version: 66.12
glider: 204
mission: 15
dive: 211
start: 4 10 115 16 22 33
data:
$ID,204
$MISSION,15
$DIVE,211
$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,81
$R_STBD_OVSHOOT,70
$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
$GPS1,100415,161804,1323.2715,14458.1465,42,0.7,42,1.1,0.0,0.0,11,13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.0
$GPS2,100415,162223,1323.2936,14458.1396,5,0.8,5,1.1,0.0,0.0,10,12.6
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N10
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,218.1,32173,-16.9,-10.000,-20.51,2373
$D_GRID,1292
$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,-155.7,179,2651,804,806,0.0,0.0,0,59,0.00,0.00,-44.28,0.000,16386,0.000,0.000,179,2650,1995,1976,2015,0,0,0,0,0,0,26.86,28.83,26.92
$GC,61,-0.81,-155.7,181,2651,1976,2017,3.2,-5.4,7,118,11.75,2.17,-37.12,0.000,18948,0.220,0.038,3009,1213,3475,3449,3502,0,0,0,0,0,0,25.60,24.46,25.82
$GC,267,-0.81,-155.7,3010,1213,3450,3503,46.3,-24.1,47,274,0.00,2.08,0.00,0.000,1030,0.000,0.034,3000,2557,3477,3451,3503,0,0,0,0,0,0,26.53,26.49,26.56
$GC,573,-0.81,-155.7,3001,2557,3452,3504,118.1,-21.4,79,577,0.00,1.75,0.00,0.000,260,0.000,0.044,2991,3694,3478,3452,3504,0,0,0,0,0,0,27.10,26.48,27.16
$GC,724,-0.81,-155.7,2991,3695,3454,3507,148.2,-18.0,94,728,0.00,1.55,0.00,0.000,1030,0.000,0.021,2999,2587,3478,3452,3505,0,0,0,0,0,0,26.87,26.86,26.89
$GC,1053,-0.81,-155.7,2998,2587,3458,3508,204.0,-14.3,125,1058,0.00,2.00,0.00,0.000,516,0.000,0.025,3008,1225,3482,3457,3507,0,0,0,0,0,0,27.17,26.75,27.23
$GC,1204,-0.81,-155.7,3007,1225,3460,3508,222.8,-12.2,130,1207,0.00,2.05,0.00,0.000,1030,0.000,0.032,3000,2605,3483,3459,3507,0,0,0,0,0,0,26.74,26.67,26.79
$GC,1533,-0.81,-155.7,3000,2606,3458,3508,266.0,-14.4,141,1537,0.00,1.67,0.00,0.000,260,0.000,0.046,2991,3691,3483,3458,3508,0,0,0,0,0,0,27.20,26.57,27.26
$GC,1568,-0.81,-155.7,2992,3692,3458,3508,270.6,-14.7,142,1572,0.00,1.52,0.00,0.000,1030,0.000,0.020,2998,2597,3483,3459,3507,0,0,0,0,0,0,26.95,26.93,26.96
$GC,1893,-0.81,-155.7,2999,2598,3458,3508,312.8,-12.6,153,1898,0.00,2.03,0.00,0.000,516,0.000,0.027,3008,1227,3483,3459,3507,0,0,0,0,0,0,27.20,26.76,27.27
$GC,1918,-0.81,-155.7,3007,1228,3460,3508,312.8,-12.6,153,1925,0.00,2.08,0.00,0.000,1030,0.000,0.031,3000,2600,3482,3458,3507,0,0,0,0,0,0,26.73,26.70,26.77
$GC,2223,-0.81,-155.7,3000,2600,3458,3506,355.0,-12.5,164,2228,0.00,1.67,0.00,0.000,260,0.000,0.045,2991,3688,3482,3458,3506,0,0,0,0,0,0,27.21,26.56,27.27
$GC,2293,-0.81,-155.7,2992,3688,3458,3505,362.0,-11.8,166,2297,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2597,3481,3458,3505,0,0,0,0,0,0,26.94,26.94,26.96
$GC,2613,-0.81,-155.7,2997,2596,3460,3501,398.6,-10.7,177,2618,0.00,2.03,0.00,0.000,516,0.000,0.027,3008,1230,3479,3458,3500,0,0,0,0,0,0,27.21,26.74,27.27
$GC,2698,-0.81,-155.7,3007,1230,3459,3500,404.9,-10.6,179,2705,0.00,2.10,0.00,0.000,1030,0.000,0.032,2999,2602,3478,3458,3498,0,0,0,0,0,0,26.72,26.67,26.75
