version: 66.12
glider: 204
mission: 15
dive: 18
start: 3 3 115 20 31 50
data:
$ID,204
$MISSION,15
$DIVE,18
$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,180
$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,68
$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,22.5
$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
$GPS1,030315,202737,1307.6377,14444.9160,41,0.8,41,1.1,0.8,344.6,9,29.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.5
$GPS2,030315,203141,1307.6207,14444.8574,6,0.8,6,1.1,0.0,0.0,10,14.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N1
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,55.4,6217,-15.8,-10.000,-19.55,2669
$D_GRID,879
$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,-0.80,-175.2,195,2609,814,793,0.0,0.0,0,68,0.00,0.00,-53.72,0.000,16386,0.000,0.000,194,2607,2266,2219,2313,0,0,0,0,0,0,26.85,28.83,26.92
$GC,69,-0.80,-175.2,195,2608,2224,2311,3.2,-5.4,9,116,11.60,2.10,-27.15,0.000,19204,0.236,0.046,3034,1208,3556,3526,3586,0,0,0,0,0,0,26.25,25.43,26.56
$GC,140,-0.80,-175.2,3034,1208,3529,3586,20.8,-27.8,22,148,0.00,2.12,0.00,0.000,1030,0.000,0.032,3025,2605,3557,3527,3587,0,0,0,0,0,0,26.70,26.66,26.72
$GC,446,-0.80,-175.2,3025,2606,3530,3587,106.4,-26.6,62,447,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2606,3558,3529,3587,0,0,0,0,0,0,27.05,27.12,27.10
$GC,746,-0.80,-175.2,3026,2607,3532,3591,170.2,-20.9,92,750,0.00,1.65,0.00,0.000,260,0.000,0.046,3017,3691,3560,3532,3589,0,0,0,0,0,0,27.15,26.89,27.20
$GC,781,-0.80,-175.2,3017,3692,3532,3591,175.8,-18.7,95,788,0.00,1.58,0.00,0.000,1030,0.000,0.023,3019,2584,3560,3531,3590,0,0,0,0,0,0,27.02,26.98,27.03
$GC,1096,-0.80,-175.2,3019,2584,3535,3593,227.4,-14.5,115,1100,0.00,1.70,0.00,0.000,260,0.000,0.047,3012,3693,3563,3534,3593,0,0,0,0,0,0,27.21,26.95,27.27
$GC,1221,-0.80,-175.2,3011,3693,3536,3594,243.9,-13.7,119,1225,0.00,1.55,0.00,0.000,1030,0.000,0.024,3018,2598,3564,3534,3594,0,0,0,0,0,0,27.10,27.06,27.11
$GC,1546,-0.80,-175.2,3018,2597,3536,3594,287.2,-12.9,130,1551,0.00,2.00,0.00,0.000,516,0.000,0.028,3025,1224,3564,3535,3594,0,0,0,0,0,0,27.27,27.05,27.33
$GC,1566,-0.80,-175.2,3025,1225,3536,3596,287.2,-12.9,130,1570,0.00,2.05,0.00,0.000,1030,0.000,0.032,3015,2599,3564,3535,3594,0,0,0,0,0,0,27.07,27.03,27.09
$GC,1876,-0.80,-175.2,3016,2601,3536,3595,322.8,-10.1,141,1880,0.00,1.65,0.00,0.000,260,0.000,0.045,3007,3692,3564,3534,3594,0,0,0,0,0,0,27.29,27.03,27.36
$GC,1901,-0.80,-175.2,3007,3694,3535,3595,322.8,-10.1,141,1908,0.00,1.55,0.00,0.000,1030,0.000,0.024,3009,2601,3564,3535,3593,0,0,0,0,0,0,27.17,27.13,27.17
$GC,2206,-0.80,-175.2,3009,2601,3536,3591,356.4,-10.2,152,2210,0.00,1.65,0.00,0.000,260,0.000,0.045,3002,3691,3563,3535,3592,0,0,0,0,0,0,27.32,27.05,27.37
$GC,2231,-0.80,-175.2,3002,3692,3535,3593,356.4,-10.2,152,2238,0.00,1.55,0.00,0.000,1030,0.000,0.024,3005,2599,3562,3534,3591,0,0,0,0,0,0,27.18,27.15,27.20
$GC,2536,-0.80,-175.2,3005,2598,3536,3587,397.8,-13.5,163,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2599,3561,3535,3587,0,0,0,0,0,0,27.33,27.40,27.39
