version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 171
start: 6 29 115 9 6 30
data:
$ID,574
$MISSION,20
$DIVE,171
$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,-2378371.8
$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,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
$GPS1,190816,223421,-4503.168,528.780,181,0.9,181,-24.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-71.7
$GPS2,190816,224952,-4503.078,528.964,25,1.4,25,-24.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,WEST
$TGT_LATLONG,-4445.506,453.665
$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,284.0,56692,-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,-107.1,129,2098,1526,1446,0.0,0.0,0,46,0.00,0.00,-28.77,0.000,16386,0.000,0.000,129,2098,2224,2224,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-0.50,-107.1,129,2099,2218,2231,3.4,-4.5,3,86,10.25,2.40,-16.70,0.000,18692,0.231,0.082,2665,3522,2760,2769,2752,0,0,0,0,0,0,25.27,25.58,25.97
$GC,279,-0.50,-107.1,2665,3528,2770,2753,39.6,-15.5,34,288,0.00,2.28,0.00,0.000,1030,0.000,0.056,2665,2131,2761,2771,2752,0,0,0,0,0,0,28.83,25.79,28.83
$GC,422,-0.50,-107.1,2665,2127,2772,2752,68.4,-22.1,59,429,0.00,2.25,0.00,0.000,260,0.000,0.062,2655,3528,2762,2772,2752,0,0,0,0,0,0,28.83,25.85,28.83
$GC,442,-0.50,-107.1,2655,3528,2772,2752,72.7,-20.7,62,449,0.00,2.22,0.00,0.000,1030,0.000,0.053,2655,2122,2762,2772,2752,0,0,0,0,0,0,28.83,25.89,28.83
$GC,772,-0.50,-107.1,2655,2118,2772,2752,129.0,-18.1,109,781,0.00,2.25,0.00,0.000,260,0.000,0.063,2645,3530,2762,2773,2752,0,0,0,0,0,0,28.83,25.98,28.83
$GC,846,-0.50,-107.1,2644,3530,2772,2752,142.9,-15.4,116,850,0.15,2.22,0.00,0.000,3078,0.174,0.055,2681,2124,2762,2773,2752,0,0,0,0,0,0,25.85,26.03,28.83
$GC,1151,-0.50,-107.1,2680,2120,2773,2752,185.4,-15.7,146,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2120,2762,2773,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1451,-0.50,-107.1,2680,2120,2773,2752,230.8,-16.5,176,1463,0.00,2.25,0.00,0.000,260,0.000,0.062,2672,3534,2762,2773,2752,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1539,-0.50,-107.1,2672,3533,2773,2752,243.8,-14.2,184,1551,0.00,2.22,0.00,0.000,1030,0.000,0.055,2672,2122,2762,2774,2751,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1849,-0.50,-107.1,2672,2118,2776,2751,293.6,-15.8,215,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2118,2763,2776,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2152,-0.50,-107.1,2672,2118,2776,2751,339.6,-14.7,245,2161,0.00,2.22,0.00,0.000,260,0.000,0.063,2662,3527,2763,2776,2751,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2197,-0.50,-107.1,2661,3526,2775,2751,346.2,-14.5,249,2206,0.00,2.17,0.00,0.000,1030,0.000,0.056,2662,2130,2763,2776,2751,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2503,-0.50,-107.1,2661,2128,2776,2751,393.2,-15.2,280,2507,0.00,2.25,0.00,0.000,516,0.000,0.060,2661,711,2764,2777,2751,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2532,-0.50,-107.1,2661,710,2777,2751,397.9,-16.2,282,2543,0.12,2.25,0.00,0.000,3078,0.184,0.055,2680,2129,2764,2777,2751,0,0,0,0,0,0,26.09,26.26,28.83
