version: 66.12
glider: 204
mission: 15
dive: 199
start: 4 8 115 5 10 18
data:
$ID,204
$MISSION,15
$DIVE,199
$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,79
$R_STBD_OVSHOOT,45
$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
$GPS1,080415,050522,1348.5023,14512.2764,40,0.8,40,1.1,0.0,0.0,10,13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.4
$GPS2,080415,051008,1348.5415,14512.2363,7,0.7,7,1.1,0.5,311.8,10,16.5
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N8
$TGT_LATLONG,1338.520,14507.200
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,208.4,20654,-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,-155.7,191,2616,813,806,0.0,0.0,0,59,0.00,0.00,-44.03,0.000,16386,0.000,0.000,190,2616,1988,1961,2015,0,0,0,0,0,0,26.84,28.83,26.90
$GC,60,-0.81,-155.7,191,2616,1963,2014,3.1,-5.3,7,117,11.73,1.67,-38.05,0.000,19204,0.223,0.060,2994,3691,3476,3449,3504,0,0,0,0,0,0,25.65,24.45,25.82
$GC,341,-0.81,-155.7,2995,3692,3449,3506,68.1,-23.0,54,348,0.00,1.55,0.00,0.000,1030,0.000,0.020,3001,2589,3477,3449,3505,0,0,0,0,0,0,26.77,26.74,26.79
$GC,646,-0.81,-155.7,3000,2590,3453,3507,134.1,-19.3,85,651,0.00,1.70,0.00,0.000,260,0.000,0.044,2993,3689,3478,3450,3506,0,0,0,0,0,0,27.11,26.51,27.17
$GC,726,-0.81,-155.7,2993,3690,3453,3507,149.2,-18.9,93,731,0.00,1.52,0.00,0.000,1030,0.000,0.021,3001,2599,3478,3451,3506,0,0,0,0,0,0,26.88,26.86,26.89
$GC,1037,-0.81,-155.7,3000,2599,3456,3508,204.0,-12.9,122,1040,0.00,1.67,0.00,0.000,260,0.000,0.045,2994,3682,3481,3455,3507,0,0,0,0,0,0,27.17,26.57,27.22
$GC,1211,-0.81,-155.7,2993,3683,3456,3509,228.1,-16.6,127,1218,0.00,1.55,0.00,0.000,1030,0.000,0.021,3001,2585,3481,3455,3508,0,0,0,0,0,0,26.91,26.90,26.94
$GC,1516,-0.81,-155.7,3001,2585,3457,3509,270.4,-11.7,138,1521,0.00,1.70,0.00,0.000,260,0.000,0.044,2994,3682,3482,3457,3508,0,0,0,0,0,0,27.20,26.59,27.25
$GC,1566,-0.81,-155.7,2993,3682,3459,3509,274.0,-11.6,139,1570,0.00,1.55,0.00,0.000,1030,0.000,0.022,3000,2584,3482,3457,3508,0,0,0,0,0,0,26.93,26.91,26.94
$GC,1876,-0.81,-155.7,3001,2585,3456,3508,311.3,-11.5,150,1880,0.00,2.00,0.00,0.000,516,0.000,0.024,3009,1211,3482,3457,3508,0,0,0,0,0,0,27.20,26.79,27.27
$GC,1991,-0.81,-155.7,3009,1212,3457,3509,321.5,-11.4,153,1998,0.00,2.10,0.00,0.000,1030,0.000,0.031,3000,2596,3482,3457,3508,0,0,0,0,0,0,26.77,26.73,26.79
$GC,2296,-0.81,-155.7,3001,2597,3456,3506,360.1,-12.5,164,2301,0.00,1.67,0.00,0.000,260,0.000,0.042,2992,3693,3481,3457,3505,0,0,0,0,0,0,27.21,26.63,27.27
$GC,2381,-0.81,-155.7,2992,3693,3456,3505,368.6,-13.4,166,2388,0.00,1.55,0.00,0.000,1030,0.000,0.022,2995,2591,3480,3457,3504,0,0,0,0,0,0,26.94,26.93,26.96
$GC,2686,-0.81,-155.7,2994,2591,3458,3500,413.9,-12.7,177,2691,0.00,1.70,0.00,0.000,260,0.000,0.043,2988,3688,3477,3456,3499,0,0,0,0,0,0,27.21,26.60,27.27
$GC,2726,-0.81,-155.7,2989,3688,3456,3499,417.5,-12.1,178,2731,0.00,1.55,0.00,0.000,1030,0.000,0.022,2993,2589,3477,3456,3498,0,0,0,0,0,0,26.94,26.92,26.96
$GC,3046,-0.81,-155.7,2992,2589,3454,3497,451.0,-10.0,189,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2589,3474,3453,3496,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3346,-0.81,-155.7,2994,2589,3449,3493,484.5,-11.7,199,3351,0.00,1.70,0.00,0.000,260,0.000,0.043,2986,3684,3470,3449,3492,0,0,0,0,0,0,27.21,26.59,27.27
