version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 197
start: 7 3 115 18 30 48
data:
$ID,574
$MISSION,20
$DIVE,197
$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,-2381638
$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,22
$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
$GPS1,240816,080627,-4449.335,450.758,74,1.0,74,-23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-79.4
$GPS2,240816,081425,-4449.274,450.791,5,1.0,5,-23.7
$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,195.6,169810,-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,13,begin dive
$GC,14,-0.50,-107.1,128,2095,1521,1454,0.0,0.0,0,44,0.00,0.00,-27.15,0.000,16386,0.000,0.000,128,2095,2173,2174,2173,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-0.50,-107.1,128,2095,2174,2174,3.1,-2.2,3,84,10.48,2.40,-21.38,0.000,18692,0.240,0.073,2666,3533,2759,2772,2746,0,0,0,0,0,0,25.31,25.70,26.08
$GC,200,-0.50,-107.1,2666,3533,2772,2748,21.2,-16.0,23,209,0.00,2.33,0.00,0.000,1030,0.000,0.057,2671,2117,2760,2773,2748,0,0,0,0,0,0,28.83,25.78,28.83
$GC,370,-0.50,-107.1,2671,2113,2773,2748,45.9,-13.6,48,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2113,2761,2774,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,707,-0.50,-107.1,2671,2113,2774,2748,96.1,-14.1,109,715,0.00,2.25,0.00,0.000,260,0.000,0.061,2662,3526,2761,2774,2748,0,0,0,0,0,0,28.83,25.99,28.83
$GC,786,-0.50,-107.1,2662,3526,2773,2748,107.8,-13.3,118,795,0.00,2.22,0.00,0.000,1030,0.000,0.053,2662,2114,2761,2774,2748,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1098,-0.50,-107.1,2662,2110,2774,2748,158.1,-16.6,149,1108,0.00,2.22,0.00,0.000,260,0.000,0.060,2652,3519,2761,2774,2748,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1145,-0.50,-107.1,2652,3519,2774,2748,165.6,-16.9,153,1154,0.08,2.25,0.00,0.000,3078,0.158,0.054,2676,2126,2761,2774,2748,0,0,0,0,0,0,25.95,26.11,28.83
$GC,1452,-0.50,-107.1,2676,2122,2775,2748,212.9,-14.6,184,1456,0.00,2.25,0.00,0.000,260,0.000,0.063,2667,3535,2761,2775,2748,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1502,-0.50,-107.1,2667,3535,2774,2748,220.0,-14.7,188,1514,0.00,2.20,0.00,0.000,1030,0.000,0.057,2667,2129,2761,2775,2747,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1812,-0.50,-107.1,2667,2125,2775,2748,267.7,-15.5,219,1821,0.00,2.22,0.00,0.000,260,0.000,0.064,2657,3524,2761,2774,2748,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1847,-0.50,-107.1,1824,3524,2748,2744,272.6,-14.6,222,1856,0.00,2.25,0.00,0.000,1030,0.000,0.055,2657,2126,2761,2775,2748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2158,-0.50,-107.1,2657,2123,2775,2748,322.4,-15.5,253,2168,0.00,2.22,0.00,0.000,260,0.000,0.064,2647,3526,2761,2775,2748,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2247,-0.50,-107.1,2647,3526,2775,2748,335.1,-13.9,261,2257,0.10,2.25,0.00,0.000,3078,0.155,0.057,2678,2130,2761,2775,2748,0,0,0,0,0,0,26.06,26.22,28.83
$GC,2555,-0.50,-107.1,2678,2128,2776,2748,375.0,-12.0,292,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2129,2762,2776,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2865,-0.50,-107.1,2678,2128,2776,2748,413.5,-12.6,318,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2128,2762,2776,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3165,-0.50,-107.1,2678,2128,2777,2747,451.7,-12.5,333,3169,0.00,2.22,0.00,0.000,260,0.000,0.067,2669,3525,2762,2777,2747,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3189,-0.50,-107.1,2669,3525,2777,2747,453.9,-12.6,334,3193,0.00,2.22,0.00,0.000,1030,0.000,0.058,2669,2118,2762,2777,2747,