version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 193
start: 7 3 115 2 46 0
data:
$ID,574
$MISSION,20
$DIVE,193
$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,-2381341.5
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,230816,161004,-4444.655,451.828,32,0.9,32,-23.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-63.3
$GPS2,230816,162934,-4444.551,451.854,5,0.9,6,-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,190.9,178288,-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,-107.1,128,2101,519,420,0.0,0.0,0,99,0.00,0.00,-81.68,0.000,16386,0.000,0.000,128,2102,2571,2557,2586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.50,-107.1,128,2102,2558,2586,3.4,-2.3,9,122,10.48,2.38,-4.47,0.000,19204,0.240,0.070,2661,3531,2761,2759,2763,0,0,0,0,0,0,25.27,25.59,25.93
$GC,389,-0.50,-107.1,2661,3531,2769,2756,63.9,-14.5,54,399,0.00,2.30,0.00,0.000,1030,0.000,0.057,2661,2134,2763,2771,2755,0,0,0,0,0,0,28.83,25.80,28.83
$GC,717,-0.50,-107.1,2661,2131,2772,2754,124.4,-14.5,102,721,0.00,2.25,0.00,0.000,260,0.000,0.065,2651,3523,2763,2772,2754,0,0,0,0,0,0,28.83,25.92,28.83
$GC,770,-0.50,-107.1,2650,3524,2772,2754,132.9,-17.4,106,778,0.08,2.30,0.00,0.000,3078,0.163,0.057,2682,2115,2762,2772,2753,0,0,0,0,0,0,25.79,25.96,28.83
$GC,1080,-0.50,-107.1,2682,2110,2772,2754,181.3,-15.2,137,1088,0.00,2.25,0.00,0.000,260,0.000,0.066,2673,3523,2763,2773,2753,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1179,-0.50,-107.1,1768,3522,2743,2749,194.4,-12.0,146,1187,0.00,2.28,0.00,0.000,1030,0.000,0.056,2673,2120,2762,2772,2753,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1489,-0.50,-107.1,2673,2118,2773,2753,239.0,-15.0,177,1497,0.00,2.25,0.00,0.000,260,0.000,0.066,2663,3526,2763,2773,2753,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1522,-0.50,-107.1,1824,3525,2747,2749,244.0,-14.7,180,1533,0.00,2.28,0.00,0.000,1030,0.000,0.057,2663,2130,2762,2772,2753,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1831,-0.50,-107.1,2663,2126,2773,2753,291.4,-14.8,211,1840,0.00,2.25,0.00,0.000,260,0.000,0.067,2653,3526,2763,2773,2753,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1887,-0.50,-107.1,1808,3525,2746,2750,299.2,-14.1,216,1898,0.00,2.30,0.00,0.000,1030,0.000,0.060,2653,2116,2763,2773,2753,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2196,-0.50,-107.1,2653,2116,2773,2753,350.3,-17.4,247,2206,0.12,2.28,0.00,0.000,2564,0.188,0.060,2695,703,2763,2774,2753,0,0,0,0,0,0,26.05,26.17,28.83
$GC,2221,-0.50,-107.1,2695,702,2774,2753,354.1,-17.0,249,2229,0.00,2.22,0.00,0.000,1030,0.000,0.054,2686,2114,2763,2774,2753,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2528,-0.50,-107.1,2686,2114,2774,2753,397.8,-14.4,280,2540,0.00,2.28,0.00,0.000,260,0.000,0.066,2675,3544,2763,2774,2753,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2620,-0.50,-107.1,2675,3545,2774,2753,409.2,-13.5,285,2624,0.00,2.25,0.00,0.000,1030,0.000,0.057,2675,2122,2763,2774,2753,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2932,-0.50,-107.1,2675,2120,2774,2753,456.1,-14.8,301,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2120,2763,2774,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.50,-107.1,2675,2119,2774,2752,500.6,-14.7,316,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2119,2764,2775,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.50,-107.1,2674,2119,2774,2752,545.1,-14.3,331,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2119,2763,2774,2752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-0.50,-107.1,2675,2118,2774,2752,588.9,-14.5,346,3836