version: 66.12
glider: 204
mission: 15
dive: 7
start: 3 2 115 8 44 21
data:
$ID,204
$MISSION,15
$DIVE,7
$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,53
$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
$GPS1,020315,084030,1310.9967,14433.7070,40,0.9,40,1.1,0.5,285.8,8,17.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.6
$GPS2,020315,084411,1311.0177,14433.6592,5,0.9,5,1.1,2.9,16.7,7,14.9
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,88.3,23150,-14.4,-11.000,-18.13,3362
$D_GRID,1388
$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,-243.3,197,2242,635,564,0.0,0.0,0,78,0.00,0.00,-64.47,0.000,16386,0.000,0.000,196,2242,2360,2314,2406,0,0,0,0,0,0,26.91,28.83,26.98
$GC,80,-0.87,-243.3,197,2242,2316,2406,3.3,-6.1,11,126,11.55,2.12,-29.00,0.000,18948,0.237,0.047,3032,808,3830,3778,3883,0,0,0,0,0,0,26.36,26.16,26.64
$GC,140,-0.87,-243.3,3032,808,3781,3884,18.3,-25.2,22,147,0.00,2.12,0.00,0.000,1030,0.000,0.032,3022,2207,3832,3780,3884,0,0,0,0,0,0,26.76,26.72,26.78
$GC,445,-0.87,-243.3,3022,2208,3781,3885,99.7,-27.3,65,450,0.00,2.12,0.00,0.000,260,0.000,0.044,3012,3604,3832,3780,3885,0,0,0,0,0,0,27.12,26.84,27.17
$GC,625,-0.87,-243.3,3012,3604,3781,3885,145.6,-20.5,83,630,0.00,2.05,0.00,0.000,1030,0.000,0.025,3019,2200,3832,3780,3885,0,0,0,0,0,0,27.00,26.96,27.02
$GC,935,-0.87,-243.3,3019,2195,3785,3889,197.8,-14.4,114,940,0.00,2.15,0.00,0.000,260,0.000,0.046,3010,3604,3835,3782,3888,0,0,0,0,0,0,27.24,26.96,27.30
$GC,1080,-0.87,-243.3,3010,3605,3785,3890,215.6,-14.9,120,1088,0.00,2.05,0.00,0.000,1030,0.000,0.025,3019,2187,3836,3783,3889,0,0,0,0,0,0,27.09,27.07,27.10
$GC,1386,-0.87,-243.3,3018,2185,3786,3891,257.8,-11.2,131,1390,0.00,2.15,0.00,0.000,260,0.000,0.047,3009,3600,3837,3784,3890,0,0,0,0,0,0,27.30,27.03,27.36
$GC,1465,-0.87,-243.3,3009,3600,3785,3891,265.5,-12.1,133,1470,0.00,2.03,0.00,0.000,1030,0.000,0.024,3018,2187,3837,3785,3889,0,0,0,0,0,0,27.14,27.13,27.16
$GC,1776,-0.87,-243.3,3019,2183,3786,3889,308.2,-13.7,144,1780,0.00,2.15,0.00,0.000,260,0.000,0.045,3009,3600,3837,3785,3889,0,0,0,0,0,0,27.33,27.05,27.39
$GC,1970,-0.87,-243.3,3010,3600,3786,3891,330.1,-11.8,150,1975,0.00,2.03,0.00,0.000,1030,0.000,0.025,3018,2200,3837,3785,3889,0,0,0,0,0,0,27.21,27.16,27.21
$GC,2286,-0.87,-243.3,3018,2196,3786,3885,368.7,-12.1,161,2290,0.00,2.12,0.00,0.000,260,0.000,0.044,3009,3599,3835,3785,3885,0,0,0,0,0,0,27.35,27.08,27.42
$GC,2500,-0.87,-243.3,3009,3600,3785,3884,392.6,-10.9,168,2505,0.00,2.03,0.00,0.000,1030,0.000,0.026,3018,2192,3833,3785,3882,0,0,0,0,0,0,27.20,27.17,27.22
$GC,2826,-0.87,-243.3,3018,2192,3786,3879,427.4,-10.1,179,2830,0.00,2.15,0.00,0.000,260,0.000,0.046,3009,3602,3831,3784,3879,0,0,0,0,0,0,27.37,27.08,27.43
$GC,2981,-0.87,-243.3,3009,3603,3785,3877,442.8,-10.2,184,2985,0.00,2.03,0.00,0.000,1030,0.000,0.027,3014,2201,3829,3784,3875,0,0,0,0,0,0,27.21,27.18,27.23
$GC,3306,-0.87,-243.3,3015,2196,3784,3873,481.7,-11.6,195,3310,0.00,2.15,0.00,0.000,260,0.000,0.046,3005,3602,3827,3782,3873,0,0,0,0,0,0,27.38,27.09,27.45