$GC,2852,-0.50,-107.1,2679,2129,2777,2751,440.8,-13.1,299,2856,0.00,2.22,0.00,0.000,260,0.000,0.063,2670,3541,2763,2776,2751,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2910,-0.50,-107.1,1840,3541,2751,2746,447.6,-12.5,302,2914,0.00,2.30,0.00,0.000,1030,0.000,0.057,2670,2118,2763,2776,2751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3228,-0.50,-107.1,2670,2115,2777,2750,490.5,-13.2,318,3234,0.00,2.28,0.00,0.000,260,0.000,0.065,2660,3545,2763,2777,2750,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3280,-0.50,-107.1,2660,3545,2776,2750,495.7,-13.1,320,3288,0.00,2.25,0.00,0.000,1030,0.000,0.057,2660,2122,2763,2777,2750,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3587,-0.50,-107.1,2660,2118,2777,2749,539.8,-13.7,336,3592,0.00,2.25,0.00,0.000,260,0.000,0.066,2650,3532,2763,2777,2749,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3611,-0.50,-107.1,2649,3532,2776,2749,542.1,-13.6,337,3616,0.10,2.28,0.00,0.000,3078,0.151,0.060,2681,2129,2762,2776,2748,0,0,0,0,0,0,26.15,26.30,28.83
$GC,3923,-0.50,-107.1,2681,2125,2777,2748,578.4,-11.6,353,3927,0.00,2.28,0.00,0.000,516,0.000,0.063,2684,699,2762,2777,2748,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3959,-0.50,-107.1,2683,699,2777,2748,582.6,-11.8,355,3963,0.00,2.25,0.00,0.000,1030,0.000,0.056,2675,2124,2762,2777,2748,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4275,-0.50,-107.1,2675,2124,2777,2747,621.5,-12.5,371,4279,0.00,2.22,0.00,0.000,260,0.000,0.066,2664,3538,2762,2777,2747,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4299,-0.50,-107.1,2664,3538,2776,2747,623.7,-12.8,372,4303,0.00,2.25,0.00,0.000,1030,0.000,0.060,2664,2121,2761,2776,2747,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4611,-0.50,-107.1,2664,2117,2776,2746,667.4,-14.1,388,4615,0.00,2.25,0.00,0.000,260,0.000,0.067,2654,3531,2761,2776,2746,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4647,-0.50,-107.1,2654,3531,2775,2746,672.3,-13.9,390,4654,0.12,2.22,0.00,0.000,3078,0.166,0.060,2683,2123,2760,2775,2746,0,0,0,0,0,0,26.18,26.32,28.83
$GC,4969,-0.50,-107.1,2683,2120,2776,2745,712.1,-12.4,406,4974,0.00,2.25,0.00,0.000,260,0.000,0.067,2675,3538,2760,2776,2745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5010,-0.50,-107.1,2675,3538,2775,2745,717.1,-12.3,408,5014,0.00,2.25,0.00,0.000,1030,0.000,0.060,2675,2121,2760,2775,2745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5327,-0.50,-107.1,2675,2118,2775,2744,759.0,-13.0,424,5331,0.00,2.25,0.00,0.000,516,0.000,0.063,2677,708,2760,2776,2744,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5365,-0.50,-107.1,1844,708,2751,2741,763.7,-13.0,426,5370,0.00,2.30,0.00,0.000,1030,0.000,0.057,2668,2126,2760,2776,2744,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5685,-0.50,-107.1,2668,2126,2775,2743,804.7,-12.6,442,5690,0.00,2.22,0.00,0.000,260,0.000,0.069,2656,3535,2759,2776,2743,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5706,-0.50,-107.1,2656,3535,2774,2743,807.2,-12.5,443,5710,0.00,2.30,0.00,0.000,1030,0.000,0.062,2657,2120,2759,2775,2743,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6023,-0.50,-107.1,2656,2117,2775,2743,846.7,-11.8,459,6027,0.00,2.28,0.00,0.000,260,0.000,0.068,2647,3543,2759,2775,2743,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6039,-0.50,-107.1,2646,3544,2774,2743,848.6,-11.6,460,6044,0.15,2.25,0.00,0.000,3078,0.169,0.061,2683,2123,2758,2773,2743,0,0,0,0,0,0,26.17,26.33,28.83
$GC,6356,-0.50,-107.1,2683,2121,2775,2743,877.5,-8.7,476,6362,0.00,2.28,0.00,0.000,260,0.000,0.068,2675,3545,2758,2774,2742,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6398,-0.50,-107.1,1824,3543,2747,2738,881.0,-8.6,478,6402,0.00,2.30,0.00,0.000,1030,0.000,0.060,2674,2124,2758,2774,2742,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6717,-0.50,-107.1,2674,2122,2773,2741,912.8,-10.3,494,6723,0.00,2.25,0.00,0.000,516,0.000,0.066,2676,712,2758,2774,2742,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6738,-0.50,-107.1,1828,712,2748,2738,915.0,-10.6,495,6743,0.00,2.30,0.00,0.000,1030,0.000,0.060,2667,2121,2758,2774,2742,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7055,-0.50,-107.1,2667,2121,2774,2741,953.5,-12.7,511,7059,0.00,2.28,0.00,0.000,260,0.000,0.071,2656,3546,2757,2774,2741,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7131,-0.50,-107.1,2656,3546,2773,2742,963.1,-12.6,515,7135,0.00,2.28,0.00,0.000,1030,0.000,0.064,2655,2120,2757,2773,2742,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,7406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7406,begin apogee
