version: 66.12
glider: 204
mission: 15
dive: 232
start: 4 14 115 19 37 36
data:
$ID,204
$MISSION,15
$DIVE,232
$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,38
$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
$GPS1,140415,193152,1323.8708,14433.9453,36,0.8,36,1.0,0.5,167.6,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.5
$GPS2,140415,193725,1323.8945,14433.9521,6,0.8,6,1.0,0.0,15.4,11,14.5
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,355.4,1533,-27.2,-10.000,-30.00,965
$D_GRID,1900
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.03,-63.0,189,2603,791,801,0.0,0.0,0,58,0.00,0.00,-43.70,0.000,16386,0.000,0.000,189,2604,1973,1951,1995,0,0,0,0,0,0,26.84,28.83,26.91
$GC,59,-1.09,-100.4,190,2603,1952,1996,3.2,-6.0,7,111,11.40,1.70,-33.17,0.000,18692,0.223,0.058,2904,3699,3251,3224,3278,0,0,0,0,0,0,25.58,24.46,25.76
$GC,240,-1.09,-100.4,2904,3701,3225,3281,51.6,-34.0,41,247,0.00,1.58,0.00,0.000,1030,0.000,0.021,2910,2592,3251,3224,3279,0,0,0,0,0,0,26.73,26.71,26.74
$GC,545,-1.09,-100.4,2909,2592,3229,3281,141.9,-22.9,72,550,0.00,2.00,0.00,0.000,516,0.000,0.026,2914,1235,3253,3227,3280,0,0,0,0,0,0,27.12,26.67,27.17
$GC,580,-1.09,-100.4,2914,1236,3228,3281,148.2,-21.8,75,587,0.00,2.08,0.00,0.000,1030,0.000,0.031,2904,2601,3254,3228,3280,0,0,0,0,0,0,26.64,26.61,26.68
$GC,906,-1.09,-100.4,2906,2601,3231,3283,213.7,-20.6,104,910,0.00,1.98,0.00,0.000,516,0.000,0.024,2914,1225,3257,3232,3282,0,0,0,0,0,0,27.17,26.76,27.22
$GC,1015,-1.09,-100.4,2914,1225,3233,3283,229.6,-18.4,107,1019,0.00,2.08,0.00,0.000,1030,0.000,0.031,2904,2597,3257,3233,3282,0,0,0,0,0,0,26.72,26.68,26.76
$GC,1325,-1.09,-100.4,2903,2598,3235,3284,282.6,-16.7,118,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2597,3258,3234,3283,0,0,0,0,0,0,27.20,27.27,27.25
$GC,1625,-1.09,-100.4,2903,2598,3234,3284,329.1,-16.4,128,1630,0.00,1.67,0.00,0.000,260,0.000,0.044,2896,3690,3258,3234,3283,0,0,0,0,0,0,27.20,26.60,27.27
$GC,1690,-1.09,-100.4,2895,3691,3235,3284,339.5,-17.1,130,1694,0.00,1.52,0.00,0.000,1030,0.000,0.021,2903,2593,3258,3234,3283,0,0,0,0,0,0,26.94,26.92,26.96
$GC,2015,-1.09,-100.4,2901,2594,3235,3280,395.6,-17.2,141,2020,0.00,2.00,0.00,0.000,516,0.000,0.026,2914,1237,3255,3233,3278,0,0,0,0,0,0,27.20,26.75,27.27
$GC,2095,-1.09,-100.4,2913,1238,3235,3278,405.6,-17.0,143,2100,0.00,2.08,0.00,0.000,1030,0.000,0.031,2904,2603,3255,3233,3277,0,0,0,0,0,0,26.73,26.70,26.76
$GC,2405,-1.09,-100.4,2905,2604,3233,3274,458.3,-15.3,154,2410,0.00,2.03,0.00,0.000,516,0.000,0.024,2913,1237,3253,3233,3273,0,0,0,0,0,0,27.21,26.75,27.27
$GC,2465,-1.09,-100.4,2913,1237,3234,3274,466.4,-14.3,156,2470,0.00,2.08,0.00,0.000,1030,0.000,0.031,2905,2601,3253,3233,3273,0,0,0,0,0,0,26.72,26.70,26.76
$GC,2795,-1.09,-100.4,2905,2601,3231,3266,512.7,-14.8,167,2800,0.00,1.67,0.00,0.000,260,0.000,0.042,2896,3690,3248,3232,3264,0,0,0,0,0,0,27.21,26.58,27.27
$GC,2860,-1.09,-100.4,2897,3690,3231,3265,522.1,-15.4,169,2864,0.00,1.52,0.00,0.000,1030,0.000,0.023,2903,2613,3247,3231,3264,0,0,0,0,0,0,26.91,26.89,26.94
$GC,3185,-1.09,-100.4,2902,2613,3229,3263,570.4,-13.8,180,3190,0.00,2.05,0.00,0.000,516,0.000,0.026,2914,1226,3244,3227,3261,0,0,0,0,0,0,27.20,26.73,27.27
$GC,3280,-1.09,-100.4,2913,1226,3224,3262,582.3,-13.4,183,3284,0.00,2.10,0.00,0.000,1030,0.000,0.031,2905,2601,3243,3225,3261,0,0,0,0,0,0,26.72,26.68,26.75
