version: 66.12
glider: 204
mission: 15
dive: 208
start: 4 10 115 1 12 35
data:
$ID,204
$MISSION,15
$DIVE,208
$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,79
$R_STBD_OVSHOOT,40
$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
$GPS1,100415,010805,1330.7897,14502.7295,31,0.9,31,1.1,0.0,0.0,8,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.2
$GPS2,100415,011225,1330.8427,14502.6836,5,1.0,5,1.1,0.0,0.0,7,17.6
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N10
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,201.9,48349,-16.9,-10.000,-20.51,2373
$D_GRID,1111
$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,-155.7,195,2614,809,808,0.0,0.0,0,58,0.00,0.00,-43.05,0.000,16386,0.000,0.000,196,2613,1964,1943,1986,0,0,0,0,0,0,26.86,28.83,26.93
$GC,59,-0.81,-155.7,197,2613,1942,1987,3.2,-5.7,7,117,11.80,2.08,-39.92,0.000,18948,0.224,0.038,3010,1216,3474,3448,3500,0,0,0,0,0,0,25.61,25.99,25.81
$GC,261,-0.81,-155.7,3009,1216,3451,3502,43.3,-23.5,46,268,0.00,2.12,0.00,0.000,1030,0.000,0.034,3001,2596,3475,3449,3501,0,0,0,0,0,0,26.51,26.48,26.54
$GC,572,-0.81,-155.7,3002,2596,3449,3502,117.2,-20.9,80,572,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2596,3476,3450,3502,0,0,0,0,0,0,27.11,27.17,27.16
$GC,872,-0.81,-155.7,3001,2596,3452,3505,168.8,-16.2,110,875,0.00,2.00,0.00,0.000,516,0.000,0.026,3007,1212,3479,3453,3505,0,0,0,0,0,0,27.15,26.72,27.22
$GC,912,-0.81,-155.7,3008,1212,3453,3505,174.4,-13.8,114,915,0.00,2.12,0.00,0.000,1030,0.000,0.034,2998,2601,3479,3454,3504,0,0,0,0,0,0,26.65,26.63,26.70
$GC,1232,-0.81,-155.7,2997,2602,3457,3507,225.8,-16.4,136,1237,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3694,3480,3455,3506,0,0,0,0,0,0,27.18,26.57,27.24
$GC,1326,-0.81,-155.7,2991,3695,3455,3507,239.8,-15.9,139,1331,0.00,1.55,0.00,0.000,1030,0.000,0.021,2997,2586,3481,3455,3507,0,0,0,0,0,0,26.93,26.91,26.94
$GC,1652,-0.81,-155.7,2996,2587,3457,3508,281.3,-12.0,150,1655,0.00,1.98,0.00,0.000,516,0.000,0.024,3006,1229,3481,3456,3507,0,0,0,0,0,0,27.20,26.79,27.26
$GC,1701,-0.81,-155.7,3005,1229,3457,3507,285.0,-12.2,151,1706,0.00,2.08,0.00,0.000,1030,0.000,0.030,2998,2601,3481,3456,3506,0,0,0,0,0,0,26.74,26.70,26.78
$GC,2012,-0.81,-155.7,2999,2602,3455,3507,328.7,-14.5,162,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2601,3481,3456,3506,0,0,0,0,0,0,27.20,27.27,27.27
$GC,2312,-0.81,-155.7,2999,2602,3455,3506,366.2,-12.3,172,2315,0.00,2.03,0.00,0.000,516,0.000,0.024,3007,1229,3480,3455,3505,0,0,0,0,0,0,27.20,26.79,27.27
$GC,2331,-0.81,-155.7,3006,1229,3457,3506,366.2,-12.3,172,2335,0.00,2.08,0.00,0.000,1030,0.000,0.031,2998,2600,3480,3455,3505,0,0,0,0,0,0,26.75,26.71,26.77
$GC,2642,-0.81,-155.7,2997,2601,3457,3501,406.7,-11.8,183,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2600,3477,3455,3500,0,0,0,0,0,0,27.21,27.29,27.27
$GC,2942,-0.81,-155.7,2997,2600,3456,3498,442.2,-11.6,193,2946,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3689,3475,3455,3496,0,0,0,0,0,0,27.21,26.58,27.27
$GC,3032,-0.81,-155.7,2989,3689,3455,3496,452.8,-11.7,196,3036,0.00,1.55,0.00,0.000,1030,0.000,0.023,2997,2599,3474,3454,3495,0,0,0,0,0,0,26.93,26.91,26.94
