version: 66.11
revision: 1138
glider: 574
mission: 20
dive: 231
start: 7 10 115 16 5 36
data:
$ID,574
$MISSION,20
$DIVE,231
$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,-2385116
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,310816,053757,-4509.003,459.403,71,1.4,72,-23.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-78.3
$GPS2,310816,054938,-4509.162,459.759,11,1.5,12,-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,196.0,131843,-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,-87.6,144,2088,1531,1450,0.0,0.0,0,54,0.00,0.00,-36.28,0.000,16386,0.000,0.000,143,2088,2397,2389,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.40,-87.6,143,2088,2385,2411,3.2,-2.0,7,82,10.32,2.40,-8.25,0.000,18692,0.236,0.077,2695,3528,2682,2686,2678,0,0,0,0,0,0,25.11,25.51,25.96
$GC,176,-0.40,-87.6,2694,3528,2688,2676,21.2,-19.7,30,182,0.00,2.25,0.00,0.000,1030,0.000,0.049,2696,2124,2682,2689,2675,0,0,0,0,0,0,28.83,25.65,28.83
$GC,304,-0.40,-87.6,2696,2119,2691,2674,46.5,-19.7,55,310,0.00,2.28,0.00,0.000,516,0.000,0.053,2697,712,2682,2691,2674,0,0,0,0,0,0,28.83,25.71,28.83
$GC,321,-0.40,-87.6,2697,712,2692,2674,49.7,-18.6,58,327,0.00,2.28,0.00,0.000,1030,0.000,0.052,2688,2117,2683,2691,2675,0,0,0,0,0,0,28.83,25.72,28.83
$GC,629,-0.40,-87.6,2688,2121,2691,2674,102.0,-18.3,118,633,0.00,2.30,0.00,0.000,260,0.000,0.062,2677,3544,2683,2692,2674,0,0,0,0,0,0,28.83,25.82,28.83
$GC,738,-0.40,-87.6,2677,3544,2691,2674,122.5,-20.3,128,745,0.15,2.28,0.00,0.000,3078,0.171,0.053,2714,2123,2682,2691,2674,0,0,0,0,0,0,25.65,25.89,28.83
$GC,1044,-0.40,-87.6,2714,2119,2693,2674,166.5,-11.4,159,1049,0.00,2.28,0.00,0.000,260,0.000,0.060,2706,3534,2683,2693,2674,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1070,-0.40,-87.6,2705,3534,2692,2673,169.3,-11.5,161,1074,0.00,2.25,0.00,0.000,1030,0.000,0.050,2706,2118,2683,2692,2674,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1375,-0.40,-87.6,2705,2115,2693,2673,208.3,-13.1,191,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2115,2683,2693,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1676,-0.40,-87.6,2705,2114,2694,2673,245.6,-12.1,221,1684,0.00,2.30,0.00,0.000,260,0.000,0.063,2695,3544,2683,2693,2673,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1759,-0.40,-87.6,2694,3544,2693,2674,254.5,-10.7,229,1765,0.00,2.25,0.00,0.000,1030,0.000,0.053,2694,2124,2683,2693,2674,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2065,-0.40,-87.6,2694,2122,2694,2673,289.9,-11.4,260,2069,0.00,2.25,0.00,0.000,516,0.000,0.057,2695,713,2684,2694,2674,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2094,-0.40,-87.6,2694,713,2694,2674,292.9,-11.5,262,2101,0.12,2.28,0.00,0.000,3078,0.190,0.052,2713,2132,2684,2695,2673,0,0,0,0,0,0,25.86,26.10,28.83
$GC,2401,-0.40,-87.6,2713,2132,2695,2673,323.0,-9.6,293,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2132,2684,2695,2674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-0.40,-87.6,2712,2132,2695,2673,352.5,-10.1,323,2709,0.00,2.22,0.00,0.000,260,0.000,0.062,2704,3533,2684,2695,2674,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2784,-0.40,-87.6,2704,3533,2695,2673,360.2,-9.2,331,2791,0.00,2.25,0.00,0.000,1030,0.000,0.054,2704,2120,2684,2695,2673,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3091,-0.40,-87.6,2704,2117,2696,2673,394.6,-11.5,362,3095,0.00,2.25,0.00,0.000,516,0.000,0.055,2704,703,2684,2696,2673,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3120,-0.40,-87.6,2704,703,2696,2674,397.8,-11.9,364,3126,0.00,2.28,0.00,0.000,1030,0.000,0.053,2693,2127,2685,2696,2674,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3427,-0.40,-87.6,2693,2128,2696,2673,434.5,-11.7,381,3431,0.00,2.25,0.00,0.000,260,0.000,0.062,2683,3545,2684,2696,2673,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3522,-0.40,-87.6,2682,3545,2695,2673,445.2,-11.1,386,3527,0.12,2.25,0.00,0.000,3078,0.177,0.054,2713,2123,2684,2695,2673,0,0,0,0,0,0,25.96,26.17,28.83