$GC,3003,-0.81,-155.7,3000,2603,3454,3496,441.2,-10.9,190,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3475,3455,3496,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3303,-0.81,-155.7,2998,2603,3454,3494,475.6,-11.7,200,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3472,3452,3493,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3603,-0.81,-155.7,3000,2603,3449,3491,511.5,-11.8,210,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3470,3449,3491,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3903,-0.81,-155.7,2998,2603,3450,3489,544.3,-10.8,220,3907,0.00,1.70,0.00,0.000,260,0.000,0.045,2991,3699,3466,3447,3486,0,0,0,0,0,0,27.20,26.53,27.27
$GC,3933,-0.81,-155.7,2989,3700,3449,3488,547.4,-10.8,221,3938,0.00,1.58,0.00,0.000,1030,0.000,0.024,2997,2609,3467,3447,3487,0,0,0,0,0,0,26.90,26.87,26.91
$GC,4263,-0.81,-155.7,2997,2610,3446,3486,582.5,-11.2,232,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3464,3444,3485,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4563,-0.81,-155.7,2997,2610,3443,3484,615.9,-11.0,242,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2609,3462,3441,3483,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4863,-0.81,-155.7,2997,2610,3440,3482,648.9,-10.8,252,4868,0.00,2.08,0.00,0.000,516,0.000,0.025,3007,1208,3460,3439,3481,0,0,0,0,0,0,27.20,26.72,27.27
$GC,4888,-0.81,-155.7,3007,1209,3440,3482,648.9,-10.8,252,4895,0.00,2.15,0.00,0.000,1030,0.000,0.031,2998,2603,3459,3438,3481,0,0,0,0,0,0,26.68,26.64,26.72
$GC,5193,-0.81,-155.7,2998,2603,3438,3479,684.2,-10.6,263,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2603,3457,3436,3478,0,0,0,0,0,0,27.20,27.28,27.27
$GC,5493,-0.81,-155.7,2998,2604,3435,3477,715.4,-10.3,273,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3454,3433,3476,0,0,0,0,0,0,27.20,27.27,27.27
$GC,5793,-0.81,-155.7,2998,2604,3433,3476,745.9,-10.2,283,5798,0.00,2.08,0.00,0.000,516,0.000,0.026,3007,1210,3453,3431,3475,0,0,0,0,0,0,27.20,26.68,27.27
$GC,5818,-0.81,-155.7,3008,1209,3431,3475,745.9,-10.2,283,5825,0.00,2.15,0.00,0.000,1030,0.000,0.032,2998,2601,3452,3430,3475,0,0,0,0,0,0,26.65,26.60,26.67
$GC,6123,-0.81,-155.7,2999,2601,3429,3473,779.5,-10.0,294,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2601,3451,3429,3473,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6424,-0.81,-155.7,2999,2602,3429,3472,808.6,-9.7,304,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2601,3450,3428,3472,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6723,-0.81,-155.7,2999,2602,3426,3472,837.9,-9.9,314,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2601,3448,3426,3471,0,0,0,0,0,0,27.20,27.27,27.27
$GC,7023,-0.81,-155.7,2997,2602,3427,3471,867.0,-9.5,324,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2601,3447,3425,3470,0,0,0,0,0,0,27.20,27.27,27.27
$GC,7323,-0.81,-155.7,2997,2602,3424,3470,893.6,-8.6,334,7328,0.00,1.70,0.00,0.000,260,0.000,0.046,2990,3690,3446,3423,3469,0,0,0,0,0,0,27.20,26.41,27.27
$GC,7378,-0.81,-155.7,2991,3691,3422,3469,896.4,-8.6,335,7385,0.00,1.58,0.00,0.000,1030,0.000,0.024,2995,2592,3445,3423,3468,0,0,0,0,0,0,26.88,26.82,26.86
$GC,7683,-0.81,-155.7,2996,2593,3422,3468,922.7,-7.3,346,7687,0.00,2.05,0.00,0.000,516,0.000,0.028,3001,1224,3445,3422,3468,0,0,0,0,0,0,27.20,26.63,27.26
$GC,7723,-0.81,-155.7,3001,1225,3423,3469,924.9,-7.3,347,7727,0.00,2.12,0.00,0.000,1030,0.000,0.032,2992,2602,3444,3421,3467,0,0,0,0,0,0,26.58,26.55,26.63
$GC,8043,-0.81,-155.7,2993,2603,3420,3466,948.4,-7.4,358,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2602,3443,3421,3466,0,0,0,0,0,0,27.20,27.27,27.26