$GC,2836,-0.80,-175.2,3005,2599,3535,3583,433.7,-11.2,173,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2598,3558,3534,3583,0,0,0,0,0,0,27.34,27.41,27.40
$GC,3136,-0.80,-175.2,3005,2600,3531,3583,461.7,-8.6,183,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2598,3556,3531,3581,0,0,0,0,0,0,27.34,27.42,27.41
$GC,3436,-0.80,-175.2,3005,2600,3528,3580,488.2,-8.7,193,3441,0.00,2.03,0.00,0.000,516,0.000,0.031,3010,1222,3553,3527,3579,0,0,0,0,0,0,27.36,27.13,27.42
$GC,3491,-0.80,-175.2,3010,1222,3527,3579,490.8,-8.7,194,3499,0.08,2.08,0.00,0.000,3078,0.187,0.034,3022,2602,3552,3526,3578,0,0,0,0,0,0,26.86,27.12,26.98
$GC,3796,-0.80,-175.2,3023,2603,3524,3577,513.8,-6.6,205,3800,0.00,1.65,0.00,0.000,260,0.000,0.047,3016,3689,3549,3523,3576,0,0,0,0,0,0,27.36,27.08,27.42
$GC,3826,-0.80,-175.2,3015,3691,3524,3577,516.1,-6.8,206,3831,0.00,1.58,0.00,0.000,1030,0.000,0.027,3022,2596,3549,3523,3575,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4156,-0.80,-175.2,3022,2596,3522,3573,543.6,-9.0,217,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2595,3547,3521,3573,0,0,0,0,0,0,27.36,27.44,27.43
$GC,4456,-0.80,-175.2,3022,2595,3519,3571,572.3,-9.6,227,4461,0.00,1.67,0.00,0.000,260,0.000,0.049,3015,3690,3544,3518,3571,0,0,0,0,0,0,27.37,27.08,27.43
$GC,4511,-0.80,-175.2,3015,3689,3519,3570,576.0,-10.3,228,4519,0.00,1.58,0.00,0.000,1030,0.000,0.028,3022,2600,3544,3518,3571,0,0,0,0,0,0,27.22,27.18,27.24
$GC,4816,-0.80,-175.2,3022,2599,3516,3569,624.6,-12.9,239,4820,0.00,2.03,0.00,0.000,516,0.000,0.031,3033,1221,3542,3515,3569,0,0,0,0,0,0,27.37,27.13,27.43
$GC,5046,-0.80,-175.2,3032,1223,3513,3569,624.9,-0.0,246,5050,0.00,2.08,0.00,0.000,1030,0.000,0.036,3022,2598,3540,3513,3568,0,0,0,0,0,0,27.15,27.13,27.19
$STATE,5055,end dive,NO_VERTICAL_VELOCITY
$STATE,5055,begin apogee
$GC,5058,-0.17,0.0,3023,2430,3514,3568,624.8,0.0,247,5194,0.70,0.00,133.20,1.118,10246,0.160,0.000,3229,2429,2839,2813,2865,0,0,0,0,0,0,26.88,25.28,24.64
$STATE,5194,end apogee,CONTROL_FINISHED_OK
$STATE,5194,begin climb
$GC,5195,0.80,175.2,3229,2429,2811,2861,624.8,0.0,251,5338,1.08,2.10,135.20,1.011,10500,0.156,0.057,3526,3689,2118,2116,2121,0,0,0,0,0,0,25.30,25.00,24.53
$GC,5561,1.16,427.5,3526,3691,2112,2111,624.2,0.3,264,5774,0.35,1.90,201.95,1.000,11270,0.098,0.027,3652,2414,1086,1108,1065,0,0,0,0,0,0,26.20,26.35,24.51
$GC,6071,1.16,427.5,3652,2413,1097,1048,529.7,20.7,281,6075,0.00,2.03,0.00,0.000,260,0.000,0.048,3643,3686,1072,1095,1049,0,0,0,0,0,0,26.59,26.35,26.65
$GC,6221,1.16,427.5,3643,3685,1092,1047,497.7,21.5,286,6226,0.00,1.88,0.00,0.000,1030,0.000,0.028,3652,2425,1069,1091,1048,0,0,0,0,0,0,26.61,26.59,26.63
$GC,6551,1.16,427.5,3651,2424,1093,1046,435.5,19.4,297,6556,0.00,2.12,0.00,0.000,516,0.000,0.035,3662,1022,1068,1091,1046,0,0,0,0,0,0,26.96,26.74,27.02
$GC,6586,1.16,427.5,3663,1022,1092,1046,429.8,19.4,298,6590,0.00,2.12,0.00,0.000,1030,0.000,0.034,3653,2413,1068,1091,1046,0,0,0,0,0,0,26.77,26.74,26.81
$GC,6911,1.16,427.5,3653,2413,1091,1044,362.7,20.9,309,6915,0.00,1.98,0.00,0.000,260,0.000,0.048,3643,3686,1067,1090,1044,0,0,0,0,0,0,27.07,26.82,27.14