$GC,3839,-0.40,-87.6,2712,2120,2696,2673,476.1,-9.6,402,3843,0.00,2.28,0.00,0.000,260,0.000,0.061,2704,3540,2684,2696,2672,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3854,-0.40,-87.6,2704,3540,2695,2672,477.5,-9.7,403,3859,0.00,2.25,0.00,0.000,1030,0.000,0.052,2704,2117,2684,2696,2672,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4170,-0.40,-87.6,2704,2114,2696,2672,511.8,-11.1,419,4174,0.00,2.28,0.00,0.000,260,0.000,0.062,2693,3534,2684,2696,2672,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4194,-0.40,-87.6,2693,3535,2695,2672,513.5,-10.9,420,4199,0.00,2.25,0.00,0.000,1030,0.000,0.055,2693,2120,2683,2695,2672,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4501,-0.40,-87.6,2693,2117,2696,2671,552.0,-12.5,435,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2117,2683,2696,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4801,-0.40,-87.6,2693,2116,2696,2671,589.0,-12.0,450,4805,0.00,2.28,0.00,0.000,260,0.000,0.063,2683,3543,2683,2695,2671,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4836,-0.40,-87.6,2682,3543,2694,2671,593.3,-12.1,452,4841,0.12,2.25,0.00,0.000,3078,0.180,0.055,2713,2124,2682,2694,2671,0,0,0,0,0,0,25.97,26.20,28.83
$GC,5153,-0.40,-87.6,2713,2122,2695,2670,623.3,-9.2,468,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2122,2683,2695,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5453,-0.40,-87.6,2713,2122,2695,2670,650.5,-9.0,483,5459,0.00,2.28,0.00,0.000,260,0.000,0.063,2704,3540,2682,2695,2670,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5482,-0.40,-87.6,2704,3540,2694,2670,652.2,-8.9,484,5486,0.00,2.28,0.00,0.000,1030,0.000,0.055,2704,2124,2682,2694,2670,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5788,-0.40,-87.6,2704,2121,2695,2670,682.4,-9.4,499,5792,0.00,2.28,0.00,0.000,260,0.000,0.063,2693,3541,2682,2695,2670,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5807,-0.40,-87.6,2693,3541,2694,2670,683.7,-9.4,500,5811,0.00,2.28,0.00,0.000,1030,0.000,0.057,2693,2117,2682,2694,2670,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6119,-0.40,-87.6,2693,2114,2694,2670,715.1,-10.0,516,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2114,2681,2694,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6419,-0.40,-87.6,2693,2113,2694,2669,746.8,-10.6,531,6423,0.00,2.30,0.00,0.000,260,0.000,0.067,2683,3541,2681,2694,2668,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6448,-0.40,-87.6,2682,3541,2693,2670,748.4,-10.5,532,6454,0.12,2.28,0.00,0.000,3078,0.174,0.057,2713,2117,2681,2693,2670,0,0,0,0,0,0,25.99,26.19,28.83