$GC,3605,-1.09,-100.4,2905,2602,3222,3261,630.6,-15.2,194,3609,0.00,2.05,0.00,0.000,516,0.000,0.026,2913,1229,3241,3222,3260,0,0,0,0,0,0,27.20,26.71,27.27
$GC,3680,-1.09,-100.4,2913,1228,3221,3261,639.5,-15.1,196,3684,0.00,2.10,0.00,0.000,1030,0.000,0.031,2904,2600,3240,3220,3260,0,0,0,0,0,0,26.69,26.66,26.73
$GC,3995,-1.09,-100.4,2903,2601,3220,3256,684.3,-12.9,207,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2600,3237,3218,3256,0,0,0,0,0,0,27.20,27.27,27.27
$GC,4295,-1.09,-100.4,2905,2601,3215,3254,722.8,-12.8,217,4300,0.00,2.05,0.00,0.000,516,0.000,0.027,2913,1230,3234,3215,3254,0,0,0,0,0,0,27.20,26.70,27.27
$GC,4365,-1.09,-100.4,2914,1231,3214,3254,730.3,-12.8,219,4369,0.00,2.10,0.00,0.000,1030,0.000,0.031,2904,2597,3234,3214,3254,0,0,0,0,0,0,26.67,26.64,26.70
$GC,4685,-1.09,-100.4,2903,2598,3213,3252,771.1,-12.5,230,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2597,3231,3212,3251,0,0,0,0,0,0,27.20,27.27,27.27
$GC,4985,-1.09,-100.4,2903,2598,3210,3250,808.4,-12.5,240,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2597,3229,3209,3249,0,0,0,0,0,0,27.20,27.27,27.27
$GC,5285,-1.09,-100.4,2903,2598,3208,3247,845.8,-12.6,250,5290,0.00,2.05,0.00,0.000,516,0.000,0.027,2913,1229,3226,3206,3246,0,0,0,0,0,0,27.20,26.67,27.27
$GC,5345,-1.09,-100.4,2912,1230,3207,3247,853.1,-12.6,252,5350,0.00,2.10,0.00,0.000,1030,0.000,0.031,2904,2591,3225,3205,3246,0,0,0,0,0,0,26.65,26.61,26.69
$GC,5675,-1.09,-100.4,2905,2592,3204,3246,894.1,-12.8,263,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2591,3225,3205,3246,0,0,0,0,0,0,27.20,27.27,27.26
$GC,5975,-1.09,-100.4,2905,2592,3204,3244,934.2,-13.9,273,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2592,3224,3204,3244,0,0,0,0,0,0,27.20,27.27,27.26
$GC,6275,-1.09,-100.4,2905,2592,3200,3243,978.2,-14.7,283,6280,0.00,1.73,0.00,0.000,260,0.000,0.044,2895,3693,3222,3202,3243,0,0,0,0,0,0,27.20,26.44,27.26
$GC,6315,-1.09,-100.4,2895,3694,3203,3244,982.9,-15.1,284,6320,0.00,1.58,0.00,0.000,1030,0.000,0.024,2902,2610,3221,3201,3242,0,0,0,0,0,0,26.83,26.81,26.85
$STATE,6364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6364,begin apogee
$GC,6368,-0.17,0.0,2905,2406,3201,3243,992.3,-15.7,286,6457,1.10,0.00,81.88,1.258,10246,0.168,0.000,3207,2404,2834,2810,2859,0,0,0,0,0,0,25.33,25.00,23.77
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6459,1.09,100.4,3208,2405,2810,2859,997.6,0.0,289,6555,1.35,2.22,87.68,1.233,10756,0.123,0.028,3626,1038,2424,2408,2441,0,0,0,0,0,0,25.36,24.65,23.46
$GC,6586,1.09,100.4,3627,1038,2403,2437,1004.6,-6.1,293,6589,0.00,2.22,0.00,0.000,1030,0.000,0.029,3626,2421,2419,2403,2436,0,0,0,0,0,0,25.58,25.49,25.60
$GC,6905,1.17,160.1,3625,2422,2403,2431,997.8,3.6,304,6957,0.00,0.00,50.75,1.239,8198,0.000,0.000,3626,2421,2185,2175,2195,0,0,0,0,0,0,26.86,25.24,24.15
$GC,7235,1.17,160.1,3627,2422,2166,2180,967.3,10.5,315,7240,0.00,2.03,0.00,0.000,260,0.000,0.045,3620,3694,2173,2166,2180,0,0,0,0,0,0,26.84,26.36,26.91
$GC,7260,1.17,160.1,3621,3695,2166,2180,967.3,10.5,315,7267,0.00,1.88,0.00,0.000,1030,0.000,0.024,3628,2426,2173,2166,2180,0,0,0,0,0,0,26.63,26.60,26.64
$GC,7565,1.17,160.2,3629,2426,2165,2179,933.0,10.0,326,7570,0.00,2.00,0.00,0.000,260,0.000,0.044,3620,3689,2171,2165,2178,0,0,0,0,0,0,27.02,26.48,27.08
