version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 134
start: 6 23 115 2 3 32
data:
$ID,574
$MISSION,20
$DIVE,134
$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,-2374513.5
$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,27
$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
$GPS1,130816,153621,-4552.299,516.501,39,1.0,39,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-62.9
$GPS2,130816,154630,-4552.059,516.646,4,1.4,4,-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,239.6,52439,-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,-107.1,128,2103,517,420,0.0,0.0,0,80,0.00,0.00,-62.20,0.000,16386,0.000,0.000,128,2103,2023,2011,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.50,-107.1,128,2104,2017,2030,3.0,-1.9,7,129,10.75,2.35,-28.73,0.000,19204,0.252,0.070,2665,3542,2757,2772,2742,0,0,0,0,0,0,25.34,25.65,25.98
$GC,194,-0.50,-107.1,2665,3547,2771,2743,13.8,-21.0,21,205,0.00,2.33,0.00,0.000,1030,0.000,0.054,2671,2131,2757,2772,2743,0,0,0,0,0,0,28.83,25.73,28.83
$GC,263,-0.50,-107.1,2671,2127,2772,2742,27.8,-19.8,30,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2127,2757,2772,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,419,-0.50,-107.1,2671,2126,2773,2743,55.3,-18.2,55,426,0.00,2.30,0.00,0.000,260,0.000,0.066,2662,3537,2758,2773,2743,0,0,0,0,0,0,28.83,25.85,28.83
$GC,469,-0.50,-107.1,2662,3537,2772,2743,63.4,-15.0,64,476,0.00,2.33,0.00,0.000,1030,0.000,0.057,2662,2123,2757,2772,2743,0,0,0,0,0,0,28.83,25.89,28.83
$GC,794,-0.50,-107.1,2662,2120,2773,2742,119.8,-17.2,114,804,0.00,2.28,0.00,0.000,260,0.000,0.063,2652,3529,2757,2772,2743,0,0,0,0,0,0,28.83,26.00,28.83
$GC,829,-0.50,-107.1,2652,3529,2772,2743,125.2,-16.9,117,838,0.00,2.22,0.00,0.000,1030,0.000,0.054,2655,2123,2757,2772,2743,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1135,-0.50,-107.1,2655,2120,2773,2742,179.3,-16.9,148,1139,0.00,2.28,0.00,0.000,260,0.000,0.063,2646,3533,2758,2773,2743,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1184,-0.50,-107.1,2646,3533,2773,2743,187.3,-16.7,152,1189,0.15,2.28,0.00,0.000,3078,0.173,0.055,2682,2114,2757,2772,2743,0,0,0,0,0,0,25.97,26.11,28.83
$GC,1489,-0.50,-107.1,2682,2111,2774,2743,230.6,-14.0,182,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2112,2758,2774,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.50,-107.1,2682,2112,2774,2742,274.3,-14.9,212,1801,0.00,2.28,0.00,0.000,260,0.000,0.063,2673,3530,2758,2773,2743,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1848,-0.50,-107.1,2673,3530,2773,2743,282.0,-14.5,217,1857,0.00,2.22,0.00,0.000,1030,0.000,0.057,2673,2117,2758,2774,2743,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2154,-0.50,-107.1,2673,2114,2774,2743,330.1,-15.6,248,2158,0.00,2.28,0.00,0.000,260,0.000,0.065,2663,3529,2758,2774,2742,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2193,-0.50,-107.1,2662,3529,2774,2743,336.2,-15.9,251,2202,0.00,2.25,0.00,0.000,1030,0.000,0.057,2663,2116,2758,2773,2743,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2502,-0.50,-107.1,2663,2113,2774,2743,385.4,-15.9,282,2512,0.00,2.28,0.00,0.000,260,0.000,0.065,2653,3529,2758,2774,2743,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2547,-0.50,-107.1,2652,3529,2773,2743,392.3,-15.6,286,2557,0.12,2.25,0.00,0.000,3078,0.167,0.058,2681,2116,2758,2773,2743,0,0,0,0,0,0,26.15,26.27,28.83