$GC,3362,-0.81,-155.7,2996,2599,3452,3493,491.3,-12.0,207,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2599,3471,3450,3492,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3662,-0.81,-155.7,2996,2599,3449,3490,529.9,-13.1,217,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2599,3468,3448,3489,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3962,-0.81,-155.7,2996,2599,3447,3488,568.7,-12.8,227,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2598,3466,3446,3487,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4262,-0.81,-155.7,2997,2599,3442,3485,605.7,-12.1,237,4266,0.00,2.05,0.00,0.000,516,0.000,0.028,3006,1225,3463,3442,3484,0,0,0,0,0,0,27.20,26.71,27.27
$GC,4301,-0.81,-155.7,3005,1226,3442,3485,609.1,-11.9,238,4306,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2599,3462,3441,3484,0,0,0,0,0,0,26.70,26.66,26.73
$GC,4622,-0.81,-155.7,2998,2600,3439,3482,646.1,-11.1,249,4625,0.00,1.70,0.00,0.000,260,0.000,0.045,2989,3694,3460,3439,3481,0,0,0,0,0,0,27.20,26.52,27.27
$GC,4652,-0.81,-155.7,2989,3695,3441,3482,649.5,-11.2,250,4656,0.00,1.58,0.00,0.000,1030,0.000,0.024,2996,2593,3460,3439,3481,0,0,0,0,0,0,26.89,26.86,26.91
$GC,4982,-0.81,-155.7,2995,2594,3437,3479,687.0,-11.4,261,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2593,3456,3435,3478,0,0,0,0,0,0,27.21,27.27,27.27
$GC,5282,-0.81,-155.7,2995,2594,3435,3477,721.4,-11.4,271,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2593,3454,3433,3476,0,0,0,0,0,0,27.21,27.27,27.27
$GC,5582,-0.81,-155.7,2997,2593,3430,3476,754.5,-10.9,281,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2593,3453,3431,3475,0,0,0,0,0,0,27.21,27.28,27.27
$GC,5882,-0.81,-155.7,2996,2594,3430,3473,785.4,-10.0,291,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2593,3450,3428,3473,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6182,-0.81,-155.7,2997,2593,3426,3472,815.2,-9.9,301,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2593,3449,3427,3471,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6482,-0.81,-155.7,2997,2594,3425,3471,842.7,-8.8,311,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2593,3448,3426,3471,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6782,-0.81,-155.7,2997,2594,3424,3469,870.1,-9.5,321,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2593,3446,3424,3469,0,0,0,0,0,0,27.20,27.27,27.27
$GC,7082,-0.81,-155.7,2995,2594,3424,3468,896.1,-8.4,331,7085,0.00,2.05,0.00,0.000,516,0.000,0.029,3004,1226,3444,3422,3467,0,0,0,0,0,0,27.20,26.62,27.26
$GC,7112,-0.81,-155.7,3005,1226,3422,3469,898.6,-8.3,332,7116,0.00,2.12,0.00,0.000,1030,0.000,0.032,2996,2601,3445,3422,3468,0,0,0,0,0,0,26.60,26.58,26.65
$GC,7442,-0.81,-155.7,2996,2602,3421,3466,925.1,-8.2,343,7446,0.00,1.70,0.00,0.000,260,0.000,0.046,2987,3690,3443,3421,3466,0,0,0,0,0,0,27.20,26.40,27.27
$GC,7502,-0.81,-155.7,2986,3690,3422,3466,930.3,-8.4,345,7506,0.00,1.58,0.00,0.000,1030,0.000,0.025,2994,2597,3443,3421,3466,0,0,0,0,0,0,26.83,26.81,26.84
$GC,7832,-0.81,-155.7,2993,2598,3422,3465,956.0,-7.4,356,7836,0.00,2.08,0.00,0.000,516,0.000,0.029,3004,1214,3442,3420,3464,0,0,0,0,0,0,27.20,26.60,27.26
$GC,7877,-0.81,-155.7,3004,1215,3419,3465,958.1,-7.1,357,7880,0.00,2.15,0.00,0.000,1030,0.000,0.034,2995,2601,3442,3419,3465,0,0,0,0,0,0,26.56,26.53,26.60
$GC,8192,-0.81,-155.7,2996,2602,3418,3464,981.3,-7.4,368,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3441,3418,3464,0,0,0,0,0,0,27.20,27.27,27.26
$STATE,8310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8310,begin apogee
$GC,8314,-0.17,0.0,2994,2428,3418,3464,990.6,-7.9,372,8447,0.75,0.00,130.10,1.222,10246,0.145,0.000,3213,2425,2838,2810,2866,0,0,0,0,0,0,25.53,24.66,23.46
