version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 200
start: 7 4 115 6 41 14
data:
$ID,574
$MISSION,20
$DIVE,200
$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,-2381961
$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,25
$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
$GPS1,240816,201703,-4452.692,450.156,79,0.9,79,-23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-78.6
$GPS2,240816,202453,-4452.673,450.155,5,0.9,5,-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,188.8,163708,-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,-107.1,127,2102,1530,1446,0.0,0.0,0,54,0.00,0.00,-37.25,0.000,16386,0.000,0.000,127,2102,2433,2414,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.50,-107.1,127,2102,2415,2453,3.1,-1.5,4,85,10.65,2.33,-9.25,0.000,18692,0.246,0.068,2667,3538,2759,2766,2752,0,0,0,0,0,0,25.33,25.68,26.08
$GC,172,-0.50,-107.1,2667,3538,2768,2752,20.3,-15.6,19,181,0.00,2.30,0.00,0.000,1030,0.000,0.050,2667,2125,2760,2770,2751,0,0,0,0,0,0,28.83,25.78,28.83
$GC,336,-0.50,-107.1,2668,2121,2772,2750,50.3,-18.0,44,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2121,2761,2772,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,679,-0.50,-107.1,2667,2120,2773,2750,108.8,-16.5,101,687,0.00,2.25,0.00,0.000,260,0.000,0.062,2657,3540,2760,2771,2750,0,0,0,0,0,0,28.83,25.97,28.83
$GC,776,-0.50,-107.1,2657,3540,2772,2750,124.7,-14.1,110,780,0.00,2.25,0.00,0.000,1030,0.000,0.053,2657,2116,2761,2772,2750,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1081,-0.50,-107.1,2657,2112,2773,2749,176.3,-16.6,140,1085,0.00,2.28,0.00,0.000,260,0.000,0.060,2647,3545,2761,2773,2750,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1121,-0.50,-107.1,2647,3545,2772,2749,182.7,-16.5,143,1131,0.10,2.22,0.00,0.000,3078,0.161,0.053,2677,2120,2761,2773,2749,0,0,0,0,0,0,25.89,26.09,28.83
$GC,1429,-0.50,-107.1,2677,2118,2774,2749,229.1,-15.7,174,1434,0.00,2.25,0.00,0.000,260,0.000,0.060,2668,3543,2761,2774,2749,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1470,-0.50,-107.1,2668,3543,2773,2749,234.5,-15.2,177,1478,0.00,2.22,0.00,0.000,1030,0.000,0.052,2668,2118,2761,2774,2748,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1776,-0.50,-107.1,2668,2115,2774,2749,283.5,-15.7,208,1780,0.00,2.25,0.00,0.000,260,0.000,0.060,2658,3536,2761,2774,2749,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1828,-0.50,-107.1,1792,3535,2746,2744,291.0,-15.4,212,1839,0.00,2.28,0.00,0.000,1030,0.000,0.054,2658,2123,2761,2774,2748,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2137,-0.50,-107.1,2657,2121,2774,2748,341.8,-16.2,243,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2121,2761,2774,2749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.50,-107.1,2658,2119,2775,2748,389.0,-15.3,273,2448,0.00,2.22,0.00,0.000,260,0.000,0.061,2648,3535,2761,2775,2748,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2532,-0.50,-107.1,2648,3535,2774,2749,401.9,-13.6,281,2537,0.12,2.22,0.00,0.000,3078,0.171,0.056,2677,2120,2761,2774,2748,0,0,0,0,0,0,26.06,26.23,28.83
