version: 66.12
glider: 204
mission: 15
dive: 8
start: 3 2 115 11 55 4
data:
$ID,204
$MISSION,15
$DIVE,8
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,020315,114500,1310.1497,14434.8457,18,1.0,18,1.1,0.9,258.3,7,37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.1
$GPS2,020315,115454,1310.1711,14434.7207,5,1.1,5,1.1,0.6,99.1,6,156.2
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,62.9,21545,-14.4,-11.000,-18.13,3362
$D_GRID,1157
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.87,-243.3,200,2240,713,662,0.0,0.0,0,73,0.00,0.00,-59.28,0.000,16386,0.000,0.000,200,2241,2299,2258,2340,0,0,0,0,0,0,26.84,28.83,26.91
$GC,74,-0.87,-243.3,201,2240,2259,2339,3.0,-4.4,10,121,11.55,0.00,-31.62,0.000,18694,0.236,0.000,3020,2239,3834,3780,3888,0,0,0,0,0,0,26.29,25.53,26.44
$GC,424,-0.87,-243.3,3020,2239,3782,3888,95.1,-25.1,62,428,0.00,2.10,0.00,0.000,260,0.000,0.045,3011,3610,3834,3781,3888,0,0,0,0,0,0,27.05,26.77,27.11
$GC,534,-0.87,-243.3,3011,3609,3783,3888,123.9,-24.2,73,539,0.00,2.08,0.00,0.000,1030,0.000,0.025,3020,2189,3834,3780,3889,0,0,0,0,0,0,26.91,26.89,26.94
$GC,844,-0.87,-243.3,3020,2186,3784,3890,183.6,-17.4,104,849,0.00,2.17,0.00,0.000,260,0.000,0.046,3010,3605,3836,3784,3888,0,0,0,0,0,0,27.18,26.89,27.24
$GC,1024,-0.87,-243.3,3011,3604,3785,3890,215.0,-18.3,117,1029,0.00,2.03,0.00,0.000,1030,0.000,0.025,3020,2201,3837,3784,3890,0,0,0,0,0,0,27.03,27.01,27.06
$GC,1354,-0.87,-243.3,3020,2197,3786,3892,263.6,-13.7,128,1359,0.00,2.15,0.00,0.000,260,0.000,0.044,3010,3608,3837,3785,3890,0,0,0,0,0,0,27.27,26.98,27.32
$GC,1569,-0.87,-243.3,3011,3609,3786,3891,292.8,-13.7,135,1574,0.00,2.08,0.00,0.000,1030,0.000,0.025,3020,2182,3837,3785,3890,0,0,0,0,0,0,27.13,27.08,27.15
$GC,1894,-0.87,-243.3,3020,2178,3786,3889,338.3,-14.5,146,1898,0.00,2.17,0.00,0.000,260,0.000,0.045,3010,3606,3837,3785,3889,0,0,0,0,0,0,27.31,27.03,27.37
$GC,2124,-0.87,-243.3,3010,3607,3786,3889,366.3,-12.8,153,2129,0.00,2.05,0.00,0.000,1030,0.000,0.026,3019,2200,3836,3785,3887,0,0,0,0,0,0,27.16,27.13,27.18
$GC,2434,-0.87,-243.3,3020,2196,3786,3882,406.0,-12.2,164,2439,0.00,2.15,0.00,0.000,260,0.000,0.046,3010,3607,3833,3785,3882,0,0,0,0,0,0,27.34,27.05,27.41
$GC,2654,-0.87,-243.3,3010,3607,3786,3879,429.6,-11.0,171,2659,0.00,2.03,0.00,0.000,1030,0.000,0.028,3019,2206,3832,3785,3879,0,0,0,0,0,0,27.17,27.15,27.22
$GC,2974,-0.87,-243.3,3019,2202,3783,3875,461.5,-9.8,182,2978,0.00,2.15,0.00,0.000,260,0.000,0.047,3010,3609,3828,3782,3874,0,0,0,0,0,0,27.36,27.06,27.42
$GC,3184,-0.87,-243.3,3010,3610,3782,3873,480.8,-9.1,189,3189,0.00,2.05,0.00,0.000,1030,0.000,0.028,3019,2199,3826,3781,3872,0,0,0,0,0,0,27.18,27.16,27.20
$GC,3514,-0.87,-243.3,3019,2196,3778,3868,514.8,-11.1,200,3519,0.00,2.15,0.00,0.000,260,0.000,0.047,3010,3601,3822,3776,3869,0,0,0,0,0,0,27.36,27.07,27.43
