version: 66.12
glider: 204
mission: 15
dive: 9
start: 3 2 115 14 57 10
data:
$ID,204
$MISSION,15
$DIVE,9
$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,51
$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
$GPS1,020315,145323,1309.3163,14436.1855,41,1.0,41,1.1,0.6,265.4,7,17.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.0
$GPS2,020315,145700,1309.3224,14436.1523,5,1.0,5,1.1,1.1,304.4,7,17.3
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.2,19484,-14.4,-11.000,-18.13,3362
$D_GRID,1360
$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,-243.3,196,2245,663,603,0.0,0.0,0,72,0.00,0.00,-58.55,0.000,16386,0.000,0.000,194,2245,2206,2166,2246,0,0,0,0,0,0,26.82,28.83,26.89
$GC,74,-0.87,-243.3,195,2245,2167,2245,3.2,-6.5,10,126,11.45,2.08,-34.72,0.000,18692,0.233,0.060,3009,3607,3830,3777,3883,0,0,0,0,0,0,26.32,26.13,26.45
$GC,194,-0.87,-243.3,3010,3607,3778,3883,35.1,-30.8,33,202,0.00,2.08,0.00,0.000,1030,0.000,0.024,3019,2194,3830,3778,3883,0,0,0,0,0,0,26.74,26.72,26.77
$GC,500,-0.87,-243.3,3020,2189,3779,3884,121.6,-29.8,69,504,0.00,2.08,0.00,0.000,516,0.000,0.031,3030,795,3831,3778,3884,0,0,0,0,0,0,27.06,26.82,27.12
$GC,695,-0.87,-243.3,3030,796,3780,3887,153.2,-14.9,88,703,0.00,2.10,0.00,0.000,1030,0.000,0.031,3020,2199,3832,3779,3885,0,0,0,0,0,0,26.92,26.89,26.95
$GC,1020,-0.87,-243.3,3021,2201,3782,3890,210.6,-17.0,117,1024,0.00,2.12,0.00,0.000,260,0.000,0.043,3010,3603,3834,3781,3888,0,0,0,0,0,0,27.19,26.94,27.25
$GC,1240,-0.87,-243.3,3010,3603,3783,3889,244.3,-15.9,124,1244,0.00,2.05,0.00,0.000,1030,0.000,0.024,3019,2180,3835,3782,3889,0,0,0,0,0,0,27.06,27.05,27.08
$GC,1560,-0.87,-243.3,3018,2178,3784,3891,284.1,-12.0,135,1565,0.00,2.17,0.00,0.000,260,0.000,0.044,3010,3609,3836,3783,3889,0,0,0,0,0,0,27.27,27.00,27.33
$GC,1785,-0.87,-243.3,3010,3610,3784,3891,309.8,-12.4,142,1790,0.00,2.05,0.00,0.000,1030,0.000,0.025,3019,2198,3836,3783,3889,0,0,0,0,0,0,27.14,27.10,27.15
$GC,2100,-0.87,-243.3,3019,2197,3784,3889,347.4,-11.2,153,2104,0.00,2.15,0.00,0.000,260,0.000,0.044,3010,3609,3835,3783,3888,0,0,0,0,0,0,27.30,27.04,27.36
$GC,2280,-0.87,-243.3,3010,3609,3784,3886,366.0,-10.0,159,2284,0.00,2.03,0.00,0.000,1030,0.000,0.027,3019,2204,3834,3782,3886,0,0,0,0,0,0,27.15,27.14,27.18
$GC,2610,-0.87,-243.3,3019,2201,3783,3883,401.1,-10.6,170,2614,0.00,2.12,0.00,0.000,260,0.000,0.046,3010,3599,3832,3783,3882,0,0,0,0,0,0,27.33,27.07,27.39
$GC,2810,-0.87,-243.3,3009,3598,3784,3880,422.3,-12.1,176,2814,0.00,2.03,0.00,0.000,1030,0.000,0.026,3019,2196,3830,3782,3879,0,0,0,0,0,0,27.18,27.16,27.20
$GC,3120,-0.87,-243.3,3019,2193,3783,3874,458.9,-11.9,187,3124,0.00,2.15,0.00,0.000,260,0.000,0.046,3009,3604,3828,3782,3874,0,0,0,0,0,0,27.35,27.07,27.41
$GC,3310,-0.87,-243.3,3010,3605,3782,3874,481.6,-12.6,193,3315,0.00,2.05,0.00,0.000,1030,0.000,0.027,3018,2200,3826,3780,3873,0,0,0,0,0,0,27.20,27.17,27.22