$GC,3525,-0.87,-243.3,3006,3602,3782,3870,504.3,-10.6,202,3530,0.00,2.03,0.00,0.000,1030,0.000,0.028,3006,2209,3825,3781,3870,0,0,0,0,0,0,27.20,27.19,27.22
$GC,3845,-0.87,-243.3,3006,2205,3777,3870,544.3,-11.2,213,3850,0.00,2.15,0.00,0.000,260,0.000,0.047,2996,3605,3823,3777,3869,0,0,0,0,0,0,27.39,27.08,27.46
$GC,3980,-0.87,-243.3,2997,3605,3777,3867,559.0,-12.2,217,3985,0.00,2.05,0.00,0.000,1030,0.000,0.029,3005,2205,3822,3777,3867,0,0,0,0,0,0,27.20,27.18,27.22
$GC,4295,-0.87,-243.3,3004,2200,3775,3865,601.5,-13.8,228,4300,0.00,2.15,0.00,0.000,260,0.000,0.048,2995,3601,3819,3774,3865,0,0,0,0,0,0,27.39,27.08,27.46
$GC,4470,-0.87,-243.3,2995,3600,3774,3863,622.0,-13.6,233,4478,0.00,2.05,0.00,0.000,1030,0.000,0.028,3002,2195,3818,3773,3863,0,0,0,0,0,0,27.21,27.17,27.22
$STATE,4745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4745,begin apogee
$GC,4747,-0.20,0.0,3004,2250,3771,3862,662.2,-14.0,243,4943,0.80,0.00,193.15,1.191,10246,0.154,0.000,3241,2249,2836,2814,2859,0,0,0,0,0,0,26.83,25.20,24.50
$STATE,4944,end apogee,CONTROL_FINISHED_OK
$STATE,4944,begin climb
$GC,4945,0.87,243.3,3242,2249,2809,2853,678.8,0.0,249,5149,1.10,2.33,195.00,1.134,11012,0.115,0.046,3583,3662,1836,1838,1834,0,0,0,0,0,0,25.27,24.94,24.44
$GC,5375,0.87,243.3,3583,3663,1827,1821,658.7,11.7,264,5380,0.00,2.12,0.00,0.000,1030,0.000,0.029,3594,2256,1822,1826,1819,0,0,0,0,0,0,26.40,26.38,26.43
$GC,5705,0.87,243.3,3593,2252,1824,1815,615.9,13.4,275,5710,0.00,2.20,0.00,0.000,260,0.000,0.049,3593,3652,1819,1823,1816,0,0,0,0,0,0,26.90,26.64,26.97
$GC,5910,0.87,243.3,3594,3654,1823,1817,589.3,14.8,281,5918,0.00,2.10,0.00,0.000,1030,0.000,0.031,3604,2242,1818,1820,1816,0,0,0,0,0,0,26.84,26.82,26.86
$GC,6215,0.87,243.3,3604,2243,1820,1815,542.7,13.3,292,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2242,1816,1819,1814,0,0,0,0,0,0,27.10,27.18,27.17
$GC,6516,0.87,243.3,3604,2243,1819,1814,507.0,11.9,302,6520,0.00,2.20,0.00,0.000,260,0.000,0.050,3604,3653,1816,1818,1814,0,0,0,0,0,0,27.17,26.89,27.24
$GC,6580,0.87,243.3,3605,3653,1819,1815,499.5,12.4,304,6585,0.00,2.08,0.00,0.000,1030,0.000,0.031,3614,2251,1815,1818,1813,0,0,0,0,0,0,27.00,26.98,27.03
$GC,6906,0.91,270.7,3614,2248,1818,1811,464.7,10.2,315,6939,0.00,2.28,24.00,0.975,8452,0.000,0.050,3614,3662,1724,1726,1722,0,0,0,0,1,0,27.22,26.39,25.28
$GC,6997,0.91,270.7,3614,3662,1726,1721,453.7,11.5,318,7002,0.00,2.10,0.00,0.000,1030,0.000,0.030,3624,2261,1722,1723,1721,0,0,0,0,0,0,26.65,26.62,26.67
$GC,7327,0.91,270.7,3624,2259,1722,1718,413.3,12.3,329,7332,0.00,2.20,0.00,0.000,260,0.000,0.050,3618,3661,1719,1721,1717,0,0,0,0,0,0,27.03,26.76,27.10
$GC,7382,0.91,270.7,3618,3661,1722,1718,409.1,12.8,330,7390,0.00,2.10,0.00,0.000,1030,0.000,0.030,3627,2250,1719,1721,1717,0,0,0,0,0,0,26.87,26.84,26.90
$GC,7687,0.93,289.6,3628,2250,1721,1717,368.7,10.4,341,7708,0.00,2.17,17.00,0.847,8452,0.000,0.048,3618,3655,1653,1654,1652,0,0,0,0,0,0,27.14,26.29,25.83