$GC,7409,-0.11,0.0,2656,2118,2773,2741,1000.9,-13.7,529,7501,0.50,0.00,88.50,1.336,10246,0.156,0.000,2800,2116,2322,2364,2280,0,0,0,0,0,0,26.15,28.83,23.82
$STATE,7502,end apogee,CONTROL_FINISHED_OK
$STATE,7502,begin climb
$GC,7504,0.50,107.1,2800,2116,2364,2280,1004.9,0.0,533,7609,0.60,0.00,96.18,1.332,10502,0.088,0.000,2997,2116,1885,1957,1813,0,0,0,0,0,0,24.67,28.83,23.42
$GC,7908,0.50,107.1,2997,2115,1946,1807,950.4,16.1,554,7913,0.00,2.33,0.00,0.000,516,0.000,0.050,3007,678,1876,1945,1807,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7935,0.50,107.1,3007,678,1942,1806,947.0,16.4,555,7939,0.00,2.30,0.00,0.000,1030,0.000,0.042,3007,2105,1874,1942,1806,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8248,0.50,107.1,3007,2108,1942,1806,890.5,17.8,571,8253,0.00,2.28,0.00,0.000,516,0.000,0.048,3017,679,1873,1941,1806,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8260,0.50,107.1,3018,679,1939,1806,890.5,17.8,571,8267,0.00,2.25,0.00,0.000,1030,0.000,0.041,3018,2099,1872,1939,1806,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8568,0.50,107.1,3017,2101,1938,1806,831.0,18.2,587,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2102,1872,1938,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,0.50,107.1,3017,2102,1938,1806,776.7,18.1,602,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2102,1871,1937,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9169,0.50,107.1,3017,2102,1937,1806,724.1,17.4,617,9174,0.00,2.22,0.00,0.000,516,0.000,0.048,3028,675,1871,1937,1806,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9195,0.50,107.1,3027,675,1933,1806,720.7,17.2,618,9199,0.00,2.28,0.00,0.000,1030,0.000,0.041,3028,2103,1869,1933,1806,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9507,0.50,107.1,3028,2104,1934,1805,663.2,17.6,634,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2104,1870,1934,1806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9809,0.50,107.1,3027,2104,1934,1806,611.8,17.0,649,9814,0.00,2.20,0.00,0.000,516,0.000,0.047,3038,680,1870,1934,1806,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,13737,end climb,SURFACE_DEPTH_REACHED
$STATE,13737,begin surface coast
$FINISH,1.7,1.022932
$STATE,13767,end surface coast,CONTROL_FINISHED_OK
$STATE,13767,begin surface
$SM_CCo,13781,39.03,0.055,0,0,1506,200.16
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$IRIDIUM_FIX,-4444.39,526.56,160609,121220
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.29
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,9.00
$XPDR_PINGS,0
$24V_AH,23.4,20.616
$10V_AH,10.1,18.542
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.950,143.475,184.675,39.025,0.000,100.697,88.315,453.079,0.000,0.000,29.083,2682.933,8325.413,396.436,3225.818,143.160,0.000,1392.095,0.000,2469.740,0.000,0.991,0.000
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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,353264
$DATA_FILE_SIZE,67098,1007
$CAP_FILE_SIZE,143853,0
$CFSIZE,2097086464,2071986176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.235, 37.6,1
$GPS,200816,024235,-4501.768,528.117,64,1.0,65,-24.0