version: 66.12
glider: 204
mission: 15
dive: 26
start: 3 5 115 6 8 10
data:
$ID,204
$MISSION,15
$DIVE,26
$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,80
$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
$GPS1,050315,060335,1317.1962,14452.6602,32,0.9,32,1.1,0.0,0.0,9,15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-69.9
$GPS2,050315,060801,1317.1838,14452.6045,7,0.9,7,1.1,0.7,258.3,9,12.6
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N2
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,23.0,42377,-15.8,-10.000,-19.55,2669
$D_GRID,1036
$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,-175.2,196,2595,803,793,0.0,0.0,0,59,0.00,0.00,-44.58,0.000,16386,0.000,0.000,195,2595,2008,1978,2038,0,0,0,0,0,0,26.74,28.83,26.82
$GC,60,-0.80,-175.2,196,2595,1979,2039,3.0,-6.0,7,117,11.52,1.73,-38.20,0.000,18692,0.233,0.066,3013,3695,3556,3529,3584,0,0,0,0,0,0,26.20,25.37,26.36
$GC,191,-0.80,-175.2,3013,3696,3528,3587,32.8,-31.5,32,198,0.00,1.58,0.00,0.000,1030,0.000,0.022,3021,2589,3557,3528,3586,0,0,0,0,0,0,26.72,26.68,26.72
$GC,501,-0.80,-175.2,3020,2591,3531,3587,125.9,-24.2,69,507,0.00,1.73,0.00,0.000,260,0.000,0.043,3013,3712,3557,3530,3585,0,0,0,0,0,0,27.01,26.74,27.06
$GC,586,-0.80,-175.2,3014,3715,3531,3586,145.5,-23.9,77,593,0.00,1.58,0.00,0.000,1030,0.000,0.021,3020,2601,3557,3530,3585,0,0,0,0,0,0,26.91,26.88,26.92
$GC,902,-0.80,-175.2,3021,2602,3533,3589,204.8,-15.0,107,906,0.00,2.00,0.00,0.000,516,0.000,0.026,3031,1226,3560,3533,3588,0,0,0,0,0,0,27.13,26.91,27.18
$GC,1006,-0.80,-175.2,3031,1225,3535,3589,218.1,-14.7,110,1011,0.00,2.08,0.00,0.000,1030,0.000,0.031,3021,2608,3561,3534,3589,0,0,0,0,0,0,26.94,26.92,26.98
$GC,1322,-0.80,-175.2,3022,2609,3536,3593,268.3,-15.3,121,1326,0.00,1.65,0.00,0.000,260,0.000,0.045,3013,3694,3563,3535,3592,0,0,0,0,0,0,27.20,26.94,27.26
$GC,1446,-0.80,-175.2,3013,3695,3536,3593,286.1,-14.8,125,1451,0.00,1.55,0.00,0.000,1030,0.000,0.022,3019,2592,3563,3535,3592,0,0,0,0,0,0,27.09,27.05,27.10
$GC,1772,-0.80,-175.2,3019,2592,3536,3591,326.6,-11.4,136,1776,0.00,1.67,0.00,0.000,260,0.000,0.045,3012,3691,3563,3535,3592,0,0,0,0,0,0,27.24,26.99,27.31
$GC,1806,-0.80,-175.2,3012,3691,3536,3591,329.9,-11.2,137,1811,0.00,1.55,0.00,0.000,1030,0.000,0.022,3019,2588,3563,3535,3592,0,0,0,0,0,0,27.13,27.10,27.14
$GC,2132,-0.80,-175.2,3019,2589,3536,3590,366.2,-11.3,148,2136,0.00,1.98,0.00,0.000,516,0.000,0.026,3025,1226,3561,3535,3588,0,0,0,0,0,0,27.27,27.08,27.34
$GC,2151,-0.80,-175.2,3026,1226,3536,3588,366.2,-11.3,148,2156,0.00,2.05,0.00,0.000,1030,0.000,0.031,3017,2602,3561,3535,3588,0,0,0,0,0,0,27.08,27.05,27.11
$GC,2462,-0.80,-175.2,3016,2602,3536,3582,402.3,-11.3,159,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2602,3558,3534,3582,0,0,0,0,0,0,27.29,27.36,27.36
