version: 66.12
glider: 204
mission: 15
dive: 17
start: 3 3 115 17 17 54
data:
$ID,204
$MISSION,15
$DIVE,17
$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,330
$T_MISSION,360
$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,180
$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,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,74
$R_STBD_OVSHOOT,36
$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
$GPS1,030315,171343,1307.4746,14444.3398,15,0.8,15,1.1,0.0,0.0,9,21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-61.9
$GPS2,030315,171744,1307.4648,14444.2773,11,0.8,11,1.1,1.2,268.0,10,17.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N1
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,60.3,7291,-15.8,-10.000,-19.55,2669
$D_GRID,876
$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,-0.80,-175.2,194,2618,825,798,0.0,0.0,0,63,0.00,0.00,-48.83,0.000,16386,0.000,0.000,194,2616,2128,2093,2163,0,0,0,0,0,0,26.89,28.83,26.96
$GC,64,-0.80,-175.2,194,2617,2095,2164,3.1,-6.7,8,110,11.57,0.00,-31.33,0.000,18694,0.237,0.000,3022,2615,3554,3524,3585,0,0,0,0,0,0,26.31,25.61,26.61
$GC,409,-0.80,-175.2,3023,2617,3528,3588,98.6,-29.5,59,410,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2615,3556,3526,3586,0,0,0,0,0,0,27.07,27.14,27.13
$GC,709,-0.80,-175.2,3023,2615,3530,3588,169.2,-21.0,89,714,0.00,1.65,0.00,0.000,260,0.000,0.047,3015,3699,3558,3529,3588,0,0,0,0,0,0,27.17,26.91,27.22
$GC,804,-0.80,-175.2,3015,3699,3530,3589,185.7,-17.7,98,811,0.00,1.58,0.00,0.000,1030,0.000,0.024,3018,2588,3559,3529,3590,0,0,0,0,0,0,27.05,27.02,27.07
$GC,1119,-0.80,-175.2,3019,2588,3534,3592,234.9,-13.9,114,1123,0.00,1.67,0.00,0.000,260,0.000,0.045,3011,3690,3562,3532,3592,0,0,0,0,0,0,27.24,26.98,27.30
$GC,1204,-0.80,-175.2,3011,3689,3534,3593,242.6,-13.0,116,1211,0.00,1.55,0.00,0.000,1030,0.000,0.023,3018,2589,3562,3532,3593,0,0,0,0,0,0,27.12,27.09,27.13
$GC,1509,-0.80,-175.2,3018,2589,3534,3593,289.4,-15.3,127,1513,0.00,1.98,0.00,0.000,516,0.000,0.028,3024,1227,3563,3533,3594,0,0,0,0,0,0,27.29,27.07,27.35
$GC,1599,-0.80,-175.2,3024,1227,3534,3593,302.9,-15.2,130,1603,0.00,2.05,0.00,0.000,1030,0.000,0.033,3015,2600,3563,3533,3593,0,0,0,0,0,0,27.10,27.07,27.13
$GC,1929,-0.80,-175.2,3015,2601,3533,3595,350.6,-14.1,141,1933,0.00,1.65,0.00,0.000,260,0.000,0.046,3007,3691,3563,3533,3593,0,0,0,0,0,0,27.32,27.05,27.38
$GC,1959,-0.80,-175.2,3007,3691,3534,3593,354.8,-14.2,142,1963,0.00,1.55,0.00,0.000,1030,0.000,0.024,3008,2594,3562,3532,3593,0,0,0,0,0,0,27.18,27.15,27.20