$GC,6755,-0.40,-87.6,2713,2114,2693,2669,775.4,-8.4,548,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2114,2681,2694,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7054,-0.40,-87.6,2713,2113,2694,2667,802.0,-8.4,563,7059,0.00,2.28,0.00,0.000,260,0.000,0.064,2704,3531,2680,2694,2667,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7099,-0.40,-87.6,2704,3531,2693,2668,805.0,-8.3,565,7103,0.00,2.25,0.00,0.000,1030,0.000,0.057,2704,2121,2680,2693,2668,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7405,-0.40,-87.6,2704,2120,2693,2667,832.4,-8.8,580,7410,0.00,2.28,0.00,0.000,516,0.000,0.060,2704,700,2680,2693,2667,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7441,-0.40,-87.6,2704,700,2694,2668,835.8,-9.0,582,7445,0.00,2.28,0.00,0.000,1030,0.000,0.054,2694,2124,2680,2694,2667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7757,-0.40,-87.6,2693,2124,2693,2667,863.9,-8.7,598,7761,0.00,2.25,0.00,0.000,260,0.000,0.067,2683,3532,2680,2693,2667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7817,-0.40,-87.6,2682,3532,2692,2667,868.7,-8.9,601,7821,0.12,2.28,0.00,0.000,3078,0.173,0.061,2713,2120,2680,2692,2668,0,0,0,0,0,0,25.98,26.17,28.83
$GC,8128,-0.40,-87.6,2713,2118,2693,2667,891.1,-7.4,617,8132,0.00,2.25,0.00,0.000,516,0.000,0.059,2713,712,2679,2692,2667,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8164,-0.40,-87.6,2713,712,2693,2667,893.9,-7.6,619,8168,0.00,2.25,0.00,0.000,1030,0.000,0.054,2705,2124,2680,2694,2667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8480,-0.40,-87.6,2705,2124,2693,2667,920.2,-8.4,635,8484,0.00,2.25,0.00,0.000,260,0.000,0.065,2694,3538,2679,2693,2666,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8539,-0.40,-87.6,2694,3538,2691,2667,924.8,-8.4,638,8544,0.00,2.28,0.00,0.000,1030,0.000,0.060,2694,2120,2679,2692,2667,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8851,-0.40,-87.6,2694,2117,2692,2667,954.6,-9.9,654,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2117,2679,2692,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9151,-0.40,-87.6,2694,2117,2692,2666,984.1,-9.8,669,9155,0.00,2.30,0.00,0.000,260,0.000,0.067,2683,3540,2679,2692,2666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9195,-0.40,-87.6,2683,3540,2691,2667,987.3,-9.3,671,9200,0.12,2.28,0.00,0.000,3078,0.177,0.059,2714,2123,2679,2691,2667,0,0,0,0,0,0,25.96,26.17,28.83
$STATE,9360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9360,begin apogee
$GC,9364,-0.11,0.0,2713,2122,2692,2666,1000.7,-7.1,679,9442,0.30,0.00,72.60,1.326,10246,0.161,0.000,2801,2119,2322,2362,2282,0,0,0,0,0,0,25.88,28.83,23.91
$STATE,9443,end apogee,CONTROL_FINISHED_OK
$STATE,9443,begin climb
$GC,9444,0.40,87.6,2801,2119,2362,2282,1002.6,0.0,683,9530,0.50,2.40,78.68,1.321,10500,0.103,0.053,2968,3515,1964,2030,1898,0,0,0,0,0,0,24.79,24.32,23.50
$GC,9542,0.46,135.7,2968,3515,2026,1898,995.8,7.9,688,9594,0.00,2.40,44.03,1.301,9222,0.000,0.044,2978,2083,1768,1860,1676,0,0,0,0,0,0,28.83,24.58,23.36
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$STATE,15791,end climb,SURFACE_DEPTH_REACHED
$STATE,15792,begin surface coast
$FINISH,1.6,0.971479
$STATE,15807,end surface coast,CONTROL_FINISHED_OK
$STATE,15808,begin surface
$SM_CCo,15822,27.05,0.055,0,0,1504,200.16
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$TT8_MAMPS,0.025466,0.025466
$HUMID,60.00
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.4,26.650
$10V_AH,10.4,26.788
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.150,162.700,195.300,27.050,0.000,30.036,22.079,531.301,0.000,0.000,15.612,2482.404,10854.461,372.905,2690.750,171.647,0.000,1480.395,0.000,2026.884,0.000,0.990,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353332
$DATA_FILE_SIZE,70318,1190
$CAP_FILE_SIZE,166559,0
$CFSIZE,2097086464,2064089088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,156.9,1
$GPS,310816,101701,-4509.768,500.126,113,1.7,113,-23.8