,0.00,2.28,0.00,0.000,260,0.000,0.067,2665,3545,2763,2774,2752,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3861,-0.50,-107.1,2664,3545,2774,2752,591.3,-14.5,347,3869,0.00,2.25,0.00,0.000,1030,0.000,0.058,2665,2124,2762,2774,2751,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4168,-0.50,-107.1,2664,2121,2773,2751,639.3,-14.5,363,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2121,2762,2774,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4468,-0.50,-107.1,2664,2120,2774,2751,680.7,-13.3,378,4472,0.00,2.28,0.00,0.000,260,0.000,0.069,2655,3542,2762,2774,2751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4512,-0.50,-107.1,2654,3541,2774,2751,685.4,-13.2,380,4517,0.12,2.28,0.00,0.000,3078,0.168,0.060,2684,2117,2762,2774,2751,0,0,0,0,0,0,26.14,26.28,28.83
$GC,4820,-0.50,-107.1,2682,2116,2774,2750,718.2,-9.9,395,4825,0.00,2.25,0.00,0.000,516,0.000,0.063,2684,709,2762,2774,2751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4839,-0.50,-107.1,2684,709,2774,2750,720.3,-9.9,396,4845,0.00,2.25,0.00,0.000,1030,0.000,0.058,2676,2125,2762,2774,2751,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5159,-0.50,-107.1,2675,2125,2774,2750,754.8,-11.1,412,5165,0.00,2.25,0.00,0.000,260,0.000,0.069,2664,3538,2761,2774,2749,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5212,-0.50,-107.1,2664,3537,2773,2749,759.1,-10.9,414,5219,0.00,2.25,0.00,0.000,1030,0.000,0.062,2664,2123,2761,2773,2749,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5519,-0.50,-107.1,2664,2121,2774,2748,796.2,-11.6,430,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2121,2760,2773,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,-0.50,-107.1,2664,2120,2773,2747,832.5,-12.0,445,5826,0.00,2.25,0.00,0.000,516,0.000,0.064,2664,709,2760,2774,2747,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5842,-0.50,-107.1,2664,709,2774,2747,835.0,-12.0,446,5846,0.00,2.30,0.00,0.000,1030,0.000,0.060,2654,2115,2760,2774,2747,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6159,-0.50,-107.1,2654,2115,2774,2746,877.3,-13.0,462,6165,0.12,2.30,0.00,0.000,2308,0.194,0.073,2678,3543,2759,2773,2746,0,0,0,0,0,0,26.17,26.27,28.83
$GC,6212,-0.50,-107.1,2678,3543,2773,2746,881.8,-12.2,464,6219,0.00,2.30,0.00,0.000,1030,0.000,0.062,2678,2128,2759,2772,2746,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6520,-0.50,-107.1,2678,2125,2773,2746,913.9,-9.8,480,6525,0.00,2.30,0.00,0.000,516,0.000,0.068,2677,700,2759,2773,2746,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6549,-0.50,-107.1,2678,700,2774,2746,915.9,-9.7,481,6553,0.00,2.30,0.00,0.000,1030,0.000,0.060,2668,2133,2760,2774,2746,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6854,-0.50,-107.1,2668,2133,2773,2745,949.4,-10.6,496,6860,0.00,2.25,0.00,0.000,260,0.000,0.070,2657,3547,2758,2773,2744,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6922,-0.50,-107.1,2656,3547,2772,2744,955.9,-10.8,499,6926,0.00,2.33,0.00,0.000,1030,0.000,0.063,2657,2122,2758,2772,2744,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7234,-0.50,-107.1,2656,2120,2772,2744,993.9,-12.1,515,7238,0.00,2.28,0.00,0.000,260,0.000,0.070,2647,3537,2758,2772,2744,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7252,-0.50,-107.1,1816,3537,2746,2739,995.9,-12.1,516,7258,0.10,2.33,0.00,0.000,3078,0.155,0.066,2678,2121,2758,2772,2744,0,0,0,0,0,0,26.13,26.29,28.83
$STATE,7288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7288,begin apogee
$GC,7292,-0.11,0.0,2677,2120,2772,2744,1000.3,-11.9,518,7384,0.43,0.00,88.85,1.330,10246,0.146,0.000,2804,2116,2321,2363,2280,0,0,0,0,0,0,26.10,28.83,23.83