$GC,2289,-0.80,-175.2,3008,2595,3533,3593,400.4,-13.2,153,2293,0.00,1.67,0.00,0.000,260,0.000,0.047,3001,3688,3562,3533,3591,0,0,0,0,0,0,27.34,27.07,27.39
$GC,2334,-0.80,-175.2,3001,3688,3534,3590,404.1,-12.9,154,2338,0.00,1.55,0.00,0.000,1030,0.000,0.025,3005,2602,3561,3533,3590,0,0,0,0,0,0,27.20,27.17,27.22
$GC,2649,-0.80,-175.2,3005,2602,3534,3584,443.5,-12.3,165,2653,0.00,2.03,0.00,0.000,516,0.000,0.031,3011,1217,3558,3532,3585,0,0,0,0,0,0,27.34,27.13,27.41
$GC,2729,-0.80,-175.2,3011,1217,3533,3584,451.1,-12.6,167,2733,0.00,2.08,0.00,0.000,1030,0.000,0.034,3002,2597,3558,3532,3584,0,0,0,0,0,0,27.15,27.11,27.17
$GC,3039,-0.80,-175.2,3003,2598,3530,3582,497.8,-14.3,178,3043,0.12,1.65,0.00,0.000,2308,0.216,0.047,3020,3687,3555,3529,3581,0,0,0,0,0,0,26.88,27.09,27.07
$GC,3109,-0.80,-175.2,3020,3686,3530,3580,505.8,-13.6,180,3113,0.00,1.58,0.00,0.000,1030,0.000,0.026,3021,2588,3554,3529,3580,0,0,0,0,0,0,27.22,27.18,27.24
$GC,3429,-0.80,-175.2,3021,2588,3527,3577,543.9,-11.6,191,3433,0.00,1.70,0.00,0.000,260,0.000,0.048,3014,3694,3550,3525,3576,0,0,0,0,0,0,27.36,27.08,27.42
$GC,3454,-0.80,-175.2,3014,3695,3526,3578,543.9,-11.6,191,3461,0.00,1.58,0.00,0.000,1030,0.000,0.027,3019,2598,3550,3525,3576,0,0,0,0,0,0,27.22,27.18,27.24
$GC,3759,-0.80,-175.2,3019,2598,3523,3575,579.7,-9.7,202,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2598,3548,3522,3575,0,0,0,0,0,0,27.36,27.44,27.43
$GC,4059,-0.80,-175.2,3020,2599,3520,3573,610.1,-9.9,212,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2597,3546,3520,3572,0,0,0,0,0,0,27.36,27.45,27.43
$GC,4359,-0.80,-175.2,3020,2599,3517,3571,640.5,-10.2,222,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2598,3543,3516,3570,0,0,0,0,0,0,27.37,27.45,27.44
$GC,4659,-0.80,-175.2,3019,2597,3515,3567,669.2,-9.6,232,4663,0.00,1.67,0.00,0.000,260,0.000,0.050,3012,3684,3541,3514,3568,0,0,0,0,0,0,27.38,27.09,27.44
$GC,4689,-0.80,-175.2,3012,3684,3515,3567,672.3,-9.6,233,4693,0.00,1.55,0.00,0.000,1030,0.000,0.030,3019,2607,3540,3514,3567,0,0,0,0,0,0,27.22,27.18,27.23
$GC,5019,-0.80,-175.2,3019,2607,3512,3564,701.5,-8.9,244,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2606,3537,3511,3564,0,0,0,0,0,0,27.38,27.45,27.44
$STATE,5318,end dive,NO_VERTICAL_VELOCITY
$STATE,5318,begin apogee
$GC,5321,-0.17,0.0,3021,2420,3510,3564,706.4,0.0,254,5474,0.68,0.00,145.65,1.327,10246,0.145,0.000,3225,2417,2839,2814,2864,0,0,0,0,1,0,26.94,25.06,24.23
$STATE,5474,end apogee,CONTROL_FINISHED_OK
$STATE,5474,begin climb
$GC,5475,0.80,175.2,3226,2418,2823,2866,706.3,0.0,259,5630,1.10,2.12,140.35,1.474,10500,0.140,0.047,3530,3684,2128,2129,2128,0,0,0,0,1,0,25.14,24.83,24.00
