version: 66.12
glider: 204
mission: 15
dive: 16
start: 3 3 115 15 2 15
data:
$ID,204
$MISSION,15
$DIVE,16
$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,67
$R_STBD_OVSHOOT,47
$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
$GPS1,030315,145736,1307.5430,14443.8008,37,0.8,37,1.1,0.8,248.8,11,22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.3
$GPS2,030315,150204,1307.5392,14443.7197,8,0.9,8,1.1,0.8,242.2,10,16.3
$SPEED_LIMITS,0.191,0.336
$TGT_NAME,N1
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,69.6,8179,-14.4,-11.000,-18.13,3362
$D_GRID,873
$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,-0.85,-243.3,193,2625,711,670,0.0,0.0,0,68,0.00,0.00,-54.22,0.000,16386,0.000,0.000,192,2624,2166,2125,2207,0,0,0,0,0,0,26.75,28.83,26.82
$GC,69,-0.85,-243.3,193,2625,2127,2208,3.0,-5.6,9,121,11.55,2.15,-35.33,0.000,18948,0.237,0.044,3010,1206,3834,3782,3886,0,0,0,0,0,0,26.28,25.43,26.42
$GC,195,-0.85,-243.3,3011,1206,3784,3888,34.1,-27.9,33,202,0.00,2.12,0.00,0.000,1030,0.000,0.034,3002,2594,3835,3782,3888,0,0,0,0,0,0,26.66,26.63,26.70
$GC,501,-0.85,-243.3,3002,2594,3784,3888,122.1,-24.4,69,505,0.00,1.70,0.00,0.000,260,0.000,0.045,2994,3708,3835,3783,3888,0,0,0,0,0,0,27.03,26.77,27.08
$GC,636,-0.85,-243.3,2993,3708,3784,3889,155.8,-26.3,82,643,0.00,1.62,0.00,0.000,1030,0.000,0.024,3000,2580,3836,3783,3889,0,0,0,0,0,0,26.93,26.90,26.95
$GC,961,-0.85,-243.3,3000,2580,3788,3892,216.0,-16.1,109,966,0.00,2.00,0.00,0.000,516,0.000,0.028,3007,1212,3839,3786,3892,0,0,0,0,0,0,27.15,26.94,27.22
$GC,985,-0.85,-243.3,3007,1213,3787,3894,216.0,-16.1,109,993,0.00,2.10,0.00,0.000,1030,0.000,0.034,2998,2603,3839,3786,3893,0,0,0,0,0,0,26.96,26.93,26.98
$GC,1291,-0.85,-243.3,2998,2605,3787,3894,267.1,-15.2,120,1296,0.00,1.67,0.00,0.000,260,0.000,0.046,2989,3708,3840,3787,3893,0,0,0,0,0,0,27.21,26.95,27.27
$GC,1321,-0.85,-243.3,2990,3709,3788,3895,271.4,-14.9,121,1325,0.00,1.60,0.00,0.000,1030,0.000,0.024,2995,2586,3840,3787,3893,0,0,0,0,0,0,27.08,27.04,27.10
$GC,1651,-0.85,-243.3,2995,2588,3788,3895,322.4,-17.3,132,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2587,3840,3787,3893,0,0,0,0,0,0,27.25,27.32,27.32
$GC,1951,-0.85,-243.3,2996,2588,3787,3894,374.7,-16.9,142,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2587,3840,3787,3893,0,0,0,0,0,0,27.28,27.35,27.34
$GC,2251,-0.85,-243.3,2995,2587,3787,3891,419.5,-14.0,152,2255,0.00,1.70,0.00,0.000,260,0.000,0.047,2988,3698,3837,3786,3889,0,0,0,0,0,0,27.30,27.05,27.36
$GC,2286,-0.85,-243.3,2988,3698,3788,3889,424.0,-14.4,153,2290,0.00,1.58,0.00,0.000,1030,0.000,0.026,2994,2599,3837,3786,3889,0,0,0,0,0,0,27.17,27.13,27.19
