version: 66.12
glider: 204
mission: 15
dive: 197
start: 4 7 115 19 21 7
data:
$ID,204
$MISSION,15
$DIVE,197
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,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,3270
$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,81
$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
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,070415,191505,1352.5728,14514.1523,40,0.8,40,1.0,0.7,271.8,10,13.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.3
$GPS2,070415,192051,1352.5853,14514.0586,5,0.9,5,1.0,0.9,304.6,9,13.4
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,203.3,28825,-16.9,-10.000,-20.51,2373
$D_GRID,1030
$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,13,-0.81,-155.7,195,2614,800,805,0.0,0.0,0,63,0.00,0.00,-48.58,0.000,16386,0.000,0.000,194,2613,2104,2084,2125,0,0,0,0,0,0,26.66,28.83,26.73
$GC,65,-0.81,-155.7,196,2613,2084,2126,3.1,-3.8,8,117,11.80,2.12,-35.55,0.000,18948,0.226,0.041,3007,1218,3474,3449,3500,0,0,0,0,0,0,25.56,24.46,25.74
$GC,286,-0.81,-155.7,3007,1219,3451,3502,49.4,-23.8,51,293,0.00,2.12,0.00,0.000,1030,0.000,0.032,2999,2602,3476,3450,3502,0,0,0,0,0,0,26.54,26.51,26.57
$GC,591,-0.81,-155.7,3000,2602,3450,3503,123.6,-22.2,82,596,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3693,3476,3450,3503,0,0,0,0,0,0,27.07,26.55,27.12
$GC,631,-0.81,-155.7,2992,3694,3450,3504,131.7,-20.2,86,636,0.00,1.55,0.00,0.000,1030,0.000,0.021,2996,2590,3476,3450,3503,0,0,0,0,0,0,26.84,26.84,26.86
$GC,941,-0.81,-155.7,2995,2590,3454,3506,186.0,-17.3,117,946,0.00,2.00,0.00,0.000,516,0.000,0.024,3006,1224,3479,3453,3506,0,0,0,0,0,0,27.14,26.77,27.19
$GC,981,-0.81,-155.7,3004,1225,3455,3507,192.8,-17.0,121,986,0.00,2.10,0.00,0.000,1030,0.000,0.031,2997,2603,3480,3454,3506,0,0,0,0,0,0,26.73,26.70,26.77
$GC,1301,-0.81,-155.7,2996,2604,3458,3508,234.4,-11.4,135,1305,0.00,2.03,0.00,0.000,516,0.000,0.024,3005,1227,3481,3456,3507,0,0,0,0,0,0,27.17,26.81,27.22
$GC,1376,-0.81,-155.7,3004,1227,3459,3508,240.8,-11.0,137,1380,0.00,2.08,0.00,0.000,1030,0.000,0.031,2997,2600,3482,3457,3507,0,0,0,0,0,0,26.77,26.72,26.80
$GC,1691,-0.81,-155.7,2997,2600,3457,3508,277.2,-11.2,148,1695,0.00,1.67,0.00,0.000,260,0.000,0.044,2989,3696,3481,3456,3507,0,0,0,0,0,0,27.18,26.67,27.24
$GC,1822,-0.81,-155.7,2989,3696,3457,3507,293.7,-13.8,152,1825,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2586,3482,3457,3507,0,0,0,0,0,0,26.96,26.95,26.98
$GC,2141,-0.81,-155.7,2996,2587,3456,3505,342.2,-14.5,163,2145,0.00,1.98,0.00,0.000,516,0.000,0.025,3005,1238,3480,3457,3504,0,0,0,0,0,0,27.20,26.82,27.26
$GC,2191,-0.81,-155.7,3005,1238,3455,3505,346.2,-13.9,164,2195,0.00,2.08,0.00,0.000,1030,0.000,0.031,2997,2602,3480,3457,3504,0,0,0,0,0,0,26.78,26.75,26.82
$GC,2501,-0.81,-155.7,2997,2603,3456,3500,384.3,-10.3,175,2505,0.00,1.67,0.00,0.000,260,0.000,0.044,2987,3698,3477,3456,3499,0,0,0,0,0,0,27.20,26.66,27.26
$GC,2627,-0.81,-155.7,2988,3699,3457,3498,395.1,-9.0,179,2630,0.00,1.52,0.00,0.000,1030,0.000,0.022,2994,2611,3477,3456,3498,0,0,0,0,0,0,26.96,26.94,26.97
$GC,2951,-0.81,-155.7,2994,2611,3451,3496,428.0,-10.9,190,2955,0.00,2.03,0.00,0.000,516,0.000,0.024,3003,1227,3474,3453,3495,0,0,0,0,0,0,27.20,26.81,27.27
$GC,3026,-0.81,-155.7,3003,1228,3453,3497,434.6,-11.0,192,3031,0.00,2.10,0.00,0.000,1030,0.000,0.031,2994,2603,3473,3451,3495,0,0,0,0,0,0,26.79,26.75,26.82