$GC,5854,0.84,201.9,3531,3685,2135,2129,687.2,9.0,271,5884,0.00,1.90,25.17,1.073,9222,0.000,0.028,3539,2423,2012,2011,2013,0,0,0,0,0,0,26.29,26.27,24.97
$GC,6189,0.96,289.0,3541,2424,2006,2004,655.4,6.6,283,6264,0.20,2.10,69.03,1.046,10500,0.133,0.048,3609,3686,1655,1657,1654,0,0,0,0,0,0,26.41,25.37,24.70
$GC,6299,1.02,325.7,3608,3686,1654,1651,646.7,8.6,286,6334,0.00,1.95,30.98,1.014,9222,0.000,0.027,3617,2404,1509,1514,1504,0,0,0,0,0,0,25.90,25.89,24.73
$GC,6639,1.02,325.7,3617,2404,1503,1486,607.2,11.6,298,6643,0.00,2.03,0.00,0.000,260,0.000,0.048,3613,3683,1494,1502,1486,0,0,0,0,0,0,26.67,26.44,26.73
$GC,6694,1.02,325.7,3613,3685,1501,1487,603.4,11.9,299,6701,0.00,1.90,0.00,0.000,1030,0.000,0.028,3621,2422,1493,1501,1486,0,0,0,0,0,0,26.60,26.55,26.61
$GC,6999,1.02,325.7,3621,2422,1501,1484,561.9,12.7,310,7004,0.00,2.00,0.00,0.000,260,0.000,0.048,3615,3693,1491,1499,1484,0,0,0,0,0,0,26.93,26.67,26.99
$GC,7104,1.02,325.7,3615,3693,1501,1484,548.3,14.7,313,7108,0.00,1.88,0.00,0.000,1030,0.000,0.028,3624,2418,1491,1499,1484,0,0,0,0,0,0,26.83,26.79,26.84
$GC,7419,1.02,325.7,3624,2414,1499,1483,500.6,14.4,324,7423,0.00,2.00,0.00,0.000,260,0.000,0.049,3616,3691,1490,1498,1483,0,0,0,0,0,0,27.07,26.81,27.13
$GC,7454,1.02,325.7,3616,3692,1499,1484,495.9,14.6,325,7458,0.00,1.90,0.00,0.000,1030,0.000,0.028,3625,2408,1490,1498,1483,0,0,0,0,0,0,26.95,26.90,26.96
$GC,7779,1.02,325.7,3625,2407,1498,1483,449.3,14.2,336,7783,0.00,2.08,0.00,0.000,516,0.000,0.035,3635,1032,1489,1497,1482,0,0,0,0,0,0,27.14,26.93,27.21
$GC,7859,1.02,325.7,3635,1032,1497,1481,440.5,14.5,338,7863,0.00,2.10,0.00,0.000,1030,0.000,0.034,3626,2416,1488,1497,1480,0,0,0,0,0,0,26.96,26.93,26.98
$GC,8169,1.02,325.7,3626,2415,1497,1480,391.9,14.4,349,8173,0.00,1.98,0.00,0.000,260,0.000,0.048,3617,3692,1488,1496,1480,0,0,0,0,0,0,27.20,26.93,27.26
$GC,8289,1.02,325.7,3617,3692,1498,1480,374.3,14.7,353,8293,0.00,1.85,0.00,0.000,1030,0.000,0.028,3625,2423,1488,1496,1480,0,0,0,0,0,0,27.05,27.03,27.08
$GC,8619,1.02,325.7,3625,2421,1497,1479,328.5,13.7,364,8623,0.00,1.98,0.00,0.000,260,0.000,0.048,3617,3694,1487,1495,1480,0,0,0,0,0,0,27.24,26.97,27.30
$GC,8659,1.02,325.7,3617,3693,1497,1479,324.3,13.6,365,8663,0.00,1.85,0.00,0.000,1030,0.000,0.028,3625,2422,1488,1496,1480,0,0,0,0,0,0,27.09,27.05,27.10
$GC,8979,1.02,325.7,3625,2423,1496,1481,278.9,15.4,376,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,2422,1487,1495,1480,0,0,0,0,0,0,27.26,27.33,27.32
$GC,9279,1.02,325.7,3625,2423,1496,1481,236.5,13.2,386,9284,0.00,2.08,0.00,0.000,516,0.000,0.035,3635,1039,1487,1495,1479,0,0,0,0,0,0,27.28,27.05,27.35
