version: 66.12
glider: 204
mission: 15
dive: 13
start: 3 3 115 5 40 20
data:
$ID,204
$MISSION,15
$DIVE,13
$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,300
$T_MISSION,330
$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,250
$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,4
$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,3290
$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,65
$R_STBD_OVSHOOT,45
$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,22.5
$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,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,030315,053605,1310.6998,14441.1885,29,0.8,29,1.1,0.9,282.7,9,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.5
$GPS2,030315,054010,1310.6805,14441.1064,5,0.9,5,1.1,0.0,0.0,8,13.9
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,64.8,10231,-14.4,-11.000,-18.13,3362
$D_GRID,701
$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,12,-0.85,-243.3,193,2622,813,802,0.0,0.0,0,62,0.00,0.00,-48.40,0.000,16386,0.000,0.000,192,2620,2124,2084,2165,0,0,0,0,0,0,26.83,28.83,26.90
$GC,64,-0.85,-243.3,193,2622,2085,2167,3.0,-5.8,8,121,11.55,2.12,-37.20,0.000,18948,0.237,0.044,3010,1201,3834,3782,3887,0,0,0,0,0,0,26.33,25.43,26.47
$GC,185,-0.85,-243.3,3011,1202,3783,3889,30.5,-24.1,31,192,0.00,2.12,0.00,0.000,1030,0.000,0.034,3001,2592,3835,3783,3887,0,0,0,0,0,0,26.70,26.67,26.73
$GC,495,-0.85,-243.3,3001,2592,3784,3888,124.3,-29.5,69,500,0.00,1.70,0.00,0.000,260,0.000,0.045,2993,3694,3835,3783,3888,0,0,0,0,0,0,27.05,26.79,27.10
$GC,650,-0.85,-243.3,2993,3695,3784,3891,155.4,-18.0,84,658,0.00,1.60,0.00,0.000,1030,0.000,0.024,3000,2573,3836,3783,3889,0,0,0,0,0,0,26.96,26.93,26.98
$GC,956,-0.85,-243.3,3000,2574,3787,3893,206.7,-17.9,113,960,0.00,1.98,0.00,0.000,516,0.000,0.030,3007,1227,3839,3786,3892,0,0,0,0,0,0,27.17,26.94,27.23
$GC,1000,-0.85,-243.3,3007,1228,3787,3893,211.4,-17.2,114,1005,0.00,2.08,0.00,0.000,1030,0.000,0.032,2998,2605,3839,3786,3892,0,0,0,0,0,0,26.98,26.95,27.00
$GC,1315,-0.85,-243.3,2998,2607,3788,3894,263.8,-15.8,125,1320,0.00,1.65,0.00,0.000,260,0.000,0.046,2989,3696,3840,3787,3893,0,0,0,0,0,0,27.22,26.97,27.29
$GC,1405,-0.85,-243.3,2990,3696,3787,3893,278.2,-15.9,128,1410,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2609,3840,3787,3893,0,0,0,0,0,0,27.10,27.07,27.12
$GC,1735,-0.85,-243.3,2994,2608,3788,3893,327.3,-15.0,139,1740,0.00,2.03,0.00,0.000,516,0.000,0.028,3003,1215,3840,3787,3893,0,0,0,0,0,0,27.27,27.05,27.32
$GC,1760,-0.85,-243.3,3003,1214,3788,3893,327.3,-15.0,139,1768,0.00,2.08,0.00,0.000,1030,0.000,0.034,2994,2599,3840,3787,3893,0,0,0,0,0,0,27.07,27.03,27.10
$GC,2065,-0.85,-243.3,2994,2598,3788,3891,374.0,-13.3,150,2070,0.00,1.67,0.00,0.000,260,0.000,0.047,2985,3693,3839,3787,3891,0,0,0,0,0,0,27.29,27.03,27.35
$GC,2120,-0.85,-243.3,2986,3694,3788,3892,378.0,-13.2,151,2127,0.00,1.58,0.00,0.000,1030,0.000,0.026,2991,2589,3838,3787,3890,0,0,0,0,0,0,27.16,27.13,27.17
$GC,2425,-0.85,-243.3,2991,2589,3789,3887,421.0,-14.1,162,2430,0.00,1.67,0.00,0.000,260,0.000,0.047,2985,3686,3836,3787,3886,0,0,0,0,0,0,27.31,27.05,27.38
$GC,2465,-0.85,-243.3,2984,3687,3787,3887,425.8,-14.6,163,2469,0.00,1.55,0.00,0.000,1030,0.000,0.026,2991,2609,3836,3787,3885,0,0,0,0,0,0,27.17,27.15,27.20