$GC,2839,-0.50,-107.1,2677,2118,2775,2749,442.9,-13.0,296,2843,0.00,2.25,0.00,0.000,260,0.000,0.062,2668,3535,2762,2775,2749,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2863,-0.50,-107.1,2668,3535,2774,2748,445.1,-13.2,297,2868,0.00,2.22,0.00,0.000,1030,0.000,0.055,2669,2122,2761,2775,2748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3170,-0.50,-107.1,2668,2121,2776,2749,489.5,-14.0,312,3174,0.00,2.25,0.00,0.000,260,0.000,0.062,2658,3539,2761,2775,2748,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3186,-0.50,-107.1,2658,3539,2774,2748,491.7,-14.0,313,3190,0.00,2.22,0.00,0.000,1030,0.000,0.057,2658,2124,2761,2775,2748,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3503,-0.50,-107.1,2658,2123,2775,2748,539.3,-15.3,329,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2123,2761,2775,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3803,-0.50,-107.1,2658,2123,2776,2748,583.0,-14.1,344,3809,0.00,2.22,0.00,0.000,260,0.000,0.063,2648,3528,2761,2775,2748,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3845,-0.50,-107.1,2649,3528,2774,2748,588.5,-13.9,346,3849,0.12,2.22,0.00,0.000,3078,0.170,0.057,2678,2124,2761,2774,2748,0,0,0,0,0,0,26.12,26.29,28.83
$GC,4162,-0.50,-107.1,2677,2121,2775,2747,627.4,-12.0,362,4166,0.00,2.25,0.00,0.000,260,0.000,0.064,2669,3534,2761,2775,2747,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4191,-0.50,-107.1,2668,3534,2774,2747,629.3,-12.0,363,4198,0.00,2.25,0.00,0.000,1030,0.000,0.059,2668,2119,2761,2775,2747,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4498,-0.50,-107.1,2668,2118,2775,2746,669.3,-12.8,379,4504,0.00,2.25,0.00,0.000,516,0.000,0.060,2671,702,2760,2775,2746,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4511,-0.50,-107.1,2671,701,2775,2746,669.3,-12.8,379,4518,0.00,2.28,0.00,0.000,1030,0.000,0.055,2662,2131,2760,2775,2746,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4818,-0.50,-107.1,2662,2131,2775,2745,712.8,-13.9,395,4824,0.00,2.22,0.00,0.000,260,0.000,0.065,2651,3540,2760,2775,2745,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4891,-0.50,-107.1,2651,3540,2774,2746,720.6,-13.4,398,4899,0.12,2.25,0.00,0.000,3078,0.165,0.058,2680,2120,2759,2774,2745,0,0,0,0,0,0,26.13,26.29,28.83
$GC,5198,-0.50,-107.1,2680,2116,2775,2745,759.9,-12.6,414,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2117,2760,2775,2745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5498,-0.50,-107.1,2680,2117,2775,2744,797.1,-12.8,429,5502,0.00,2.25,0.00,0.000,516,0.000,0.060,2684,699,2759,2774,2744,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5536,-0.50,-107.1,1840,699,2749,2740,801.8,-12.8,431,5541,0.00,2.30,0.00,0.000,1030,0.000,0.055,2675,2122,2759,2775,2744,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5854,-0.50,-107.1,2675,2122,2774,2743,842.2,-12.9,447,5860,0.00,2.25,0.00,0.000,260,0.000,0.067,2664,3543,2758,2774,2742,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5934,-0.50,-107.1,2664,3542,2773,2743,852.3,-12.5,451,5940,0.00,2.25,0.00,0.000,1030,0.000,0.058,2664,2119,2758,2773,2743,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6256,-0.50,-107.1,2664,2116,2774,2743,895.0,-13.4,467,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2758,2773,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-0.50,-107.1,2664,2116,2774,2742,933.5,-12.4,482,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2116,2758,2774,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,-0.50,-107.1,2664,2117,2773,2741,969.1,-11.7,497,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2117,2757,2773,2742,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7154,begin apogee
$GC,7158,-0.11,0.0,2664,2116,2773,2741,1002.0,-10.6,512,7254,0.47,0.00,88.45,1.323,10246,0.153,0.000,2802,2115,2321,2364,2279,0,0,0,0,0,0,26.09,28.83,23.84
$STATE,7255,end apogee,CONTROL_FINISHED_OK
$STATE,7255,begin climb
$GC,7256,0.50,107.1,2802,2115,2364,2279,1004.3,0.0,517,7356,0.62,0.00,95.82,1.300,10246,0.084,0.000,3002,2115,1884,1957,1812,0,0,0,0,0,0,24.75,28.83,23.45
