version: 66.12
glider: 204
mission: 15
dive: 206
start: 4 9 115 15 33 1
data:
$ID,204
$MISSION,15
$DIVE,206
$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,82
$R_STBD_OVSHOOT,68
$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
$GPS1,090415,152605,1335.0330,14505.9004,37,0.7,37,1.1,0.6,307.2,11,12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.4
$GPS2,090415,153245,1335.0667,14505.9023,5,0.8,5,1.1,0.7,4.9,9,14.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N10
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.3,58076,-16.9,-10.000,-20.51,2373
$D_GRID,955
$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,-155.7,191,2637,821,816,0.0,0.0,0,59,0.00,0.00,-44.28,0.000,16386,0.000,0.000,191,2637,2010,1986,2034,0,0,0,0,0,0,26.84,28.83,26.91
$GC,61,-0.81,-155.7,191,2638,1988,2035,3.2,-5.6,7,113,11.70,2.17,-36.42,0.000,18948,0.223,0.039,3007,1215,3474,3449,3500,0,0,0,0,0,0,25.59,24.47,25.77
$GC,237,-0.81,-155.7,3007,1208,3449,3501,38.3,-21.8,41,244,0.00,2.08,0.00,0.000,1030,0.000,0.032,2999,2559,3475,3449,3501,0,0,0,0,0,0,26.51,26.48,26.56
$GC,544,-0.81,-155.7,2999,2559,3449,3502,112.1,-23.4,76,547,0.00,1.75,0.00,0.000,260,0.000,0.045,2990,3696,3475,3449,3501,0,0,0,0,0,0,27.10,26.50,27.15
$GC,674,-0.81,-155.7,2992,3696,3448,3503,140.9,-22.3,89,677,0.00,1.55,0.00,0.000,1030,0.000,0.021,2995,2590,3476,3450,3503,0,0,0,0,0,0,26.86,26.85,26.88
$GC,1004,-0.81,-155.7,2995,2590,3452,3504,204.6,-12.2,120,1007,0.00,1.70,0.00,0.000,260,0.000,0.044,2988,3690,3478,3453,3504,0,0,0,0,0,0,27.17,26.56,27.22
$GC,1048,-0.81,-155.7,2988,3691,3452,3505,208.5,-12.2,121,1052,0.00,1.55,0.00,0.000,1030,0.000,0.021,2994,2587,3479,3453,3505,0,0,0,0,0,0,26.94,26.91,26.95
$GC,1363,-0.81,-155.7,2993,2586,3456,3507,255.4,-14.3,132,1367,0.00,1.70,0.00,0.000,260,0.000,0.044,2988,3692,3480,3455,3505,0,0,0,0,0,0,27.20,26.58,27.25
$GC,1394,-0.81,-155.7,2987,3693,3456,3507,259.6,-14.0,133,1397,0.00,1.52,0.00,0.000,1030,0.000,0.021,2994,2591,3479,3454,3505,0,0,0,0,0,0,26.94,26.93,26.96
$GC,1724,-0.81,-155.7,2995,2592,3455,3506,300.9,-12.5,144,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2592,3480,3455,3506,0,0,0,0,0,0,27.20,27.27,27.26
$GC,2023,-0.81,-155.7,2995,2593,3454,3506,340.2,-12.8,154,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2592,3480,3455,3505,0,0,0,0,0,0,27.20,27.28,27.27
$GC,2324,-0.81,-155.7,2995,2592,3455,3502,373.7,-10.7,164,2327,0.00,2.00,0.00,0.000,516,0.000,0.024,3004,1225,3478,3455,3501,0,0,0,0,0,0,27.21,26.80,27.27
$GC,2393,-0.81,-155.7,3005,1225,3454,3501,379.9,-10.6,166,2398,0.00,2.08,0.00,0.000,1030,0.000,0.031,2996,2602,3477,3454,3500,0,0,0,0,0,0,26.76,26.72,26.78
$GC,2714,-0.81,-155.7,2994,2603,3456,3497,418.8,-12.3,177,2717,0.00,1.67,0.00,0.000,260,0.000,0.044,2988,3696,3475,3455,3496,0,0,0,0,0,0,27.21,26.60,27.27
$GC,2763,-0.81,-155.7,2986,3696,3456,3496,422.5,-12.4,178,2767,0.00,1.55,0.00,0.000,1030,0.000,0.022,2994,2609,3475,3454,3496,0,0,0,0,0,0,26.95,26.92,26.96
$GC,3073,-0.81,-155.7,2995,2609,3452,3493,460.6,-10.8,189,3077,0.00,2.03,0.00,0.000,516,0.000,0.024,3004,1225,3471,3451,3492,0,0,0,0,0,0,27.21,26.79,27.27
$GC,3138,-0.81,-155.7,3003,1226,3451,3493,466.8,-10.4,191,3143,0.00,2.08,0.00,0.000,1030,0.000,0.031,2995,2594,3471,3450,3492,0,0,0,0,0,0,26.72,26.71,26.77
