version: 66.12
glider: 204
mission: 15
dive: 218
start: 4 12 115 1 45 38
data:
$ID,204
$MISSION,15
$DIVE,218
$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,83
$R_STBD_OVSHOOT,65
$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
$GPS1,120415,014059,1309.4678,14441.7920,18,0.8,18,1.1,0.0,0.0,10,31.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.4
$GPS2,120415,014527,1309.4656,14441.7480,21,0.8,21,1.1,0.0,301.9,10,11.3
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,N11
$TGT_LATLONG,1309.000,14436.180
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,276.6,10079,-16.9,-10.000,-20.51,2373
$D_GRID,708
$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,-155.7,196,2632,710,685,0.0,0.0,0,64,0.00,0.00,-49.42,0.000,16386,0.000,0.000,196,2632,2033,2008,2059,0,0,0,0,0,0,26.91,28.83,26.98
$GC,66,-0.81,-155.7,198,2632,2007,2060,3.3,-5.2,8,118,11.75,1.65,-35.25,0.000,18692,0.225,0.061,2994,3675,3474,3449,3500,0,0,0,0,0,0,25.62,24.51,25.81
$GC,342,-0.81,-155.7,2994,3676,3448,3505,76.2,-29.3,54,347,0.00,1.52,0.00,0.000,1030,0.000,0.021,3000,2590,3476,3449,3504,0,0,0,0,0,0,26.81,26.79,26.82
$GC,652,-0.81,-155.7,3000,2590,3450,3504,142.3,-16.6,85,657,0.00,1.67,0.00,0.000,260,0.000,0.044,2993,3672,3477,3450,3504,0,0,0,0,0,0,27.15,26.55,27.20
$GC,697,-0.81,-155.7,2992,3673,3452,3505,149.2,-17.3,89,704,0.00,1.50,0.00,0.000,1030,0.000,0.021,3000,2595,3478,3451,3505,0,0,0,0,0,0,26.89,26.88,26.91
$GC,1002,-0.81,-155.7,2999,2595,3457,3507,200.0,-16.0,120,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2595,3480,3455,3506,0,0,0,0,0,0,27.18,27.25,27.24
$GC,1312,-0.81,-155.7,2999,2595,3459,3508,241.7,-12.8,131,1316,0.00,2.00,0.00,0.000,516,0.000,0.027,3008,1237,3482,3457,3508,0,0,0,0,0,0,27.20,26.77,27.26
$GC,1382,-0.81,-155.7,3007,1237,3458,3509,249.1,-12.5,133,1386,0.00,2.03,0.00,0.000,1030,0.000,0.032,3000,2571,3482,3458,3507,0,0,0,0,0,0,26.74,26.71,26.78
$GC,1702,-0.81,-155.7,3000,2572,3457,3507,280.6,-7.9,144,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2572,3482,3458,3507,0,0,0,0,0,0,27.20,27.27,27.26
$GC,2002,-0.81,-155.7,3000,2572,3458,3508,323.9,-15.6,154,2006,0.00,1.73,0.00,0.000,260,0.000,0.044,2991,3692,3482,3457,3507,0,0,0,0,0,0,27.21,26.60,27.27
$GC,2072,-0.81,-155.7,2992,3692,3457,3507,332.9,-14.9,156,2076,0.00,1.52,0.00,0.000,1030,0.000,0.021,2998,2603,3481,3457,3506,0,0,0,0,0,0,26.96,26.94,26.97
$GC,2392,-0.81,-155.7,2998,2602,3457,3503,368.0,-8.7,167,2396,0.00,2.03,0.00,0.000,516,0.000,0.027,3007,1232,3479,3457,3502,0,0,0,0,0,0,27.21,26.77,27.27