$GC,7654,0.50,107.1,3002,2115,1947,1805,943.9,16.9,537,7660,0.00,2.33,0.00,0.000,516,0.000,0.049,3013,677,1875,1946,1805,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7702,0.50,107.1,3012,677,1941,1805,936.8,17.3,539,7706,0.00,2.35,0.00,0.000,1030,0.000,0.044,3013,2105,1873,1941,1805,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8014,0.50,107.1,3013,2106,1941,1804,880.7,17.2,555,8020,0.00,2.28,0.00,0.000,516,0.000,0.048,3023,678,1872,1940,1804,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8054,0.50,107.1,3023,677,1937,1805,873.6,17.3,557,8058,0.00,2.25,0.00,0.000,1030,0.000,0.042,3023,2103,1871,1937,1805,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8370,0.50,107.1,3022,2102,1938,1804,820.2,16.0,573,8371,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2103,1871,1938,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8670,0.50,107.1,3023,2102,1937,1804,771.0,16.5,588,8674,0.00,2.25,0.00,0.000,516,0.000,0.047,3033,673,1870,1937,1804,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8709,0.50,107.1,3033,673,1933,1803,764.9,16.8,590,8713,0.00,2.22,0.00,0.000,1030,0.000,0.041,3033,2097,1868,1934,1803,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9026,0.50,107.1,3032,2097,1935,1803,708.0,18.1,606,9030,0.00,2.22,0.00,0.000,516,0.000,0.047,3042,678,1869,1935,1804,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9062,0.50,107.1,3042,678,1932,1804,701.2,18.4,608,9066,0.15,2.22,0.00,0.000,5126,0.200,0.042,3010,2104,1868,1932,1804,0,0,0,0,0,0,25.85,26.14,28.83
$GC,9380,0.50,107.1,3010,2104,1933,1803,648.8,16.5,624,9385,0.00,2.22,0.00,0.000,516,0.000,0.047,3020,676,1868,1933,1804,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9426,0.50,107.1,3019,676,1931,1803,642.1,16.7,626,9430,0.00,2.22,0.00,0.000,1030,0.000,0.043,3020,2099,1867,1931,1803,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9738,0.50,107.1,3020,2099,1933,1804,587.1,16.8,642,9742,0.00,2.22,0.00,0.000,516,0.000,0.047,3030,678,1867,1931,1804,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9755,0.50,107.1,3030,676,1931,1803,584.3,17.0,643,9761,0.00,2.22,0.00,0.000,1030,0.000,0.042,3030,2106,1867,1931,1804,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10075,0.50,107.1,3030,2106,1932,1804,529.3,17.0,659,10080,0.00,2.17,0.00,0.000,260,0.000,0.051,3030,3514,1867,1932,1803,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10088,0.50,107.1,3030,3513,1931,1804,529.3,17.0,659,10095,0.15,2.20,0.00,0.000,5126,0.222,0.043,3009,2085,1867,1931,1803,0,0,0,0,0,0,25.91,26.23,28.83
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$STATE,13554,end climb,SURFACE_DEPTH_REACHED
$STATE,13554,begin surface coast
$FINISH,1.8,1.022972
$STATE,13591,end surface coast,CONTROL_FINISHED_OK
$STATE,13591,begin surface
$SM_CCo,13608,38.30,0.057,0,0,1504,200.16
$SM_GC,3.27,7.70,2.30,38.30,0.041,0.044,0.057,127,2126,1504,-8.42,-0.79,200.16,0,0,0,0,0,0,26.36,26.34,26.28
$IRIDIUM_FIX,-4432.27,448.84,210609,050557
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.68
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.5,23.600
$10V_AH,10.1,22.269
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.425,129.650,184.275,38.300,0.000,24.350,44.939,296.740,0.000,0.000,8.951,2674.466,8070.065,393.341,2859.415,143.627,0.000,1354.598,0.000,2444.626,0.000,0.991,0.000
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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,353124
$DATA_FILE_SIZE,67090,1014
$CAP_FILE_SIZE,134452,0
$CFSIZE,2097086464,2068185088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,316.2,1
$GPS,250816,001427,-4453.913,449.906,47,1.0,48,-23.7