version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 164
start: 6 28 115 4 22 31
data:
$ID,574
$MISSION,20
$DIVE,164
$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,-2377611
$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,26
$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
$GPS1,180816,175733,-4511.104,528.902,72,0.9,72,-24.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-76.2
$GPS2,180816,180546,-4510.961,528.889,14,1.3,15,-24.0
$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,234.8,130122,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.50,-107.1,127,2108,1527,1446,0.0,0.0,0,52,0.00,0.00,-35.75,0.000,16386,0.000,0.000,127,2107,2386,2373,2400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,54,-0.50,-107.1,126,2108,2373,2401,3.1,-1.1,4,84,10.30,2.33,-11.23,0.000,19204,0.236,0.073,2666,3538,2760,2766,2755,0,0,0,0,0,0,25.44,25.70,26.06
$GC,171,-0.50,-107.1,2665,3537,2769,2754,19.7,-14.4,19,180,0.00,2.30,0.00,0.000,1030,0.000,0.056,2665,2135,2761,2770,2753,0,0,0,0,0,0,28.83,25.82,28.83
$GC,239,-0.50,-107.1,2665,2131,2772,2753,32.4,-20.1,28,248,0.00,2.33,0.00,0.000,516,0.000,0.054,2669,713,2762,2771,2753,0,0,0,0,0,0,28.83,25.84,28.83
$GC,272,-0.50,-107.1,2669,712,2772,2753,38.2,-17.6,32,282,0.00,2.33,0.00,0.000,1030,0.000,0.055,2660,2114,2762,2771,2753,0,0,0,0,0,0,28.83,25.84,28.83
$GC,418,-0.50,-107.1,2660,2114,2772,2753,66.6,-21.2,57,426,0.00,2.30,0.00,0.000,260,0.000,0.063,2649,3543,2761,2771,2752,0,0,0,0,0,0,28.83,25.89,28.83
$GC,493,-0.50,-107.1,2649,3543,2772,2753,79.4,-15.0,70,500,0.12,2.28,0.00,0.000,3078,0.171,0.056,2678,2118,2762,2772,2753,0,0,0,0,0,0,25.80,25.94,28.83
$GC,811,-0.50,-107.1,2678,2114,2773,2752,129.6,-14.9,112,815,0.00,2.30,0.00,0.000,260,0.000,0.064,2669,3547,2762,2773,2752,0,0,0,0,0,0,28.83,26.02,28.83
$GC,862,-0.50,-107.1,1824,3546,2746,2748,136.9,-15.2,116,873,0.00,2.30,0.00,0.000,1030,0.000,0.056,2669,2133,2762,2773,2752,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1170,-0.50,-107.1,2669,2130,2774,2752,186.0,-16.0,147,1179,0.00,2.28,0.00,0.000,516,0.000,0.060,2671,709,2762,2773,2752,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1184,-0.50,-107.1,2670,709,2774,2752,187.3,-16.0,148,1194,0.00,2.33,0.00,0.000,1030,0.000,0.055,2662,2129,2763,2774,2752,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1492,-0.50,-107.1,2662,2129,2774,2752,238.1,-16.2,179,1501,0.00,2.25,0.00,0.000,260,0.000,0.064,2651,3546,2763,2774,2752,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1592,-0.50,-107.1,2651,3546,2773,2752,252.9,-14.5,188,1603,0.08,2.30,0.00,0.000,3078,0.155,0.058,2675,2123,2763,2774,2752,0,0,0,0,0,0,26.04,26.15,28.83
$GC,1901,-0.50,-107.1,2675,2120,2774,2752,297.5,-13.9,219,1909,0.00,2.25,0.00,0.000,516,0.000,0.059,2683,704,2763,2774,2752,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1926,-0.50,-107.1,2683,704,2775,2752,300.6,-14.1,221,1935,0.00,2.25,0.00,0.000,1030,0.000,0.056,2675,2130,2763,2774,2752,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2232,-0.50,-107.1,2675,2131,2776,2752,345.8,-14.9,252,2236,0.00,2.22,0.00,0.000,260,0.000,0.064,2663,3537,2763,2775,2752,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2326,-0.50,-107.1,2664,3537,2775,2751,358.7,-13.4,260,2336,0.00,2.30,0.00,0.000,1030,0.000,0.063,2664,2124,2763,2775,2751,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2635,-0.50,-107.1,2664,2121,2777,2751,407.0,-15.6,289,2640,0.00,2.25,0.00,0.000,260,0.000,0.067,2654,3532,2763,2776,2751,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2655,-0.50,-107.1,1824,3531,2750,2747,410.2,-15.7,290,2661,0.08,2.30,0.00,0.000,3078,0.158,0.063,2676,2123,2763,2776,2751,0,0,0,0,0,0,26.13,26.26,28.83
