version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 228
start: 7 10 115 1 25 29
data:
$ID,574
$MISSION,20
$DIVE,228
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,363
$T_MISSION,373
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$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,-2384760.2
$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,24
$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,96.25
$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
$GPS1,300816,145704,-4508.061,458.130,26,1.4,26,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.2
$GPS2,300816,150929,-4507.964,458.286,4,1.1,4,-23.8
$SPEED_LIMITS,0.300,0.310
$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,221.0,134249,-13.1,-9.183,-16.48,3878
$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,-0.40,-87.6,127,2090,520,422,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,16386,0.000,0.000,127,2090,2252,2242,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.40,-87.6,127,2090,2245,2261,3.0,-2.7,14,122,10.48,2.42,-14.43,0.000,18692,0.235,0.071,2693,3534,2682,2698,2667,0,0,0,0,0,0,25.11,25.55,25.98
$GC,289,-0.40,-87.6,2693,3539,2697,2668,33.2,-16.0,53,295,0.00,2.30,0.00,0.000,1030,0.000,0.059,2697,2123,2682,2697,2668,0,0,0,0,0,0,28.83,25.68,28.83
$GC,416,-0.40,-87.6,2697,2118,2698,2667,55.8,-17.2,78,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2118,2682,2698,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,723,-0.40,-87.6,2697,2118,2698,2667,94.9,-15.4,139,728,0.00,2.30,0.00,0.000,260,0.000,0.062,2689,3531,2682,2698,2666,0,0,0,0,0,0,28.83,25.86,28.83
$GC,798,-0.40,-87.6,2689,3531,2698,2667,104.7,-12.1,150,805,0.00,2.25,0.00,0.000,1030,0.000,0.055,2689,2122,2682,2698,2667,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1105,-0.40,-87.6,2689,2117,2698,2667,148.5,-15.4,181,1109,0.00,2.28,0.00,0.000,260,0.000,0.063,2679,3527,2683,2699,2667,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1134,-0.40,-87.6,2679,3527,2698,2667,152.6,-16.0,183,1141,0.12,2.25,0.00,0.000,3078,0.164,0.054,2708,2117,2682,2698,2667,0,0,0,0,0,0,25.81,25.98,28.83
$GC,1440,-0.40,-87.6,2708,2114,2699,2667,193.4,-13.1,214,1444,0.00,2.28,0.00,0.000,260,0.000,0.062,2700,3529,2683,2699,2667,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1469,-0.40,-87.6,2699,3529,2698,2667,196.9,-13.1,216,1476,0.00,2.22,0.00,0.000,1030,0.000,0.053,2700,2123,2683,2698,2668,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1776,-0.40,-87.6,2699,2120,2699,2667,236.1,-12.5,247,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2120,2683,2699,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,-0.40,-87.6,2699,2119,2699,2667,272.6,-12.6,277,2085,0.00,2.28,0.00,0.000,260,0.000,0.063,2690,3541,2682,2698,2667,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2138,-0.40,-87.6,2689,3541,2698,2667,279.8,-11.5,283,2146,0.00,2.25,0.00,0.000,1030,0.000,0.055,2689,2123,2682,2698,2667,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2446,-0.40,-87.6,2689,2120,2699,2667,320.0,-12.3,314,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2120,2683,2699,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2747,-0.40,-87.6,2690,2119,2699,2667,355.2,-11.6,344,2755,0.00,2.28,0.00,0.000,260,0.000,0.065,2679,3538,2683,2699,2667,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2797,-0.40,-87.6,2679,3538,2699,2667,360.9,-11.5,349,2801,0.12,2.25,0.00,0.000,3078,0.159,0.058,2709,2123,2683,2699,2667,0,0,0,0,0,0,25.99,26.15,28.83
