version: 66.12
glider: 204
mission: 15
dive: 210
start: 4 10 115 11 16 48
data:
$ID,204
$MISSION,15
$DIVE,210
$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,84
$R_STBD_OVSHOOT,55
$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
$GPS1,100415,110935,1325.8409,14459.8564,45,0.8,45,1.1,0.8,293.1,9,11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.0
$GPS2,100415,111638,1325.9402,14459.8203,6,0.9,6,1.1,0.0,0.0,10,14.2
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N10
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,212.0,37930,-16.9,-10.000,-20.51,2373
$D_GRID,1237
$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,-155.7,181,2631,815,809,0.0,0.0,0,53,0.00,0.00,-38.12,0.000,16386,0.000,0.000,181,2629,1835,1817,1853,0,0,0,0,0,0,26.84,28.83,26.90
$GC,54,-0.81,-155.7,183,2629,1816,1854,3.1,-5.2,6,118,11.80,1.60,-45.17,0.000,19204,0.223,0.060,2993,3679,3474,3448,3500,0,0,0,0,0,0,25.62,25.98,25.81
$GC,342,-0.81,-155.7,2993,3680,3448,3504,70.7,-27.0,54,346,0.00,1.52,0.00,0.000,1030,0.000,0.022,3000,2610,3475,3448,3503,0,0,0,0,0,0,26.76,26.75,26.76
$GC,652,-0.81,-155.7,3000,2610,3451,3504,138.3,-20.5,85,653,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2609,3476,3449,3503,0,0,0,0,0,0,27.12,27.18,27.17
$GC,953,-0.81,-155.7,3000,2610,3455,3506,192.2,-16.9,115,957,0.00,2.05,0.00,0.000,516,0.000,0.025,3007,1206,3478,3452,3505,0,0,0,0,0,0,27.16,26.74,27.22
$GC,967,-0.81,-155.7,3007,1206,3452,3505,193.9,-16.8,116,974,0.00,2.10,0.00,0.000,1030,0.000,0.030,2998,2589,3478,3452,3504,0,0,0,0,0,0,26.71,26.66,26.74
$GC,1272,-0.81,-155.7,2997,2590,3457,3507,240.7,-12.1,129,1277,0.00,2.03,0.00,0.000,516,0.000,0.025,3007,1214,3479,3454,3505,0,0,0,0,0,0,27.19,26.79,27.25
$GC,1327,-0.81,-155.7,3007,1214,3454,3506,244.2,-11.7,130,1334,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2599,3480,3454,3506,0,0,0,0,0,0,26.72,26.68,26.74
$GC,1632,-0.81,-155.7,2999,2600,3454,3506,287.5,-11.6,141,1636,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3693,3479,3454,3505,0,0,0,0,0,0,27.20,26.60,27.26
$GC,1787,-0.81,-155.7,2989,3694,3456,3506,305.8,-12.0,146,1791,0.00,1.55,0.00,0.000,1030,0.000,0.021,2996,2581,3479,3454,3505,0,0,0,0,0,0,26.95,26.94,26.97
$GC,2112,-0.81,-155.7,2997,2581,3453,3506,344.1,-11.6,157,2117,0.00,1.73,0.00,0.000,260,0.000,0.045,2989,3690,3479,3454,3505,0,0,0,0,0,0,27.21,26.58,27.27
$GC,2157,-0.81,-155.7,2990,3691,3453,3505,347.7,-11.5,158,2161,0.00,1.52,0.00,0.000,1030,0.000,0.021,2996,2600,3479,3454,3504,0,0,0,0,0,0,26.94,26.94,26.96
$GC,2472,-0.81,-155.7,2997,2601,3453,3500,381.5,-10.3,169,2476,0.00,2.03,0.00,0.000,516,0.000,0.025,3006,1222,3476,3453,3499,0,0,0,0,0,0,27.21,26.79,27.27
$GC,2537,-0.81,-155.7,3006,1223,3455,3500,387.5,-10.1,171,2541,0.00,2.10,0.00,0.000,1030,0.000,0.030,2998,2607,3476,3453,3499,0,0,0,0,0,0,26.75,26.71,26.78
$GC,2862,-0.81,-155.7,2999,2607,3451,3494,419.0,-9.8,182,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2607,3472,3452,3493,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3162,-0.81,-155.7,2998,2608,3449,3490,452.3,-11.1,192,3167,0.00,1.67,0.00,0.000,260,0.000,0.045,2989,3689,3469,3449,3490,0,0,0,0,0,0,27.21,26.55,27.27
$GC,3192,-0.81,-155.7,2990,3689,3449,3490,455.6,-11.1,193,3196,0.00,1.52,0.00,0.000,1030,0.000,0.023,2996,2611,3469,3448,3490,0,0,0,0,0,0,26.92,26.90,26.94
$GC,3522,-0.81,-155.7,2997,2611,3446,3487,491.0,-10.4,204,3526,0.00,1.67,0.00,0.000,260,0.000,0.044,2989,3691,3466,3446,3486,0,0,0,0,0,0,27.21,26.57,27.27