$GC,3401,-0.81,-155.7,2987,3685,3449,3493,488.1,-11.8,200,3408,0.00,1.58,0.00,0.000,1030,0.000,0.023,2993,2590,3470,3449,3492,0,0,0,0,0,0,26.94,26.90,26.95
$GC,3706,-0.81,-155.7,2994,2591,3447,3490,524.0,-10.5,211,3710,0.00,1.70,0.00,0.000,260,0.000,0.043,2986,3689,3468,3447,3489,0,0,0,0,0,0,27.21,26.58,27.27
$GC,3726,-0.81,-155.7,2985,3689,3448,3490,524.0,-10.5,211,3730,0.00,1.58,0.00,0.000,1030,0.000,0.023,2993,2586,3468,3447,3489,0,0,0,0,0,0,26.93,26.90,26.94
$GC,4036,-0.81,-155.7,2994,2587,3444,3487,559.3,-10.9,222,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2586,3465,3445,3486,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4336,-0.81,-155.7,2994,2587,3440,3485,592.2,-10.8,232,4341,0.00,2.03,0.00,0.000,516,0.000,0.025,3003,1213,3462,3440,3485,0,0,0,0,0,0,27.21,26.77,27.27
$GC,4361,-0.81,-155.7,3004,1213,3440,3485,592.2,-10.8,232,4368,0.00,2.12,0.00,0.000,1030,0.000,0.031,2994,2602,3462,3440,3485,0,0,0,0,0,0,26.72,26.69,26.75
$GC,4666,-0.81,-155.7,2994,2602,3437,3483,625.5,-10.0,243,4671,0.00,1.67,0.00,0.000,260,0.000,0.044,2986,3685,3460,3439,3482,0,0,0,0,0,0,27.21,26.55,27.27
$GC,4726,-0.81,-155.7,2985,3686,3440,3482,631.7,-10.3,245,4731,0.00,1.55,0.00,0.000,1030,0.000,0.023,2993,2607,3459,3438,3481,0,0,0,0,0,0,26.91,26.89,26.93
$GC,5057,-0.81,-155.7,2992,2608,3437,3480,661.7,-8.5,256,5061,0.00,2.08,0.00,0.000,516,0.000,0.026,3003,1205,3457,3435,3479,0,0,0,0,0,0,27.20,26.74,27.27
$GC,5096,-0.81,-155.7,3003,1205,3434,3479,664.3,-8.4,257,5101,0.00,2.12,0.00,0.000,1030,0.000,0.030,2994,2594,3456,3434,3479,0,0,0,0,0,0,26.72,26.68,26.74
$GC,5417,-0.81,-155.7,2993,2595,3434,3478,689.9,-7.8,268,5420,0.00,1.70,0.00,0.000,260,0.000,0.044,2985,3693,3453,3431,3476,0,0,0,0,0,0,27.21,26.53,27.27
$GC,5451,-0.81,-155.7,2984,3694,3434,3477,692.4,-8.0,269,5455,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2590,3454,3432,3476,0,0,0,0,0,0,26.89,26.88,26.91
$GC,5776,-0.81,-155.7,2992,2590,3428,3475,724.2,-10.1,280,5781,0.00,2.03,0.00,0.000,516,0.000,0.027,3002,1222,3451,3429,3474,0,0,0,0,0,0,27.20,26.72,27.27
$GC,5821,-0.81,-155.7,3003,1222,3428,3475,727.3,-10.2,281,5825,0.00,2.10,0.00,0.000,1030,0.000,0.030,2994,2594,3451,3429,3474,0,0,0,0,0,0,26.70,26.67,26.73
$GC,6136,-0.81,-155.7,2992,2595,3429,3473,763.9,-11.6,292,6140,0.00,2.05,0.00,0.000,516,0.000,0.025,3001,1220,3449,3427,3472,0,0,0,0,0,0,27.20,26.71,27.27
$GC,6201,-0.81,-155.7,3002,1220,3427,3473,771.2,-11.7,294,6205,0.00,2.12,0.00,0.000,1030,0.000,0.031,2993,2603,3449,3427,3472,0,0,0,0,0,0,26.68,26.65,26.72
$GC,6526,-0.81,-155.7,2992,2603,3428,3472,810.0,-11.7,305,6530,0.00,1.70,0.00,0.000,260,0.000,0.044,2985,3693,3448,3426,3471,0,0,0,0,0,0,27.20,26.50,27.27
$GC,6561,-0.81,-155.7,2985,3693,3425,3471,813.3,-11.7,306,6565,0.00,1.58,0.00,0.000,1030,0.000,0.024,2992,2599,3448,3426,3471,0,0,0,0,0,0,26.87,26.86,26.89
$GC,6886,-0.81,-155.7,2992,2600,3423,3470,850.0,-10.9,317,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2599,3446,3423,3470,0,0,0,0,0,0,27.20,27.27,27.26
$GC,7186,-0.81,-155.7,2991,2600,3424,3469,882.2,-10.7,327,7190,0.00,1.73,0.00,0.000,260,0.000,0.045,2984,3693,3445,3422,3469,0,0,0,0,0,0,27.20,26.46,27.26
