version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 152
start: 6 26 115 3 37 6
data:
$ID,574
$MISSION,20
$DIVE,152
$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,-2376653.5
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,160816,170228,-4525.418,524.470,38,0.9,38,-23.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.5
$GPS2,160816,172015,-4525.148,524.428,6,1.2,6,-23.9
$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,229.7,103248,-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,-107.1,128,2128,1521,1450,0.0,0.0,0,53,0.00,0.00,-36.28,0.000,16386,0.000,0.000,128,2128,2404,2387,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.50,-107.1,128,2128,2392,2420,3.3,-1.5,4,84,10.77,2.28,-10.32,0.000,19204,0.250,0.069,2666,3529,2759,2766,2753,0,0,0,0,0,0,25.34,25.57,25.91
$GC,171,-0.50,-107.1,2666,3529,2768,2753,18.5,-14.9,19,181,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2128,2761,2769,2753,0,0,0,0,0,0,28.83,25.72,28.83
$GC,239,-0.50,-107.1,2669,2124,2772,2751,29.1,-16.1,28,249,0.00,2.33,0.00,0.000,516,0.000,0.057,2669,711,2761,2771,2751,0,0,0,0,0,0,28.83,25.73,28.83
$GC,258,-0.50,-107.1,2669,711,2772,2751,32.5,-17.7,30,268,0.00,2.33,0.00,0.000,1030,0.000,0.053,2660,2116,2761,2772,2751,0,0,0,0,0,0,28.83,25.75,28.83
$GC,412,-0.50,-107.1,2660,2117,2773,2751,60.3,-19.5,55,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2116,2762,2773,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,742,-0.50,-107.1,2660,2117,2774,2751,121.1,-18.8,105,750,0.00,2.28,0.00,0.000,260,0.000,0.063,2649,3542,2762,2773,2751,0,0,0,0,0,0,28.83,25.97,28.83
$GC,788,-0.50,-107.1,2649,3542,2773,2752,129.4,-18.5,109,796,0.10,2.33,0.00,0.000,3078,0.159,0.057,2680,2122,2762,2773,2751,0,0,0,0,0,0,25.88,26.00,28.83
$GC,1096,-0.50,-107.1,2679,2119,2776,2751,181.3,-16.4,140,1100,0.00,2.28,0.00,0.000,260,0.000,0.063,2671,3534,2762,2775,2750,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1127,-0.50,-107.1,1824,3533,2748,2746,185.9,-16.7,142,1136,0.00,2.30,0.00,0.000,1030,0.000,0.057,2671,2125,2762,2775,2750,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1438,-0.50,-107.1,2671,2121,2776,2750,238.3,-15.5,173,1446,0.00,2.25,0.00,0.000,260,0.000,0.066,2661,3532,2762,2775,2750,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1515,-0.50,-107.1,2661,3532,2775,2750,249.4,-13.4,180,1526,0.00,2.30,0.00,0.000,1030,0.000,0.059,2661,2121,2762,2775,2749,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1824,-0.50,-107.1,2661,2118,2775,2750,297.7,-15.6,211,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2119,2762,2775,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2126,-0.50,-107.1,2660,2117,2775,2750,342.4,-15.2,241,2135,0.00,2.25,0.00,0.000,260,0.000,0.067,2650,3529,2762,2775,2749,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2170,-0.50,-107.1,2650,3529,2775,2749,349.2,-15.3,245,2179,0.10,2.22,0.00,0.000,3078,0.158,0.060,2681,2119,2762,2775,2749,0,0,0,0,0,0,26.08,26.22,28.83
$GC,2477,-0.50,-107.1,2681,2116,2776,2749,389.3,-12.9,276,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2117,2762,2776,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2787,-0.50,-107.1,2681,2115,2776,2749,429.2,-13.0,296,2791,0.00,2.28,0.00,0.000,260,0.000,0.067,2673,3533,2762,2776,2749,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2845,-0.50,-107.1,1856,3532,2750,2744,436.1,-12.4,299,2850,0.00,2.30,0.00,0.000,1030,0.000,0.063,2672,2130,2761,2775,2748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3165,-0.50,-107.1,2672,2127,2776,2748,480.5,-14.1,315,