$GC,3630,-0.87,-243.3,3019,2196,3779,3870,517.6,-10.3,204,3634,0.00,2.15,0.00,0.000,260,0.000,0.047,3009,3605,3823,3777,3869,0,0,0,0,0,0,27.36,27.09,27.43
$GC,3795,-0.87,-243.3,3009,3606,3777,3870,533.7,-10.9,209,3799,0.00,2.05,0.00,0.000,1030,0.000,0.028,3018,2200,3822,3776,3869,0,0,0,0,0,0,27.20,27.17,27.22
$GC,4110,-0.87,-243.3,3019,2196,3775,3866,561.7,-10.0,220,4114,0.00,2.15,0.00,0.000,260,0.000,0.047,3008,3603,3819,3773,3866,0,0,0,0,0,0,27.36,27.09,27.43
$GC,4285,-0.87,-243.3,3010,3602,3774,3865,580.6,-12.8,225,4292,0.00,2.05,0.00,0.000,1030,0.000,0.028,3018,2194,3818,3772,3864,0,0,0,0,0,0,27.20,27.18,27.22
$GC,4590,-0.87,-243.3,3019,2195,3771,3863,620.7,-12.0,236,4594,0.00,2.15,0.00,0.000,260,0.000,0.047,3009,3598,3816,3770,3862,0,0,0,0,0,0,27.37,27.09,27.44
$GC,4765,-0.87,-243.3,3009,3598,3770,3861,637.8,-11.2,241,4773,0.00,2.08,0.00,0.000,1030,0.000,0.028,3018,2185,3814,3769,3860,0,0,0,0,0,0,27.20,27.17,27.23
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5012,-0.20,0.0,3019,2258,3768,3859,661.9,-8.3,250,5206,0.73,0.00,191.05,1.183,10246,0.151,0.000,3237,2258,2837,2815,2860,0,0,0,0,0,0,26.89,25.13,24.44
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5207,0.87,243.3,3238,2260,2809,2855,670.3,0.0,256,5410,1.12,2.33,195.07,1.104,11012,0.118,0.047,3584,3647,1838,1839,1837,0,0,0,0,0,0,25.20,25.01,24.33
$GC,5430,1.01,351.5,3584,3648,1833,1830,664.5,7.7,264,5530,0.08,2.17,87.82,1.279,11270,0.073,0.028,3627,2260,1408,1423,1394,0,0,0,0,1,0,25.44,25.51,23.97
$GC,5850,1.01,351.5,3627,2260,1445,1400,596.3,17.0,278,5855,0.00,2.17,1.55,0.192,8452,0.000,0.049,3617,3651,1404,1423,1386,0,0,0,0,0,0,26.57,26.32,26.17
$GC,5965,1.01,351.5,3616,3651,1440,1397,576.0,17.7,282,5971,0.00,2.12,1.30,0.173,9222,0.000,0.029,3627,2246,1404,1421,1387,0,0,0,0,0,0,26.54,26.51,26.30
$GC,6295,1.01,351.5,3627,2243,1441,1396,520.3,18.2,293,6301,0.00,2.17,1.25,0.205,8452,0.000,0.048,3617,3652,1403,1422,1385,0,0,0,0,0,0,26.93,26.66,26.51
$GC,6470,1.01,351.5,3617,3652,1438,1395,490.2,20.2,298,6478,0.00,2.10,1.15,0.178,9222,0.000,0.030,3626,2247,1403,1421,1385,0,0,0,0,0,0,26.82,26.80,26.57
$GC,6775,1.01,351.5,3627,2245,1439,1392,431.8,16.7,309,6779,0.00,2.17,0.00,0.000,260,0.000,0.048,3617,3645,1413,1436,1391,0,0,0,0,0,0,27.08,26.82,27.15
$GC,6810,1.01,351.5,3618,3645,1439,1392,426.6,16.8,310,6815,0.00,2.08,1.12,0.181,9222,0.000,0.029,3627,2247,1402,1420,1384,0,0,0,0,0,0,26.92,26.89,26.65
$GC,7135,1.01,351.5,3626,2245,1438,1391,370.8,16.3,321,7140,0.00,2.17,0.00,0.000,260,0.000,0.047,3617,3646,1413,1436,1390,0,0,0,0,0,0,27.15,26.88,27.21
$GC,7265,1.01,351.5,3618,3647,1437,1392,349.1,18.1,325,7269,0.00,2.08,0.00,0.000,1030,0.000,0.029,3627,2244,1413,1436,1390,0,0,0,0,0,0,27.00,26.96,27.02