$GC,2785,-0.85,-243.3,2992,2610,3787,3883,469.1,-11.4,174,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2608,3834,3786,3882,0,0,0,0,0,0,27.32,27.40,27.39
$GC,3085,-0.85,-243.3,2991,2608,3785,3879,506.0,-12.1,184,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2609,3831,3784,3879,0,0,0,0,0,0,27.34,27.41,27.40
$GC,3385,-0.85,-243.3,2992,2610,3782,3877,542.4,-12.5,194,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2609,3828,3781,3875,0,0,0,0,0,0,27.34,27.42,27.41
$GC,3685,-0.85,-243.3,2991,2610,3778,3875,581.1,-12.6,204,3690,0.00,1.65,0.00,0.000,260,0.000,0.049,2984,3686,3825,3777,3873,0,0,0,0,0,0,27.35,27.08,27.41
$GC,3735,-0.85,-243.3,2984,3686,3778,3873,584.9,-12.5,205,3739,0.00,1.58,0.00,0.000,1030,0.000,0.029,2991,2598,3824,3777,3872,0,0,0,0,0,0,27.22,27.17,27.23
$GC,4045,-0.85,-243.3,2992,2599,3776,3871,622.7,-11.7,216,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2597,3822,3774,3870,0,0,0,0,0,0,27.36,27.43,27.42
$GC,4345,-0.85,-243.3,2992,2599,3773,3869,664.4,-13.6,226,4350,0.00,1.67,0.00,0.000,260,0.000,0.050,2984,3681,3819,3772,3867,0,0,0,0,0,0,27.36,27.08,27.43
$GC,4400,-0.85,-243.3,2984,3681,3773,3866,668.4,-13.3,227,4408,0.00,1.58,0.00,0.000,1030,0.000,0.031,2991,2609,3819,3771,3867,0,0,0,0,0,0,27.22,27.17,27.23
$STATE,4674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4674,begin apogee
$GC,4677,-0.17,0.0,2993,2423,3770,3866,702.8,-11.0,237,4870,0.80,0.00,190.07,1.168,10246,0.155,0.000,3231,2421,2838,2815,2861,0,0,0,0,0,0,26.91,25.13,24.45
$STATE,4871,end apogee,CONTROL_FINISHED_OK
$STATE,4871,begin climb
$GC,4871,0.85,243.3,3231,2423,2810,2858,713.5,0.0,243,5071,1.05,0.00,195.65,1.133,10758,0.119,0.000,3550,2421,1846,1846,1846,0,0,0,0,0,0,25.18,24.90,24.26
$GC,5365,0.90,279.9,3551,2422,1831,1824,684.5,9.9,260,5400,0.00,2.08,30.08,1.147,8452,0.000,0.048,3542,3684,1690,1692,1688,0,0,0,0,0,0,26.51,25.58,24.88
$GC,5430,0.95,310.5,3542,3685,1686,1683,678.3,10.1,262,5462,0.10,1.92,26.83,1.108,11270,0.119,0.028,3590,2421,1570,1572,1569,0,0,0,0,0,0,25.82,25.95,24.69
$GC,5781,0.95,310.5,3590,2422,1557,1549,634.2,12.6,274,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2420,1552,1556,1548,0,0,0,0,0,0,26.66,26.73,26.73
$GC,6080,0.95,310.5,3590,2420,1555,1545,595.0,13.5,284,6085,0.00,2.00,0.00,0.000,260,0.000,0.049,3590,3691,1548,1553,1544,0,0,0,0,0,0,26.89,26.65,26.96
$GC,6125,0.95,310.5,3589,3692,1554,1547,590.6,13.8,285,6130,0.00,1.92,0.00,0.000,1030,0.000,0.029,3599,2398,1549,1553,1545,0,0,0,0,0,0,26.78,26.74,26.79
$GC,6440,0.95,310.5,3599,2399,1552,1546,543.7,14.4,296,6445,0.00,2.03,0.00,0.000,260,0.000,0.049,3598,3690,1548,1552,1544,0,0,0,0,0,0,27.03,26.77,27.10
$GC,6470,0.95,310.5,3599,3690,1553,1544,538.9,14.8,297,6475,0.00,1.88,0.00,0.000,1030,0.000,0.030,3608,2414,1548,1552,1544,0,0,0,0,0,0,26.89,26.86,26.89
$GC,6800,0.95,310.5,3607,2412,1553,1543,487.7,16.2,308,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,2413,1547,1551,1543,0,0,0,0,0,0,27.11,27.19,27.18
$GC,7100,0.95,310.5,3608,2413,1551,1543,441.8,15.3,318,7105,0.00,2.00,0.00,0.000,260,0.000,0.050,3608,3691,1546,1550,1543,0,0,0,0,0,0,27.16,26.89,27.23
$GC,7135,0.95,310.5,3608,3691,1551,1543,437.0,15.5,319,7140,0.00,1.88,0.00,0.000,1030,0.000,0.030,3617,2423,1546,1550,1543,0,0,0,0,0,0,27.03,26.98,27.05