$GC,8343,-0.81,-155.7,2992,2603,3422,3466,973.6,-9.1,368,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2602,3442,3420,3465,0,0,0,0,0,0,27.20,27.27,27.26
$STATE,8522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8522,begin apogee
$GC,8526,-0.17,0.0,2992,2424,3420,3466,992.0,-10.4,374,8657,0.75,0.00,128.73,1.223,10246,0.144,0.000,3211,2423,2837,2810,2865,0,0,0,0,0,0,25.50,24.66,23.48
$STATE,8657,end apogee,CONTROL_FINISHED_OK
$STATE,8657,begin climb
$GC,8659,0.81,155.7,3212,2424,2806,2863,999.2,0.0,378,8804,1.05,2.33,136.40,1.215,10756,0.126,0.028,3535,1032,2197,2188,2206,0,0,0,0,0,0,24.95,24.08,22.91
$GC,8988,1.03,307.6,3535,1032,2182,2198,1000.0,3.4,389,9128,0.20,2.17,131.35,1.193,11270,0.108,0.031,3604,2413,1578,1580,1577,0,0,0,0,0,0,25.83,26.10,23.37
$GC,9423,1.03,307.6,3603,2414,1570,1561,950.7,13.2,404,9427,0.00,2.03,0.00,0.000,260,0.000,0.045,3601,3690,1564,1568,1560,0,0,0,0,0,0,26.72,26.27,26.78
$GC,9488,1.03,307.6,3601,3691,1570,1561,941.3,14.4,406,9493,0.00,1.88,0.00,0.000,1030,0.000,0.024,3609,2421,1564,1568,1560,0,0,0,0,0,0,26.58,26.56,26.60
$GC,9813,1.03,307.6,3611,2419,1566,1559,893.0,14.7,417,9817,0.00,2.10,0.00,0.000,516,0.000,0.029,3620,1040,1562,1566,1559,0,0,0,0,0,0,26.99,26.60,27.05
$GC,9828,1.03,307.6,3619,1041,1567,1559,893.0,14.7,417,9832,0.00,2.12,0.00,0.000,1030,0.000,0.031,3618,2416,1561,1564,1558,0,0,0,0,0,0,26.62,26.58,26.65
$GC,10143,1.03,307.6,3619,2416,1563,1558,840.8,16.2,428,10147,0.00,2.00,0.00,0.000,260,0.000,0.045,3617,3690,1561,1564,1558,0,0,0,0,0,0,27.06,26.50,27.13
$GC,10218,1.03,307.6,3617,3690,1564,1558,830.1,17.0,430,10222,0.00,1.85,0.00,0.000,1030,0.000,0.024,3625,2423,1561,1565,1558,0,0,0,0,0,0,26.80,26.79,26.84
$GC,10533,1.03,307.6,3624,2423,1566,1557,777.1,15.5,441,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,2423,1561,1565,1557,0,0,0,0,0,0,27.11,27.19,27.18
$GC,10833,1.03,307.6,3625,2423,1565,1556,735.3,13.5,451,10837,0.00,2.00,0.00,0.000,260,0.000,0.045,3617,3686,1560,1564,1556,0,0,0,0,0,0,27.14,26.51,27.20
$GC,10868,1.03,307.6,3618,3686,1564,1556,730.9,13.7,452,10873,0.00,1.85,0.00,0.000,1030,0.000,0.024,3625,2423,1559,1563,1556,0,0,0,0,0,0,26.84,26.83,26.86
$GC,11193,1.03,307.6,3625,2423,1565,1556,685.4,13.7,463,11197,0.00,2.10,0.00,0.000,516,0.000,0.030,3636,1032,1559,1563,1555,0,0,0,0,0,0,27.15,26.69,27.22
$GC,11218,1.03,307.6,3635,1032,1562,1556,685.4,13.7,463,11226,0.00,2.15,0.00,0.000,1030,0.000,0.031,3627,2425,1558,1561,1555,0,0,0,0,0,0,26.67,26.64,26.71
$GC,11523,1.03,307.6,3628,2427,1561,1555,642.0,12.8,474,11527,0.00,2.00,0.00,0.000,260,0.000,0.047,3617,3695,1558,1561,1555,0,0,0,0,0,0,27.16,26.46,27.22
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$STATE,16836,end climb,SURFACE_DEPTH_REACHED
$STATE,16836,begin surface coast
$FINISH,0.9,1.011886
$STATE,16861,end surface coast,CONTROL_FINISHED_OK
$STATE,16861,begin surface
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$TT8_MAMPS,0.053928,0.053928
$HUMID,41.37
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.91,73.774
$10V_AH,9.88,41.653
$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,229084
$DATA_FILE_SIZE,36850,841
$CAP_FILE_SIZE,142931,0
$CFSIZE,1024393216,997834752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,18344.39,0x236db2,7,5
$CURRENT,0.089,190.57,1
$GPS,100415,210504,1320.454,14456.570,34,0.9,34,1.1,0.9,266.0,10,12.5