000,516,0.000,0.048,3042,693,1868,1929,1807,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,13970,end climb,SURFACE_DEPTH_REACHED
$STATE,13970,begin surface coast
$FINISH,1.4,1.009487
$STATE,13986,end surface coast,CONTROL_FINISHED_OK
$STATE,13987,begin surface
$SM_CCo,14001,151.95,0.056,0,0,498,446.93
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$IRIDIUM_FIX,-4536.40,519.23,100609,000041
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.87
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.4,16.839
$10V_AH,10.3,13.571
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.475,139.525,183.975,151.950,0.000,141.457,168.088,73.024,0.000,0.000,8.769,2873.691,9104.720,486.979,2324.867,141.460,0.000,1510.172,0.000,1867.571,0.000,0.989,0.000
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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,353208
$DATA_FILE_SIZE,66933,1087
$CAP_FILE_SIZE,145528,0
$CFSIZE,2097086464,2076770304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.365, 29.7,1
$GPS,130816,153621,-4552.299,516.501,39,1.0,39,-23.8