$GC,3464,-0.81,-155.7,2994,2595,3450,3489,499.3,-9.8,202,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2594,3468,3448,3488,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3764,-0.81,-155.7,2994,2595,3447,3486,529.6,-10.0,212,3767,0.00,2.03,0.00,0.000,516,0.000,0.025,3004,1225,3465,3445,3485,0,0,0,0,0,0,27.21,26.77,27.27
$GC,3838,-0.81,-155.7,3003,1226,3445,3486,535.6,-10.1,214,3843,0.00,2.10,0.00,0.000,1030,0.000,0.031,2995,2600,3464,3444,3485,0,0,0,0,0,0,26.72,26.69,26.75
$GC,4154,-0.81,-155.7,2996,2600,3439,3483,568.1,-9.8,225,4157,0.00,1.67,0.00,0.000,260,0.000,0.045,2987,3690,3461,3440,3482,0,0,0,0,0,0,27.21,26.55,27.27
$GC,4234,-0.81,-155.7,2988,3691,3439,3481,574.4,-10.2,227,4237,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2599,3460,3440,3481,0,0,0,0,0,0,26.91,26.89,26.93
$GC,4544,-0.81,-155.7,2993,2600,3439,3479,610.9,-11.6,238,4547,0.00,2.05,0.00,0.000,516,0.000,0.027,3003,1213,3457,3437,3478,0,0,0,0,0,0,27.21,26.72,27.27
$GC,4608,-0.81,-155.7,3004,1214,3435,3479,617.7,-11.4,240,4612,0.00,2.12,0.00,0.000,1030,0.000,0.032,2995,2599,3457,3436,3478,0,0,0,0,0,0,26.66,26.65,26.72
$GC,4934,-0.81,-155.7,2994,2600,3435,3476,652.8,-10.5,251,4938,0.00,1.70,0.00,0.000,260,0.000,0.046,2987,3693,3454,3433,3476,0,0,0,0,0,0,27.21,26.53,27.27
$GC,4983,-0.81,-155.7,2987,3693,3433,3475,656.0,-10.5,252,4987,0.00,1.55,0.00,0.000,1030,0.000,0.024,2993,2608,3454,3433,3475,0,0,0,0,0,0,26.89,26.87,26.91
$GC,5293,-0.81,-155.7,2994,2609,3430,3474,690.5,-10.5,263,5297,0.00,2.08,0.00,0.000,516,0.000,0.026,3003,1205,3451,3430,3473,0,0,0,0,0,0,27.21,26.72,27.27
$GC,5328,-0.81,-155.7,3002,1205,3431,3474,693.5,-10.4,264,5332,0.00,2.12,0.00,0.000,1030,0.000,0.031,2994,2599,3450,3429,3472,0,0,0,0,0,0,26.67,26.64,26.72
$GC,5654,-0.81,-155.7,2995,2601,3426,3472,727.6,-10.2,275,5657,0.00,1.70,0.00,0.000,260,0.000,0.045,2986,3691,3449,3427,3471,0,0,0,0,0,0,27.21,26.50,27.27
$GC,5678,-0.81,-155.7,2986,3692,3427,3472,727.6,-10.2,275,5685,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2593,3449,3427,3471,0,0,0,0,0,0,26.88,26.86,26.90
$GC,5984,-0.81,-155.7,2992,2594,3427,3470,759.5,-9.5,286,5987,0.00,2.05,0.00,0.000,516,0.000,0.028,3002,1217,3447,3426,3469,0,0,0,0,0,0,27.21,26.67,27.27
$GC,6008,-0.81,-155.7,3003,1218,3426,3470,759.5,-9.5,286,6015,0.00,2.12,0.00,0.000,1030,0.000,0.032,2994,2598,3447,3425,3469,0,0,0,0,0,0,26.65,26.61,26.67
$GC,6314,-0.81,-155.7,2994,2599,3423,3468,790.8,-9.5,297,6318,0.00,1.70,0.00,0.000,260,0.000,0.046,2985,3690,3445,3424,3467,0,0,0,0,0,0,27.20,26.46,27.27
$GC,6358,-0.81,-155.7,2984,3691,3426,3468,793.8,-9.6,298,6363,0.00,1.55,0.00,0.000,1030,0.000,0.024,2992,2607,3445,3423,3467,0,0,0,0,0,0,26.86,26.84,26.89
$GC,6674,-0.81,-155.7,2991,2608,3424,3466,823.4,-8.6,309,6678,0.00,2.08,0.00,0.000,516,0.000,0.027,3002,1206,3443,3422,3465,0,0,0,0,0,0,27.20,26.67,27.27
$GC,6698,-0.81,-155.7,3000,1207,3423,3466,823.4,-8.6,309,6706,0.00,2.15,0.00,0.000,1030,0.000,0.031,2993,2602,3443,3421,3465,0,0,0,0,0,0,26.63,26.60,26.67
$GC,7004,-0.81,-155.7,2994,2603,3420,3465,852.0,-9.0,320,7007,0.00,2.08,0.00,0.000,516,0.000,0.027,3001,1214,3442,3420,3464,0,0,0,0,0,0,27.20,26.66,27.26
$GC,7038,-0.81,-155.7,3001,1215,3421,3465,854.9,-9.2,321,7042,0.00,2.15,0.00,0.000,1030,0.000,0.032,2993,2603,3442,3420,3464,0,0,0,0,0,0,26.62,26.58,26.65