$GC,2866,-0.50,-107.1,2682,2113,2773,2742,436.7,-14.0,305,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2113,2758,2774,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.50,-107.1,2682,2113,2774,2742,478.3,-14.2,320,3173,0.00,2.25,0.00,0.000,260,0.000,0.067,2673,3525,2758,2774,2742,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3219,-0.50,-107.1,2673,3525,2773,2742,483.9,-13.9,322,3226,0.00,2.25,0.00,0.000,1030,0.000,0.058,2673,2114,2757,2773,2742,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3527,-0.50,-107.1,2673,2111,2774,2742,529.7,-14.1,338,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2111,2757,2773,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3826,-0.50,-107.1,2673,2111,2774,2741,571.5,-13.7,353,3830,0.00,2.28,0.00,0.000,260,0.000,0.068,2663,3527,2757,2774,2741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3883,-0.50,-107.1,2662,3528,2773,2741,578.9,-13.4,356,3889,0.00,2.25,0.00,0.000,1030,0.000,0.061,2662,2117,2757,2773,2741,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4202,-0.50,-107.1,2663,2113,2773,2741,624.9,-14.5,372,4206,0.00,2.28,0.00,0.000,260,0.000,0.069,2652,3527,2757,2773,2741,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4231,-0.50,-107.1,2652,3528,2773,2741,627.2,-14.4,373,4239,0.12,2.25,0.00,0.000,3078,0.166,0.062,2682,2123,2757,2773,2741,0,0,0,0,0,0,26.24,26.35,28.83
$GC,4538,-0.50,-107.1,2681,2120,2774,2740,668.2,-12.5,389,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2120,2757,2774,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4838,-0.50,-107.1,2681,2120,2773,2740,705.7,-12.2,404,4842,0.00,2.28,0.00,0.000,260,0.000,0.069,2673,3532,2756,2773,2740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4876,-0.50,-107.1,1856,3531,2748,2736,710.0,-11.8,406,4881,0.00,2.30,0.00,0.000,1030,0.000,0.063,2673,2128,2756,2773,2739,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5196,-0.50,-107.1,2673,2125,2773,2740,748.5,-11.7,422,5201,0.00,2.28,0.00,0.000,516,0.000,0.068,2673,706,2757,2774,2740,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5223,-0.50,-107.1,2672,705,2774,2739,751.0,-11.9,423,5227,0.00,2.28,0.00,0.000,1030,0.000,0.059,2662,2123,2757,2774,2740,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5529,-0.50,-107.1,2662,2124,2774,2739,790.2,-12.4,438,5535,0.00,2.28,0.00,0.000,260,0.000,0.070,2652,3545,2756,2774,2739,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5592,-0.50,-107.1,2651,3544,2772,2739,797.3,-12.1,441,5597,0.12,2.28,0.00,0.000,3078,0.168,0.062,2681,2121,2756,2773,2739,0,0,0,0,0,0,26.27,26.37,28.83
$GC,5910,-0.50,-107.1,2681,2117,2773,2738,831.3,-10.8,457,5916,0.00,2.28,0.00,0.000,260,0.000,0.069,2672,3542,2755,2773,2738,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5962,-0.50,-107.1,2672,3541,2772,2738,835.6,-10.8,459,5969,0.00,2.28,0.00,0.000,1030,0.000,0.060,2672,2120,2755,2772,2738,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6269,-0.50,-107.1,2672,2117,2773,2739,873.5,-12.0,475,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2118,2755,2773,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6569,-0.50,-107.1,2672,2117,2773,2738,908.1,-11.2,490,6575,0.00,2.28,0.00,0.000,516,0.000,0.063,2672,699,2755,2773,2738,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6592,-0.50,-107.1,2672,699,2773,2738,910.4,-11.3,491,6596,0.00,2.30,0.00,0.000,1030,0.000,0.059,2662,2131,2755,2773,2738,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6909,-0.50,-107.1,2662,2131,2772,2736,948.7,-11.8,507,6913,0.00,2.25,0.00,0.000,260,0.000,0.070,2651,3539,2754,2772,2737,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7006,-0.50,-107.1,2651,3539,2772,2736,959.6,-11.4,512,7012,0.08,2.28,0.00,0.000,3078,0.151,0.064,2675,2119,2754,2772,2736,0,0,0,0,0,0,26.29,26.39,28.83
