version: 66.12
glider: 204
mission: 15
dive: 288
start: 4 25 115 18 5 50
data:
$ID,204
$MISSION,15
$DIVE,288
$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,68
$R_STBD_OVSHOOT,44
$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
$GPS1,250415,180037,1326.4733,14435.0791,37,0.9,37,1.0,0.0,0.0,9,18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.3
$GPS2,250415,180537,1326.5040,14435.0869,20,0.8,20,1.0,0.0,24.0,10,6.7
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,217.6,3823,-19.0,-10.000,-22.37,1925
$D_GRID,1396
$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,-0.84,-126.1,183,2610,790,805,0.0,0.0,0,58,0.00,0.00,-43.28,0.000,16386,0.000,0.000,181,2609,1956,1946,1966,0,0,0,0,0,0,26.86,28.83,26.92
$GC,60,-0.88,-155.7,182,2610,1947,1967,3.2,-5.8,7,117,12.27,2.05,-38.95,0.000,18948,0.223,0.037,2988,1204,3474,3450,3498,0,0,0,0,0,0,25.38,26.00,25.61
$GC,231,-0.88,-155.7,2988,1204,3450,3500,41.5,-26.1,40,238,0.00,2.12,0.00,0.000,1030,0.000,0.031,2979,2602,3474,3450,3499,0,0,0,0,0,0,26.51,26.48,26.55
$GC,538,-0.88,-155.7,2978,2603,3453,3501,115.6,-15.9,74,541,0.00,1.67,0.00,0.000,260,0.000,0.043,2970,3696,3475,3451,3499,0,0,0,0,0,0,27.10,26.48,27.15
$GC,622,-0.88,-155.7,2969,3697,3453,3502,130.9,-18.6,82,629,0.00,1.58,0.00,0.000,1030,0.000,0.021,2977,2565,3476,3451,3501,0,0,0,0,0,0,26.85,26.84,26.87
$GC,927,-0.88,-155.7,2978,2566,3455,3504,181.3,-13.8,113,931,0.00,1.95,0.00,0.000,516,0.000,0.026,2987,1228,3479,3455,3503,0,0,0,0,0,0,27.15,26.71,27.21
$GC,1017,-0.88,-155.7,2988,1229,3456,3504,193.8,-14.3,122,1021,0.00,2.08,0.00,0.000,1030,0.000,0.031,2979,2601,3480,3456,3504,0,0,0,0,0,0,26.67,26.64,26.71
$GC,1337,-0.88,-155.7,2979,2602,3456,3506,241.2,-14.2,136,1341,0.00,1.67,0.00,0.000,260,0.000,0.044,2970,3695,3480,3456,3505,0,0,0,0,0,0,27.17,26.54,27.24
$GC,1407,-0.88,-155.7,2971,3696,3457,3505,249.8,-14.4,138,1412,0.00,1.52,0.00,0.000,1030,0.000,0.021,2977,2600,3481,3457,3505,0,0,0,0,0,0,26.91,26.90,26.92
$GC,1727,-0.88,-155.7,2978,2600,3457,3505,288.2,-10.6,149,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2599,3481,3457,3505,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2027,-0.88,-155.7,2978,2600,3456,3503,325.9,-14.4,159,2032,0.00,2.00,0.00,0.000,516,0.000,0.028,2987,1238,3479,3456,3502,0,0,0,0,0,0,27.18,26.71,27.24
$GC,2072,-0.88,-155.7,2987,1238,3458,3502,330.0,-14.3,160,2076,0.00,2.08,0.00,0.000,1030,0.000,0.031,2979,2603,3478,3456,3501,0,0,0,0,0,0,26.70,26.66,26.72
$GC,2387,-0.88,-155.7,2978,2604,3458,3498,374.2,-13.2,171,2391,0.00,2.03,0.00,0.000,516,0.000,0.024,2987,1221,3477,3456,3498,0,0,0,0,0,0,27.18,26.74,27.24
$GC,2417,-0.88,-155.7,2988,1223,3455,3498,377.9,-12.9,172,2422,0.00,2.10,0.00,0.000,1030,0.000,0.031,2979,2610,3476,3456,3497,0,0,0,0,0,0,26.70,26.66,26.74
$GC,2747,-0.88,-155.7,2978,2611,3455,3494,420.0,-12.7,183,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2610,3473,3453,3493,0,0,0,0,0,0,27.18,27.25,27.24
$GC,3047,-0.88,-155.7,2978,2611,3450,3491,459.3,-13.0,193,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2610,3470,3450,3490,0,0,0,0,0,0,27.18,27.25,27.24
$GC,3347,-0.88,-155.7,2978,2611,3450,3488,495.2,-10.9,203,3352,0.00,1.65,0.00,0.000,260,0.000,0.044,2970,3688,3467,3448,3486,0,0,0,0,0,0,27.18,26.50,27.24