$GC,2762,-0.80,-175.2,3017,2604,3533,3581,435.6,-10.9,169,2766,0.00,1.65,0.00,0.000,260,0.000,0.044,3008,3693,3555,3532,3579,0,0,0,0,0,0,27.31,27.05,27.37
$GC,2836,-0.80,-175.2,3009,3694,3532,3580,442.4,-11.1,171,2841,0.00,1.55,0.00,0.000,1030,0.000,0.024,3014,2600,3555,3531,3579,0,0,0,0,0,0,27.19,27.15,27.20
$GC,3152,-0.80,-175.2,3014,2600,3529,3576,478.9,-11.2,182,3156,0.00,2.00,0.00,0.000,516,0.000,0.028,3022,1228,3551,3527,3576,0,0,0,0,0,0,27.32,27.11,27.39
$GC,3206,-0.80,-175.2,3022,1228,3527,3577,482.2,-11.1,183,3214,0.00,2.05,0.00,0.000,1030,0.000,0.031,3013,2596,3551,3526,3576,0,0,0,0,0,0,27.13,27.10,27.15
$GC,3511,-0.80,-175.2,3013,2597,3524,3575,518.1,-10.5,194,3516,0.00,1.67,0.00,0.000,260,0.000,0.046,3004,3701,3548,3523,3573,0,0,0,0,0,0,27.34,27.06,27.39
$GC,3561,-0.80,-175.2,3005,3700,3524,3572,521.2,-10.4,195,3566,0.00,1.58,0.00,0.000,1030,0.000,0.026,3006,2610,3547,3523,3572,0,0,0,0,0,0,27.20,27.17,27.22
$GC,3872,-0.80,-175.2,3006,2609,3521,3570,553.4,-9.4,206,3876,0.00,2.05,0.00,0.000,516,0.000,0.028,3012,1203,3545,3520,3570,0,0,0,0,0,0,27.34,27.12,27.40
$GC,3902,-0.80,-175.2,3012,1202,3521,3570,556.2,-9.5,207,3906,0.00,2.10,0.00,0.000,1030,0.000,0.033,3003,2603,3544,3519,3570,0,0,0,0,0,0,27.14,27.10,27.17
$GC,4232,-0.80,-175.2,3002,2603,3518,3567,587.8,-9.4,218,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2602,3541,3516,3567,0,0,0,0,0,0,27.34,27.41,27.41
$GC,4532,-0.80,-175.2,3003,2604,3515,3566,616.0,-9.7,228,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2602,3539,3514,3565,0,0,0,0,0,0,27.35,27.42,27.41
$GC,4831,-0.80,-175.2,3003,2603,3513,3564,646.7,-10.4,238,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2602,3537,3512,3563,0,0,0,0,0,0,27.35,27.43,27.41
$GC,5132,-0.80,-175.2,3003,2604,3510,3562,677.5,-10.4,248,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2603,3535,3510,3561,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5431,-0.80,-175.2,3003,2602,3509,3558,710.9,-11.5,258,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2602,3533,3508,3558,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5732,-0.80,-175.2,3003,2603,3507,3557,746.8,-12.3,268,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2603,3531,3506,3556,0,0,0,0,0,0,27.36,27.44,27.42
$GC,6031,-0.80,-175.2,3003,2602,3506,3552,781.8,-11.5,278,6036,0.12,1.65,0.00,0.000,2308,0.221,0.047,3021,3686,3529,3505,3554,0,0,0,0,0,0,26.84,27.08,27.03
$GC,6076,-0.80,-175.2,3021,3686,3505,3553,785.2,-11.6,279,6081,0.00,1.58,0.00,0.000,1030,0.000,0.025,3027,2587,3529,3505,3554,0,0,0,0,0,0,27.22,27.19,27.24