$GC,3557,-0.81,-155.7,2988,3692,3447,3487,494.4,-10.6,205,3561,0.00,1.55,0.00,0.000,1030,0.000,0.023,2996,2604,3465,3445,3486,0,0,0,0,0,0,26.91,26.90,26.93
$GC,3882,-0.81,-155.7,2995,2605,3443,3485,531.6,-11.8,216,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2604,3462,3441,3484,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4182,-0.81,-155.7,2995,2604,3441,3481,568.5,-12.3,226,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3460,3439,3481,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4482,-0.81,-155.7,2997,2604,3435,3478,602.3,-11.0,236,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3457,3436,3478,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4782,-0.81,-155.7,2997,2604,3432,3476,632.8,-9.9,246,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3454,3433,3476,0,0,0,0,0,0,27.20,27.28,27.27
$GC,5082,-0.81,-155.7,2997,2604,3430,3475,659.4,-8.6,256,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3452,3430,3474,0,0,0,0,0,0,27.21,27.28,27.27
$GC,5382,-0.81,-155.7,2997,2604,3427,3472,684.2,-8.0,266,5386,0.00,2.05,0.00,0.000,516,0.000,0.026,3006,1222,3449,3427,3472,0,0,0,0,0,0,27.21,26.71,27.27
$GC,5402,-0.81,-155.7,3005,1223,3428,3473,684.2,-8.0,266,5406,0.00,2.12,0.00,0.000,1030,0.000,0.031,2997,2605,3449,3427,3471,0,0,0,0,0,0,26.67,26.63,26.70
$GC,5712,-0.81,-155.7,2996,2606,3427,3472,710.4,-8.1,277,5716,0.00,1.70,0.00,0.000,260,0.000,0.046,2988,3693,3447,3424,3471,0,0,0,0,0,0,27.20,26.46,27.27
$GC,5732,-0.81,-155.7,2989,3694,3426,3472,710.4,-8.1,277,5736,0.00,1.58,0.00,0.000,1030,0.000,0.024,2995,2590,3448,3425,3471,0,0,0,0,0,0,26.86,26.86,26.89
$GC,6042,-0.81,-155.7,2994,2591,3426,3470,739.2,-8.9,288,6046,0.00,2.03,0.00,0.000,516,0.000,0.026,3005,1227,3446,3424,3469,0,0,0,0,0,0,27.20,26.68,27.27
$GC,6077,-0.81,-155.7,3004,1227,3426,3470,741.7,-8.8,289,6081,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2605,3446,3424,3469,0,0,0,0,0,0,26.65,26.61,26.69
$GC,6402,-0.81,-155.7,2995,2606,3423,3468,769.9,-8.5,300,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2605,3444,3422,3467,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6702,-0.81,-155.7,2997,2606,3421,3466,795.9,-8.7,310,6706,0.00,2.08,0.00,0.000,516,0.000,0.027,3005,1217,3443,3421,3465,0,0,0,0,0,0,27.20,26.67,27.26
$GC,6767,-0.81,-155.7,3004,1218,3422,3466,801.2,-8.7,312,6771,0.00,2.15,0.00,0.000,1030,0.000,0.032,2996,2604,3442,3420,3465,0,0,0,0,0,0,26.62,26.61,26.66
$GC,7092,-0.81,-155.7,2995,2605,3422,3465,828.7,-8.2,323,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2604,3442,3420,3464,0,0,0,0,0,0,27.20,27.27,27.27
$GC,7392,-0.81,-155.7,2995,2605,3420,3464,854.0,-8.6,333,7397,0.00,1.70,0.00,0.000,260,0.000,0.046,2988,3692,3440,3418,3463,0,0,0,0,0,0,27.20,26.40,27.27
$GC,7417,-0.81,-155.7,2988,3692,3417,3464,854.0,-8.6,333,7424,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2595,3439,3417,3462,0,0,0,0,0,0,26.84,26.82,26.85
$GC,7722,-0.81,-155.7,2995,2596,3415,3463,884.5,-9.7,344,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2595,3438,3415,3462,0,0,0,0,0,0,27.20,27.27,27.26
$GC,8022,-0.81,-155.7,2993,2597,3416,3462,916.7,-10.9,354,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2596,3437,3414,3461,0,0,0,0,0,0,27.20,27.27,27.26
$GC,8322,-0.81,-155.7,2993,2596,3415,3461,947.7,-10.0,364,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2596,3436,3413,3460,0,0,0,0,0,0,27.20,27.27,27.26