$GC,7364,-0.81,-155.7,2994,2604,3418,3463,885.2,-9.4,332,7367,0.00,2.08,0.00,0.000,516,0.000,0.027,3001,1213,3440,3418,3463,0,0,0,0,0,0,27.20,26.65,27.26
$GC,7394,-0.81,-155.7,3000,1215,3419,3464,887.9,-9.4,333,7397,0.00,2.15,0.00,0.000,1030,0.000,0.033,2992,2603,3440,3417,3463,0,0,0,0,0,0,26.60,26.57,26.65
$GC,7724,-0.81,-155.7,2993,2604,3415,3462,920.4,-10.0,344,7728,0.00,1.70,0.00,0.000,260,0.000,0.046,2983,3690,3439,3416,3462,0,0,0,0,0,0,27.20,26.40,27.26
$GC,7768,-0.81,-155.7,2983,3691,3417,3462,923.4,-10.0,345,7773,0.00,1.58,0.00,0.000,1030,0.000,0.024,2991,2590,3438,3416,3461,0,0,0,0,0,0,26.83,26.82,26.85
$GC,8084,-0.81,-155.7,2991,2590,3414,3462,953.1,-8.5,356,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2590,3437,3414,3461,0,0,0,0,0,0,27.20,27.27,27.26
$STATE,8112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8112,begin apogee
$GC,8116,-0.17,0.0,2993,2426,3414,3461,955.5,-8.4,357,8252,0.75,0.00,128.18,1.650,10246,0.146,0.000,3209,2425,2839,2811,2867,0,0,0,0,1,0,25.53,24.06,22.61
$STATE,8252,end apogee,CONTROL_FINISHED_OK
$STATE,8252,begin climb
$GC,8253,0.81,155.7,3210,2425,2818,2870,959.6,0.0,361,8409,1.08,2.30,143.12,1.657,10756,0.120,0.028,3534,1038,2206,2201,2212,0,0,0,0,1,0,24.39,23.72,22.32
$GC,8623,0.91,222.9,3534,1039,2215,2213,947.7,7.1,373,8689,0.08,2.17,60.47,1.131,11270,0.138,0.030,3549,2427,1927,1926,1928,0,0,0,0,0,0,25.91,26.18,24.06
$GC,9004,0.91,222.9,3549,2429,1920,1916,909.8,10.0,386,9008,0.00,2.00,0.00,0.000,260,0.000,0.046,3541,3692,1916,1918,1915,0,0,0,0,0,0,26.81,26.39,26.87
$GC,9098,0.91,222.9,3541,3692,1918,1916,900.0,10.7,389,9103,0.00,1.88,0.00,0.000,1030,0.000,0.024,3549,2408,1916,1918,1915,0,0,0,0,0,0,26.67,26.65,26.69
$GC,9424,0.91,226.5,3548,2407,1918,1915,867.3,9.8,400,9427,0.00,2.05,0.00,0.000,516,0.000,0.030,3560,1048,1914,1915,1914,0,0,0,0,0,0,27.02,26.65,27.08
$GC,9473,0.92,230.9,3561,1049,1913,1914,864.3,9.8,401,9479,0.00,2.12,2.38,0.555,9222,0.000,0.032,3550,2424,1897,1897,1897,0,0,0,0,0,0,26.66,26.62,24.16
$GC,9779,0.93,239.4,3550,2425,1921,1901,833.0,9.6,411,9797,0.00,2.15,13.30,1.092,8708,0.000,0.031,3560,1044,1856,1857,1856,0,0,0,0,0,0,27.08,26.10,24.90
$GC,9828,0.94,249.4,3561,1044,1854,1855,830.1,9.6,412,9844,0.00,2.15,9.60,1.080,9222,0.000,0.031,3550,2428,1818,1819,1818,0,0,0,0,0,0,26.51,26.47,24.77
$GC,10169,0.96,258.7,3550,2429,1817,1813,794.6,9.6,424,10183,0.00,2.03,8.80,1.078,8452,0.000,0.046,3541,3693,1781,1782,1780,0,0,0,0,0,0,26.95,26.07,24.88
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$STATE,17417,end climb,SURFACE_DEPTH_REACHED
$STATE,17417,begin surface coast
$FINISH,0.9,1.022174
$STATE,17437,end surface coast,CONTROL_FINISHED_OK
$STATE,17437,begin surface
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$TT8_MAMPS,0.055426,0.055426
$HUMID,41.53
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.32,72.919
$10V_AH,9.89,41.332
$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,229088
$DATA_FILE_SIZE,36752,850
$CAP_FILE_SIZE,162330,0
$CFSIZE,1024393216,998227968
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,18566.23,0x236db2,7,5
$INTR,1,16290.04,0x233782,1,24
$CURRENT,0.027,222.26,1
$GPS,090415,202504,1332.806,14504.548,37,0.8,37,1.1,0.9,275.7,11,16.4