$GC,3372,-0.88,-155.7,2972,3688,3447,3486,495.2,-10.9,203,3379,0.00,1.52,0.00,0.000,1030,0.000,0.023,2977,2612,3466,3448,3485,0,0,0,0,0,0,26.88,26.86,26.89
$GC,3677,-0.88,-155.7,2978,2612,3445,3484,526.7,-10.0,214,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2612,3464,3445,3484,0,0,0,0,0,0,27.18,27.25,27.24
$GC,3977,-0.88,-155.7,2977,2612,3441,3482,560.5,-11.3,224,3981,0.00,2.05,0.00,0.000,516,0.000,0.026,2987,1215,3460,3440,3481,0,0,0,0,0,0,27.18,26.70,27.24
$GC,4007,-0.88,-155.7,2987,1215,3442,3482,564.0,-11.3,225,4012,0.00,2.12,0.00,0.000,1030,0.000,0.031,2979,2604,3460,3440,3481,0,0,0,0,0,0,26.65,26.61,26.67
$GC,4337,-0.88,-155.7,2978,2605,3439,3479,604.2,-12.2,236,4342,0.00,1.67,0.00,0.000,260,0.000,0.045,2970,3692,3457,3437,3478,0,0,0,0,0,0,27.18,26.45,27.24
$GC,4362,-0.88,-155.7,2971,3692,3437,3478,604.2,-12.2,236,4369,0.00,1.55,0.00,0.000,1030,0.000,0.024,2977,2608,3456,3436,3477,0,0,0,0,0,0,26.84,26.83,26.86
$GC,4667,-0.88,-155.7,2978,2608,3434,3476,640.6,-11.0,247,4672,0.00,2.05,0.00,0.000,516,0.000,0.026,2987,1213,3455,3434,3476,0,0,0,0,0,0,27.18,26.67,27.24
$GC,4717,-0.88,-155.7,2987,1214,3435,3477,643.8,-11.0,248,4721,0.00,2.12,0.00,0.000,1030,0.000,0.032,2979,2598,3454,3433,3475,0,0,0,0,0,0,26.62,26.58,26.65
$GC,5027,-0.88,-155.7,2977,2600,3433,3474,683.0,-12.1,259,5031,0.00,1.70,0.00,0.000,260,0.000,0.045,2970,3694,3452,3431,3473,0,0,0,0,0,0,27.17,26.44,27.24
$GC,5052,-0.88,-155.7,2969,3695,3432,3473,683.0,-12.1,259,5059,0.00,1.58,0.00,0.000,1030,0.000,0.024,2977,2595,3452,3431,3473,0,0,0,0,0,0,26.83,26.81,26.85
$GC,5357,-0.88,-155.7,2976,2595,3430,3472,723.7,-12.5,270,5361,0.00,1.73,0.00,0.000,260,0.000,0.046,2970,3693,3450,3429,3471,0,0,0,0,0,0,27.17,26.40,27.23
$GC,5382,-0.88,-155.7,2969,3694,3431,3472,723.7,-12.5,270,5389,0.00,1.58,0.00,0.000,1030,0.000,0.024,2977,2592,3450,3428,3472,0,0,0,0,0,0,26.82,26.80,26.83
$GC,5687,-0.88,-155.7,2976,2593,3428,3470,761.3,-10.6,281,5691,0.00,2.05,0.00,0.000,516,0.000,0.028,2987,1213,3448,3427,3469,0,0,0,0,0,0,27.17,26.62,27.24
$GC,5712,-0.88,-155.7,2987,1214,3428,3470,761.3,-10.6,281,5719,0.00,2.12,0.00,0.000,1030,0.000,0.033,2979,2599,3447,3426,3469,0,0,0,0,0,0,26.58,26.55,26.61
$GC,6017,-0.88,-155.7,2978,2600,3427,3468,799.4,-12.3,292,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2600,3446,3425,3467,0,0,0,0,0,0,27.17,27.24,27.23
$GC,6317,-0.88,-155.7,2980,2600,3422,3466,834.3,-11.2,302,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2600,3443,3422,3465,0,0,0,0,0,0,27.17,27.24,27.23
$GC,6617,-0.88,-155.7,2979,2600,3421,3465,869.4,-11.7,312,6621,0.00,2.05,0.00,0.000,516,0.000,0.026,2988,1217,3443,3422,3464,0,0,0,0,0,0,27.17,26.63,27.23
$GC,6667,-0.88,-155.7,2989,1218,3421,3465,872.7,-11.7,313,6672,0.00,2.12,0.00,0.000,1030,0.000,0.032,2979,2600,3442,3421,3464,0,0,0,0,0,0,26.58,26.54,26.60
$GC,6977,-0.88,-155.7,2978,2600,3420,3463,907.0,-10.4,324,6982,0.00,1.70,0.00,0.000,260,0.000,0.045,2971,3695,3441,3420,3463,0,0,0,0,0,0,27.17,26.36,27.23
$GC,7022,-0.88,-155.7,2970,3695,3421,3464,909.8,-10.2,325,7026,0.00,1.58,0.00,0.000,1030,0.000,0.024,2977,2607,3441,3420,3463,0,0,0,0,0,0,26.80,26.77,26.82
