version: 66.12
glider: 204
mission: 15
dive: 10
start: 3 2 115 17 47 16
data:
$ID,204
$MISSION,15
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,330
$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,3290
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$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,2500
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,51
$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,0.00145
$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
$GPS1,020315,174325,1309.4636,14436.6963,15,0.8,15,1.1,0.6,246.0,9,43.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.9
$GPS2,020315,174706,1309.4502,14436.6641,17,0.8,17,1.1,0.0,0.0,9,40.3
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,66.3,18534,-14.4,-11.000,-18.13,3362
$D_GRID,1440
$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,-0.85,-243.3,177,2521,665,606,0.0,0.0,0,72,0.00,0.00,-58.22,0.000,16386,0.000,0.000,176,2521,2215,2174,2256,0,0,0,0,0,0,26.82,28.83,26.89
$GC,74,-0.85,-243.3,177,2521,2176,2256,3.2,-6.8,10,126,11.57,2.10,-34.10,0.000,19204,0.236,0.044,3010,1090,3831,3779,3884,0,0,0,0,0,0,26.34,26.13,26.48
$GC,144,-0.85,-243.3,3011,1091,3780,3886,19.3,-26.7,23,152,0.00,2.12,0.00,0.000,1030,0.000,0.033,3002,2485,3832,3779,3885,0,0,0,0,0,0,26.67,26.65,26.70
$GC,455,-0.85,-243.3,3002,2486,3781,3885,115.3,-31.6,64,460,0.00,1.85,0.00,0.000,260,0.000,0.047,2993,3691,3832,3780,3885,0,0,0,0,0,0,27.04,26.78,27.10
$GC,685,-0.85,-243.3,2992,3693,3782,3890,172.9,-24.8,87,690,0.00,1.75,0.00,0.000,1030,0.000,0.024,2998,2472,3834,3781,3888,0,0,0,0,0,0,26.98,26.96,27.01
$GC,1005,-0.85,-243.3,2999,2472,3785,3889,234.8,-18.7,107,1010,0.00,1.88,0.00,0.000,260,0.000,0.048,2991,3691,3836,3784,3889,0,0,0,0,0,0,27.20,26.92,27.25
$GC,1135,-0.85,-243.3,2992,3692,3785,3891,254.6,-16.4,111,1140,0.00,1.70,0.00,0.000,1030,0.000,0.024,2995,2499,3837,3785,3890,0,0,0,0,0,0,27.08,27.05,27.10
$GC,1455,-0.85,-243.3,2995,2497,3787,3890,301.5,-14.2,122,1460,0.00,1.83,0.00,0.000,260,0.000,0.049,2986,3685,3837,3785,3890,0,0,0,0,0,0,27.25,26.98,27.32
$GC,1550,-0.85,-243.3,2987,3686,3786,3890,315.6,-15.4,125,1554,0.00,1.70,0.00,0.000,1030,0.000,0.025,2992,2503,3837,3785,3890,0,0,0,0,0,0,27.13,27.10,27.14
$GC,1875,-0.85,-243.3,2991,2503,3785,3892,362.6,-13.2,136,1880,0.00,1.83,0.00,0.000,260,0.000,0.047,2984,3696,3837,3785,3889,0,0,0,0,0,0,27.29,27.02,27.35
$GC,1915,-0.85,-243.3,2984,3695,3785,3889,366.6,-13.1,137,1919,0.00,1.73,0.00,0.000,1030,0.000,0.026,2992,2496,3837,3785,3889,0,0,0,0,0,0,27.16,27.13,27.17