$GC,7585,1.01,351.5,3627,2243,1437,1392,299.3,14.5,336,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,2241,1413,1436,1390,0,0,0,0,0,0,27.21,27.29,27.27
$GC,7885,1.01,351.5,3627,2242,1437,1392,254.4,14.6,346,7889,0.00,2.17,0.00,0.000,260,0.000,0.047,3618,3650,1413,1436,1390,0,0,0,0,0,0,27.24,26.96,27.30
$GC,8065,1.01,351.5,3618,3651,1437,1392,229.7,14.0,352,8069,0.00,2.08,0.00,0.000,1030,0.000,0.030,3627,2245,1413,1436,1390,0,0,0,0,0,0,27.08,27.05,27.10
$GC,8375,1.03,369.8,3628,2242,1434,1392,195.6,10.4,365,8401,0.00,2.12,20.98,0.905,8708,0.000,0.039,3638,838,1324,1340,1309,0,0,0,0,0,0,27.27,26.53,25.84
$GC,8430,1.05,381.6,3638,838,1337,1303,190.3,10.6,370,8438,0.00,2.15,3.83,0.754,9222,0.000,0.032,3628,2250,1284,1302,1267,0,0,0,0,0,0,26.70,26.67,25.39
$GC,8735,1.07,399.9,3628,2250,1328,1276,153.0,10.4,401,8767,0.00,2.22,23.60,0.870,8452,0.000,0.046,3618,3651,1198,1217,1180,0,0,0,0,0,0,27.01,26.25,25.60
$GC,8916,1.07,399.9,3617,3650,1213,1172,130.0,12.3,419,8920,0.00,2.10,0.00,0.000,1030,0.000,0.028,3627,2244,1192,1212,1172,0,0,0,0,0,0,26.63,26.60,26.65
$GC,9226,1.24,536.3,3628,2241,1212,1172,104.7,6.8,450,9342,0.25,2.22,109.30,0.790,10756,0.125,0.036,3724,859,643,687,600,0,0,0,0,0,0,26.67,25.48,24.91
$GC,9420,1.24,536.3,3724,858,683,588,78.4,16.3,469,9428,0.00,2.15,0.00,0.000,1030,0.000,0.029,3724,2246,635,682,588,0,0,0,0,0,0,26.13,26.10,26.15
$GC,9726,1.24,536.3,3725,2247,682,587,26.4,17.6,513,9733,0.00,2.20,0.00,0.000,260,0.000,0.045,3720,3657,633,680,586,0,0,0,0,0,0,26.79,26.54,26.85
$GC,9831,1.24,536.3,3720,3657,680,586,6.9,18.5,534,9839,0.00,2.10,0.00,0.000,1030,0.000,0.026,3730,2242,632,680,585,0,0,0,0,0,0,26.71,26.69,26.73
$STATE,9861,end climb,SURFACE_DEPTH_REACHED
$STATE,9861,begin surface coast
$FINISH,0.4,1.020224
$STATE,9872,end surface coast,CONTROL_FINISHED_OK
$STATE,9872,begin surface
$SM_CCo,9945,0.00,0.000,0,0,632,541.38
$SM_GC,1.22,10.10,0.00,0.00,0.079,0.000,0.000,179,2239,632,-9.66,1.13,541.38,0,0,0,0,0,0,26.70,26.96,26.74
$IRIDIUM_FIX,1305.38,14432.89,020315,115308
$TT8_MAMPS,0.054677,0.054677
$HUMID,42.55
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.97,2.398
$10V_AH,10.32,2.960
$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,23.725,85.075,638.025,0.000,0.000,0.000,0.000,169.850,0.000,0.000,6.483,0.000,7378.510,722.212,2012.376,44.464,0.000,1719.858,0.000,1503.051,0.000,0.548,0.000
$DEVICE_MAMPS,233.325,104.805,1279.080,0.000,0.000,0.000,0.000,82.620,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,360.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229076
$DATA_FILE_SIZE,23482,542
$CAP_FILE_SIZE,99384,0
$CFSIZE,1024393216,1016807424
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,10925.40,0x236db2,7,5
$INTR,1,9873.81,0x236db2,7,5
$CURRENT,0.111,240.25,1
$GPS,020315,174325,1309.464,14436.696,15,0.8,15,1.1,0.6,246.0,9,43.1