version: 66.12
glider: 204
mission: 15
dive: 6
start: 3 2 115 5 41 2
data:
$ID,204
$MISSION,15
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3310
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,020315,053149,1311.5219,14433.6396,20,0.9,20,1.1,1.4,304.1,9,6.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.0
$GPS2,020315,054052,1311.5820,14433.4971,6,0.9,6,1.1,0.0,0.0,9,90.2
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,100.9,23322,-14.4,-11.000,-18.13,3362
$D_GRID,1466
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.87,-243.3,199,2207,814,798,0.0,0.0,0,75,0.00,0.00,-61.28,0.000,16386,0.000,0.000,199,2206,2476,2427,2525,0,0,0,0,0,0,27.15,28.83,27.21
$GC,77,-0.87,-243.3,199,2207,2429,2525,3.3,-5.8,10,117,11.52,2.12,-25.00,0.000,18948,0.238,0.053,3030,812,3834,3780,3888,0,0,0,0,0,0,26.53,25.55,26.69
$GC,136,-0.87,-243.3,3030,813,3781,3889,20.4,-26.9,21,144,0.00,2.10,0.00,0.000,1030,0.000,0.033,3020,2208,3834,3781,3887,0,0,0,0,0,0,26.94,26.89,26.97
$GC,447,-0.87,-243.3,3020,2209,3781,3889,101.4,-27.0,64,452,0.00,2.10,0.00,0.000,260,0.000,0.044,3010,3600,3834,3781,3887,0,0,0,0,0,0,27.29,27.00,27.35
$GC,677,-0.87,-243.3,3010,3600,3782,3888,153.8,-19.9,87,682,0.00,2.00,0.00,0.000,1030,0.000,0.024,3019,2201,3833,3780,3887,0,0,0,0,0,0,27.16,27.14,27.18
$GC,997,-0.87,-243.3,3019,2197,3782,3889,204.6,-13.9,117,1002,0.00,2.12,0.00,0.000,260,0.000,0.047,3009,3601,3834,3781,3888,0,0,0,0,0,0,27.39,27.07,27.44
$GC,1227,-0.87,-243.3,3010,3601,3782,3888,237.9,-16.1,124,1232,0.00,2.03,0.00,0.000,1030,0.000,0.024,3019,2187,3834,3781,3888,0,0,0,0,0,0,27.23,27.20,27.25
$GC,1537,-0.87,-243.3,3019,2184,3782,3889,277.7,-12.3,135,1542,0.00,2.15,0.00,0.000,260,0.000,0.045,3009,3605,3834,3781,3888,0,0,0,0,0,0,27.41,27.10,27.47
$GC,1673,-0.87,-243.3,3009,3603,3782,3888,297.8,-16.9,139,1677,0.00,2.00,0.00,0.000,1030,0.000,0.025,3018,2200,3834,3781,3888,0,0,0,0,0,0,27.24,27.22,27.26
$GC,1987,-0.87,-243.3,3019,2198,3782,3885,343.8,-12.6,150,1992,0.00,2.15,0.00,0.000,260,0.000,0.045,3009,3614,3832,3781,3883,0,0,0,0,0,0,27.41,27.10,27.48
$GC,2117,-0.87,-243.3,3009,3614,3783,3882,359.4,-13.0,154,2123,0.00,2.03,0.00,0.000,1030,0.000,0.026,3013,2200,3831,3781,3881,0,0,0,0,0,0,27.23,27.21,27.26
$GC,2438,-0.87,-243.3,3014,2196,3782,3874,398.7,-10.7,165,2442,0.00,2.12,0.00,0.000,260,0.000,0.046,3005,3599,3827,3781,3874,0,0,0,0,0,0,27.42,27.10,27.48
$GC,2647,-0.87,-243.3,3006,3601,3782,3872,421.4,-10.7,172,2653,0.00,2.00,0.00,0.000,1030,0.000,0.026,3006,2205,3826,3781,3871,0,0,0,0,0,0,27.23,27.22,27.26
$GC,2978,-0.87,-243.3,3006,2202,3778,3868,451.8,-7.7,183,2983,0.00,2.15,0.00,0.000,260,0.000,0.047,2996,3610,3822,3777,3867,0,0,0,0,0,0,27.42,27.08,27.48
$GC,3147,-0.87,-243.3,2996,3610,3777,3865,468.1,-11.2,188,3152,0.00,2.05,0.00,0.000,1030,0.000,0.028,3005,2201,3820,3775,3865,0,0,0,0,0,0,27.22,27.19,27.24