$GC,3689,-0.87,-243.3,3010,3602,3777,3868,531.7,-11.3,205,3697,0.00,2.08,0.00,0.000,1030,0.000,0.028,3019,2174,3821,3776,3867,0,0,0,0,0,0,27.17,27.15,27.20
$GC,3994,-0.87,-243.3,3020,2174,3774,3866,565.9,-9.9,216,3998,0.00,2.20,0.00,0.000,260,0.000,0.047,3009,3609,3819,3773,3865,0,0,0,0,0,0,27.37,27.08,27.44
$GC,4194,-0.87,-243.3,3008,3609,3772,3861,585.6,-10.6,222,4199,0.00,2.05,0.00,0.000,1030,0.000,0.029,3018,2206,3817,3772,3862,0,0,0,0,0,0,27.19,27.16,27.21
$GC,4504,-0.87,-243.3,3018,2203,3769,3861,620.1,-10.7,233,4508,0.00,2.15,0.00,0.000,260,0.000,0.049,3009,3600,3814,3769,3860,0,0,0,0,0,0,27.38,27.06,27.44
$GC,4719,-0.87,-243.3,3010,3600,3769,3858,643.7,-11.1,240,4724,0.00,2.05,0.00,0.000,1030,0.000,0.028,3018,2198,3813,3768,3858,0,0,0,0,0,0,27.19,27.16,27.21
$STATE,4894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4894,begin apogee
$GC,4896,-0.20,0.0,3019,2254,3766,3859,661.2,-9.4,246,5090,0.73,0.00,191.45,1.182,10246,0.151,0.000,3237,2253,2838,2816,2860,0,0,0,0,0,0,26.84,25.16,24.47
$STATE,5091,end apogee,CONTROL_FINISHED_OK
$STATE,5091,begin climb
$GC,5092,0.87,243.3,3239,2254,2810,2855,672.4,0.0,252,5296,1.10,2.30,194.93,1.121,11012,0.113,0.048,3579,3652,1837,1839,1836,0,0,0,0,0,0,25.22,25.02,24.32
$GC,5519,0.87,243.3,3580,3653,1828,1821,646.0,13.4,266,5526,0.00,2.12,0.00,0.000,1030,0.000,0.030,3589,2251,1822,1826,1818,0,0,0,0,0,0,26.32,26.29,26.34
$GC,5824,0.87,243.3,3589,2249,1825,1815,606.8,11.3,277,5828,0.00,2.22,0.00,0.000,260,0.000,0.050,3588,3653,1820,1824,1816,0,0,0,0,0,0,26.83,26.58,26.90
$GC,5974,0.87,243.3,3589,3653,1825,1815,587.9,12.7,282,5978,0.00,2.10,0.00,0.000,1030,0.000,0.031,3600,2250,1819,1823,1816,0,0,0,0,0,0,26.76,26.72,26.78
$GC,6304,0.91,271.9,3600,2247,1821,1813,551.9,10.1,293,6340,0.00,2.25,25.58,0.964,8452,0.000,0.050,3600,3647,1726,1729,1723,0,0,0,0,1,0,27.05,26.29,25.51
$GC,6429,0.91,271.9,3600,3648,1737,1730,536.3,13.0,297,6434,0.00,2.12,0.00,0.000,1030,0.000,0.030,3610,2249,1732,1736,1728,0,0,0,0,0,0,26.54,26.51,26.56
$GC,6754,0.91,271.9,3610,2246,1739,1730,490.3,15.1,308,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,2245,1733,1738,1729,0,0,0,0,0,0,26.96,27.03,27.02
$GC,7054,0.91,271.9,3610,2246,1739,1730,448.5,13.4,318,7058,0.00,2.20,0.00,0.000,260,0.000,0.050,3610,3652,1733,1737,1729,0,0,0,0,0,0,27.07,26.79,27.13
$GC,7144,0.91,271.9,3610,3652,1739,1729,435.7,13.9,321,7149,0.00,2.10,0.00,0.000,1030,0.000,0.031,3620,2248,1732,1737,1728,0,0,0,0,0,0,26.92,26.90,26.95
$GC,7474,0.91,271.9,3620,2244,1738,1729,396.3,11.5,332,7479,0.00,2.17,0.00,0.000,260,0.000,0.050,3615,3646,1733,1737,1729,0,0,0,0,0,0,27.16,26.89,27.22
$GC,7609,0.91,271.9,3616,3646,1737,1730,380.0,13.5,336,7613,0.00,2.08,0.00,0.000,1030,0.000,0.030,3624,2249,1732,1736,1729,0,0,0,0,0,0,27.01,26.96,27.03
$GC,7924,0.91,271.9,3625,2246,1736,1730,338.7,11.7,347,7928,0.00,2.17,0.00,0.000,260,0.000,0.049,3616,3647,1732,1735,1729,0,0,0,0,0,0,27.22,26.94,27.28