$GC,9334,1.02,325.7,3636,1040,1495,1480,233.2,12.5,387,9342,0.00,2.08,0.00,0.000,1030,0.000,0.033,3627,2417,1486,1494,1479,0,0,0,0,0,0,27.08,27.05,27.10
$GC,9639,1.02,325.7,3627,2418,1495,1480,198.5,11.2,398,9643,0.00,1.95,0.00,0.000,260,0.000,0.047,3617,3688,1486,1494,1479,0,0,0,0,0,0,27.29,27.02,27.36
$GC,9869,1.02,325.7,3617,3687,1495,1479,170.2,13.6,421,9874,0.00,1.83,0.00,0.000,1030,0.000,0.028,3625,2422,1486,1494,1479,0,0,0,0,0,0,27.15,27.13,27.16
$GC,10179,1.22,463.9,3626,2423,1494,1480,143.7,4.7,452,10293,0.17,2.03,106.25,0.788,10500,0.150,0.044,3677,3694,938,962,915,0,0,0,0,0,0,26.90,25.46,25.06
$GC,10327,1.22,463.9,3678,3695,958,911,132.3,11.3,466,10335,0.00,1.92,0.00,0.000,1030,0.000,0.025,3686,2422,933,957,909,0,0,0,0,0,0,26.04,26.01,26.06
$GC,10632,1.22,463.9,3687,2423,957,902,89.7,14.6,497,10636,0.00,2.00,0.00,0.000,260,0.000,0.046,3686,3692,928,956,901,0,0,0,0,0,0,26.75,26.49,26.82
$GC,10672,1.22,463.9,3686,3692,956,900,84.1,14.2,501,10676,0.00,1.88,0.00,0.000,1030,0.000,0.025,3695,2417,928,955,901,0,0,0,0,0,0,26.64,26.62,26.65
$GC,10977,1.22,463.9,3695,2415,956,902,40.2,13.9,538,10984,0.00,2.08,0.00,0.000,516,0.000,0.034,3705,1034,928,955,901,0,0,0,0,0,0,26.96,26.74,27.03
$GC,10998,1.22,463.9,3706,1036,956,902,37.0,14.9,542,11005,0.00,2.10,0.00,0.000,1030,0.000,0.031,3705,2424,928,955,901,0,0,0,0,0,0,26.78,26.74,26.81
$STATE,11288,end climb,SURFACE_DEPTH_REACHED
$STATE,11288,begin surface coast
$FINISH,0.4,1.022117
$STATE,11298,end surface coast,CONTROL_FINISHED_OK
$STATE,11298,begin surface
$SM_CCo,11312,12.50,0.122,0,0,797,500.17
$SM_GC,2.07,9.93,0.25,12.50,0.078,0.060,0.122,195,2602,797,-9.58,-1.19,500.17,0,0,0,0,0,0,26.86,26.86,26.64
$IRIDIUM_FIX,1305.38,14443.96,030315,145834
$TT8_MAMPS,0.053928,0.053928
$HUMID,41.73
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.00,3.940
$10V_AH,10.32,3.353
$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,23.775,82.725,517.425,12.500,0.000,0.000,0.000,192.050,0.250,0.000,12.692,0.000,8976.962,656.569,1887.947,46.013,0.000,1595.519,0.000,1333.883,0.000,0.547,0.000
$DEVICE_MAMPS,237.150,60.435,1474.155,122.400,0.000,0.000,0.000,75.735,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,402.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26784,602
$CAP_FILE_SIZE,102703,0
$CFSIZE,1024393216,1016250368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,3,0
$INTR,0,8138.71,0x236db2,7,5
$CURRENT,0.184,231.44,1
$GPS,030315,202737,1307.638,14444.916,41,0.8,41,1.1,0.8,344.6,9,29.7