$GC,3457,-0.87,-243.3,3006,2198,3773,3863,506.6,-12.5,199,3462,0.00,2.15,0.00,0.000,260,0.000,0.047,2996,3603,3816,3772,3861,0,0,0,0,0,0,27.41,27.07,27.48
$GC,3603,-0.87,-243.3,2996,3602,3772,3860,521.8,-12.7,203,3610,0.00,2.05,0.00,0.000,1030,0.000,0.028,3005,2194,3816,3771,3861,0,0,0,0,0,0,27.22,27.19,27.23
$GC,3907,-0.87,-243.3,3006,2196,3769,3859,565.3,-14.0,214,3912,0.00,2.15,0.00,0.000,260,0.000,0.047,2996,3604,3812,3767,3857,0,0,0,0,0,0,27.41,27.06,27.48
$GC,4097,-0.87,-243.3,2996,3603,3767,3855,586.5,-11.2,220,4103,0.00,2.08,0.00,0.000,1030,0.000,0.028,3005,2193,3810,3765,3855,0,0,0,0,0,0,27.23,27.19,27.24
$GC,4418,-0.87,-243.3,3005,2193,3762,3852,621.8,-10.6,231,4422,0.00,2.17,0.00,0.000,260,0.000,0.047,2996,3611,3807,3762,3852,0,0,0,0,0,0,27.41,27.04,27.48
$GC,4563,-0.87,-243.3,2996,3613,3762,3851,634.1,-10.3,235,4570,0.00,2.05,0.00,0.000,1030,0.000,0.030,3005,2200,3805,3761,3850,0,0,0,0,0,0,27.20,27.18,27.22
$STATE,4777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4777,begin apogee
$GC,4779,-0.20,0.0,3005,2254,3759,3850,660.6,-11.3,243,4974,0.80,0.00,187.32,1.428,10246,0.156,0.000,3240,2253,2839,2817,2861,0,0,0,0,1,0,26.71,25.24,24.41
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4976,0.87,243.3,3241,2253,2827,2863,673.8,0.0,249,5179,1.10,2.25,195.43,1.043,11012,0.117,0.046,3582,3651,1840,1843,1838,0,0,0,0,0,0,25.36,25.18,24.72
$GC,5402,0.87,243.3,3582,3651,1834,1825,648.6,12.8,263,5410,0.00,2.10,0.00,0.000,1030,0.000,0.030,3593,2243,1828,1832,1825,0,0,0,0,0,0,26.59,26.56,26.61
$GC,5708,0.87,243.3,3593,2244,1831,1825,610.4,11.6,274,5712,0.00,2.20,0.00,0.000,260,0.000,0.049,3593,3652,1825,1828,1823,0,0,0,0,0,0,27.03,26.76,27.10
$GC,5937,0.87,243.3,3593,3653,1830,1824,585.5,11.8,281,5942,0.00,2.08,0.00,0.000,1030,0.000,0.030,3603,2247,1825,1828,1823,0,0,0,0,0,0,26.96,26.93,26.98
$GC,6248,0.87,243.3,3602,2244,1826,1821,549.1,11.7,292,6252,0.00,2.20,0.00,0.000,260,0.000,0.049,3603,3656,1823,1826,1821,0,0,0,0,0,0,27.21,26.93,27.29
$GC,6388,0.87,243.3,3602,3658,1827,1822,533.3,13.2,296,6392,0.00,2.08,0.00,0.000,1030,0.000,0.031,3613,2251,1823,1825,1821,0,0,0,0,0,0,27.06,27.03,27.08
$GC,6698,0.87,243.3,3614,2248,1824,1820,489.4,13.5,307,6702,0.00,2.17,0.00,0.000,260,0.000,0.050,3612,3646,1821,1823,1819,0,0,0,0,0,0,27.28,26.98,27.35
$GC,6767,0.87,243.3,3613,3645,1824,1818,481.9,12.7,309,6772,0.00,2.05,0.00,0.000,1030,0.000,0.031,3622,2251,1820,1823,1818,0,0,0,0,0,0,27.10,27.08,27.13
$GC,7088,0.87,243.3,3622,2250,1823,1819,444.6,11.5,320,7092,0.12,2.17,0.00,0.000,4356,0.190,0.050,3593,3651,1819,1821,1818,0,0,0,0,0,0,26.88,27.01,27.05
$GC,7182,0.87,243.3,3593,3652,1823,1819,432.9,12.9,323,7187,0.00,2.05,0.00,0.000,1030,0.000,0.030,3602,2256,1819,1821,1818,0,0,0,0,0,0,27.13,27.11,27.15
$GC,7508,0.92,279.4,3602,2253,1820,1818,398.5,9.9,334,7540,0.00,0.00,27.73,1.025,8198,0.000,0.000,3602,2253,1691,1692,1690,0,0,0,0,0,0,27.34,26.20,25.68