$GC,3102,-0.40,-87.6,2709,2120,2700,2667,391.6,-10.5,379,3106,0.00,2.28,0.00,0.000,260,0.000,0.063,2701,3541,2683,2700,2667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3141,-0.40,-87.6,2700,3541,2699,2666,395.1,-10.0,382,3147,0.00,2.25,0.00,0.000,1030,0.000,0.055,2700,2123,2683,2699,2667,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3447,-0.40,-87.6,2700,2120,2700,2667,431.2,-12.1,400,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2120,2683,2700,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-0.40,-87.6,2700,2120,2700,2667,466.9,-11.6,415,3751,0.00,2.28,0.00,0.000,260,0.000,0.065,2691,3537,2683,2700,2667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3771,-0.40,-87.6,2689,3537,2699,2667,468.6,-11.4,416,3775,0.00,2.25,0.00,0.000,1030,0.000,0.057,2690,2124,2683,2699,2667,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4083,-0.40,-87.6,2690,2121,2700,2666,505.1,-11.1,432,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2121,2682,2699,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4383,-0.40,-87.6,2690,2121,2700,2666,537.7,-11.0,447,4387,0.00,2.28,0.00,0.000,516,0.000,0.063,2690,712,2683,2700,2666,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4398,-0.40,-87.6,2690,712,2700,2666,539.6,-11.4,448,4403,0.12,2.25,0.00,0.000,3078,0.184,0.056,2708,2118,2683,2700,2666,0,0,0,0,0,0,25.98,26.20,28.83
$GC,4715,-0.40,-87.6,2708,2119,2700,2665,570.5,-9.7,464,4719,0.00,2.28,0.00,0.000,260,0.000,0.068,2699,3536,2682,2700,2665,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4799,-0.40,-87.6,2699,3536,2699,2664,577.4,-9.1,468,4803,0.00,2.25,0.00,0.000,1030,0.000,0.059,2699,2123,2681,2699,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5106,-0.40,-87.6,2699,2119,2699,2664,609.7,-10.2,483,5110,0.00,2.25,0.00,0.000,516,0.000,0.060,2699,712,2681,2699,2664,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5121,-0.40,-87.6,2699,712,2700,2664,611.5,-10.4,484,5125,0.00,2.28,0.00,0.000,1030,0.000,0.056,2689,2133,2682,2700,2664,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5437,-0.40,-87.6,2688,2133,2700,2663,645.8,-10.7,500,5441,0.00,2.25,0.00,0.000,260,0.000,0.067,2678,3539,2681,2700,2663,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5536,-0.40,-87.6,2677,3539,2698,2663,655.2,-9.5,505,5541,0.08,2.30,0.00,0.000,3078,0.142,0.060,2714,2126,2680,2698,2663,0,0,0,0,0,0,25.99,26.20,28.83
$GC,5853,-0.40,-87.6,2714,2124,2698,2663,680.0,-7.6,521,5859,0.00,2.28,0.00,0.000,516,0.000,0.061,2715,699,2681,2699,2663,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5873,-0.40,-87.6,2715,698,2700,2662,681.6,-7.8,522,5877,0.00,2.30,0.00,0.000,1030,0.000,0.056,2706,2132,2681,2700,2663,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6188,-0.40,-87.6,2706,2132,2699,2662,710.8,-9.6,538,6192,0.00,2.25,0.00,0.000,260,0.000,0.067,2695,3541,2681,2700,2662,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6232,-0.40,-87.6,2695,3542,2698,2661,714.1,-9.7,540,6236,0.00,2.28,0.00,0.000,1030,0.000,0.057,2695,2116,2680,2698,2662,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6544,-0.40,-87.6,2695,2113,2698,2662,745.8,-10.0,556,6548,0.00,2.25,0.00,0.000,516,0.000,0.060,2695,711,2679,2698,2661,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6563,-0.40,-87.6,2695,711,2699,2661,747.5,-10.2,557,6568,0.12,2.33,0.00,0.000,3078,0.181,0.058,2713,2123,2680,2699,2661,0,0,0,0,0,0,26.01,26.20,28.83