$GC,2611,-0.85,-243.3,2995,2599,3787,3885,473.9,-14.5,164,2616,0.00,2.03,0.00,0.000,516,0.000,0.031,3004,1212,3834,3786,3883,0,0,0,0,0,0,27.32,27.10,27.39
$GC,2645,-0.85,-243.3,3004,1211,3787,3882,478.0,-14.1,165,2650,0.00,2.10,0.00,0.000,1030,0.000,0.035,2996,2604,3834,3786,3882,0,0,0,0,0,0,27.13,27.09,27.15
$GC,2971,-0.85,-243.3,2995,2604,3783,3880,524.4,-14.1,176,2975,0.00,1.67,0.00,0.000,260,0.000,0.047,2987,3706,3831,3783,3880,0,0,0,0,0,0,27.33,27.07,27.39
$GC,2990,-0.85,-243.3,2987,3708,3783,3881,524.4,-14.1,176,2995,0.00,1.60,0.00,0.000,1030,0.000,0.027,2994,2595,3830,3782,3879,0,0,0,0,0,0,27.20,27.15,27.21
$GC,3301,-0.85,-243.3,2994,2594,3781,3874,573.9,-11.9,187,3305,0.00,1.70,0.00,0.000,260,0.000,0.044,2986,3716,3827,3780,3875,0,0,0,0,0,0,27.34,27.08,27.40
$STATE,3510,end dive,NO_VERTICAL_VELOCITY
$STATE,3510,begin apogee
$GC,3514,-0.17,0.0,2994,2425,3779,3873,574.1,0.0,194,3704,0.73,0.00,187.02,1.056,10246,0.122,0.000,3227,2418,2837,2816,2859,0,0,0,0,0,0,26.98,25.22,24.60
$STATE,3705,end apogee,CONTROL_FINISHED_OK
$STATE,3705,begin climb
$GC,3706,0.85,243.3,3229,2419,2813,2856,574.6,0.0,200,3906,1.10,2.28,192.27,1.008,10756,0.138,0.034,3555,1024,1841,1843,1840,0,0,0,0,0,0,25.25,25.11,24.55
$GC,3934,1.04,376.2,3555,1024,1838,1832,563.5,6.9,208,4049,0.20,2.25,108.97,0.965,11270,0.096,0.034,3621,2421,1301,1315,1288,0,0,0,0,0,0,25.58,25.60,24.46
$GC,4354,1.09,410.6,3621,2423,1299,1267,528.5,9.9,222,4387,0.00,2.22,28.40,1.040,8708,0.000,0.034,3631,1022,1158,1175,1142,0,0,0,0,0,0,26.58,25.73,25.06
$GC,4406,1.12,433.4,3632,1023,1171,1135,525.5,10.3,223,4431,0.00,2.20,20.62,0.999,9222,0.000,0.032,3627,2416,1071,1092,1050,0,0,0,0,0,0,26.00,25.97,24.90
$GC,4746,1.12,433.4,3627,2416,1074,1027,468.6,17.9,235,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,2416,1050,1073,1027,0,0,0,0,0,0,26.71,26.78,26.78
$GC,5046,1.12,433.4,3627,2415,1072,1024,415.6,17.0,245,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2416,1048,1071,1025,0,0,0,0,0,0,26.93,27.00,26.99
$GC,5346,1.12,433.4,3627,2417,1071,1025,363.4,17.4,255,5350,0.00,1.98,0.00,0.000,260,0.000,0.049,3617,3686,1046,1069,1024,0,0,0,0,0,0,27.04,26.79,27.11
$GC,5366,1.12,433.4,3617,3686,1070,1023,363.4,17.4,255,5371,0.00,1.90,0.00,0.000,1030,0.000,0.028,3626,2399,1046,1068,1024,0,0,0,0,0,0,26.91,26.87,26.94
$GC,5676,1.12,433.4,3626,2399,1069,1022,302.1,19.6,266,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,2399,1045,1068,1022,0,0,0,0,0,0,27.13,27.20,27.19
$GC,5976,1.12,433.4,3626,2400,1067,1022,248.0,16.9,276,5980,0.00,2.05,0.00,0.000,516,0.000,0.034,3636,1038,1043,1066,1021,0,0,0,0,0,0,27.17,26.95,27.24