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3501,-0.50,-107.1,2670,2114,2778,2746,496.9,-13.5,350,3507,0.00,2.22,0.00,0.000,516,0.000,0.060,2671,711,2762,2778,2746,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3541,-0.50,-107.1,2671,711,2779,2746,502.2,-13.4,352,3545,0.00,2.22,0.00,0.000,1030,0.000,0.054,2662,2122,2762,2779,2746,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3857,-0.50,-107.1,2662,2121,2779,2746,546.3,-14.3,368,3861,0.00,2.25,0.00,0.000,260,0.000,0.066,2651,3544,2762,2779,2746,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3961,-0.50,-107.1,2651,3544,2777,2745,559.3,-13.3,373,3965,0.12,2.25,0.00,0.000,3078,0.164,0.058,2680,2123,2761,2777,2745,0,0,0,0,0,0,26.15,26.30,28.83
$GC,4273,-0.50,-107.1,2680,2120,2778,2745,599.9,-12.5,389,4277,0.00,2.25,0.00,0.000,516,0.000,0.060,2684,705,2761,2778,2744,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4302,-0.50,-107.1,2683,705,2779,2745,602.0,-12.7,390,4309,0.00,2.25,0.00,0.000,1030,0.000,0.056,2675,2123,2762,2779,2745,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4609,-0.50,-107.1,2675,2123,2779,2744,645.2,-13.2,406,4615,0.00,2.22,0.00,0.000,260,0.000,0.067,2664,3533,2760,2778,2743,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4677,-0.50,-107.1,2664,3533,2776,2743,652.8,-12.8,409,4681,0.00,2.25,0.00,0.000,1030,0.000,0.060,2664,2119,2760,2777,2743,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4989,-0.50,-107.1,2664,2117,2777,2743,696.7,-13.5,425,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2760,2777,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5289,-0.50,-107.1,2664,2116,2777,2742,736.7,-13.0,440,5293,0.00,2.28,0.00,0.000,260,0.000,0.067,2654,3543,2759,2777,2742,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5313,-0.50,-107.1,2653,3543,2776,2742,738.9,-13.1,441,5317,0.12,2.25,0.00,0.000,3078,0.164,0.060,2683,2123,2759,2776,2742,0,0,0,0,0,0,26.17,26.32,28.83
$GC,5625,-0.50,-107.1,2683,2120,2777,2741,774.3,-10.6,457,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2121,2759,2777,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,-0.50,-107.1,2683,2120,2777,2741,803.4,-9.2,472,5931,0.00,2.25,0.00,0.000,516,0.000,0.062,2684,712,2759,2777,2741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5947,-0.50,-107.1,2684,712,2778,2741,805.4,-9.3,473,5952,0.00,2.22,0.00,0.000,1030,0.000,0.057,2675,2124,2759,2778,2741,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6265,-0.50,-107.1,2675,2124,2777,2741,837.3,-9.9,489,6271,0.00,2.25,0.00,0.000,260,0.000,0.067,2664,3542,2759,2777,2741,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6358,-0.50,-107.1,2665,3542,2775,2741,845.2,-9.8,493,6366,0.00,2.28,0.00,0.000,1030,0.000,0.061,2664,2116,2758,2776,2741,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6665,-0.50,-107.1,2664,2113,2776,2740,880.0,-11.0,509,6669,0.00,2.25,0.00,0.000,516,0.000,0.063,2664,709,2758,2776,2740,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6709,-0.50,-107.1,2664,708,2776,2740,884.2,-11.3,511,6714,0.12,2.28,0.00,0.000,3078,0.186,0.058,2682,2130,2758,2776,2740,0,0,0,0,0,0,26.13,26.32,28.83