$GC,2235,-0.85,-243.3,2991,2496,3786,3885,408.9,-12.8,148,2240,0.00,1.83,0.00,0.000,260,0.000,0.047,2983,3690,3835,3785,3885,0,0,0,0,0,0,27.31,27.04,27.38
$GC,2285,-0.85,-243.3,2984,3691,3786,3886,412.9,-13.1,149,2290,0.00,1.73,0.00,0.000,1030,0.000,0.027,2992,2495,3835,3785,3885,0,0,0,0,0,0,27.18,27.15,27.19
$GC,2595,-0.85,-243.3,2991,2494,3786,3882,456.0,-12.7,160,2600,0.00,1.83,0.00,0.000,260,0.000,0.047,2984,3687,3833,3785,3881,0,0,0,0,0,0,27.33,27.06,27.39
$GC,2685,-0.85,-243.3,2984,3688,3785,3880,467.4,-12.5,163,2690,0.00,1.73,0.00,0.000,1030,0.000,0.028,2992,2495,3831,3784,3879,0,0,0,0,0,0,27.20,27.16,27.22
$GC,3015,-0.85,-243.3,2991,2495,3783,3874,507.9,-12.9,174,3020,0.00,1.83,0.00,0.000,260,0.000,0.047,2984,3686,3828,3782,3874,0,0,0,0,0,0,27.34,27.08,27.41
$GC,3040,-0.85,-243.3,2984,3687,3782,3875,507.9,-12.9,174,3048,0.00,1.73,0.00,0.000,1030,0.000,0.028,2991,2496,3828,3782,3874,0,0,0,0,0,0,27.20,27.17,27.22
$GC,3345,-0.85,-243.3,2992,2497,3780,3873,553.3,-14.1,185,3350,0.00,1.85,0.00,0.000,260,0.000,0.049,2983,3698,3825,3779,3872,0,0,0,0,0,0,27.35,27.07,27.41
$GC,3455,-0.85,-243.3,2984,3699,3778,3871,565.1,-13.3,188,3460,0.00,1.75,0.00,0.000,1030,0.000,0.029,2991,2495,3824,3778,3870,0,0,0,0,0,0,27.21,27.17,27.22
$GC,3765,-0.85,-243.3,2991,2495,3776,3868,604.3,-11.3,199,3770,0.00,1.85,0.00,0.000,260,0.000,0.049,2984,3694,3821,3775,3868,0,0,0,0,0,0,27.36,27.08,27.42
$GC,3845,-0.85,-243.3,2983,3694,3776,3867,610.7,-10.6,201,3850,0.00,1.75,0.00,0.000,1030,0.000,0.028,2991,2494,3821,3775,3867,0,0,0,0,0,0,27.22,27.17,27.24
$GC,4155,-0.85,-243.3,2991,2495,3773,3866,649.3,-12.2,212,4160,0.00,1.85,0.00,0.000,260,0.000,0.050,2983,3697,3818,3772,3865,0,0,0,0,0,0,27.36,27.08,27.43
$GC,4235,-0.85,-243.3,2984,3698,3773,3865,657.1,-12.8,214,4240,0.00,1.75,0.00,0.000,1030,0.000,0.029,2991,2495,3818,3772,3864,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4545,-0.85,-243.3,2991,2497,3770,3862,703.5,-14.2,225,4550,0.00,1.85,0.00,0.000,260,0.000,0.050,2983,3693,3815,3769,3861,0,0,0,0,0,0,27.36,27.08,27.43
$GC,4640,-0.85,-243.3,2984,3694,3769,3862,716.4,-14.4,228,4645,0.00,1.75,0.00,0.000,1030,0.000,0.030,2991,2495,3814,3768,3860,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4965,-0.85,-243.3,2991,2494,3767,3859,758.6,-12.5,239,4970,0.00,1.85,0.00,0.000,260,0.000,0.050,2983,3693,3811,3765,3858,0,0,0,0,0,0,27.37,27.08,27.44
$GC,5035,-0.85,-243.3,2984,3694,3765,3860,766.5,-12.7,241,5040,0.00,1.73,0.00,0.000,1030,0.000,0.030,2991,2508,3811,3765,3858,0,0,0,0,0,0,27.21,27.19,27.22