$GC,6021,1.12,433.4,3636,1040,1067,1021,243.2,16.3,277,6026,0.00,2.08,0.00,0.000,1030,0.000,0.034,3627,2412,1043,1066,1020,0,0,0,0,0,0,26.99,26.96,27.01
$GC,6326,1.12,433.4,3627,2411,1066,1019,195.8,15.3,289,6331,0.00,1.98,0.00,0.000,260,0.000,0.048,3617,3695,1042,1065,1019,0,0,0,0,0,0,27.22,26.95,27.28
$GC,6436,1.12,433.4,3617,3694,1065,1018,178.2,16.8,300,6441,0.00,1.85,0.00,0.000,1030,0.000,0.027,3626,2422,1040,1063,1018,0,0,0,0,0,0,27.08,27.05,27.09
$GC,6746,1.12,433.4,3626,2423,1063,1019,135.2,12.2,331,6751,0.00,1.95,0.00,0.000,260,0.000,0.047,3618,3687,1039,1062,1017,0,0,0,0,0,0,27.25,26.99,27.32
$GC,6781,1.12,433.4,3618,3687,1063,1017,131.4,12.4,334,6788,0.00,1.85,0.00,0.000,1030,0.000,0.026,3626,2413,1039,1062,1017,0,0,0,0,0,0,27.12,27.08,27.13
$GC,7086,1.20,488.4,3626,2414,1062,1018,99.8,9.3,365,7139,0.17,2.08,43.00,0.782,10756,0.154,0.033,3688,1041,837,864,810,0,0,0,0,0,0,26.88,26.09,25.70
$GC,7147,1.20,488.4,3688,1041,864,807,92.9,11.7,371,7152,0.00,2.12,0.00,0.000,1030,0.000,0.031,3688,2425,833,862,805,0,0,0,0,0,0,26.43,26.40,26.46
$GC,7457,1.20,488.4,3688,2426,859,798,55.1,11.7,402,7462,0.00,2.10,0.00,0.000,516,0.000,0.033,3697,1039,827,857,797,0,0,0,0,0,0,26.93,26.72,26.99
$GC,7512,1.20,488.4,3697,1040,859,798,47.5,14.9,409,7520,0.00,2.10,0.00,0.000,1030,0.000,0.031,3697,2426,827,858,797,0,0,0,0,0,0,26.77,26.74,26.80
$GC,7818,1.20,488.4,3697,2427,859,797,2.2,16.7,470,7825,0.00,2.10,0.00,0.000,516,0.000,0.034,3707,1033,828,859,797,0,0,0,0,0,0,27.09,26.87,27.15
$STATE,7828,end climb,SURFACE_DEPTH_REACHED
$STATE,7828,begin surface coast
$FINISH,0.6,1.011637
$STATE,7838,end surface coast,CONTROL_FINISHED_OK
$STATE,7838,begin surface
$SM_CCo,7854,2.62,0.144,0,0,797,500.17
$SM_GC,1.88,10.00,2.40,2.62,0.082,0.034,0.144,194,2606,797,-9.59,-1.02,500.17,0,0,0,0,0,0,26.86,26.86,26.69
$IRIDIUM_FIX,1305.38,14443.96,030315,114134
$TT8_MAMPS,0.054677,0.054677
$HUMID,41.65
$INTERNAL_PRESSURE,9.26244
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.46,3.763
$10V_AH,10.35,3.307
$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,23.750,66.725,580.300,2.625,0.000,0.000,0.000,218.100,0.000,0.000,9.572,0.000,5969.821,668.999,1443.743,40.036,0.000,1453.948,0.000,954.198,0.000,0.546,0.000
$DEVICE_MAMPS,237.150,48.960,1056.465,143.820,0.000,0.000,0.000,78.030,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,315.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229796
$DATA_FILE_SIZE,20171,474
$CAP_FILE_SIZE,77019,0
$CFSIZE,1024393216,1016348672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,11845.97,0x236db2,7,5
$CURRENT,0.237,240.32,1
$GPS,030315,171343,1307.475,14444.340,15,0.8,15,1.1,0.0,0.0,9,21.4