$GC,7017,-0.50,-107.1,2681,2130,2776,2740,913.7,-9.2,526,7022,0.00,2.25,0.00,0.000,260,0.000,0.070,2673,3542,2757,2775,2740,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7069,-0.50,-107.1,2672,3542,2775,2740,917.2,-9.0,528,7076,0.00,2.28,0.00,0.000,1030,0.000,0.063,2673,2118,2757,2775,2740,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7376,-0.50,-107.1,2672,2113,2775,2739,949.3,-10.4,544,7380,0.00,2.25,0.00,0.000,516,0.000,0.064,2673,711,2757,2775,2739,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7392,-0.50,-107.1,2672,711,2776,2739,951.1,-10.6,545,7398,0.00,2.28,0.00,0.000,1030,0.000,0.060,2662,2132,2757,2775,2740,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7712,-0.50,-107.1,2662,2132,2775,2739,987.1,-11.2,561,7716,0.00,2.25,0.00,0.000,260,0.000,0.070,2651,3544,2756,2774,2739,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7788,-0.50,-107.1,2651,3543,2774,2739,995.5,-11.0,565,7793,0.12,2.28,0.00,0.000,3078,0.162,0.062,2681,2115,2756,2774,2739,0,0,0,0,0,0,26.17,26.31,28.83
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7847,-0.11,0.0,2681,2113,2775,2739,1001.0,-10.0,568,7938,0.43,0.00,88.55,1.335,10246,0.148,0.000,2807,2111,2321,2365,2278,0,0,0,0,0,0,26.12,28.83,23.84
$STATE,7939,end apogee,CONTROL_FINISHED_OK
$STATE,7939,begin climb
$GC,7941,0.50,107.1,2807,2111,2365,2278,1002.6,0.0,572,8046,0.57,0.00,95.32,1.315,10502,0.080,0.000,2997,2111,1883,1955,1812,0,0,0,0,0,0,24.69,28.83,23.43
$GC,8344,0.50,107.1,2997,2111,1945,1805,942.5,17.0,593,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2111,1875,1945,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8644,0.50,107.1,2997,2111,1944,1804,891.2,16.5,608,8649,0.00,2.28,0.00,0.000,516,0.000,0.048,3008,680,1873,1943,1804,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8703,0.50,107.1,2136,680,1910,1801,881.9,16.8,611,8707,0.00,2.30,0.00,0.000,1030,0.000,0.044,3009,2101,1870,1937,1804,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9020,0.50,107.1,3008,2101,1937,1804,829.6,16.2,627,9025,0.00,2.25,0.00,0.000,516,0.000,0.047,3019,679,1870,1937,1804,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9056,0.50,107.1,3018,679,1933,1804,823.6,16.6,629,9060,0.00,2.25,0.00,0.000,1030,0.000,0.044,3019,2108,1868,1933,1804,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9372,0.50,107.1,3018,2108,1935,1804,772.6,15.5,645,9376,0.00,2.17,0.00,0.000,260,0.000,0.050,3019,3509,1869,1935,1804,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9389,0.50,107.1,3018,3509,1933,1804,769.9,15.7,646,9394,0.00,2.20,0.00,0.000,1030,0.000,0.044,3028,2090,1868,1933,1804,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9709,0.50,107.1,3029,2090,1933,1804,715.4,17.2,662,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2090,1868,1933,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10008,0.50,107.1,3029,2090,1933,1803,661.6,17.8,677,10012,0.00,2.20,0.00,0.000,516,0.000,0.048,3040,681,1868,1933,1803,0,0,0,0,0,0,28.83,26.16,28.83
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$STATE,14339,end climb,SURFACE_DEPTH_REACHED
$STATE,14339,begin surface coast
$FINISH,1.7,1.012941
$STATE,14362,end surface coast,CONTROL_FINISHED_OK
$STATE,14363,begin surface
$SM_CCo,14377,38.25,0.057,0,0,1505,200.16
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$IRIDIUM_FIX,-4432.27,448.59,200609,171745
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.05
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,9.20
$XPDR_PINGS,0
$24V_AH,23.4,23.324
$10V_AH,10.1,21.889
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.075,134.200,183.875,38.250,0.000,29.113,46.368,297.007,0.000,0.000,8.954,2804.756,8505.496,404.381,3056.077,146.079,0.000,1474.924,0.000,2632.121,0.000,0.989,0.000
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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,353168
$DATA_FILE_SIZE,70362,1070
$CAP_FILE_SIZE,144358,0
$CFSIZE,2097086464,2068578304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,339.0,1
$GPS,240816,121657,-4450.352,450.494,56,0.8,56,-23.7