$GC,5355,-0.85,-243.3,2991,2507,3764,3856,807.1,-11.9,252,5360,0.00,1.83,0.00,0.000,260,0.000,0.050,2983,3691,3809,3762,3856,0,0,0,0,0,0,27.37,27.08,27.43
$GC,5420,-0.85,-243.3,2983,3692,3763,3856,814.6,-12.2,254,5425,0.00,1.75,0.00,0.000,1030,0.000,0.030,2991,2494,3808,3762,3855,0,0,0,0,0,0,27.22,27.18,27.24
$GC,5745,-0.85,-243.3,2991,2493,3762,3853,857.0,-13.2,265,5750,0.00,1.85,0.00,0.000,260,0.000,0.050,2983,3693,3807,3761,3854,0,0,0,0,0,0,27.37,27.08,27.44
$GC,5885,-0.85,-243.3,2982,3692,3761,3851,872.3,-12.8,269,5890,0.00,1.75,0.00,0.000,1030,0.000,0.030,2991,2496,3806,3761,3852,0,0,0,0,0,0,27.22,27.18,27.24
$GC,6195,-0.85,-243.3,2991,2496,3760,3850,912.1,-11.8,280,6200,0.00,1.85,0.00,0.000,260,0.000,0.051,2983,3691,3804,3758,3850,0,0,0,0,0,0,27.37,27.08,27.44
$GC,6256,-0.85,-243.3,2983,3691,3760,3850,919.1,-11.8,282,6260,0.00,1.73,0.00,0.000,1030,0.000,0.031,2990,2506,3804,3758,3850,0,0,0,0,0,0,27.20,27.18,27.22
$GC,6585,-0.85,-243.3,2991,2507,3757,3849,954.7,-10.4,293,6590,0.00,1.85,0.00,0.000,260,0.000,0.052,2983,3696,3802,3756,3849,0,0,0,0,0,0,27.37,27.06,27.44
$GC,6660,-0.85,-243.3,2983,3695,3757,3848,961.2,-10.6,295,6665,0.00,1.75,0.00,0.000,1030,0.000,0.031,2991,2495,3802,3756,3848,0,0,0,0,0,0,27.20,27.17,27.22
$STATE,6944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6944,begin apogee
$GC,6947,-0.17,0.0,2992,2393,3756,3847,992.2,-10.3,305,7148,0.80,0.00,193.43,1.662,10246,0.159,0.000,3227,2393,2839,2814,2864,0,0,0,0,1,0,26.86,24.73,23.82
$STATE,7149,end apogee,CONTROL_FINISHED_OK
$STATE,7149,begin climb
$GC,7150,0.85,243.3,3228,2392,2823,2864,1002.5,0.0,311,7369,1.10,2.25,208.35,1.287,10756,0.122,0.035,3564,1013,1837,1836,1838,0,0,0,0,0,0,24.84,24.35,23.78
$GC,7398,0.97,325.0,3564,1014,1833,1831,996.5,8.5,320,7475,0.12,2.28,71.80,1.237,11270,0.106,0.035,3604,2397,1510,1516,1505,0,0,0,0,0,0,25.13,25.18,23.82
$GC,7784,0.97,325.0,3604,2398,1498,1481,933.9,16.5,333,7788,0.00,2.10,0.00,0.000,260,0.000,0.050,3603,3702,1488,1498,1479,0,0,0,0,0,0,26.37,26.13,26.44
$GC,7864,0.97,325.0,3602,3702,1499,1479,923.5,16.7,335,7868,0.00,2.00,0.00,0.000,1030,0.000,0.030,3611,2381,1488,1497,1479,0,0,0,0,0,0,26.34,26.32,26.36
$GC,8174,0.97,325.0,3612,2382,1497,1480,872.0,15.6,346,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2381,1487,1496,1479,0,0,0,0,0,0,26.79,26.86,26.85
$GC,8474,0.97,325.0,3611,2380,1496,1478,822.7,16.4,356,8479,0.00,2.08,0.00,0.000,260,0.000,0.050,3611,3693,1486,1495,1478,0,0,0,0,0,0,26.94,26.67,27.00
