version: 66.12
glider: 204
mission: 15
dive: 15
start: 3 3 115 11 44 48
data:
$ID,204
$MISSION,15
$DIVE,15
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,110
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,48
$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
$GPS1,030315,114036,1309.2181,14442.5391,39,1.0,39,1.1,0.0,0.0,7,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.4
$GPS2,030315,114438,1309.2058,14442.4805,8,0.8,8,1.1,0.0,244.6,9,16.0
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,1305.512,14452.899
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,108.9,20000,-14.4,-11.000,-18.13,3362
$D_GRID,753
$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,-243.3,191,2629,813,780,0.0,0.0,0,66,0.00,0.00,-52.28,0.000,16386,0.000,0.000,190,2629,2221,2182,2261,0,0,0,0,0,0,26.85,28.83,26.92
$GC,67,-0.85,-243.3,191,2628,2184,2261,3.3,-6.3,9,117,11.40,0.00,-33.35,0.000,18950,0.234,0.000,3006,2628,3833,3781,3886,0,0,0,0,0,0,26.37,25.63,26.51
$GC,415,-0.85,-243.3,3006,2627,3783,3887,105.5,-31.5,60,416,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2627,3835,3782,3888,0,0,0,0,0,0,27.04,27.11,27.10
$GC,715,-0.85,-243.3,3006,2629,3783,3891,186.0,-20.0,90,716,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2627,3836,3784,3889,0,0,0,0,0,0,27.14,27.20,27.20
$GC,1015,-0.85,-243.3,3006,2627,3786,3891,230.3,-14.8,106,1019,0.00,2.08,0.00,0.000,516,0.000,0.028,3010,1203,3838,3785,3891,0,0,0,0,0,0,27.20,26.98,27.26
$GC,1045,-0.85,-243.3,3011,1205,3786,3893,235.0,-15.0,107,1050,0.00,2.08,0.00,0.000,1030,0.000,0.032,3002,2591,3838,3785,3892,0,0,0,0,0,0,27.01,26.98,27.04
$GC,1375,-0.85,-243.3,3002,2592,3787,3892,287.0,-12.1,118,1379,0.00,1.67,0.00,0.000,260,0.000,0.045,2994,3698,3839,3786,3892,0,0,0,0,0,0,27.24,27.00,27.32
$GC,1490,-0.85,-243.3,2994,3699,3787,3894,297.7,-11.3,121,1497,0.00,1.60,0.00,0.000,1030,0.000,0.025,2995,2581,3839,3786,3892,0,0,0,0,0,0,27.13,27.10,27.14
$GC,1795,-0.85,-243.3,2995,2581,3786,3892,347.2,-16.3,132,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2581,3838,3785,3892,0,0,0,0,0,0,27.29,27.36,27.35
$GC,2095,-0.85,-243.3,2995,2583,3786,3890,395.3,-15.3,142,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2581,3837,3785,3889,0,0,0,0,0,0,27.31,27.39,27.37
$GC,2395,-0.85,-243.3,2995,2583,3786,3885,433.1,-11.0,152,2400,0.00,1.70,0.00,0.000,260,0.000,0.047,2987,3697,3834,3785,3884,0,0,0,0,0,0,27.32,27.07,27.39
$GC,2445,-0.85,-243.3,2988,3698,3786,3884,436.9,-11.3,153,2449,0.00,1.58,0.00,0.000,1030,0.000,0.027,2992,2602,3833,3785,3882,0,0,0,0,0,0,27.20,27.15,27.21
$GC,2755,-0.85,-243.3,2992,2602,3784,3880,478.3,-12.6,164,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2602,3831,3783,3880,0,0,0,0,0,0,27.34,27.41,27.40
$GC,3055,-0.85,-243.3,2992,2602,3782,3875,512.8,-10.9,174,3059,0.00,1.67,0.00,0.000,260,0.000,0.047,2985,3694,3827,3780,3875,0,0,0,0,0,0,27.34,27.09,27.41
$GC,3095,-0.85,-243.3,2985,3695,3781,3876,516.5,-11.2,175,3099,0.00,1.58,0.00,0.000,1030,0.000,0.028,2992,2604,3827,3780,3874,0,0,0,0,0,0,27.21,27.17,27.22
$GC,3415,-0.85,-243.3,2992,2604,3778,3873,559.4,-12.7,186,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2604,3824,3776,3873,0,0,0,0,0,0,27.35,27.43,27.41
$GC,3715,-0.85,-243.3,2992,2605,3774,3871,595.8,-11.6,196,3719,0.00,1.67,0.00,0.000,260,0.000,0.050,2985,3691,3821,3773,3869,0,0,0,0,0,0,27.36,27.09,27.43