$GC,7337,-0.88,-155.7,2976,2607,3419,3463,939.2,-8.8,336,7341,0.00,2.08,0.00,0.000,516,0.000,0.027,2987,1205,3439,3417,3462,0,0,0,0,0,0,27.17,26.60,27.23
$GC,7357,-0.88,-155.7,2988,1206,3417,3462,939.2,-8.8,336,7361,0.00,2.15,0.00,0.000,1030,0.000,0.031,2979,2601,3440,3418,3462,0,0,0,0,0,0,26.55,26.52,26.59
$GC,7667,-0.88,-155.7,2978,2601,3417,3461,968.7,-9.2,347,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2601,3438,3415,3461,0,0,0,0,0,0,27.17,27.24,27.23
$STATE,7906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7906,begin apogee
$GC,7910,-0.17,0.0,2978,2421,3416,3461,990.5,-8.9,355,8041,0.80,0.00,128.95,1.228,10246,0.143,0.000,3208,2419,2838,2811,2866,0,0,0,0,0,0,25.44,24.72,23.49
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8043,0.88,155.7,3207,2420,2810,2864,995.0,0.0,359,8188,1.12,2.22,136.80,1.216,10756,0.121,0.028,3552,1036,2198,2190,2207,0,0,0,0,0,0,25.06,24.36,23.15
$GC,8342,0.99,233.3,3551,1037,2185,2201,989.7,5.9,369,8414,0.12,2.15,66.57,1.212,11270,0.123,0.030,3591,2415,1887,1885,1890,0,0,0,0,0,0,25.88,26.19,23.84
$GC,8713,0.99,233.3,3592,2414,1875,1876,950.3,11.1,381,8717,0.00,2.10,0.00,0.000,516,0.000,0.029,3602,1039,1875,1875,1875,0,0,0,0,0,0,26.83,26.48,26.89
$GC,8747,0.99,233.3,3603,1040,1873,1876,946.8,11.2,382,8751,0.00,2.12,0.00,0.000,1030,0.000,0.030,3602,2417,1874,1873,1875,0,0,0,0,0,0,26.51,26.47,26.54
$GC,9073,0.99,233.3,3603,2417,1874,1875,909.8,11.1,393,9076,0.00,2.00,0.00,0.000,260,0.000,0.045,3602,3691,1874,1874,1874,0,0,0,0,0,0,27.01,26.45,27.08
$GC,9133,0.99,233.3,3603,3692,1874,1874,902.5,11.7,395,9136,0.00,1.88,0.00,0.000,1030,0.000,0.024,3611,2405,1874,1874,1874,0,0,0,0,0,0,26.77,26.74,26.78
$GC,9463,0.99,233.3,3610,2403,1875,1873,862.3,12.1,406,9466,0.00,2.03,0.00,0.000,260,0.000,0.044,3611,3687,1872,1873,1872,0,0,0,0,0,0,27.08,26.47,27.15
$GC,9542,0.99,233.3,3610,3687,1874,1872,854.2,12.5,408,9547,0.08,1.85,0.00,0.000,5126,0.152,0.024,3596,2416,1872,1873,1872,0,0,0,0,0,0,26.36,26.78,26.41
$GC,9853,0.99,233.3,3597,2414,1872,1872,815.6,11.9,419,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,2413,1871,1872,1871,0,0,0,0,0,0,27.12,27.19,27.18
$GC,10153,0.99,233.3,3597,2414,1871,1872,779.1,12.2,429,10157,0.00,2.03,0.00,0.000,260,0.000,0.045,3596,3694,1871,1871,1872,0,0,0,0,0,0,27.13,26.45,27.20
$GC,10222,0.99,233.3,3596,3694,1871,1872,771.3,12.6,431,10227,0.00,1.85,0.00,0.000,1030,0.000,0.024,3604,2426,1871,1871,1871,0,0,0,0,0,0,26.81,26.79,26.82
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$STATE,17363,end climb,SURFACE_DEPTH_REACHED
$STATE,17363,begin surface coast
$FINISH,0.9,1.006102
$STATE,17378,end surface coast,CONTROL_FINISHED_OK
$STATE,17378,begin surface
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$TT8_MAMPS,0.056175,0.056175
$HUMID,43.58
$INTERNAL_PRESSURE,9.23314
$TCM_TEMP,24.50
$XPDR_PINGS,0
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$10V_AH,9.84,46.398
$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,229112
$DATA_FILE_SIZE,36825,834
$CAP_FILE_SIZE,152897,0
$CFSIZE,1024393216,991559680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$INTR,0,16911.91,0x236db2,7,5
$CURRENT,0.028,51.59,1
$GPS,250415,225653,1324.553,14433.958,39,0.9,39,1.0,0.0,0.0,9,31.1