$GC,2973,-0.50,-107.1,2676,2119,2777,2751,456.7,-14.6,306,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2119,2764,2777,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,-0.50,-107.1,2676,2120,2778,2751,500.0,-14.4,321,3277,0.00,2.28,0.00,0.000,260,0.000,0.067,2668,3542,2764,2777,2751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3291,-0.50,-107.1,1840,3541,2751,2747,502.3,-14.3,322,3296,0.00,2.30,0.00,0.000,1030,0.000,0.060,2668,2124,2763,2776,2751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3611,-0.50,-107.1,2667,2121,2777,2751,548.7,-14.7,338,3616,0.00,2.25,0.00,0.000,516,0.000,0.066,2671,712,2764,2777,2751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3629,-0.50,-107.1,2671,711,2777,2751,551.7,-14.7,339,3633,0.00,2.25,0.00,0.000,1030,0.000,0.057,2662,2125,2764,2777,2751,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3946,-0.50,-107.1,2661,2125,2777,2750,599.4,-15.0,355,3951,0.00,2.22,0.00,0.000,260,0.000,0.069,2651,3536,2763,2777,2750,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4057,-0.50,-107.1,2651,3536,2776,2751,613.6,-13.9,360,4065,0.12,2.25,0.00,0.000,3078,0.164,0.064,2681,2122,2763,2776,2750,0,0,0,0,0,0,26.19,26.31,28.83
$GC,4364,-0.50,-107.1,2680,2118,2776,2749,654.7,-12.3,376,4369,0.00,2.28,0.00,0.000,260,0.000,0.070,2672,3539,2762,2776,2749,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4435,-0.50,-107.1,2673,3539,2776,2748,661.2,-12.1,379,4441,0.00,2.25,0.00,0.000,1030,0.000,0.063,2672,2124,2762,2776,2748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4740,-0.50,-107.1,2672,2121,2777,2747,699.2,-12.0,395,4745,0.00,2.28,0.00,0.000,516,0.000,0.065,2672,698,2762,2776,2748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4779,-0.50,-107.1,1824,698,2751,2744,703.8,-12.4,397,4783,0.00,2.33,0.00,0.000,1030,0.000,0.057,2662,2124,2762,2777,2748,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5096,-0.50,-107.1,2662,2124,2776,2746,743.4,-11.5,413,5101,0.00,2.25,0.00,0.000,260,0.000,0.070,2651,3543,2762,2777,2747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5172,-0.50,-107.1,2650,3543,2775,2747,752.9,-12.4,417,5177,0.12,2.28,0.00,0.000,3078,0.165,0.063,2681,2116,2761,2776,2747,0,0,0,0,0,0,26.20,26.32,28.83
$GC,5490,-0.50,-107.1,2680,2113,2777,2746,787.3,-10.9,433,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2113,2761,2776,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.50,-107.1,2680,2113,2776,2746,820.6,-11.1,448,5796,0.00,2.28,0.00,0.000,260,0.000,0.071,2672,3541,2760,2775,2745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5857,-0.50,-107.1,2671,3541,2775,2746,827.0,-10.8,451,5861,0.00,2.33,0.00,0.000,1030,0.000,0.064,2672,2120,2760,2775,2746,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6169,-0.50,-107.1,2672,2117,2775,2744,864.6,-12.2,467,6173,0.00,2.25,0.00,0.000,516,0.000,0.065,2672,711,2760,2775,2745,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6193,-0.50,-107.1,2671,710,2775,2745,866.5,-12.4,468,6197,0.00,2.30,0.00,0.000,1030,0.000,0.060,2662,2117,2760,2776,2745,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6505,-0.50,-107.1,2661,2117,2775,2744,907.4,-12.6,484,6509,0.00,2.28,0.00,0.000,260,0.000,0.072,2651,3537,2760,2776,2744,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6574,-0.50,-107.1,2650,3537,2774,2745,914.3,-12.3,487,6581,0.12,2.28,0.00,0.000,3078,0.162,0.067,2681,2121,2759,2775,2744,0,0,0,0,0,0,26.22,26.33,28.83