$GC,7325,-0.50,-107.1,2675,2117,2772,2736,993.2,-10.3,528,7329,0.00,2.28,0.00,0.000,516,0.000,0.065,2684,703,2754,2772,2736,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7340,-0.50,-107.1,2684,703,2773,2736,994.8,-10.2,529,7345,0.00,2.30,0.00,0.000,1030,0.000,0.060,2675,2132,2755,2774,2736,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7395,begin apogee
$GC,7399,-0.11,0.0,2675,2087,2773,2735,1000.6,-10.3,532,7490,0.45,0.00,87.57,1.317,10246,0.151,0.000,2806,2087,2321,2364,2279,0,0,0,0,0,0,26.26,28.83,23.80
$STATE,7491,end apogee,CONTROL_FINISHED_OK
$STATE,7491,begin climb
$GC,7492,0.50,107.1,2806,2087,2365,2279,1002.9,0.0,536,7599,0.57,2.47,94.40,1.304,10756,0.079,0.050,3009,693,1884,1952,1816,0,0,0,0,0,0,24.68,24.20,23.39
$GC,7664,0.50,107.1,3009,693,1944,1815,983.0,16.2,545,7668,0.00,2.35,0.00,0.000,1030,0.000,0.043,3010,2102,1880,1944,1816,0,0,0,0,0,0,28.83,24.86,28.83
$GC,7981,0.50,107.1,3009,2105,1942,1811,929.0,16.7,561,7985,0.00,2.33,0.00,0.000,516,0.000,0.049,3020,680,1876,1942,1811,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8031,0.50,107.1,3020,679,1938,1811,923.1,16.4,563,8038,0.00,2.30,0.00,0.000,1030,0.000,0.043,3020,2108,1874,1938,1811,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8337,0.50,107.1,3020,2110,1937,1810,871.8,15.8,579,8341,0.00,2.30,0.00,0.000,516,0.000,0.048,3030,688,1873,1938,1809,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8406,0.50,107.1,3030,687,1935,1809,863.0,15.6,582,8413,0.00,2.28,0.00,0.000,1030,0.000,0.042,3030,2116,1872,1935,1810,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8714,0.50,107.1,3030,2116,1934,1809,809.5,17.0,598,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2115,1872,1934,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9014,0.50,107.1,3030,2115,1934,1809,758.9,16.8,613,9020,0.00,2.25,0.00,0.000,516,0.000,0.047,3040,689,1871,1934,1809,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9076,0.50,107.1,3040,689,1932,1808,748.6,17.2,616,9081,0.15,2.28,0.00,0.000,5126,0.203,0.041,3008,2132,1870,1932,1808,0,0,0,0,0,0,25.91,26.11,28.83
$GC,9394,0.50,107.1,3007,2132,1932,1809,699.0,15.7,632,9400,0.00,2.28,0.00,0.000,516,0.000,0.048,3017,688,1870,1932,1809,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9446,0.50,107.1,3017,687,1932,1808,692.6,15.9,634,9453,0.00,2.22,0.00,0.000,1030,0.000,0.043,3018,2098,1869,1931,1808,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,13850,end climb,SURFACE_DEPTH_REACHED
$STATE,13850,begin surface coast
$FINISH,1.4,1.023682
$STATE,13873,end surface coast,CONTROL_FINISHED_OK
$STATE,13873,begin surface
$SM_CCo,13887,38.47,0.057,0,0,1505,200.16
$SM_GC,2.49,7.80,0.00,38.47,0.051,0.000,0.057,128,2102,1505,-8.41,-0.62,200.16,0,0,0,0,0,0,26.41,28.83,26.35
$IRIDIUM_FIX,-4536.40,512.79,100609,010144
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.68
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,8.00
$XPDR_PINGS,0
$24V_AH,23.4,16.938
$10V_AH,10.1,13.699
$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,20.600,131.425,181.975,38.475,0.000,24.263,22.227,450.215,0.000,0.000,7.776,2698.329,8247.685,411.488,3070.816,130.640,0.000,1450.349,0.000,2514.420,0.000,0.990,0.000
$DEVICE_MAMPS,251.685,117.045,1317.330,57.375,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.161,200.397,1095.370,886.962,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353120
$DATA_FILE_SIZE,70218,1028
$CAP_FILE_SIZE,140882,0
$CFSIZE,2097086464,2076835840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.410, 30.8,1
$GPS,130816,194127,-4550.614,517.215,92,0.9,92,-23.8