$GC,8014,0.91,271.9,3616,3649,1735,1730,326.7,13.1,350,8019,0.00,2.08,0.00,0.000,1030,0.000,0.031,3625,2248,1732,1735,1729,0,0,0,0,0,0,27.04,27.01,27.07
$GC,8344,0.94,293.4,3626,2245,1735,1730,289.7,10.3,361,8377,0.00,2.25,24.15,0.888,8452,0.000,0.049,3616,3653,1637,1639,1635,0,0,0,0,1,0,27.26,26.53,25.89
$GC,8536,0.94,293.4,3616,3653,1639,1636,267.4,13.4,367,8540,0.00,2.10,0.00,0.000,1030,0.000,0.030,3626,2251,1636,1639,1634,0,0,0,0,0,0,26.76,26.72,26.78
$GC,8856,0.94,293.4,3625,2247,1639,1632,218.0,14.1,378,8860,0.00,2.20,0.00,0.000,260,0.000,0.049,3616,3651,1634,1637,1632,0,0,0,0,0,0,27.06,26.79,27.13
$GC,9061,1.04,376.5,3616,3652,1638,1634,201.4,8.5,384,9140,0.00,2.08,69.62,0.988,9222,0.000,0.029,3625,2244,1304,1318,1291,0,0,0,0,1,0,26.94,26.91,24.73
$GC,9436,1.04,376.5,3626,2245,1343,1296,160.9,13.8,422,9441,0.00,2.17,1.45,0.192,8452,0.000,0.047,3616,3652,1303,1323,1283,0,0,0,0,0,0,26.71,26.45,26.29
$GC,9481,1.04,376.5,3617,3653,1338,1290,154.4,14.3,426,9486,0.00,2.10,1.00,0.181,9222,0.000,0.028,3626,2251,1302,1322,1283,0,0,0,0,0,0,26.58,26.55,26.32
$GC,9791,1.24,536.5,3626,2248,1342,1287,120.8,6.1,457,9934,0.25,2.25,131.98,0.689,10756,0.122,0.037,3723,860,641,688,594,0,0,0,0,0,0,26.63,25.47,24.94
$GC,10007,1.24,536.5,3724,861,683,587,96.8,14.4,478,10015,0.00,2.15,0.00,0.000,1030,0.000,0.031,3723,2239,633,682,585,0,0,0,0,0,0,26.10,26.07,26.13
$GC,10312,1.24,536.5,3723,2239,682,582,47.2,17.4,510,10319,0.00,2.22,0.00,0.000,260,0.000,0.047,3722,3660,631,681,582,0,0,0,0,0,0,26.77,26.51,26.84
$GC,10428,1.24,536.5,3722,3661,681,582,25.5,18.6,533,10435,0.00,2.10,0.00,0.000,1030,0.000,0.027,3731,2250,630,679,581,0,0,0,0,0,0,26.70,26.67,26.72
$STATE,10558,end climb,SURFACE_DEPTH_REACHED
$STATE,10558,begin surface coast
$FINISH,0.5,1.022161
$STATE,10568,end surface coast,CONTROL_FINISHED_OK
$STATE,10568,begin surface
$SM_CCo,10643,0.00,0.000,0,0,629,542.11
$SM_GC,1.52,10.30,0.00,0.00,0.090,0.000,0.000,195,2245,629,-9.66,1.27,542.11,0,0,0,0,0,0,26.70,27.01,26.76
$IRIDIUM_FIX,1305.38,14435.98,020315,114829
$TT8_MAMPS,0.053179,0.053179
$HUMID,43.54
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.32,2.203
$10V_AH,10.34,2.912
$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,23.925,85.500,640.150,0.000,0.000,0.000,0.000,425.675,0.000,0.000,6.522,0.000,8029.640,714.180,2440.611,48.643,0.000,2046.830,0.000,1658.422,0.000,0.546,0.000
$DEVICE_MAMPS,235.620,123.930,1181.925,0.000,0.000,0.000,0.000,78.795,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,373.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229060
$DATA_FILE_SIZE,23498,561
$CAP_FILE_SIZE,107576,0
$CFSIZE,1024393216,1016872960
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,11442.24,0x236db2,7,5
$INTR,1,10570.40,0x236db2,7,5
$CURRENT,0.154,169.64,1
$GPS,020315,145323,1309.316,14436.186,41,1.0,41,1.1,0.6,265.4,7,17.8