$GC,7216,-0.81,-155.7,2985,3694,3422,3469,885.6,-10.8,328,7221,0.00,1.58,0.00,0.000,1030,0.000,0.024,2991,2592,3445,3422,3468,0,0,0,0,0,0,26.86,26.84,26.89
$GC,7546,-0.81,-155.7,2992,2592,3421,3468,920.0,-10.1,339,7551,0.00,2.05,0.00,0.000,516,0.000,0.028,3001,1218,3444,3421,3467,0,0,0,0,0,0,27.20,26.65,27.26
$GC,7596,-0.81,-155.7,3000,1219,3422,3468,923.0,-9.9,340,7600,0.00,2.12,0.00,0.000,1030,0.000,0.031,2993,2599,3443,3420,3467,0,0,0,0,0,0,26.64,26.60,26.67
$GC,7907,-0.81,-155.7,2992,2600,3421,3466,954.1,-9.5,351,7910,0.00,2.05,0.00,0.000,516,0.000,0.025,3001,1223,3442,3419,3465,0,0,0,0,0,0,27.20,26.68,27.26
$GC,7931,-0.81,-155.7,3000,1224,3421,3466,954.1,-9.5,351,7938,0.00,2.10,0.00,0.000,1030,0.000,0.031,2992,2592,3442,3419,3466,0,0,0,0,0,0,26.64,26.61,26.66
$GC,8236,-0.81,-155.7,2992,2593,3420,3465,984.0,-9.0,362,8240,0.00,1.73,0.00,0.000,260,0.000,0.044,2984,3693,3441,3418,3465,0,0,0,0,0,0,27.20,26.43,27.26
$GC,8281,-0.81,-155.7,2985,3694,3418,3465,986.6,-9.0,363,8285,0.00,1.58,0.00,0.000,1030,0.000,0.024,2990,2608,3440,3417,3464,0,0,0,0,0,0,26.84,26.83,26.86
$STATE,8325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8325,begin apogee
$GC,8329,-0.17,0.0,2993,2403,3417,3465,992.2,-9.0,365,8459,0.75,0.00,128.18,1.232,10246,0.145,0.000,3210,2401,2837,2810,2865,0,0,0,0,0,0,25.56,24.68,23.52
$STATE,8460,end apogee,CONTROL_FINISHED_OK
$STATE,8460,begin climb
$GC,8461,0.81,155.7,3210,2402,2808,2862,996.4,0.0,369,8606,1.05,2.20,135.48,1.202,10756,0.126,0.024,3534,1040,2196,2186,2206,0,0,0,0,0,0,24.95,23.76,23.02
$GC,8772,0.92,231.3,3532,1040,2181,2197,988.5,6.7,379,8841,0.12,2.12,64.30,1.187,11270,0.161,0.029,3555,2420,1895,1893,1897,0,0,0,0,0,0,25.77,26.05,23.87
$GC,9166,0.92,231.3,3553,2422,1881,1877,946.8,10.3,393,9170,0.00,2.00,0.00,0.000,260,0.000,0.044,3547,3683,1877,1879,1876,0,0,0,0,0,0,26.79,26.34,26.85
$GC,9271,0.92,231.3,3547,3683,1879,1877,936.6,11.1,396,9276,0.00,1.85,0.00,0.000,1030,0.000,0.024,3555,2424,1878,1879,1877,0,0,0,0,0,0,26.65,26.63,26.67
$GC,9587,0.93,241.0,3554,2423,1879,1876,903.6,9.6,407,9592,0.00,2.08,1.85,0.196,8708,0.000,0.026,3566,1022,1856,1859,1854,0,0,0,0,0,0,27.01,25.87,25.70
$GC,9611,0.95,252.3,3566,1022,1873,1855,901.3,9.5,408,9635,0.00,2.15,14.18,1.070,9222,0.000,0.029,3556,2418,1806,1807,1805,0,0,0,0,1,0,26.65,26.62,24.84
$GC,9941,0.95,254.5,3557,2419,1826,1806,869.2,9.9,419,9944,0.00,0.00,1.52,0.209,8198,0.000,0.000,3556,2418,1799,1804,1794,0,0,0,0,0,0,26.96,25.99,25.67
$GC,10241,0.95,254.5,3556,2419,1830,1800,838.7,10.4,429,10246,0.00,1.95,1.33,0.213,8452,0.000,0.042,3546,3691,1800,1809,1792,0,0,0,0,0,0,27.05,25.86,25.70
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$STATE,17893,end climb,SURFACE_DEPTH_REACHED
$STATE,17894,begin surface coast
$FINISH,1.0,1.022201
$STATE,17904,end surface coast,CONTROL_FINISHED_OK
$STATE,17904,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,41.10
$INTERNAL_PRESSURE,9.20385
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.02,71.747
$10V_AH,9.88,40.874
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,248688
$DATA_FILE_SIZE,36793,859
$CAP_FILE_SIZE,169099,0
$CFSIZE,1024393216,998785024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,17474.32,0x236db2,7,5
$CURRENT,0.086,281.35,1
$GPS,080415,101053,1346.770,14510.139,39,0.7,39,1.1,0.9,293.7,10,11.0