$GC,6941,1.16,427.5,3642,3685,1090,1043,356.0,21.1,310,6946,0.00,1.88,0.00,0.000,1030,0.000,0.028,3650,2408,1066,1089,1043,0,0,0,0,0,0,26.92,26.90,26.94
$GC,7271,1.16,427.5,3652,2405,1090,1043,285.1,21.5,321,7276,0.00,2.00,0.00,0.000,260,0.000,0.048,3643,3690,1065,1088,1043,0,0,0,0,0,0,27.14,26.88,27.21
$GC,7346,1.16,427.5,3643,3691,1086,1045,272.4,21.0,323,7350,0.00,1.88,0.00,0.000,1030,0.000,0.028,3652,2419,1065,1087,1043,0,0,0,0,0,0,27.01,26.97,27.04
$GC,7661,1.16,427.5,3651,2415,1088,1043,215.8,15.2,334,7666,0.00,2.08,0.00,0.000,516,0.000,0.037,3662,1042,1065,1087,1043,0,0,0,0,0,0,27.20,26.96,27.27
$GC,7701,1.16,427.5,3662,1041,1089,1042,211.2,15.1,335,7706,0.00,2.08,0.00,0.000,1030,0.000,0.034,3653,2414,1065,1087,1043,0,0,0,0,0,0,26.99,26.96,27.03
$GC,8011,1.16,427.5,3653,2415,1087,1041,162.2,17.7,361,8015,0.00,1.98,0.00,0.000,260,0.000,0.047,3643,3698,1063,1086,1040,0,0,0,0,0,0,27.23,26.98,27.29
$GC,8196,1.16,427.5,3643,3698,1084,1039,133.9,11.8,379,8203,0.00,1.88,0.00,0.000,1030,0.000,0.027,3651,2420,1061,1083,1039,0,0,0,0,0,0,27.10,27.06,27.13
$GC,8501,1.19,447.2,3652,2421,1085,1039,106.1,9.2,410,8524,0.00,2.00,13.50,0.728,8452,0.000,0.045,3643,3698,1006,1030,983,0,0,0,0,0,0,27.27,26.73,26.08
$GC,8587,1.19,447.2,3643,3698,1026,980,96.1,12.9,418,8595,0.00,1.88,0.00,0.000,1030,0.000,0.026,3651,2418,1001,1025,978,0,0,0,0,0,0,26.94,26.91,26.96
$GC,8892,1.19,447.2,3652,2419,1026,980,57.2,11.0,449,8896,0.00,2.05,0.00,0.000,516,0.000,0.032,3662,1039,1001,1025,978,0,0,0,0,0,0,27.16,26.94,27.22
$GC,8917,1.19,447.2,3662,1039,1029,978,54.9,11.1,451,8924,0.00,2.08,0.00,0.000,1030,0.000,0.031,3653,2417,1002,1026,978,0,0,0,0,0,0,26.97,26.94,27.00
$GC,9222,1.19,447.2,3653,2418,1028,979,19.4,12.9,509,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,3653,2417,1002,1027,978,0,0,0,0,0,0,27.22,27.29,27.28
$STATE,9372,end climb,SURFACE_DEPTH_REACHED
$STATE,9372,begin surface coast
$FINISH,0.5,1.017147
$STATE,9387,end surface coast,CONTROL_FINISHED_OK
$STATE,9387,begin surface
$SM_CCo,9401,19.42,0.118,0,0,799,500.17
$SM_GC,1.20,9.85,0.28,19.42,0.085,0.058,0.118,196,2610,799,-9.60,-0.93,500.17,0,0,0,0,0,0,26.99,27.03,26.78
$IRIDIUM_FIX,1300.95,14447.05,291207,095448
$TT8_MAMPS,0.053179,0.053179
$HUMID,40.78
$INTERNAL_PRESSURE,9.25268
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.51,4.085
$10V_AH,10.36,3.396
$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,23.650,72.175,483.850,19.425,0.000,0.000,0.000,195.950,0.000,0.000,7.348,0.000,7270.982,599.685,1746.961,43.027,0.000,1496.097,0.000,1227.629,0.000,0.546,0.000
$DEVICE_MAMPS,236.385,58.140,1118.430,117.810,0.000,0.000,0.000,79.560,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,361.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229068
$DATA_FILE_SIZE,23469,542
$CAP_FILE_SIZE,92091,0
$CFSIZE,1024393216,1016201216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11635.76,0x236db2,7,5
$CURRENT,0.127,216.06,1
$GPS,030315,230924,1307.965,14445.601,18,0.9,18,1.1,0.0,0.0,9,21.7