version: 66.12
glider: 204
mission: 15
dive: 205
start: 4 9 115 10 23 34
data:
$ID,204
$MISSION,15
$DIVE,205
$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,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,77
$R_STBD_OVSHOOT,49
$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
$GPS1,090415,101823,1337.1520,14506.8115,41,0.7,41,1.1,0.5,330.6,11,15.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.9
$GPS2,090415,102324,1337.2615,14506.7344,5,0.8,5,1.1,0.0,0.0,10,12.1
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N10
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,205.4,62298,-16.9,-10.000,-20.51,2373
$D_GRID,1128
$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,-155.7,190,2622,820,807,0.0,0.0,0,59,0.00,0.00,-43.92,0.000,16386,0.000,0.000,190,2621,1991,1969,2014,0,0,0,0,0,0,26.82,28.83,26.89
$GC,60,-0.81,-155.7,192,2622,1968,2016,3.1,-5.5,7,118,11.68,2.12,-38.00,0.000,18948,0.222,0.043,3008,1223,3476,3448,3504,0,0,0,0,0,0,25.60,24.44,25.78
$GC,242,-0.81,-155.7,3007,1223,3452,3505,38.0,-23.2,42,248,0.00,2.10,0.00,0.000,1030,0.000,0.032,2999,2589,3477,3450,3504,0,0,0,0,0,0,26.51,26.47,26.55
$GC,547,-0.81,-155.7,3000,2589,3451,3505,107.5,-20.2,77,552,0.00,2.05,0.00,0.000,516,0.000,0.027,3007,1211,3478,3451,3505,0,0,0,0,0,0,27.08,26.63,27.14
$GC,607,-0.81,-155.7,3007,1212,3454,3506,118.4,-18.7,83,612,0.00,2.12,0.00,0.000,1030,0.000,0.034,2999,2601,3479,3453,3505,0,0,0,0,0,0,26.61,26.58,26.65
$GC,917,-0.81,-155.7,3000,2601,3455,3508,170.1,-13.9,114,922,0.00,2.05,0.00,0.000,516,0.000,0.025,3008,1210,3481,3455,3507,0,0,0,0,0,0,27.15,26.72,27.21
$GC,977,-0.81,-155.7,3007,1210,3455,3507,177.9,-12.6,120,982,0.00,2.12,0.00,0.000,1030,0.000,0.034,2999,2600,3481,3456,3507,0,0,0,0,0,0,26.67,26.63,26.71
$GC,1307,-0.81,-155.7,2998,2601,3459,3509,227.1,-15.0,141,1311,0.00,1.67,0.00,0.000,260,0.000,0.045,2990,3692,3483,3458,3508,0,0,0,0,0,0,27.19,26.56,27.24
$GC,1537,-0.81,-155.7,2990,3693,3459,3511,256.8,-13.7,148,1542,0.00,1.55,0.00,0.000,1030,0.000,0.021,2997,2587,3484,3458,3510,0,0,0,0,0,0,26.94,26.91,26.94
$GC,1847,-0.81,-155.7,2998,2587,3457,3510,296.7,-12.2,159,1852,0.00,2.00,0.00,0.000,516,0.000,0.024,3007,1218,3482,3456,3509,0,0,0,0,0,0,27.20,26.79,27.26
$GC,1877,-0.81,-155.7,3007,1219,3457,3510,300.5,-12.3,160,1881,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2603,3483,3457,3509,0,0,0,0,0,0,26.73,26.70,26.77
$GC,2207,-0.81,-155.7,2998,2605,3459,3508,345.8,-14.6,171,2211,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3691,3482,3458,3507,0,0,0,0,0,0,27.20,26.59,27.26
$GC,2282,-0.81,-155.7,2991,3692,3457,3507,354.1,-14.1,173,2286,0.00,1.55,0.00,0.000,1030,0.000,0.022,2997,2592,3482,3457,3507,0,0,0,0,0,0,26.93,26.92,26.95
$GC,2597,-0.81,-155.7,2997,2592,3457,3504,394.2,-11.8,184,2601,0.00,1.73,0.00,0.000,260,0.000,0.046,2990,3694,3480,3457,3503,0,0,0,0,0,0,27.20,26.57,27.27
$GC,2682,-0.81,-155.7,2990,3695,3456,3503,401.5,-12.1,186,2689,0.00,1.55,0.00,0.000,1030,0.000,0.023,2997,2604,3479,3457,3501,0,0,0,0,0,0,26.92,26.91,26.94
$GC,2987,-0.81,-155.7,2997,2604,3456,3498,438.1,-10.4,197,2991,0.00,2.05,0.00,0.000,516,0.000,0.026,3007,1212,3476,3456,3497,0,0,0,0,0,0,27.21,26.76,27.27
$GC,3032,-0.81,-155.7,3006,1212,3457,3499,441.2,-10.3,198,3036,0.00,2.12,0.00,0.000,1030,0.000,0.032,2998,2600,3476,3455,3497,0,0,0,0,0,0,26.70,26.67,26.74