$STATE,8447,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8448,0.81,155.7,3214,2426,2805,2862,992.5,0.0,376,8592,1.05,2.30,137.12,1.213,10756,0.123,0.027,3534,1026,2197,2189,2206,0,0,0,0,0,0,24.95,23.70,22.94
$GC,8702,0.84,180.8,3535,1027,2180,2197,982.1,8.9,385,8729,0.00,2.25,22.15,1.169,9222,0.000,0.031,3525,2423,2097,2092,2103,0,0,0,0,0,0,25.77,25.74,23.94
$GC,9027,0.85,186.8,3525,2423,2084,2091,947.5,9.7,396,9031,0.00,2.00,0.90,0.240,8452,0.000,0.048,3515,3696,2073,2070,2077,0,0,0,0,0,0,26.79,26.09,25.77
$GC,9052,0.86,188.1,3515,3696,2084,2078,944.9,9.9,397,9056,0.00,1.90,0.88,0.207,9222,0.000,0.025,3523,2419,2071,2068,2074,0,0,0,0,0,0,26.58,26.55,25.75
$GC,9382,0.93,240.7,3524,2418,2090,2076,916.9,7.7,408,9438,0.15,2.15,51.30,1.180,10756,0.151,0.028,3576,1033,1850,1850,1851,0,0,0,0,0,0,26.43,24.96,24.20
$GC,9482,0.98,275.3,3577,1033,1839,1845,909.1,8.5,410,9517,0.00,2.17,30.60,1.163,9222,0.000,0.031,3566,2431,1715,1716,1715,0,0,0,0,0,0,26.06,25.99,24.10
$GC,9827,0.98,275.3,3565,2432,1703,1697,870.5,10.8,422,9831,0.00,2.00,0.00,0.000,260,0.000,0.046,3557,3688,1698,1700,1696,0,0,0,0,0,0,26.82,26.34,26.89
$GC,9942,0.98,275.3,3557,3689,1700,1696,860.1,11.5,425,9949,0.00,1.88,0.00,0.000,1030,0.000,0.024,3565,2407,1697,1700,1695,0,0,0,0,0,0,26.66,26.65,26.69
$GC,10247,0.98,275.3,3564,2407,1700,1694,825.5,10.2,436,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2407,1695,1698,1693,0,0,0,0,0,0,27.02,27.10,27.09
$GC,10547,0.98,275.3,3566,2407,1698,1693,794.8,10.4,446,10551,0.00,2.03,0.00,0.000,260,0.000,0.047,3557,3682,1695,1698,1692,0,0,0,0,0,0,27.08,26.47,27.15
$GC,10612,0.98,275.3,3556,3683,1700,1693,787.9,10.9,448,10616,0.00,1.85,0.00,0.000,1030,0.000,0.026,3565,2429,1695,1698,1692,0,0,0,0,0,0,26.80,26.77,26.82
$GC,10937,0.98,275.3,3564,2428,1699,1693,751.3,11.4,459,10941,0.00,2.00,0.00,0.000,260,0.000,0.046,3557,3689,1694,1697,1692,0,0,0,0,0,0,27.13,26.48,27.19
$GC,10967,0.98,275.3,3556,3690,1699,1693,747.8,11.5,460,10971,0.00,1.88,0.00,0.000,1030,0.000,0.025,3566,2411,1694,1697,1692,0,0,0,0,0,0,26.82,26.79,26.84
$GC,11297,0.98,275.3,3565,2407,1698,1692,707.0,12.6,471,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2406,1693,1696,1691,0,0,0,0,0,0,27.14,27.22,27.21
$GC,11597,0.98,275.3,3566,2407,1696,1692,671.1,11.6,481,11601,0.00,2.03,0.00,0.000,260,0.000,0.046,3557,3685,1693,1696,1691,0,0,0,0,0,0,27.15,26.46,27.22
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$STATE,17733,end climb,SURFACE_DEPTH_REACHED
$STATE,17733,begin surface coast
$FINISH,0.9,1.000336
$STATE,17752,end surface coast,CONTROL_FINISHED_OK
$STATE,17752,begin surface
$SM_CCo,17768,18.30,0.119,0,0,798,500.17
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$IRIDIUM_FIX,1323.10,14503.57,040208,143536
$TT8_MAMPS,0.053928,0.053928
$HUMID,41.84
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.89,73.249
$10V_AH,9.88,41.459
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.975,123.300,536.900,18.300,0.000,0.000,0.000,196.800,0.000,0.000,6.511,0.000,14723.221,686.803,2495.703,129.499,0.000,1873.691,0.000,1791.334,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,583.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229092
$DATA_FILE_SIZE,36727,866
$CAP_FILE_SIZE,151064,0
$CFSIZE,1024393216,998064128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16799.34,0x236db2,7,5
$CURRENT,0.017,182.61,1
$GPS,100415,061000,1328.382,14501.795,40,0.8,40,1.1,0.7,232.9,10,45.6