$GC,3765,-0.85,-243.3,2985,3693,3773,3870,598.9,-11.4,197,3769,0.00,1.60,0.00,0.000,1030,0.000,0.028,2991,2589,3821,3773,3869,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4075,-0.85,-243.3,2992,2589,3772,3868,640.2,-13.1,208,4079,0.00,1.70,0.00,0.000,260,0.000,0.049,2984,3692,3818,3770,3866,0,0,0,0,0,0,27.36,27.10,27.43
$GC,4105,-0.85,-243.3,2985,3693,3771,3867,644.0,-12.7,209,4109,0.00,1.60,0.00,0.000,1030,0.000,0.029,2992,2591,3818,3770,3866,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4435,-0.85,-243.3,2991,2590,3768,3863,684.8,-11.2,220,4439,0.00,1.70,0.00,0.000,260,0.000,0.051,2984,3687,3815,3767,3863,0,0,0,0,0,0,27.36,27.09,27.43
$GC,4450,-0.85,-243.3,2984,3687,3766,3862,684.8,-11.2,220,4454,0.00,1.60,0.00,0.000,1030,0.000,0.029,2991,2590,3814,3767,3862,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4765,-0.85,-243.3,2992,2590,3764,3861,728.0,-12.9,231,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2589,3811,3763,3860,0,0,0,0,0,0,27.37,27.44,27.43
$STATE,4944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4944,begin apogee
$GC,4947,-0.17,0.0,2993,2424,3763,3860,753.4,-13.5,237,5140,0.80,0.00,190.60,1.190,10246,0.155,0.000,3231,2422,2838,2815,2861,0,0,0,0,0,0,26.92,25.13,24.46
$STATE,5141,end apogee,CONTROL_FINISHED_OK
$STATE,5141,begin climb
$GC,5142,0.85,243.3,3232,2422,2811,2855,767.2,0.0,243,5345,1.05,2.28,194.60,1.138,10756,0.123,0.034,3558,1030,1837,1838,1837,0,0,0,0,0,0,25.18,24.95,24.28
$GC,5495,0.95,309.7,3558,1032,1830,1824,757.1,9.0,255,5555,0.10,2.20,54.78,1.125,11270,0.129,0.035,3589,2417,1572,1575,1570,0,0,0,0,0,0,25.96,26.03,24.52
$GC,5875,0.95,309.7,3589,2417,1558,1547,711.0,12.6,268,5880,0.00,2.03,0.00,0.000,260,0.000,0.048,3588,3695,1552,1557,1547,0,0,0,0,0,0,26.63,26.38,26.70
$GC,5945,0.95,309.7,3589,3696,1557,1549,703.0,13.0,270,5949,0.00,1.92,0.00,0.000,1030,0.000,0.028,3598,2410,1551,1556,1547,0,0,0,0,0,0,26.58,26.54,26.59
$GC,6265,0.95,309.7,3599,2406,1554,1545,656.5,15.0,281,6269,0.00,2.10,0.00,0.000,516,0.000,0.037,3609,1030,1549,1553,1545,0,0,0,0,0,0,26.92,26.71,26.98
$GC,6295,0.95,309.7,3609,1032,1552,1545,652.3,14.6,282,6299,0.00,2.15,0.00,0.000,1030,0.000,0.035,3608,2426,1547,1551,1544,0,0,0,0,0,0,26.74,26.72,26.77
$GC,6625,0.95,309.7,3609,2426,1552,1545,608.6,12.3,293,6629,0.00,1.98,0.00,0.000,260,0.000,0.050,3609,3693,1548,1552,1544,0,0,0,0,0,0,27.05,26.79,27.12
$GC,6700,0.95,309.7,3609,3695,1553,1545,599.5,14.2,295,6704,0.00,1.90,0.00,0.000,1030,0.000,0.029,3618,2414,1547,1551,1543,0,0,0,0,0,0,26.94,26.89,26.96
$GC,7015,0.95,309.7,3617,2412,1551,1541,550.5,13.3,306,7019,0.00,2.00,0.00,0.000,260,0.000,0.050,3614,3692,1546,1550,1543,0,0,0,0,0,0,27.13,26.87,27.20
$GC,7065,0.95,309.7,3615,3694,1551,1544,546.3,13.3,307,7069,0.00,1.90,0.00,0.000,1030,0.000,0.029,3623,2409,1546,1550,1543,0,0,0,0,0,0,27.00,26.96,27.03
$GC,7375,0.95,309.7,3623,2407,1550,1542,500.6,14.6,318,7379,0.00,2.00,0.00,0.000,260,0.000,0.050,3616,3687,1545,1549,1542,0,0,0,0,0,0,27.18,26.92,27.25
$GC,7405,0.95,309.7,3616,3689,1550,1543,495.7,15.2,319,7410,0.08,1.85,0.00,0.000,5126,0.160,0.030,3602,2423,1545,1549,1542,0,0,0,0,0,0,26.77,27.01,26.88
$GC,7735,0.95,309.7,3602,2423,1550,1543,452.3,12.2,330,7740,0.00,1.98,0.00,0.000,260,0.000,0.050,3601,3691,1544,1548,1541,0,0,0,0,0,0,27.22,26.96,27.29
$GC,7755,0.95,309.7,3602,3693,1550,1542,452.3,12.2,330,7759,0.00,1.88,0.00,0.000,1030,0.000,0.030,3610,2421,1545,1549,1541,0,0,0,0,0,0,27.08,27.04,27.10