$GC,3347,-0.81,-155.7,2998,2601,3453,3495,474.6,-10.8,209,3352,0.00,2.05,0.00,0.000,516,0.000,0.026,3006,1220,3473,3452,3495,0,0,0,0,0,0,27.20,26.76,27.27
$GC,3412,-0.81,-155.7,3006,1220,3450,3494,481.0,-10.7,211,3416,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2592,3472,3451,3494,0,0,0,0,0,0,26.72,26.67,26.75
$GC,3737,-0.81,-155.7,2999,2592,3449,3491,516.9,-11.0,222,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2591,3470,3449,3491,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4037,-0.81,-155.7,2999,2592,3446,3489,550.7,-11.3,232,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2592,3467,3447,3488,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4338,-0.81,-155.7,2999,2592,3444,3486,581.9,-9.8,242,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2591,3465,3444,3486,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4638,-0.81,-155.7,2997,2592,3442,3485,611.0,-9.7,252,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2591,3462,3440,3484,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4937,-0.81,-155.7,2997,2592,3440,3483,641.4,-10.2,262,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2591,3460,3439,3482,0,0,0,0,0,0,27.20,27.28,27.27
$GC,5237,-0.81,-155.7,2997,2592,3437,3480,673.5,-10.7,272,5241,0.00,1.73,0.00,0.000,260,0.000,0.045,2990,3694,3457,3436,3479,0,0,0,0,0,0,27.20,26.53,27.27
$GC,5272,-0.81,-155.7,2990,3693,3435,3479,676.7,-10.7,273,5276,0.00,1.58,0.00,0.000,1030,0.000,0.024,2995,2607,3456,3435,3478,0,0,0,0,0,0,26.87,26.84,26.89
$GC,5597,-0.81,-155.7,2997,2607,3432,3477,710.7,-10.0,284,5602,0.00,2.08,0.00,0.000,516,0.000,0.027,3005,1211,3453,3432,3475,0,0,0,0,0,0,27.20,26.69,27.27
$GC,5642,-0.81,-155.7,3006,1212,3431,3478,713.8,-10.1,285,5647,0.00,2.12,0.00,0.000,1030,0.000,0.033,2996,2590,3454,3432,3477,0,0,0,0,0,0,26.64,26.60,26.67
$GC,5958,-0.81,-155.7,2997,2592,3430,3476,745.9,-9.5,296,5961,0.00,1.73,0.00,0.000,260,0.000,0.047,2988,3694,3452,3430,3474,0,0,0,0,0,0,27.20,26.46,27.27
$GC,5982,-0.81,-155.7,2987,3695,3432,3475,745.9,-9.5,296,5989,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2600,3452,3430,3475,0,0,0,0,0,0,26.85,26.84,26.86
$GC,6288,-0.81,-155.7,2992,2601,3430,3473,776.2,-9.0,307,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2600,3451,3429,3473,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6588,-0.81,-155.7,2993,2601,3428,3473,802.2,-8.6,317,6592,0.00,1.73,0.00,0.000,260,0.000,0.047,2987,3692,3449,3427,3471,0,0,0,0,0,0,27.20,26.43,27.27
$GC,6622,-0.81,-155.7,2988,3692,3427,3472,804.9,-8.7,318,6626,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2604,3449,3427,3472,0,0,0,0,0,0,26.82,26.83,26.86
$GC,6948,-0.81,-155.7,2993,2603,3428,3472,836.0,-9.7,329,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2604,3448,3426,3471,0,0,0,0,0,0,27.20,27.27,27.26
$GC,7247,-0.81,-155.7,2993,2605,3426,3471,866.5,-10.3,339,7252,0.00,1.73,0.00,0.000,260,0.000,0.047,2986,3694,3446,3424,3469,0,0,0,0,0,0,27.20,26.40,27.27
$GC,7272,-0.81,-155.7,2986,3695,3424,3470,866.5,-10.3,339,7279,0.00,1.60,0.00,0.000,1030,0.000,0.024,2993,2589,3447,3424,3470,0,0,0,0,0,0,26.84,26.82,26.84
$GC,7578,-0.81,-155.7,2992,2590,3424,3470,897.7,-9.1,350,7582,0.00,2.05,0.00,0.000,516,0.000,0.027,3003,1215,3445,3422,3468,0,0,0,0,0,0,27.20,26.63,27.26
$GC,7642,-0.81,-155.7,3003,1216,3422,3470,903.0,-8.8,352,7646,0.00,2.15,0.00,0.000,1030,0.000,0.033,2994,2601,3445,3422,3468,0,0,0,0,0,0,26.57,26.53,26.62