$GC,2452,-0.81,-155.7,3008,1233,3457,3502,374.4,-9.6,169,2456,0.00,2.10,0.00,0.000,1030,0.000,0.034,2999,2603,3479,3457,3501,0,0,0,0,0,0,26.73,26.69,26.77
$GC,2782,-0.81,-155.7,3000,2604,3455,3497,409.2,-8.9,180,2786,0.00,1.67,0.00,0.000,260,0.000,0.047,2991,3689,3476,3455,3497,0,0,0,0,0,0,27.21,26.57,27.27
$GC,2822,-0.81,-155.7,2990,3690,3457,3497,411.7,-8.7,181,2826,0.00,1.52,0.00,0.000,1030,0.000,0.022,2998,2611,3476,3456,3496,0,0,0,0,0,0,26.94,26.92,26.96
$GC,3142,-0.81,-155.7,2997,2612,3454,3495,451.0,-11.8,192,3146,0.00,1.67,0.00,0.000,260,0.000,0.043,2990,3689,3473,3453,3494,0,0,0,0,0,0,27.21,26.60,27.27
$GC,3187,-0.81,-155.7,2990,3690,3454,3494,453.9,-11.0,193,3192,0.00,1.55,0.00,0.000,1030,0.000,0.023,2997,2602,3473,3453,3493,0,0,0,0,0,0,26.92,26.91,26.95
$GC,3502,-0.81,-155.7,2998,2602,3449,3491,490.0,-13.4,204,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2602,3470,3450,3491,0,0,0,0,0,0,27.21,27.28,27.27
$GC,3802,-0.81,-155.7,2998,2601,3447,3488,526.9,-12.0,214,3806,0.00,1.70,0.00,0.000,260,0.000,0.044,2990,3692,3468,3448,3488,0,0,0,0,0,0,27.21,26.56,27.27
$GC,3862,-0.81,-155.7,2990,3693,3449,3489,533.9,-11.8,216,3866,0.00,1.55,0.00,0.000,1030,0.000,0.024,2997,2608,3467,3447,3487,0,0,0,0,0,0,26.91,26.89,26.92
$GC,4192,-0.81,-155.7,2998,2609,3444,3485,566.8,-10.4,227,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2609,3464,3444,3485,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4492,-0.81,-155.7,2998,2609,3440,3483,596.1,-9.8,237,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2609,3461,3441,3482,0,0,0,0,0,0,27.21,27.28,27.27
$GC,4792,-0.81,-155.7,2997,2609,3441,3481,626.4,-10.1,247,4796,0.00,2.08,0.00,0.000,516,0.000,0.026,3007,1207,3458,3438,3479,0,0,0,0,0,0,27.21,26.73,27.27
$GC,4847,-0.81,-155.7,3006,1208,3438,3481,629.6,-10.3,248,4854,0.00,2.15,0.00,0.000,1030,0.000,0.031,2999,2604,3458,3436,3480,0,0,0,0,0,0,26.70,26.67,26.74
$GC,5152,-0.81,-155.7,2998,2605,3436,3478,666.3,-11.2,259,5156,0.00,2.08,0.00,0.000,516,0.000,0.026,3007,1214,3456,3435,3477,0,0,0,0,0,0,27.21,26.72,27.27
$GC,5237,-0.81,-155.7,3006,1214,3435,3477,673.4,-11.6,261,5244,0.00,2.15,0.00,0.000,1030,0.000,0.032,2998,2604,3455,3433,3477,0,0,0,0,0,0,26.67,26.63,26.71
$STATE,5481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5481,begin apogee
$GC,5484,-0.17,0.0,2997,2415,3434,3476,708.1,-13.7,270,5613,0.73,0.00,126.18,1.056,10246,0.145,0.000,3211,2413,2838,2813,2864,0,0,0,0,0,0,25.77,25.04,23.97
$STATE,5614,end apogee,CONTROL_FINISHED_OK
$STATE,5614,begin climb
$GC,5615,0.81,155.7,3211,2414,2810,2859,718.0,0.0,274,5754,1.00,2.17,128.82,1.041,11012,0.116,0.046,3515,3693,2196,2192,2201,0,0,0,0,0,0,25.34,24.78,23.73