$GC,3341,-0.81,-155.7,2996,2604,3449,3493,478.1,-13.7,203,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2603,3470,3449,3492,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3641,-0.81,-155.7,2996,2604,3447,3490,514.3,-11.4,213,3645,0.00,2.05,0.00,0.000,516,0.000,0.025,3003,1224,3468,3447,3489,0,0,0,0,0,0,27.20,26.79,27.27
$GC,3686,-0.81,-155.7,3004,1224,3446,3490,517.7,-11.3,214,3691,0.00,2.10,0.00,0.000,1030,0.000,0.031,2995,2600,3467,3446,3489,0,0,0,0,0,0,26.77,26.74,26.82
$GC,4001,-0.81,-155.7,2996,2599,3443,3487,551.4,-9.4,225,4005,0.00,1.70,0.00,0.000,260,0.000,0.044,2986,3696,3465,3444,3486,0,0,0,0,0,0,27.21,26.61,27.27
$GC,4026,-0.81,-155.7,2987,3696,3444,3486,551.4,-9.4,225,4033,0.00,1.55,0.00,0.000,1030,0.000,0.023,2993,2609,3464,3444,3485,0,0,0,0,0,0,26.93,26.91,26.95
$GC,4331,-0.81,-155.7,2994,2609,3440,3484,581.2,-8.8,236,4335,0.00,2.08,0.00,0.000,516,0.000,0.026,3003,1205,3462,3440,3484,0,0,0,0,0,0,27.21,26.77,27.27
$GC,4361,-0.81,-155.7,3002,1206,3441,3485,583.8,-8.8,237,4365,0.00,2.12,0.00,0.000,1030,0.000,0.031,2994,2598,3462,3440,3484,0,0,0,0,0,0,26.75,26.71,26.79
$GC,4691,-0.81,-155.7,2993,2599,3439,3482,614.7,-9.8,248,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2598,3459,3437,3481,0,0,0,0,0,0,27.20,27.27,27.27
$GC,4991,-0.81,-155.7,2993,2599,3437,3479,644.2,-9.7,258,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2598,3456,3435,3478,0,0,0,0,0,0,27.20,27.27,27.27
$GC,5291,-0.81,-155.7,2993,2599,3433,3477,672.5,-9.3,268,5295,0.00,1.70,0.00,0.000,260,0.000,0.046,2986,3690,3454,3432,3476,0,0,0,0,0,0,27.20,26.56,27.27
$GC,5352,-0.81,-155.7,2986,3691,3431,3476,678.2,-9.2,270,5355,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2590,3453,3431,3476,0,0,0,0,0,0,26.91,26.89,26.93
$GC,5681,-0.81,-155.7,2992,2591,3431,3475,709.3,-9.6,281,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3452,3430,3474,0,0,0,0,0,0,27.20,27.27,27.27
$GC,5981,-0.81,-155.7,2992,2591,3429,3473,738.8,-10.2,291,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3449,3427,3472,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6281,-0.81,-155.7,2991,2591,3428,3472,769.1,-10.0,301,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2590,3449,3427,3471,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6581,-0.81,-155.7,2992,2591,3426,3471,798.7,-9.9,311,6585,0.00,1.73,0.00,0.000,260,0.000,0.046,2985,3686,3448,3425,3471,0,0,0,0,0,0,27.20,26.52,27.27
$GC,6621,-0.81,-155.7,2985,3687,3426,3471,801.8,-10.0,312,6625,0.00,1.55,0.00,0.000,1030,0.000,0.024,2992,2606,3447,3425,3470,0,0,0,0,0,0,26.89,26.87,26.91
$GC,6941,-0.81,-155.7,2993,2606,3422,3469,834.6,-10.0,323,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2605,3445,3422,3469,0,0,0,0,0,0,27.20,27.27,27.26
$GC,7241,-0.81,-155.7,2991,2606,3423,3468,864.9,-10.1,333,7245,0.00,2.08,0.00,0.000,516,0.000,0.028,3001,1214,3444,3421,3468,0,0,0,0,0,0,27.20,26.69,27.27
$GC,7276,-0.81,-155.7,3002,1214,3421,3469,867.9,-10.1,334,7281,0.00,2.15,0.00,0.000,1030,0.000,0.033,2993,2602,3444,3421,3468,0,0,0,0,0,0,26.65,26.63,26.70
$GC,7601,-0.81,-155.7,2992,2603,3422,3467,902.5,-10.7,345,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2602,3443,3421,3466,0,0,0,0,0,0,27.20,27.27,27.26
$GC,7901,-0.81,-155.7,2993,2603,3420,3466,936.2,-11.5,355,7905,0.00,1.70,0.00,0.000,260,0.000,0.045,2984,3693,3442,3420,3465,0,0,0,0,0,0,27.20,26.48,27.26
$GC,7926,-0.81,-155.7,2985,3693,3419,3465,936.2,-11.5,355,7933,0.00,1.58,0.00,0.000,1030,0.000,0.024,2991,2601,3442,3419,3465,0,0,0,0,0,0,26.86,26.85,26.88
$GC,8231,-0.81,-155.7,2990,2600,3420,3465,975.1,-11.9,366,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2600,3441,3418,3465,0,0,0,0,0,0,27.20,27.27,27.26