$GC,7838,0.94,299.0,3602,2252,1685,1678,362.1,10.4,345,7858,0.00,2.17,16.20,0.990,8452,0.000,0.050,3602,3652,1614,1617,1612,0,0,0,0,0,0,27.04,26.37,25.64
$GC,7923,0.94,299.0,3602,3652,1609,1605,352.0,11.4,348,7927,0.00,2.10,0.00,0.000,1030,0.000,0.031,3612,2252,1606,1607,1605,0,0,0,0,0,0,26.64,26.62,26.67
$GC,8253,0.94,299.0,3611,2248,1607,1601,310.6,14.6,359,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2249,1603,1606,1601,0,0,0,0,0,0,27.08,27.14,27.13
$GC,8553,0.94,299.0,3613,2249,1606,1602,268.4,13.2,369,8557,0.00,2.20,0.00,0.000,260,0.000,0.050,3612,3656,1602,1605,1600,0,0,0,0,0,0,27.17,26.89,27.24
$GC,8717,0.94,299.0,3613,3657,1606,1602,246.1,15.0,374,8723,0.00,2.10,0.00,0.000,1030,0.000,0.031,3622,2248,1602,1605,1600,0,0,0,0,0,0,27.02,26.99,27.05
$GC,9033,1.01,350.5,3623,2245,1606,1601,208.5,9.4,385,9079,0.00,2.22,42.47,0.913,8708,0.000,0.040,3632,843,1402,1411,1394,0,0,0,0,0,0,27.26,26.14,25.51
$GC,9153,1.04,377.2,3631,844,1403,1381,196.8,10.2,389,9181,0.00,2.17,22.73,0.877,9222,0.000,0.034,3627,2246,1296,1309,1284,0,0,0,0,0,0,26.49,26.45,25.36
$GC,9478,1.04,377.2,3627,2245,1296,1262,155.3,14.0,422,9483,0.00,2.20,0.00,0.000,260,0.000,0.047,3617,3651,1278,1294,1263,0,0,0,0,0,0,26.88,26.60,26.95
$GC,9563,1.04,380.3,3617,3651,1296,1262,145.9,10.9,430,9570,0.00,2.10,0.00,0.000,1030,0.000,0.029,3626,2243,1278,1294,1262,0,0,0,0,0,0,26.77,26.75,26.79
$GC,9868,1.25,544.5,3626,2242,1295,1261,120.1,6.0,461,10005,0.25,0.00,133.70,0.817,10758,0.129,0.000,3711,2240,618,666,571,0,0,0,0,0,0,26.74,25.46,24.92
$GC,10298,1.25,544.5,3711,2240,650,544,58.1,16.3,504,10303,0.00,2.20,0.00,0.000,260,0.000,0.046,3711,3647,596,649,544,0,0,0,0,0,0,26.78,26.52,26.84
$GC,10428,1.25,544.5,3711,3647,649,543,35.4,17.0,525,10435,0.00,2.08,0.00,0.000,1030,0.000,0.026,3721,2245,596,648,544,0,0,0,0,0,0,26.74,26.72,26.76
$STATE,10628,end climb,SURFACE_DEPTH_REACHED
$STATE,10628,begin surface coast
$FINISH,0.3,0.996368
$STATE,10638,end surface coast,CONTROL_FINISHED_OK
$STATE,10638,begin surface
$SM_CCo,10712,0.00,0.000,0,0,595,550.21
$SM_GC,1.22,10.20,0.00,0.00,0.089,0.000,0.000,196,2243,595,-9.64,1.22,550.21,0,0,0,0,0,0,26.82,27.10,26.86
$IRIDIUM_FIX,1305.38,14434.17,020315,053644
$TT8_MAMPS,0.053928,0.053928
$HUMID,47.08
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.41,1.834
$10V_AH,10.35,2.806
$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,24.000,84.750,625.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,7.526,0.000,8076.250,706.672,1926.827,40.469,0.000,1560.744,0.000,1571.769,0.000,0.548,0.000
$DEVICE_MAMPS,237.915,127.755,1428.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,378.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229104
$DATA_FILE_SIZE,23472,567
$CAP_FILE_SIZE,115871,0
$CFSIZE,1024393216,1017004032
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,7123.58,0x236db2,7,5
$INTR,1,10640.41,0x236db2,7,5
$CURRENT,0.128,281.57,1
$GPS,020315,084030,1310.997,14433.707,40,0.9,40,1.1,0.5,285.8,8,17.6