$GC,6881,-0.50,-107.1,2681,2117,2775,2744,948.5,-11.1,503,6885,0.00,2.28,0.00,0.000,516,0.000,0.067,2684,701,2759,2775,2744,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6951,-0.50,-107.1,2684,701,2776,2744,955.1,-11.7,506,6958,0.00,2.28,0.00,0.000,1030,0.000,0.061,2675,2124,2760,2776,2744,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7257,-0.50,-107.1,2675,2124,2775,2743,993.4,-12.3,522,7263,0.00,2.25,0.00,0.000,260,0.000,0.072,2664,3535,2759,2776,2743,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7322,-0.11,0.0,2664,2096,2774,2743,1000.7,-12.1,525,7418,0.47,0.00,88.80,1.330,10246,0.146,0.000,2804,2093,2321,2363,2280,0,0,0,0,0,0,26.18,28.83,23.80
$STATE,7419,end apogee,CONTROL_FINISHED_OK
$STATE,7419,begin climb
$GC,7420,0.50,107.1,2804,2093,2363,2280,1005.1,0.0,530,7524,0.60,2.45,95.40,1.317,10756,0.080,0.048,3013,677,1885,1955,1815,0,0,0,0,0,0,24.73,24.18,23.40
$GC,7537,0.50,107.1,3013,677,1949,1815,995.5,10.9,536,7543,0.00,2.40,0.00,0.000,1030,0.000,0.043,3013,2101,1882,1949,1816,0,0,0,0,0,0,28.83,24.46,28.83
$GC,7857,0.50,107.1,3013,2104,1944,1811,943.7,16.3,552,7861,0.00,2.33,0.00,0.000,516,0.000,0.049,3024,670,1877,1944,1811,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7907,0.50,107.1,3023,669,1940,1812,937.5,16.6,554,7914,0.00,2.30,0.00,0.000,1030,0.000,0.042,3022,2104,1876,1940,1812,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8213,0.50,107.1,3021,2106,1941,1812,880.7,17.9,570,8219,0.00,2.28,0.00,0.000,516,0.000,0.049,3032,676,1876,1941,1812,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8272,0.50,107.1,3031,676,1937,1812,869.8,18.3,573,8277,0.00,2.25,0.00,0.000,1030,0.000,0.041,3032,2099,1874,1937,1811,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8590,0.50,107.1,3031,2100,1938,1812,808.6,19.8,589,8595,0.00,2.22,0.00,0.000,516,0.000,0.047,3042,682,1875,1938,1812,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8636,0.50,107.1,3041,682,1936,1811,800.8,19.6,591,8641,0.15,2.25,0.00,0.000,5126,0.203,0.042,3009,2109,1874,1936,1812,0,0,0,0,0,0,25.79,26.01,28.83
$GC,8948,0.50,107.1,3009,2109,1938,1812,742.7,18.7,607,8952,0.00,2.28,0.00,0.000,516,0.000,0.048,3019,667,1874,1937,1812,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8977,0.50,107.1,3019,668,1936,1812,739.7,18.7,608,8984,0.00,2.25,0.00,0.000,1030,0.000,0.041,3019,2100,1873,1936,1811,0,0,0,0,0,0,28.83,26.09,28.83
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$GC,11182,0.50,107.1,3009,2089,1938,1812,358.7,13.3,734,11192,0.00,2.20,0.00,0.000,260,0.000,0.051,3009,3505,1874,1937,1812,0,0,0,0,0,0,28.83,26.29,28.83
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$GC,11911,0.50,107.1,3029,2092,1937,1813,257.3,14.4,805,11920,0.00,2.17,0.00,0.000,516,0.000,0.047,3039,680,1875,1937,1813,0,0,0,0,0,0,28.83,26.33,28.83
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$STATE,13684,end climb,SURFACE_DEPTH_REACHED
$STATE,13684,begin surface coast
$FINISH,1.7,1.022708
$STATE,13716,end surface coast,CONTROL_FINISHED_OK
$STATE,13716,begin surface
$SM_CCo,13730,39.92,0.057,0,0,1505,200.16
$SM_GC,3.35,7.53,0.00,39.92,0.033,0.000,0.057,128,2107,1505,-8.40,-0.48,200.16,0,0,0,0,0,0,26.40,28.83,26.32
$IRIDIUM_FIX,-4453.52,524.39,150609,030354
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.52
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,8.10
$XPDR_PINGS,0
$24V_AH,23.4,19.904
$10V_AH,10.1,17.619
$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
$DEVICE_SECS,20.200,162.925,184.200,39.925,0.000,22.471,46.288,315.362,0.000,0.000,18.557,2750.361,7901.624,426.872,3073.393,135.995,0.000,1502.303,0.000,2626.720,0.000,0.991,0.000
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$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352996
$DATA_FILE_SIZE,70472,1031
$CAP_FILE_SIZE,147066,0
$CFSIZE,2097086464,2072903680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.352, 21.1,1
$GPS,180816,215752,-4509.794,528.683,74,0.8,74,-24.0