3170,0.00,2.25,0.00,0.000,260,0.000,0.071,2662,3527,2762,2776,2748,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3206,-0.50,-107.1,2662,3527,2775,2748,486.3,-14.4,317,3210,0.00,2.28,0.00,0.000,1030,0.000,0.063,2662,2116,2761,2775,2748,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3523,-0.50,-107.1,2662,2113,2776,2747,535.4,-15.5,333,3527,0.00,2.30,0.00,0.000,260,0.000,0.070,2652,3538,2761,2776,2747,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3542,-0.50,-107.1,2651,3538,2775,2747,537.7,-15.4,334,3547,0.12,2.30,0.00,0.000,3078,0.171,0.066,2681,2117,2761,2775,2747,0,0,0,0,0,0,26.17,26.28,28.83
$GC,3859,-0.50,-107.1,2680,2113,2776,2746,581.2,-13.5,350,3863,0.00,2.30,0.00,0.000,260,0.000,0.071,2672,3539,2761,2776,2746,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3895,-0.50,-107.1,2671,3539,2776,2746,585.7,-13.0,352,3899,0.00,2.28,0.00,0.000,1030,0.000,0.065,2672,2121,2760,2775,2746,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4212,-0.50,-107.1,2671,2119,2776,2746,628.6,-13.4,368,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2119,2761,2776,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4511,-0.50,-107.1,2671,2119,2776,2746,668.6,-13.2,383,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2119,2761,2776,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4811,-0.50,-107.1,2671,2119,2776,2745,706.9,-12.6,398,4815,0.00,2.28,0.00,0.000,516,0.000,0.069,2672,712,2760,2776,2745,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4827,-0.50,-107.1,2671,712,2776,2745,708.9,-12.5,399,4833,0.00,2.28,0.00,0.000,1030,0.000,0.060,2662,2133,2760,2776,2745,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5147,-0.50,-107.1,2661,2133,2776,2744,749.8,-12.4,415,5153,0.00,2.25,0.00,0.000,260,0.000,0.068,2651,3543,2760,2776,2744,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5180,-0.50,-107.1,2650,3543,2775,2745,752.4,-12.6,416,5187,0.12,2.28,0.00,0.000,3078,0.163,0.064,2680,2124,2759,2775,2744,0,0,0,0,0,0,26.23,26.34,28.83
$GC,5487,-0.50,-107.1,2680,2121,2776,2744,785.8,-10.3,432,5491,0.00,2.28,0.00,0.000,516,0.000,0.066,2684,710,2759,2775,2744,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5506,-0.50,-107.1,2684,709,2776,2744,787.4,-10.3,433,5510,0.00,2.28,0.00,0.000,1030,0.000,0.060,2675,2124,2759,2775,2744,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5823,-0.50,-107.1,2675,2124,2775,2743,823.5,-11.2,449,5827,0.00,2.25,0.00,0.000,260,0.000,0.071,2664,3532,2759,2775,2743,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5846,-0.50,-107.1,2664,3532,2774,2744,825.3,-11.2,450,5851,0.00,2.28,0.00,0.000,1030,0.000,0.067,2664,2117,2758,2774,2743,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6158,-0.50,-107.1,2664,2116,2775,2743,862.6,-11.6,466,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2115,2758,2774,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6458,-0.50,-107.1,2664,2115,2775,2743,897.4,-11.6,481,6463,0.00,2.28,0.00,0.000,516,0.000,0.067,2663,707,2758,2775,2742,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6487,-0.50,-107.1,2664,707,2775,2743,899.3,-12.0,482,6496,0.12,2.30,0.00,0.000,3078,0.191,0.063,2681,2130,2758,2775,2742,0,0,0,0,0,0,26.20,26.36,28.83
$GC,6794,-0.50,-107.1,2681,2130,2775,2742,934.0,-11.0,498,6798,0.00,2.28,0.00,0.000,260,0.000,0.073,2672,3544,2758,2775,2742,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6873,-0.50,-107.1,1824,3543,2747,2738,942.2,-10.9,502,6877,0.00,2.33,0.00,0.000,1030,0.000,0.065,2672,2125,2758,2774,2742,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7192,-0.50,-107.1,2672,2123,2774,2742,979.7,-11.3,518,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2123,2758,2774,2742,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7390,begin apogee