$GC,8622,-0.81,-155.7,2995,2596,3412,3460,978.8,-10.3,374,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2595,3436,3412,3460,0,0,0,0,0,0,27.20,27.27,27.26
$STATE,8741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8741,begin apogee
$GC,8744,-0.17,0.0,2996,2421,3412,3460,990.6,-9.9,378,8882,0.75,0.00,130.00,1.600,10246,0.144,0.000,3213,2420,2839,2811,2868,0,0,0,0,1,0,25.50,24.03,22.62
$STATE,8882,end apogee,CONTROL_FINISHED_OK
$STATE,8883,begin climb
$GC,8884,0.81,155.7,3213,2421,2820,2871,996.3,0.0,382,9046,1.08,2.38,143.62,1.652,11012,0.121,0.027,3533,1030,2207,2203,2212,0,0,0,0,1,0,24.39,23.66,22.25
$GC,9270,0.95,253.2,3534,1031,2208,2213,989.3,5.8,395,9361,0.12,2.17,85.95,1.157,11270,0.125,0.031,3567,2414,1805,1805,1806,0,0,0,0,0,0,25.89,26.22,23.82
$GC,9670,0.95,253.2,3566,2415,1797,1791,950.4,10.1,409,9674,0.00,2.12,0.00,0.000,516,0.000,0.029,3578,1033,1792,1794,1790,0,0,0,0,0,0,26.78,26.46,26.84
$GC,9695,0.95,253.2,3579,1034,1793,1790,950.4,10.1,409,9701,0.00,2.15,0.00,0.000,1030,0.000,0.031,3569,2419,1791,1793,1790,0,0,0,0,0,0,26.49,26.46,26.52
$GC,10000,0.95,253.2,3568,2420,1794,1790,914.1,11.3,420,10004,0.00,2.00,0.00,0.000,260,0.000,0.046,3559,3688,1791,1792,1790,0,0,0,0,0,0,26.98,26.48,27.04
$GC,10045,0.95,253.2,3560,3689,1791,1790,910.3,11.5,421,10049,0.00,1.88,0.00,0.000,1030,0.000,0.024,3568,2405,1790,1792,1789,0,0,0,0,0,0,26.77,26.74,26.77
$GC,10360,0.95,253.2,3569,2402,1791,1789,868.6,12.9,432,10363,0.00,2.05,0.00,0.000,260,0.000,0.044,3560,3694,1790,1792,1788,0,0,0,0,0,0,27.07,26.51,27.13
$GC,10415,0.95,253.2,3559,3695,1794,1789,864.5,13.0,433,10421,0.00,1.85,0.00,0.000,1030,0.000,0.024,3567,2424,1789,1791,1788,0,0,0,0,0,0,26.82,26.80,26.84
$GC,10720,0.95,253.2,3569,2424,1791,1788,822.1,12.5,444,10725,0.00,2.00,0.00,0.000,260,0.000,0.045,3559,3688,1789,1791,1787,0,0,0,0,0,0,27.11,26.53,27.18
$GC,10759,0.95,253.2,3558,3689,1793,1788,818.2,12.4,445,10765,0.00,1.85,0.00,0.000,1030,0.000,0.024,3568,2419,1789,1791,1787,0,0,0,0,0,0,26.84,26.82,26.86
$GC,11080,0.95,253.2,3569,2418,1790,1787,780.5,11.0,456,11083,0.00,2.08,0.00,0.000,516,0.000,0.030,3578,1042,1788,1789,1787,0,0,0,0,0,0,27.14,26.69,27.21
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$STATE,17973,end climb,SURFACE_DEPTH_REACHED
$STATE,17973,begin surface coast
$FINISH,1.0,1.020715
$STATE,17988,end surface coast,CONTROL_FINISHED_OK
$STATE,17988,begin surface
$SM_CCo,18004,11.75,0.125,0,0,797,500.17
$SM_GC,2.88,10.00,0.28,11.75,0.075,0.050,0.125,180,2645,797,-9.54,-0.85,500.17,0,0,0,0,0,0,26.65,26.77,25.85
$IRIDIUM_FIX,1320.88,14500.48,050208,003939
$TT8_MAMPS,0.053928,0.053928
$HUMID,42.20
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,22.25,73.613
$10V_AH,9.89,41.591
$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,24.000,144.950,535.900,11.750,0.000,0.000,0.000,297.150,0.000,0.000,6.542,0.000,14907.632,701.002,2681.374,136.076,0.000,2053.214,0.000,1863.819,0.000,0.546,0.000
$DEVICE_MAMPS,222.615,59.670,1651.635,124.695,0.000,0.000,0.000,81.855,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,584.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229116
$DATA_FILE_SIZE,36770,866
$CAP_FILE_SIZE,156934,0
$CFSIZE,1024393216,997900288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,18112.25,0x236db2,7,5
$CURRENT,0.063,194.56,1
$GPS,100415,161804,1323.271,14458.146,42,0.7,42,1.1,0.0,0.0,11,13.5