$GC,8568,0.97,325.0,3611,3693,1497,1478,807.2,17.1,359,8573,0.00,1.95,0.00,0.000,1030,0.000,0.029,3620,2390,1486,1494,1478,0,0,0,0,0,0,26.83,26.79,26.85
$GC,8894,0.97,325.0,3620,2386,1495,1479,753.1,16.8,370,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,2385,1485,1494,1477,0,0,0,0,0,0,27.05,27.13,27.13
$GC,9194,0.97,325.0,3620,2385,1494,1477,702.2,16.9,380,9199,0.00,2.08,0.00,0.000,260,0.000,0.051,3614,3704,1485,1493,1477,0,0,0,0,0,0,27.12,26.84,27.18
$GC,9244,0.97,325.0,3614,3704,1494,1477,696.8,17.1,381,9248,0.00,1.95,0.00,0.000,1030,0.000,0.031,3623,2402,1485,1493,1477,0,0,0,0,0,0,26.97,26.93,26.99
$GC,9554,0.97,325.0,3623,2402,1493,1478,639.5,17.1,392,9558,0.00,2.03,0.00,0.000,260,0.000,0.050,3616,3699,1484,1492,1477,0,0,0,0,0,0,27.16,26.89,27.23
$GC,9614,0.97,325.0,3616,3700,1493,1478,628.8,17.4,394,9618,0.00,1.92,0.00,0.000,1030,0.000,0.031,3624,2395,1484,1492,1477,0,0,0,0,0,0,27.00,26.98,27.03
$GC,9944,0.97,325.0,3624,2393,1492,1477,576.7,15.6,405,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,2393,1484,1491,1477,0,0,0,0,0,0,27.20,27.28,27.27
$GC,10244,0.97,325.0,3624,2393,1492,1477,529.2,16.2,415,10249,0.00,2.05,0.00,0.000,260,0.000,0.050,3616,3704,1483,1491,1476,0,0,0,0,0,0,27.22,26.94,27.29
$GC,10338,0.97,325.0,3615,3704,1492,1476,513.8,16.7,418,10343,0.00,1.95,0.00,0.000,1030,0.000,0.031,3624,2398,1484,1491,1477,0,0,0,0,0,0,27.08,27.04,27.10
$GC,10664,0.97,325.0,3624,2398,1493,1477,464.3,14.5,429,10668,0.00,2.10,0.00,0.000,516,0.000,0.038,3635,1014,1483,1491,1476,0,0,0,0,0,0,27.24,27.01,27.32
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$STATE,14420,end climb,SURFACE_DEPTH_REACHED
$STATE,14420,begin surface coast
$FINISH,0.4,1.022217
$STATE,14435,end surface coast,CONTROL_FINISHED_OK
$STATE,14435,begin surface
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$IRIDIUM_FIX,1305.38,14435.98,020315,145418
$TT8_MAMPS,0.053179,0.053179
$HUMID,41.21
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.78,2.620
$10V_AH,10.34,3.018
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.575,127.500,596.400,9.175,0.000,0.000,0.000,162.775,0.000,0.000,18.734,0.000,11494.128,750.922,2378.012,54.564,0.000,1900.628,0.000,1755.162,0.000,0.546,0.000
$DEVICE_MAMPS,236.385,94.860,1662.345,125.460,0.000,0.000,0.000,80.325,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,482.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229044
$DATA_FILE_SIZE,30033,719
$CAP_FILE_SIZE,133243,0
$CFSIZE,1024393216,1016692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.098,249.50,1
$GPS,020315,214905,1309.601,14438.407,34,0.8,34,1.1,0.0,0.0,10,22.3