$GC,5979,1.14,387.1,3515,3693,2186,2191,722.4,-0.0,286,6180,0.30,1.88,193.77,1.038,11270,0.080,0.023,3635,2421,1260,1274,1246,0,0,0,0,0,0,26.27,26.52,23.88
$GC,6504,1.14,387.1,3636,2422,1255,1221,645.7,18.1,304,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,3635,2421,1237,1255,1220,0,0,0,0,0,0,26.85,26.92,26.91
$GC,6804,1.14,387.1,3636,2422,1252,1219,586.2,19.7,314,6809,0.00,2.00,0.00,0.000,260,0.000,0.044,3627,3689,1235,1252,1219,0,0,0,0,0,0,27.02,26.53,27.09
$GC,6829,1.14,387.1,3626,3689,1252,1219,586.2,19.7,314,6836,0.00,1.88,0.00,0.000,1030,0.000,0.024,3635,2406,1235,1252,1218,0,0,0,0,0,0,26.79,26.78,26.82
$GC,7134,1.14,387.1,3634,2406,1254,1218,520.9,19.3,325,7139,0.00,2.03,0.00,0.000,260,0.000,0.045,3627,3688,1234,1252,1217,0,0,0,0,0,0,27.10,26.57,27.16
$GC,7179,1.14,387.1,3626,3689,1252,1218,515.3,19.1,326,7183,0.00,1.85,0.00,0.000,1030,0.000,0.024,3635,2424,1233,1250,1217,0,0,0,0,0,0,26.85,26.83,26.87
$GC,7494,1.14,387.1,3633,2424,1252,1217,459.1,17.7,337,7498,0.00,2.00,0.00,0.000,260,0.000,0.044,3626,3693,1232,1250,1215,0,0,0,0,0,0,27.14,26.58,27.20
$GC,7514,1.14,387.1,3627,3693,1249,1216,459.1,17.7,337,7518,0.00,1.85,0.00,0.000,1030,0.000,0.024,3635,2423,1232,1249,1215,0,0,0,0,0,0,26.88,26.85,26.89
$GC,7824,1.14,387.1,3634,2423,1250,1216,406.9,15.3,348,7828,0.00,2.00,0.00,0.000,260,0.000,0.044,3626,3693,1232,1249,1215,0,0,0,0,0,0,27.16,26.58,27.22
$GC,7854,1.14,387.1,3626,3693,1250,1216,402.0,15.3,349,7859,0.00,1.88,0.00,0.000,1030,0.000,0.024,3635,2412,1231,1248,1215,0,0,0,0,0,0,26.88,26.85,26.90
$GC,8184,1.14,387.1,3636,2411,1248,1215,349.8,16.0,360,8189,0.00,2.03,0.00,0.000,260,0.000,0.047,3626,3693,1231,1248,1214,0,0,0,0,0,0,27.17,26.54,27.23
$GC,8239,1.14,387.1,3627,3693,1247,1214,344.3,16.4,361,8246,0.00,1.88,0.00,0.000,1030,0.000,0.024,3635,2413,1230,1247,1214,0,0,0,0,0,0,26.88,26.85,26.89
$GC,8544,1.14,387.1,3636,2414,1247,1214,289.9,15.1,372,8548,0.00,2.03,0.00,0.000,260,0.000,0.045,3626,3699,1230,1247,1214,0,0,0,0,0,0,27.17,26.53,27.24
$GC,8569,1.14,387.1,3625,3700,1248,1214,289.9,15.1,372,8576,0.00,1.88,0.00,0.000,1030,0.000,0.027,3635,2423,1229,1246,1212,0,0,0,0,0,0,26.86,26.83,26.87
$GC,8874,1.14,387.1,3635,2424,1244,1214,245.5,13.8,383,8878,0.00,2.00,0.00,0.000,260,0.000,0.044,3627,3694,1228,1245,1212,0,0,0,0,0,0,27.18,26.53,27.24
$GC,8939,1.14,387.1,3626,3694,1246,1212,236.5,14.6,385,8943,0.00,1.88,0.00,0.000,1030,0.000,0.024,3635,2409,1228,1245,1212,0,0,0,0,0,0,26.88,26.85,26.90
$GC,9244,1.14,387.1,3636,2406,1244,1211,194.9,13.5,396,9248,0.00,2.08,0.00,0.000,516,0.000,0.030,3646,1034,1228,1245,1211,0,0,0,0,0,0,27.18,26.70,27.24