$GC,7460,0.95,310.5,3617,2423,1551,1542,389.6,15.4,330,7466,0.00,2.10,0.00,0.000,516,0.000,0.037,3627,1027,1545,1549,1542,0,0,0,0,0,0,27.20,26.98,27.27
$GC,7500,0.95,310.5,3628,1028,1548,1542,384.6,16.0,331,7506,0.00,2.10,0.00,0.000,1030,0.000,0.036,3623,2409,1544,1548,1541,0,0,0,0,0,0,27.01,26.96,27.03
$GC,7820,0.95,310.5,3623,2409,1548,1541,336.6,13.0,342,7825,0.00,1.98,0.00,0.000,260,0.000,0.050,3615,3691,1544,1547,1542,0,0,0,0,0,0,27.23,26.96,27.30
$GC,7915,0.95,310.5,3615,3692,1548,1543,325.8,12.0,345,7920,0.00,1.85,0.00,0.000,1030,0.000,0.030,3623,2422,1544,1547,1541,0,0,0,0,0,0,27.09,27.06,27.10
$GC,8240,0.95,310.5,3624,2423,1547,1542,289.9,12.2,356,8245,0.00,2.10,0.00,0.000,516,0.000,0.037,3634,1028,1543,1546,1540,0,0,0,0,0,0,27.27,27.04,27.33
$GC,8325,0.95,310.5,3634,1029,1546,1540,280.8,14.1,358,8333,0.08,2.12,0.00,0.000,5126,0.155,0.036,3602,2424,1542,1545,1539,0,0,0,0,0,0,26.83,27.03,26.94
$GC,8630,0.97,324.2,3601,2424,1546,1538,240.8,10.6,369,8636,0.00,1.92,2.67,0.459,8452,0.000,0.049,3601,3700,1516,1521,1511,0,0,0,0,0,0,27.28,26.53,25.87
$GC,8785,1.01,355.5,3601,3701,1544,1530,225.9,10.0,374,8825,0.00,1.90,35.00,0.899,9222,0.000,0.029,3610,2411,1385,1393,1378,0,0,0,0,0,0,27.12,27.08,25.60
$GC,9125,1.01,355.5,3610,2410,1381,1357,187.3,12.7,391,9130,0.00,2.10,0.00,0.000,516,0.000,0.037,3620,1036,1368,1379,1357,0,0,0,0,0,0,26.89,26.67,26.96
$GC,9285,1.26,527.1,3621,1037,1379,1358,174.8,5.8,407,9432,0.20,2.12,138.60,0.802,11270,0.112,0.034,3696,2422,683,719,647,0,0,0,0,0,0,26.63,26.74,24.79
$GC,9736,1.26,527.1,3695,2422,708,622,103.7,14.3,452,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3695,2423,664,706,622,0,0,0,0,0,0,26.65,26.71,26.70
$GC,10036,1.26,527.1,3696,2423,707,621,60.4,13.7,482,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,3694,2422,663,706,621,0,0,0,0,0,0,26.88,26.95,26.94
$GC,10335,1.26,527.1,3695,2423,706,622,15.1,14.3,534,10343,0.00,2.10,0.00,0.000,516,0.000,0.034,3706,1035,663,706,620,0,0,0,0,0,0,27.01,26.79,27.08
$GC,10376,1.26,527.1,3706,1036,708,622,8.8,14.6,542,10383,0.00,2.10,0.00,0.000,1030,0.000,0.032,3706,2419,663,706,621,0,0,0,0,0,0,26.83,26.80,26.86
$STATE,10421,end climb,SURFACE_DEPTH_REACHED
$STATE,10421,begin surface coast
$FINISH,0.5,1.008453
$STATE,10431,end surface coast,CONTROL_FINISHED_OK
$STATE,10431,begin surface
$SM_CCo,10506,0.00,0.000,0,0,662,533.77
$SM_GC,1.20,10.07,0.28,0.00,0.086,0.063,0.000,187,2601,662,-9.60,-0.93,533.77,0,0,0,0,0,0,26.83,26.81,26.87
$IRIDIUM_FIX,1305.38,14440.88,030315,020639
$TT8_MAMPS,0.053179,0.053179
$HUMID,41.14
$INTERNAL_PRESSURE,9.21361
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.26,3.225
$10V_AH,10.34,3.179
$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,23.850,72.550,618.900,0.000,0.000,0.000,0.000,197.525,0.000,0.000,6.754,0.000,8297.505,719.616,1686.070,43.734,0.000,1589.935,0.000,1167.679,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,62.730,1168.155,0.000,0.000,0.000,0.000,77.265,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,368.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229112
$DATA_FILE_SIZE,23407,553
$CAP_FILE_SIZE,92166,0
$CFSIZE,1024393216,1016528896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12625.39,0x236db2,7,5
$CURRENT,0.228,248.63,1
$GPS,030315,083602,1310.775,14441.699,20,1.1,20,1.1,0.5,308.6,7,87.8