$GC,7795,1.17,160.2,3621,3689,2163,2178,911.5,10.1,333,7799,0.00,1.88,0.00,0.000,1030,0.000,0.025,3628,2410,2171,2164,2178,0,0,0,0,0,0,26.79,26.77,26.82
$GC,8105,1.18,162.9,3630,2407,2162,2177,880.5,9.7,344,8109,0.00,2.03,0.00,0.000,260,0.000,0.044,3620,3692,2170,2163,2177,0,0,0,0,0,0,27.13,26.50,27.18
$GC,8185,1.18,162.9,3619,3692,2164,2178,874.1,10.2,346,8189,0.00,1.88,0.00,0.000,1030,0.000,0.025,3629,2412,2170,2163,2177,0,0,0,0,0,0,26.82,26.80,26.84
$GC,8495,1.18,168.4,3629,2411,2162,2176,842.8,9.4,357,8500,0.00,2.05,1.55,0.243,8708,0.000,0.029,3639,1041,2154,2151,2158,0,0,0,0,0,0,27.15,24.85,24.54
$GC,8530,1.19,174.1,3640,1042,2163,2163,840.4,9.4,358,8545,0.00,2.12,10.82,1.161,9222,0.000,0.030,3630,2422,2129,2122,2136,0,0,0,0,0,0,26.69,26.65,24.76
$GC,8850,1.20,176.3,3629,2424,2117,2129,807.8,9.8,369,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,3630,2423,2121,2115,2128,0,0,0,0,0,0,27.04,27.11,27.10
$GC,9150,1.20,176.4,3631,2423,2115,2128,778.9,10.0,379,9154,0.00,1.98,0.00,0.000,260,0.000,0.044,3620,3688,2121,2115,2128,0,0,0,0,0,0,27.10,26.46,27.17
$GC,9245,1.20,176.4,3619,3689,2116,2128,769.0,10.7,382,9250,0.00,1.85,0.00,0.000,1030,0.000,0.024,3629,2426,2121,2115,2127,0,0,0,0,0,0,26.81,26.78,26.83
$GC,9570,1.20,177.4,3628,2427,2116,2128,736.3,9.9,393,9574,0.00,2.00,0.00,0.000,260,0.000,0.044,3620,3694,2120,2114,2127,0,0,0,0,0,0,27.15,26.46,27.20
$GC,9625,1.20,178.5,3620,3694,2113,2127,733.2,9.9,394,9632,0.00,1.88,0.85,0.213,9222,0.000,0.024,3629,2415,2110,2107,2114,0,0,0,0,0,0,26.82,26.80,25.38
$GC,9931,1.23,197.3,3628,2415,2120,2118,704.6,8.0,405,9956,0.12,2.08,20.80,1.079,10756,0.155,0.030,3672,1037,2030,2024,2036,0,0,0,0,0,0,26.66,25.51,24.77
$GC,9975,1.25,216.2,3673,1037,2018,2033,704.6,8.0,405,9996,0.00,2.15,17.08,1.072,9222,0.000,0.031,3663,2415,1957,1952,1962,0,0,0,0,0,0,26.43,26.39,24.56
$GC,10310,1.25,216.2,3664,2415,1945,1950,664.1,10.8,417,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,3663,2415,1947,1945,1949,0,0,0,0,0,0,26.91,26.98,26.97
$GC,10610,1.25,216.2,3662,2415,1946,1949,632.4,10.4,427,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,3663,2414,1946,1944,1948,0,0,0,0,0,0,27.04,27.11,27.10
$GC,10910,1.25,216.2,3664,2415,1943,1948,597.5,12.1,437,10914,0.00,2.00,0.00,0.000,260,0.000,0.044,3654,3685,1945,1943,1948,0,0,0,0,0,0,27.10,26.41,27.17
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$STATE,16711,end climb,SURFACE_DEPTH_REACHED
$STATE,16712,begin surface coast
$FINISH,0.9,1.000087
$STATE,16726,end surface coast,CONTROL_FINISHED_OK
$STATE,16726,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,41.17
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.46,76.947
$10V_AH,9.87,42.942
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.375,130.725,394.700,51.200,0.000,0.000,0.000,264.500,0.000,0.000,7.971,0.000,13768.489,621.740,2592.408,132.568,0.000,1878.824,0.000,1829.378,0.000,0.546,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229060
$DATA_FILE_SIZE,36803,821
$CAP_FILE_SIZE,148345,0
$CFSIZE,1024393216,996130816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17407.44,0x236db2,7,5
$CURRENT,0.077,57.26,1
$GPS,150415,001828,1326.366,14434.264,39,1.0,39,1.0,0.6,38.9,8,17.0