$GC,9339,1.14,387.1,3647,1034,1245,1211,183.7,12.1,405,9346,0.00,2.12,0.00,0.000,1030,0.000,0.031,3636,2419,1227,1244,1210,0,0,0,0,0,0,26.71,26.67,26.74
$GC,9644,1.18,410.8,3636,2420,1246,1211,151.7,9.0,436,9667,0.00,2.03,17.62,0.667,8452,0.000,0.044,3626,3694,1157,1175,1140,0,0,0,0,0,0,27.19,25.94,24.96
$GC,9681,1.21,432.0,3626,3695,1173,1135,148.9,9.1,439,9708,0.00,1.88,19.77,0.667,9222,0.000,0.024,3635,2413,1070,1090,1051,0,0,0,0,0,0,26.72,26.70,25.03
$GC,10006,1.21,432.0,3634,2413,1085,1039,111.6,10.3,472,10009,0.00,2.08,0.00,0.000,516,0.000,0.031,3646,1045,1061,1083,1039,0,0,0,0,0,0,27.00,26.56,27.06
$GC,10096,1.25,458.1,3645,1046,1086,1040,103.6,8.9,481,10122,0.00,2.10,22.30,0.641,9222,0.000,0.029,3636,2417,970,994,947,0,0,0,0,0,0,26.62,26.59,25.17
$GC,10421,1.26,468.3,3637,2418,981,930,71.1,9.6,513,10433,0.12,2.03,2.83,0.412,10500,0.187,0.043,3658,3701,936,962,910,0,0,0,0,0,0,26.43,25.80,24.58
$GC,10477,1.26,468.3,3657,3701,974,922,66.1,10.1,518,10484,0.00,1.88,1.95,0.158,9222,0.000,0.023,3667,2416,931,957,905,0,0,0,0,0,0,26.74,26.72,25.67
$GC,10782,1.26,468.3,3668,2416,977,919,33.4,11.4,564,10790,0.00,2.05,2.10,0.170,8708,0.000,0.029,3677,1033,934,962,906,0,0,0,0,0,0,27.10,25.73,25.56
$GC,10844,1.26,468.3,3677,1033,975,917,27.0,10.6,576,10852,0.00,2.10,1.75,0.151,9222,0.000,0.031,3668,2415,929,958,901,0,0,0,0,0,0,26.67,26.64,25.73
$STATE,11100,end climb,SURFACE_DEPTH_REACHED
$STATE,11100,begin surface coast
$FINISH,0.9,1.011886
$STATE,11121,end surface coast,CONTROL_FINISHED_OK
$STATE,11121,begin surface
$SM_CCo,11137,14.45,0.121,0,0,797,500.17
$SM_GC,2.64,10.02,0.28,14.45,0.077,0.054,0.121,194,2620,797,-9.53,-0.99,500.17,0,0,0,0,0,0,26.68,26.85,25.97
$IRIDIUM_FIX,1303.16,14439.07,060208,150825
$TT8_MAMPS,0.053928,0.053928
$HUMID,43.14
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.73,74.901
$10V_AH,9.91,42.072
$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,23.925,87.900,517.100,14.450,0.000,0.000,0.000,192.250,0.000,0.000,22.458,0.000,8776.825,628.630,1909.033,98.766,0.000,1585.745,0.000,1338.692,0.000,0.547,0.000
$DEVICE_MAMPS,224.910,61.200,1056.465,120.870,0.000,0.000,0.000,79.560,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,421.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229036
$DATA_FILE_SIZE,26764,631
$CAP_FILE_SIZE,105076,0
$CFSIZE,1024393216,997343232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$INTR,0,13051.24,0x236db2,7,5
$CURRENT,0.155,234.90,1
$GPS,120415,045229,1309.124,14439.071,41,0.7,41,1.1,0.0,0.0,10,14.1