version: 66.12
glider: 204
mission: 15
dive: 213
start: 4 11 115 2 7 45
data:
$ID,204
$MISSION,15
$DIVE,213
$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,85
$R_STBD_OVSHOOT,41
$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
$GPS1,110415,020304,1317.8597,14454.5049,29,0.8,29,1.1,0.6,56.7,10,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.5
$GPS2,110415,020735,1317.8943,14454.4736,5,0.9,5,1.1,0.0,0.0,9,15.0
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N10
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,219.5,20190,-16.9,-10.000,-20.51,2373
$D_GRID,1117
$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,-155.7,188,2624,803,802,0.0,0.0,0,58,0.00,0.00,-43.10,0.000,16386,0.000,0.000,188,2623,1971,1948,1995,0,0,0,0,0,0,26.86,28.83,26.93
$GC,60,-0.81,-155.7,188,2624,1952,1997,3.4,-5.9,7,117,11.77,2.12,-38.12,0.000,18948,0.223,0.041,3008,1223,3476,3449,3503,0,0,0,0,0,0,25.60,24.45,25.79
$GC,241,-0.81,-155.7,3008,1223,3449,3504,39.5,-24.3,42,248,0.00,2.10,0.00,0.000,1030,0.000,0.033,2999,2589,3476,3450,3502,0,0,0,0,0,0,26.51,26.48,26.55
$GC,547,-0.81,-155.7,2999,2589,3453,3505,114.3,-22.8,77,552,0.00,2.03,0.00,0.000,516,0.000,0.026,3007,1226,3478,3452,3504,0,0,0,0,0,0,27.10,26.66,27.15
$GC,627,-0.81,-155.7,3008,1226,3453,3505,129.8,-19.8,85,632,0.00,2.10,0.00,0.000,1030,0.000,0.033,2999,2599,3478,3453,3504,0,0,0,0,0,0,26.62,26.60,26.67
$GC,937,-0.81,-155.7,2998,2600,3456,3507,183.4,-16.9,116,942,0.00,2.03,0.00,0.000,516,0.000,0.024,3007,1227,3481,3455,3507,0,0,0,0,0,0,27.16,26.74,27.22
$GC,997,-0.81,-155.7,3007,1227,3457,3507,193.4,-15.9,122,1002,0.00,2.10,0.00,0.000,1030,0.000,0.032,2998,2604,3481,3456,3507,0,0,0,0,0,0,26.70,26.65,26.73
$GC,1317,-0.81,-155.7,2998,2605,3460,3509,233.4,-11.5,136,1321,0.00,1.67,0.00,0.000,260,0.000,0.045,2990,3693,3483,3458,3508,0,0,0,0,0,0,27.19,26.55,27.25
$GC,1402,-0.81,-155.7,2990,3694,3460,3508,242.5,-13.2,138,1410,0.00,1.55,0.00,0.000,1030,0.000,0.021,2997,2589,3483,3458,3508,0,0,0,0,0,0,26.94,26.91,26.95
$GC,1707,-0.81,-155.7,2996,2590,3461,3509,285.8,-13.9,149,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2589,3483,3459,3508,0,0,0,0,0,0,27.20,27.27,27.26
$GC,2007,-0.81,-155.7,2998,2590,3458,3508,321.8,-10.5,159,2011,0.00,1.70,0.00,0.000,260,0.000,0.044,2990,3692,3483,3459,3508,0,0,0,0,0,0,27.20,26.59,27.27
$GC,2147,-0.81,-155.7,2990,3691,3458,3509,334.4,-10.5,163,2151,0.00,1.52,0.00,0.000,1030,0.000,0.022,2997,2607,3483,3459,3508,0,0,0,0,0,0,26.96,26.91,26.96
$GC,2457,-0.81,-155.7,2998,2608,3457,3506,368.9,-10.6,174,2461,0.00,2.03,0.00,0.000,516,0.000,0.024,3007,1222,3482,3459,3506,0,0,0,0,0,0,27.21,26.79,27.27
$GC,2497,-0.81,-155.7,3006,1223,3460,3507,372.0,-10.5,175,2501,0.00,2.10,0.00,0.000,1030,0.000,0.030,2998,2606,3481,3458,3505,0,0,0,0,0,0,26.73,26.70,26.77
$GC,2817,-0.81,-155.7,2999,2607,3458,3500,405.0,-10.0,186,2821,0.00,2.05,0.00,0.000,516,0.000,0.027,3007,1232,3479,3458,3500,0,0,0,0,0,0,27.21,26.74,27.27
$GC,2872,-0.81,-155.7,3005,1233,3460,3500,408.0,-10.0,187,2879,0.00,2.08,0.00,0.000,1030,0.000,0.031,2998,2591,3478,3458,3498,0,0,0,0,0,0,26.72,26.68,26.74