$GC,7394,-0.11,0.0,2672,2121,2774,2742,1001.6,-10.9,528,7490,0.45,0.00,88.70,1.333,10246,0.150,0.000,2803,2121,2321,2363,2280,0,0,0,0,0,0,26.22,28.83,23.80
$STATE,7491,end apogee,CONTROL_FINISHED_OK
$STATE,7491,begin climb
$GC,7493,0.50,107.1,2803,2121,2363,2280,1005.1,0.0,533,7596,0.57,2.47,95.68,1.313,10756,0.081,0.048,3007,682,1883,1954,1812,0,0,0,0,0,0,24.73,24.18,23.40
$GC,7656,0.50,107.1,3007,682,1944,1812,987.0,15.9,541,7661,0.00,2.38,0.00,0.000,1030,0.000,0.044,3007,2101,1878,1944,1812,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7968,0.50,107.1,3007,2103,1942,1807,932.1,17.0,557,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2103,1874,1941,1807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,0.50,107.1,3007,2103,1940,1806,879.0,17.9,572,8273,0.00,2.30,0.00,0.000,516,0.000,0.050,3017,672,1872,1939,1806,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8307,0.50,107.1,2148,672,1909,1802,872.7,17.8,574,8311,0.00,2.33,0.00,0.000,1030,0.000,0.043,3017,2099,1871,1936,1806,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8624,0.50,107.1,3017,2101,1936,1806,813.7,18.4,590,8628,0.00,2.28,0.00,0.000,516,0.000,0.049,3028,672,1871,1936,1806,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8641,0.50,107.1,3027,672,1933,1806,810.8,18.4,591,8647,0.00,2.25,0.00,0.000,1030,0.000,0.041,3028,2103,1869,1932,1806,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8961,0.50,107.1,3027,2103,1933,1806,751.4,18.2,607,8966,0.00,2.25,0.00,0.000,516,0.000,0.047,3038,678,1869,1933,1806,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9063,0.50,107.1,2176,677,1904,1802,732.8,18.5,612,9068,0.10,2.28,0.00,0.000,5126,0.191,0.041,3010,2100,1868,1931,1805,0,0,0,0,0,0,25.93,26.11,28.83
$GC,9380,0.50,107.1,3010,2100,1932,1806,679.2,16.2,628,9384,0.00,2.25,0.00,0.000,516,0.000,0.048,3020,678,1869,1932,1806,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9459,0.50,107.1,3020,678,1929,1806,666.6,16.7,632,9463,0.00,2.22,0.00,0.000,1030,0.000,0.043,3020,2095,1868,1930,1806,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9776,0.50,107.1,3020,2095,1931,1806,611.0,17.7,648,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2095,1868,1931,1806,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,13752,end climb,SURFACE_DEPTH_REACHED
$STATE,13752,begin surface coast
$FINISH,1.8,1.010474
$STATE,13782,end surface coast,CONTROL_FINISHED_OK
$STATE,13782,begin surface
$SM_CCo,13796,39.03,0.058,0,0,1505,200.16
$SM_GC,2.38,7.55,0.00,39.03,0.028,0.000,0.058,126,2112,1505,-8.42,-0.34,200.16,0,0,0,0,0,0,26.41,28.83,26.33
$IRIDIUM_FIX,-4508.77,519.44,130609,060605
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,8.10
$XPDR_PINGS,0
$24V_AH,23.4,18.755
$10V_AH,10.1,16.047
$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,20.375,140.650,184.375,39.025,0.000,108.674,181.336,447.565,0.000,0.000,9.940,2716.235,8325.260,392.487,3360.492,130.877,0.000,1407.492,0.000,2525.486,0.000,0.990,0.000
$DEVICE_MAMPS,250.155,72.675,1332.630,58.140,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.987,208.060,1131.666,924.325,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353108
$DATA_FILE_SIZE,70488,1030
$CAP_FILE_SIZE,144008,0
$CFSIZE,2097086464,2074476544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.381, 17.7,1
$GPS,160816,211303,-4523.820,524.343,53,1.1,54,-23.9