$GC,6880,-0.40,-87.6,2713,2123,2699,2661,775.7,-8.7,573,6884,0.00,2.28,0.00,0.000,260,0.000,0.069,2704,3538,2680,2699,2661,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6929,-0.40,-87.6,2704,3538,2698,2661,778.9,-8.8,575,6935,0.00,2.28,0.00,0.000,1030,0.000,0.059,2704,2121,2678,2697,2660,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7235,-0.40,-87.6,2704,2117,2698,2660,808.3,-9.3,591,7239,0.00,2.28,0.00,0.000,516,0.000,0.061,2704,700,2679,2698,2660,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7254,-0.40,-87.6,2704,700,2699,2660,809.9,-9.3,592,7259,0.00,2.30,0.00,0.000,1030,0.000,0.060,2694,2125,2679,2698,2660,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7566,-0.40,-87.6,2693,2125,2698,2660,842.4,-10.7,608,7570,0.00,2.25,0.00,0.000,260,0.000,0.068,2683,3533,2679,2698,2660,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7625,-0.40,-87.6,2682,3533,2697,2660,848.3,-10.8,611,7630,0.12,2.28,0.00,0.000,3078,0.159,0.062,2713,2116,2678,2697,2660,0,0,0,0,0,0,26.03,26.17,28.83
$GC,7936,-0.40,-87.6,2713,2113,2697,2659,880.1,-10.4,627,7940,0.00,2.30,0.00,0.000,260,0.000,0.067,2704,3543,2678,2697,2660,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7955,-0.40,-87.6,2704,3543,2697,2659,881.8,-10.3,628,7959,0.00,2.28,0.00,0.000,1030,0.000,0.058,2704,2119,2678,2696,2660,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8272,-0.40,-87.6,2704,2117,2697,2659,917.6,-11.0,644,8276,0.00,2.28,0.00,0.000,516,0.000,0.061,2704,704,2677,2696,2659,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8291,-0.40,-87.6,2704,704,2698,2659,919.5,-11.1,645,8295,0.00,2.30,0.00,0.000,1030,0.000,0.058,2694,2128,2678,2698,2659,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8608,-0.40,-87.6,2694,2128,2697,2658,954.4,-10.5,661,8612,0.00,2.25,0.00,0.000,260,0.000,0.069,2683,3533,2678,2697,2659,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8685,-0.40,-87.6,2683,3533,2696,2659,962.5,-10.6,665,8691,0.12,2.28,0.00,0.000,3078,0.158,0.063,2713,2116,2677,2696,2658,0,0,0,0,0,0,26.03,26.16,28.83
$GC,9004,-0.40,-87.6,2713,2114,2696,2659,989.8,-8.1,681,9010,0.00,2.28,0.00,0.000,516,0.000,0.062,2714,709,2677,2696,2659,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9017,-0.40,-87.6,2714,709,2697,2659,989.8,-8.1,681,9023,0.00,2.30,0.00,0.000,1030,0.000,0.058,2706,2132,2678,2697,2659,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,9122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9122,begin apogee
$GC,9126,-0.11,0.0,2705,2086,2697,2658,1000.2,-8.7,687,9203,0.35,0.00,71.90,1.316,10246,0.140,0.000,2808,2086,2321,2362,2281,0,0,0,0,0,0,25.94,28.83,23.95
$STATE,9204,end apogee,CONTROL_FINISHED_OK
$STATE,9205,begin climb
$GC,9206,0.40,87.6,2808,2086,2362,2281,1002.5,0.0,691,9292,0.47,2.45,77.43,1.294,10756,0.078,0.047,2983,689,1963,2027,1900,0,0,0,0,0,0,24.85,24.36,23.55
$GC,9324,0.42,107.8,2983,689,2022,1899,994.4,8.6,697,9348,0.00,2.38,19.00,1.218,9222,0.000,0.045,2982,2107,1882,1950,1814,0,0,0,0,0,0,28.83,24.77,23.70
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$STATE,16640,end climb,SURFACE_DEPTH_REACHED
$STATE,16640,begin surface coast
$FINISH,1.5,0.971478
$STATE,16657,end surface coast,CONTROL_FINISHED_OK
$STATE,16657,begin surface
$SM_CCo,16673,22.50,0.057,0,0,1505,200.16
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$TT8_MAMPS,0.025466,0.025466
$HUMID,59.76
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,16.80
$XPDR_PINGS,0
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$10V_AH,10.4,26.569
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353248
$DATA_FILE_SIZE,76779,1291
$CAP_FILE_SIZE,179453,0
$CFSIZE,2097086464,2064482304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067,231.9,1
$GPS,300816,195027,-4508.339,457.607,82,1.0,82,-23.8