$GC,7968,-0.81,-155.7,2995,2601,3421,3468,929.9,-8.1,363,7972,0.00,2.08,0.00,0.000,516,0.000,0.027,3002,1221,3445,3422,3468,0,0,0,0,0,0,27.20,26.63,27.26
$GC,8017,-0.81,-155.7,3003,1221,3420,3468,932.5,-8.2,364,8021,0.00,2.12,0.00,0.000,1030,0.000,0.032,2994,2599,3443,3420,3467,0,0,0,0,0,0,26.58,26.53,26.61
$GC,8328,-0.81,-155.7,2993,2600,3422,3467,962.0,-9.1,375,8331,0.00,1.73,0.00,0.000,260,0.000,0.047,2985,3693,3443,3420,3466,0,0,0,0,0,0,27.20,26.37,27.26
$GC,8367,-0.81,-155.7,2985,3694,3421,3466,964.7,-9.1,376,8371,0.00,1.58,0.00,0.000,1030,0.000,0.025,2992,2611,3442,3420,3465,0,0,0,0,0,0,26.80,26.79,26.84
$STATE,8656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8656,begin apogee
$GC,8660,-0.17,0.0,2993,2408,3421,3466,990.3,-8.5,386,8792,0.75,0.00,130.05,1.229,10246,0.145,0.000,3211,2405,2838,2810,2866,0,0,0,0,0,0,25.48,24.63,23.46
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8794,0.81,155.7,3212,2406,2805,2862,994.0,0.0,390,8939,1.05,2.22,136.77,1.225,10756,0.122,0.027,3536,1043,2197,2189,2206,0,0,0,0,0,0,24.93,23.65,22.89
$GC,9142,0.91,222.6,3537,1043,2178,2196,981.8,7.1,402,9204,0.00,2.15,57.17,1.213,9222,0.000,0.030,3527,2413,1930,1929,1932,0,0,0,0,0,0,26.17,26.13,23.89
$GC,9518,0.92,231.3,3528,2414,1914,1912,946.9,9.6,415,9523,0.12,2.00,1.75,0.196,10500,0.186,0.044,3547,3694,1893,1895,1891,0,0,0,0,0,0,26.25,25.87,25.70
$GC,9628,0.92,231.3,3546,3695,1920,1899,936.9,11.2,418,9635,0.00,1.88,1.35,0.184,9222,0.000,0.024,3555,2423,1894,1899,1889,0,0,0,0,0,0,26.63,26.61,25.76
$GC,9933,0.92,231.3,3554,2423,1922,1897,900.8,10.9,429,9938,0.00,2.08,1.30,0.212,8708,0.000,0.028,3566,1025,1893,1899,1888,0,0,0,0,0,0,26.99,25.92,25.75
$GC,9993,0.92,231.3,3565,1025,1917,1891,894.7,10.1,431,9998,0.00,2.17,0.00,0.000,1030,0.000,0.032,3556,2422,1903,1916,1890,0,0,0,0,0,0,26.61,26.58,26.64
$GC,10323,0.92,236.1,3557,2423,1920,1893,861.2,9.8,442,10332,0.00,2.17,3.72,0.900,8708,0.000,0.031,3566,1024,1881,1890,1872,0,0,0,0,0,0,27.08,25.94,24.24
$GC,10388,0.93,236.5,3565,1024,1908,1880,854.9,10.0,444,10394,0.00,2.17,2.12,0.339,9222,0.000,0.031,3556,2421,1874,1879,1869,0,0,0,0,0,0,26.63,26.58,23.99
$GC,10708,0.93,236.5,3556,2423,1911,1881,822.9,10.0,455,10713,0.00,2.00,2.28,0.402,8452,0.000,0.045,3546,3703,1875,1884,1867,0,0,0,0,0,0,27.08,25.17,24.12
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$STATE,18057,end climb,SURFACE_DEPTH_REACHED
$STATE,18057,begin surface coast
$FINISH,0.9,1.022058
$STATE,18072,end surface coast,CONTROL_FINISHED_OK
$STATE,18072,begin surface
$SM_CCo,18088,6.55,0.127,0,0,797,500.17
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$IRIDIUM_FIX,1334.19,14509.03,030208,234602
$TT8_MAMPS,0.053928,0.053928
$HUMID,41.02
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.89,72.723
$10V_AH,9.90,41.264
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.925,148.575,566.500,6.550,0.000,0.000,0.000,237.075,0.000,0.000,6.603,0.000,14715.618,701.078,2833.319,134.396,0.000,2076.951,0.000,2054.421,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,586.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229128
$DATA_FILE_SIZE,36710,869
$CAP_FILE_SIZE,165127,0
$CFSIZE,1024393216,998293504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17829.30,0x236db2,7,5
$CURRENT,0.003,9.16,1
$GPS,090415,152605,1335.033,14505.900,37,0.7,37,1.1,0.6,307.2,11,12.7