$STATE,8380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8380,begin apogee
$GC,8384,-0.17,0.0,2992,2425,3419,3465,992.3,-11.5,371,8514,0.75,0.00,128.15,1.222,10246,0.147,0.000,3211,2423,2838,2810,2866,0,0,0,0,0,0,25.67,24.70,23.57
$STATE,8515,end apogee,CONTROL_FINISHED_OK
$STATE,8515,begin climb
$GC,8516,0.81,155.7,3210,2424,2807,2863,999.1,0.0,375,8662,1.05,2.35,135.68,1.216,10756,0.126,0.027,3534,1025,2195,2186,2205,0,0,0,0,0,0,24.96,24.12,23.00
$GC,8822,0.96,258.3,3534,1024,2180,2197,996.3,5.6,385,8916,0.12,2.20,87.62,1.209,11270,0.125,0.031,3568,2416,1780,1780,1781,0,0,0,0,0,0,25.70,26.01,23.67
$GC,9221,0.96,258.3,3567,2416,1770,1763,949.8,12.3,399,9225,0.00,2.03,0.00,0.000,260,0.000,0.044,3559,3691,1765,1768,1762,0,0,0,0,0,0,26.73,26.32,26.80
$GC,9271,0.96,258.3,3558,3691,1770,1763,945.5,12.7,400,9275,0.00,1.88,0.00,0.000,1030,0.000,0.022,3568,2411,1765,1768,1762,0,0,0,0,0,0,26.58,26.58,26.62
$GC,9581,0.96,258.3,3569,2407,1766,1760,901.5,13.3,411,9585,0.00,2.05,0.00,0.000,260,0.000,0.044,3559,3698,1763,1767,1760,0,0,0,0,0,0,26.97,26.48,27.03
$GC,9646,0.96,258.3,3560,3699,1766,1760,893.3,13.6,413,9650,0.00,1.88,0.00,0.000,1030,0.000,0.024,3568,2423,1762,1766,1759,0,0,0,0,0,0,26.75,26.73,26.78
$GC,9971,0.96,258.3,3567,2423,1767,1759,849.1,13.5,424,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2423,1761,1765,1758,0,0,0,0,0,0,27.07,27.14,27.13
$GC,10271,0.96,258.3,3569,2423,1764,1758,808.4,13.3,434,10275,0.00,2.00,0.00,0.000,260,0.000,0.044,3559,3689,1761,1765,1758,0,0,0,0,0,0,27.10,26.54,27.17
$GC,10311,0.96,258.3,3561,3689,1764,1758,804.2,13.5,435,10315,0.00,1.85,0.00,0.000,1030,0.000,0.024,3568,2420,1761,1765,1758,0,0,0,0,0,0,26.86,26.84,26.87
$GC,10632,0.96,258.3,3569,2420,1764,1758,762.0,12.3,446,10635,0.00,2.00,0.00,0.000,260,0.000,0.044,3559,3690,1760,1764,1757,0,0,0,0,0,0,27.13,26.55,27.20
$GC,10671,0.96,258.3,3560,3690,1764,1758,758.1,12.3,447,10675,0.00,1.85,0.00,0.000,1030,0.000,0.024,3568,2414,1760,1764,1757,0,0,0,0,0,0,26.86,26.84,26.89
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$GC,17402,1.26,470.5,3661,1032,1043,985,10.2,9.2,834,17416,0.00,2.12,9.30,0.135,9222,0.000,0.030,3652,2428,918,944,893,0,0,0,0,0,0,26.66,26.63,25.79
$STATE,17489,end climb,SURFACE_DEPTH_REACHED
$STATE,17489,begin surface coast
$FINISH,1.0,1.022119
$STATE,17509,end surface coast,CONTROL_FINISHED_OK
$STATE,17509,begin surface
$SM_CCo,17525,12.77,0.119,0,0,795,500.17
$SM_GC,2.39,9.98,0.25,12.77,0.076,0.053,0.119,185,2624,795,-9.53,-1.02,500.17,0,0,0,0,0,0,26.70,26.82,25.93
$IRIDIUM_FIX,1347.51,14515.76,020208,084304
$TT8_MAMPS,0.05243,0.05243
$HUMID,40.70
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.00,71.429
$10V_AH,9.94,40.741
$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,23.900,136.850,517.850,12.775,0.000,0.000,0.000,239.125,0.000,411.700,12.578,0.000,14409.742,673.016,2656.246,138.110,0.000,1946.764,0.000,1864.174,0.000,0.547,0.000
$DEVICE_MAMPS,225.675,53.550,1221.705,118.575,0.000,0.000,0.000,88.740,420.000,49.336,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,576.915,0.000,0.000,0.000,0.000,0.000,411.700,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.327,0.000,0.000,0.000
$MEM,248676
$DATA_FILE_SIZE,36754,855
$CAP_FILE_SIZE,155459,0
$CFSIZE,1024393216,998965248
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,18478.82,0x236db2,7,5
$INTR,1,16420.98,0x212968,1,24
$CURRENT,0.072,313.16,1
$GPS,080415,001422,1350.691,14512.552,38,0.8,38,1.0,0.7,337.1,10,15.5