$STATE,7385,end apogee,CONTROL_FINISHED_OK
$STATE,7385,begin climb
$GC,7386,0.50,107.1,2803,2116,2363,2280,1003.5,0.0,522,7491,0.60,0.00,96.07,1.316,10246,0.084,0.000,3002,2116,1883,1952,1815,0,0,0,0,0,0,24.68,28.83,23.42
$GC,7790,0.50,107.1,3002,2116,1943,1809,948.7,15.6,543,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2116,1876,1944,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,0.50,107.1,3002,2116,1940,1808,901.4,15.7,558,8094,0.00,2.30,0.00,0.000,516,0.000,0.049,3013,676,1874,1940,1808,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8106,0.50,107.1,3013,676,1936,1808,898.9,15.8,559,8110,0.00,2.28,0.00,0.000,1030,0.000,0.042,3013,2112,1872,1936,1808,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8422,0.50,107.1,3012,2113,1937,1807,843.9,17.7,575,8426,0.00,2.28,0.00,0.000,516,0.000,0.048,3023,678,1871,1936,1807,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8451,0.50,107.1,3022,677,1933,1807,841.2,17.6,576,8458,0.00,2.25,0.00,0.000,1030,0.000,0.041,3023,2107,1870,1933,1807,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8758,0.50,107.1,3022,2107,1933,1807,782.9,18.0,592,8764,0.00,2.25,0.00,0.000,516,0.000,0.046,3033,677,1870,1933,1807,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8791,0.50,107.1,3033,677,1931,1807,779.2,17.9,593,8798,0.00,2.22,0.00,0.000,1030,0.000,0.041,3034,2101,1869,1931,1807,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9098,0.50,107.1,3033,2101,1931,1807,722.4,17.2,609,9102,0.00,2.25,0.00,0.000,516,0.000,0.046,3043,669,1869,1931,1807,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9114,0.50,107.1,3042,669,1929,1807,719.5,17.4,610,9120,0.15,2.25,0.00,0.000,5126,0.205,0.041,3011,2101,1868,1930,1807,0,0,0,0,0,0,25.84,26.13,28.83
$GC,9434,0.50,107.1,3011,2101,1930,1808,665.6,17.0,626,9438,0.00,2.17,0.00,0.000,260,0.000,0.051,3009,3505,1868,1930,1807,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9458,0.50,107.1,3008,3505,1930,1807,663.1,16.9,627,9462,0.00,2.20,0.00,0.000,1030,0.000,0.044,3018,2084,1868,1930,1807,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9765,0.50,107.1,3018,2084,1930,1807,609.6,16.6,642,9769,0.00,2.20,0.00,0.000,516,0.000,0.048,3029,683,1868,1930,1807,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9783,0.50,107.1,2176,682,1901,1803,606.9,16.6,643,9787,0.00,2.25,0.00,0.000,1030,0.000,0.041,3029,2098,1867,1928,1807,0,0,0,0,0,0,28.83,26.21,28.83
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$STATE,13879,end climb,SURFACE_DEPTH_REACHED
$STATE,13879,begin surface coast
$FINISH,1.8,1.022977
$STATE,13902,end surface coast,CONTROL_FINISHED_OK
$STATE,13902,begin surface
$SM_CCo,13917,38.10,0.054,0,0,1505,200.16
$SM_GC,2.61,7.50,0.00,38.10,0.029,0.000,0.054,127,2109,1505,-8.42,-0.40,200.16,0,0,0,0,0,0,26.39,28.83,26.31
$IRIDIUM_FIX,-4423.21,451.10,200609,050528
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.13
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.4,22.881
$10V_AH,10.1,21.391
$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
$DEVICE_SECS,20.100,139.450,184.925,38.100,0.000,80.689,85.546,740.392,0.000,0.000,9.937,2695.375,8391.553,448.006,3463.683,150.722,0.000,1477.885,0.000,2474.254,0.000,0.989,0.000
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$SENSOR_MAMPS,54.680,6.740,105.000,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353124
$DATA_FILE_SIZE,70424,1028
$CAP_FILE_SIZE,145783,0
$CFSIZE,2097086464,2069102592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,309.4,1
$GPS,230816,202421,-4445.571,450.957,52,0.9,52,-23.7