$GC,3177,-0.81,-155.7,2998,2592,3457,3497,446.0,-12.4,198,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2591,3475,3455,3496,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3477,-0.81,-155.7,2999,2591,3452,3494,484.7,-12.8,208,3481,0.00,1.70,0.00,0.000,260,0.000,0.046,2990,3688,3472,3452,3493,0,0,0,0,0,0,27.20,26.54,27.27
$GC,3512,-0.81,-155.7,2989,3688,3453,3494,488.4,-12.5,209,3516,0.00,1.55,0.00,0.000,1030,0.000,0.023,2995,2599,3471,3451,3492,0,0,0,0,0,0,26.91,26.89,26.93
$GC,3837,-0.81,-155.7,2995,2599,3450,3490,521.4,-9.6,220,3841,0.00,2.05,0.00,0.000,516,0.000,0.027,3005,1218,3469,3449,3490,0,0,0,0,0,0,27.21,26.73,27.27
$GC,3902,-0.81,-155.7,3003,1219,3450,3491,526.9,-9.4,222,3906,0.00,2.12,0.00,0.000,1030,0.000,0.031,2996,2602,3469,3448,3490,0,0,0,0,0,0,26.70,26.66,26.72
$GC,4227,-0.81,-155.7,2997,2603,3446,3488,558.2,-10.1,233,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2602,3467,3447,3487,0,0,0,0,0,0,27.20,27.27,27.27
$GC,4527,-0.81,-155.7,2996,2603,3444,3485,590.5,-11.1,243,4531,0.00,1.70,0.00,0.000,260,0.000,0.045,2988,3693,3464,3444,3485,0,0,0,0,0,0,27.20,26.51,27.27
$GC,4547,-0.81,-155.7,2987,3694,3446,3486,590.5,-11.1,243,4551,0.00,1.58,0.00,0.000,1030,0.000,0.024,2994,2590,3464,3444,3485,0,0,0,0,0,0,26.89,26.88,26.91
$GC,4857,-0.81,-155.7,2995,2590,3440,3484,624.2,-9.7,254,4861,0.00,2.05,0.00,0.000,516,0.000,0.026,3004,1209,3461,3440,3483,0,0,0,0,0,0,27.20,26.71,27.27
$GC,4902,-0.81,-155.7,3003,1209,3442,3484,627.1,-9.6,255,4906,0.00,2.15,0.00,0.000,1030,0.000,0.032,2996,2601,3461,3440,3483,0,0,0,0,0,0,26.66,26.62,26.70
$GC,5217,-0.81,-155.7,2995,2602,3439,3482,655.0,-8.2,266,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2601,3460,3439,3481,0,0,0,0,0,0,27.20,27.27,27.27
$GC,5517,-0.81,-155.7,2996,2602,3435,3479,680.5,-8.7,276,5521,0.00,2.05,0.00,0.000,516,0.000,0.025,3004,1229,3457,3436,3479,0,0,0,0,0,0,27.20,26.70,27.27
$GC,5557,-0.81,-155.7,3004,1229,3436,3479,683.3,-8.8,277,5561,0.00,2.10,0.00,0.000,1030,0.000,0.031,2995,2597,3457,3436,3479,0,0,0,0,0,0,26.65,26.62,26.69
$GC,5877,-0.81,-155.7,2994,2598,3436,3478,718.5,-11.5,288,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2597,3455,3433,3477,0,0,0,0,0,0,27.20,27.27,27.27
$GC,6177,-0.81,-155.7,2993,2598,3433,3476,754.1,-11.7,298,6181,0.00,1.73,0.00,0.000,260,0.000,0.047,2986,3694,3454,3432,3476,0,0,0,0,0,0,27.20,26.44,27.27
$GC,6212,-0.81,-155.7,2987,3695,3432,3476,757.8,-11.8,299,6216,0.00,1.58,0.00,0.000,1030,0.000,0.024,2993,2609,3453,3431,3475,0,0,0,0,0,0,26.86,26.87,26.88
$GC,6537,-0.81,-155.7,2994,2609,3430,3474,794.2,-10.6,310,6541,0.00,2.08,0.00,0.000,516,0.000,0.026,3003,1212,3452,3430,3474,0,0,0,0,0,0,27.20,26.68,27.26
$GC,6567,-0.81,-155.7,3002,1212,3431,3475,797.1,-10.4,311,6571,0.00,2.15,0.00,0.000,1030,0.000,0.032,2994,2600,3452,3430,3474,0,0,0,0,0,0,26.61,26.57,26.65
$GC,6897,-0.81,-155.7,2995,2601,3428,3472,830.4,-9.9,322,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2600,3450,3428,3472,0,0,0,0,0,0,27.20,27.27,27.26
$GC,7197,-0.81,-155.7,2995,2601,3427,3471,857.8,-9.0,332,7201,0.00,2.08,0.00,0.000,516,0.000,0.026,3003,1210,3449,3427,3471,0,0,0,0,0,0,27.20,26.66,27.26
$GC,7237,-0.81,-155.7,3002,1211,3429,3473,860.5,-9.1,333,7241,0.00,2.15,0.00,0.000,1030,0.000,0.032,2994,2601,3449,3427,3471,0,0,0,0,0,0,26.59,26.55,26.62