$GC,8065,0.95,316.0,3610,2421,1550,1540,414.8,10.8,341,8069,0.00,1.98,0.00,0.000,260,0.000,0.050,3610,3694,1545,1549,1541,0,0,0,0,0,0,27.24,26.98,27.31
$GC,8160,0.95,316.0,3610,3695,1549,1541,403.7,11.9,344,8164,0.00,1.88,0.00,0.000,1030,0.000,0.029,3618,2422,1544,1548,1540,0,0,0,0,0,0,27.11,27.07,27.13
$GC,8485,0.96,322.5,3619,2423,1549,1541,368.1,10.8,355,8489,0.00,0.00,2.67,0.464,8198,0.000,0.000,3619,2422,1521,1525,1518,0,0,0,0,0,0,27.27,26.79,25.84
$GC,8785,0.96,322.5,3618,2421,1546,1526,333.9,12.6,365,8790,0.00,1.92,1.73,0.182,8452,0.000,0.049,3616,3693,1521,1527,1515,0,0,0,0,0,0,27.27,26.92,26.82
$GC,8850,0.96,322.5,3616,3693,1540,1523,325.9,14.0,367,8854,0.00,1.85,0.00,0.000,1030,0.000,0.030,3624,2425,1531,1540,1523,0,0,0,0,0,0,27.10,27.08,27.12
$GC,9170,0.96,322.5,3625,2425,1545,1525,281.5,13.6,378,9175,0.00,2.05,1.48,0.190,8708,0.000,0.037,3635,1032,1521,1527,1515,0,0,0,0,0,0,27.28,27.03,26.82
$GC,9255,0.96,322.5,3635,1032,1543,1521,271.9,11.5,381,9260,0.00,2.10,0.98,0.184,9222,0.000,0.035,3626,2417,1520,1527,1514,0,0,0,0,0,0,27.07,27.04,26.83
$GC,9585,0.98,330.5,3627,2418,1545,1524,239.0,10.8,392,9602,0.00,2.03,12.90,0.877,8452,0.000,0.049,3616,3704,1487,1495,1480,0,0,0,0,0,0,27.29,26.71,25.98
$GC,9665,0.98,330.5,3616,3705,1489,1475,230.7,13.4,394,9673,0.00,1.92,0.00,0.000,1030,0.000,0.029,3625,2405,1480,1487,1474,0,0,0,0,0,0,26.93,26.89,26.95
$GC,9971,1.07,394.2,3625,2404,1488,1472,186.0,9.1,413,10033,0.00,2.10,51.20,1.055,8708,0.000,0.034,3635,1038,1236,1252,1220,0,0,0,0,1,0,27.15,25.54,24.98
$GC,10132,1.07,394.2,3635,1038,1267,1223,167.8,12.5,429,10137,0.00,2.15,1.52,0.168,9222,0.000,0.034,3626,2417,1229,1247,1211,0,0,0,0,0,0,26.29,26.25,26.06
$GC,10437,1.07,394.2,3627,2418,1267,1218,132.2,11.9,459,10441,0.00,1.98,1.23,0.197,8452,0.000,0.048,3617,3705,1228,1249,1208,0,0,0,0,0,0,26.82,26.55,26.41
$GC,10542,1.07,394.2,3617,3707,1265,1217,120.5,11.7,469,10549,0.00,1.88,0.00,0.000,1030,0.000,0.028,3625,2426,1240,1264,1216,0,0,0,0,0,0,26.72,26.71,26.74
$GC,10847,1.25,522.7,3626,2426,1265,1217,93.2,7.1,500,10959,0.22,0.00,106.38,0.734,10502,0.138,0.000,3702,2425,698,735,662,0,0,0,0,0,0,26.66,25.36,25.00
$GC,11257,1.25,522.7,3701,2426,729,650,32.2,18.0,551,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3701,2425,688,728,649,0,0,0,0,0,0,26.69,26.75,26.75
$STATE,11431,end climb,SURFACE_DEPTH_REACHED
$STATE,11431,begin surface coast
$FINISH,0.5,1.014168
$STATE,11441,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11515,0.00,0.000,0,0,687,528.13
$SM_GC,1.45,10.07,0.28,0.00,0.080,0.057,0.000,193,2618,687,-9.59,-0.93,528.13,0,0,0,0,0,0,26.63,26.65,26.67
$IRIDIUM_FIX,1307.59,14442.16,030315,083657
$TT8_MAMPS,0.053928,0.053928
$HUMID,41.37
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.28,3.595
$10V_AH,10.34,3.269
$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,23.725,76.275,620.050,0.000,0.000,0.000,0.000,193.200,0.000,0.000,9.652,0.000,9202.667,679.529,1826.553,45.719,0.000,1622.729,0.000,1291.374,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,58.140,1189.575,0.000,0.000,0.000,0.000,78.030,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,393.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229784
$DATA_FILE_SIZE,26816,588
$CAP_FILE_SIZE,101798,0
$CFSIZE,1024393216,1016381440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$INTR,0,11069.44,0x236db2,7,5
$GPS,030315,145736,1307.543,14443.801,37,0.8,37,1.1,0.8,248.8,11,22.3