$GC,7752,0.94,297.3,3618,3655,1648,1644,362.5,10.8,343,7757,0.00,2.12,1.62,0.166,9222,0.000,0.031,3628,2248,1627,1627,1627,0,0,0,0,0,0,26.70,26.67,26.46
$GC,8072,0.94,297.3,3628,2245,1645,1634,323.9,12.1,354,8078,0.00,2.17,1.15,0.212,8452,0.000,0.050,3618,3662,1624,1629,1620,0,0,0,0,0,0,27.04,26.76,26.60
$GC,8142,0.94,297.3,3618,3663,1640,1632,316.7,12.0,356,8147,0.00,2.10,0.98,0.187,9222,0.000,0.030,3627,2247,1623,1626,1620,0,0,0,0,0,0,26.89,26.85,26.63
$GC,8462,0.94,297.3,3627,2242,1645,1629,279.5,11.1,367,8467,0.00,2.17,0.98,0.225,8452,0.000,0.050,3619,3662,1623,1628,1619,0,0,0,0,0,0,27.15,26.86,26.70
$GC,8682,0.94,297.3,3618,3661,1641,1630,255.1,11.4,374,8688,0.00,2.08,0.88,0.190,9222,0.000,0.030,3628,2250,1623,1627,1620,0,0,0,0,0,0,27.00,26.98,26.74
$GC,9002,0.94,297.3,3628,2248,1643,1629,214.2,13.1,385,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,2246,1635,1643,1627,0,0,0,0,0,0,27.22,27.30,27.29
$GC,9302,0.94,297.3,3628,2246,1644,1627,182.4,11.7,405,9307,0.00,2.17,0.00,0.000,260,0.000,0.049,3619,3653,1635,1642,1628,0,0,0,0,0,0,27.26,26.96,27.32
$GC,9532,1.07,399.3,3619,3653,1644,1628,160.1,7.9,428,9627,0.00,2.08,88.75,0.724,9222,0.000,0.031,3628,2243,1204,1222,1186,0,0,0,0,0,0,27.09,27.06,25.25
$GC,9932,1.22,522.9,3628,2243,1209,1162,124.3,7.2,468,10036,0.22,2.33,97.57,0.679,10500,0.132,0.047,3704,3652,698,742,654,0,0,0,0,0,0,26.45,25.56,25.05
$GC,10189,1.22,522.9,3704,3653,728,642,88.2,17.8,493,10197,0.00,2.10,0.00,0.000,1030,0.000,0.028,3715,2265,684,727,641,0,0,0,0,0,0,26.36,26.33,26.38
$GC,10494,1.22,522.9,3715,2261,729,640,38.0,15.3,531,10502,0.00,2.17,0.00,0.000,260,0.000,0.047,3714,3651,683,727,640,0,0,0,0,0,0,26.86,26.59,26.93
$GC,10545,1.22,522.9,3715,3652,727,641,30.1,17.2,541,10552,0.00,2.08,0.00,0.000,1030,0.000,0.027,3725,2243,683,727,640,0,0,0,0,0,0,26.72,26.70,26.74
$STATE,10720,end climb,SURFACE_DEPTH_REACHED
$STATE,10720,begin surface coast
$FINISH,0.3,1.006737
$STATE,10730,end surface coast,CONTROL_FINISHED_OK
$STATE,10730,begin surface
$SM_CCo,10804,0.00,0.000,0,0,682,529.11
$SM_GC,1.24,10.15,0.00,0.00,0.084,0.000,0.000,200,2240,682,-9.65,1.13,529.11,0,0,0,0,0,0,26.74,27.06,26.79
$IRIDIUM_FIX,1305.38,14432.89,020315,053859
$TT8_MAMPS,0.053928,0.053928
$HUMID,44.17
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.44,2.012
$10V_AH,10.34,2.856
$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,23.825,89.400,621.075,0.000,0.000,0.000,0.000,173.750,0.000,0.000,6.536,0.000,8142.946,698.299,2132.956,46.307,0.000,1751.270,0.000,1598.235,0.000,0.546,0.000
$DEVICE_MAMPS,237.150,124.695,1191.105,0.000,0.000,0.000,0.000,78.795,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,384.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26735,578
$CAP_FILE_SIZE,105269,0
$CFSIZE,1024393216,1016938496
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,10998.15,0x236db2,7,5
$INTR,1,10732.52,0x236db2,7,5
$CURRENT,0.078,172.39,1
$GPS,020315,114500,1310.150,14434.846,18,1.0,18,1.1,0.9,258.3,7,37.5