$GC,7557,-0.81,-155.7,2995,2601,3425,3471,892.4,-10.0,344,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3448,3425,3471,0,0,0,0,0,0,27.20,27.27,27.26
$GC,7857,-0.81,-155.7,2995,2601,3425,3470,922.9,-9.9,354,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3447,3425,3469,0,0,0,0,0,0,27.20,27.27,27.26
$GC,8157,-0.81,-155.7,2993,2601,3425,3470,952.6,-9.8,364,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2601,3445,3422,3468,0,0,0,0,0,0,27.20,27.27,27.26
$GC,8457,-0.81,-155.7,2992,2601,3424,3469,982.1,-9.6,374,8461,0.00,2.10,0.00,0.000,516,0.000,0.027,3000,1205,3445,3422,3468,0,0,0,0,0,0,27.20,26.62,27.26
$GC,8482,-0.81,-155.7,3001,1205,3422,3469,982.1,-9.6,374,8489,0.00,2.17,0.00,0.000,1030,0.000,0.031,2991,2608,3445,3422,3468,0,0,0,0,0,0,26.58,26.53,26.61
$STATE,8546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8546,begin apogee
$GC,8549,-0.17,0.0,2992,2424,3421,3469,991.0,-9.8,377,8681,0.75,0.00,129.20,1.240,10246,0.144,0.000,3209,2422,2837,2810,2865,0,0,0,0,0,0,25.48,24.62,23.42
$STATE,8682,end apogee,CONTROL_FINISHED_OK
$STATE,8682,begin climb
$GC,8683,0.81,155.7,3211,2422,2807,2863,997.0,0.0,381,8828,1.05,2.30,136.75,1.213,10756,0.125,0.027,3533,1019,2197,2188,2206,0,0,0,0,0,0,24.92,24.06,22.90
$GC,9002,0.96,262.8,3534,1019,2180,2198,992.8,5.4,392,9100,0.15,2.22,91.90,1.197,11270,0.120,0.029,3577,2426,1761,1762,1761,0,0,0,0,0,0,25.75,26.06,23.61
$GC,9417,0.96,262.8,3578,2426,1753,1746,945.4,12.6,406,9421,0.00,2.03,0.00,0.000,260,0.000,0.047,3569,3695,1749,1753,1745,0,0,0,0,0,0,26.77,26.31,26.84
$GC,9477,0.96,262.8,3570,3696,1753,1746,937.3,13.0,408,9481,0.00,1.90,0.00,0.000,1030,0.000,0.024,3577,2418,1749,1753,1745,0,0,0,0,0,0,26.60,26.58,26.62
$GC,9807,0.96,262.8,3577,2417,1751,1744,894.6,12.6,419,9811,0.00,2.03,0.00,0.000,260,0.000,0.046,3569,3687,1747,1751,1743,0,0,0,0,0,0,27.00,26.46,27.06
$GC,9837,0.96,262.8,3568,3688,1753,1744,891.0,12.4,420,9841,0.00,1.88,0.00,0.000,1030,0.000,0.024,3578,2410,1746,1750,1743,0,0,0,0,0,0,26.75,26.73,26.77
$GC,10167,0.96,262.8,3577,2408,1752,1742,854.0,10.9,431,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2407,1746,1750,1742,0,0,0,0,0,0,27.08,27.15,27.14
$GC,10467,0.96,262.8,3579,2407,1748,1742,821.8,10.9,441,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2407,1745,1750,1741,0,0,0,0,0,0,27.11,27.18,27.18
$GC,10767,0.96,262.8,3578,2407,1749,1741,787.2,11.5,451,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2407,1744,1749,1740,0,0,0,0,0,0,27.13,27.21,27.20
$GC,11067,0.96,262.8,3578,2407,1748,1741,751.6,11.9,461,11071,0.00,2.05,0.00,0.000,260,0.000,0.047,3571,3692,1744,1748,1740,0,0,0,0,0,0,27.15,26.47,27.22
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$STATE,17869,end climb,SURFACE_DEPTH_REACHED
$STATE,17869,begin surface coast
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$STATE,17884,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,9.91,41.782
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$FG_AHR_10Vo,0.000
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$CAP_FILE_SIZE,154112,0
$CFSIZE,1024393216,997654528
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