$GC,6392,-0.80,-175.2,3028,2587,3504,3552,823.2,-10.7,290,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2587,3527,3503,3552,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6692,-0.80,-175.2,3027,2587,3502,3550,854.0,-10.0,300,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2586,3526,3501,3551,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6992,-0.80,-175.2,3028,2586,3500,3550,882.4,-9.7,310,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2587,3525,3500,3550,0,0,0,0,0,0,27.36,27.44,27.42
$GC,7292,-0.80,-175.2,3027,2586,3500,3548,910.6,-9.9,320,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2587,3524,3499,3549,0,0,0,0,0,0,27.36,27.44,27.43
$GC,7592,-0.80,-175.2,3027,2587,3498,3547,941.6,-11.1,330,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2586,3522,3497,3547,0,0,0,0,0,0,27.36,27.44,27.43
$GC,7892,-0.80,-175.2,3028,2586,3497,3546,962.9,-3.8,340,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2586,3521,3496,3546,0,0,0,0,0,0,27.36,27.44,27.43
$GC,8192,-0.80,-175.2,3028,2588,3496,3546,973.0,-1.9,350,8196,0.00,1.70,0.00,0.000,260,0.000,0.049,3020,3691,3519,3494,3544,0,0,0,0,0,0,27.36,27.06,27.43
$GC,8226,-0.80,-175.2,3021,3692,3495,3545,973.8,-2.3,351,8232,0.00,1.58,0.00,0.000,1030,0.000,0.026,3028,2591,3519,3494,3544,0,0,0,0,0,0,27.22,27.18,27.24
$GC,8552,-0.80,-175.2,3028,2592,3493,3545,984.7,-5.4,362,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2591,3518,3493,3543,0,0,0,0,0,0,27.36,27.44,27.43
$STATE,8641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8641,begin apogee
$GC,8643,-0.17,0.0,3029,2430,3494,3543,992.4,-8.2,365,8780,0.68,0.00,134.68,1.308,10246,0.152,0.000,3229,2430,2838,2812,2865,0,0,0,0,0,0,26.83,25.06,24.34
$STATE,8781,end apogee,CONTROL_FINISHED_OK
$STATE,8781,begin climb
$GC,8782,0.80,175.2,3230,2430,2810,2862,1000.4,0.0,369,8932,1.02,2.25,142.80,1.275,10756,0.124,0.033,3547,1033,2118,2114,2122,0,0,0,0,0,0,25.14,24.75,24.03
$GC,9157,0.94,269.4,3548,1035,2107,2111,991.5,6.4,382,9245,0.12,2.17,78.35,1.299,11270,0.142,0.033,3582,2415,1732,1734,1730,0,0,0,0,0,0,25.93,26.06,24.20
$GC,9542,0.96,282.7,3582,2414,1726,1717,952.9,9.5,395,9553,0.00,0.00,10.07,1.256,8710,0.000,0.000,3582,2414,1686,1690,1683,0,0,0,0,0,0,26.45,25.85,25.08
$GC,9867,0.96,282.7,3582,2414,1682,1674,915.4,13.4,406,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2414,1676,1680,1673,0,0,0,0,0,0,26.67,26.74,26.74
$GC,10167,0.96,282.7,3582,2415,1680,1673,876.2,13.2,416,10172,0.00,2.12,0.00,0.000,516,0.000,0.032,3593,1025,1675,1678,1673,0,0,0,0,0,0,26.86,26.65,26.93
$GC,10211,0.96,282.7,3593,1026,1678,1674,871.9,13.6,417,10216,0.00,2.15,0.00,0.000,1030,0.000,0.033,3593,2421,1675,1678,1672,0,0,0,0,0,0,26.70,26.66,26.72
$GC,10527,0.96,282.7,3594,2422,1679,1673,823.4,15.2,428,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2421,1674,1677,1672,0,0,0,0,0,0,26.98,27.05,27.05
$GC,10827,0.96,282.7,3593,2421,1679,1672,776.3,15.6,438,10832,0.00,2.00,0.00,0.000,260,0.000,0.049,3593,3701,1674,1677,1672,0,0,0,0,0,0,27.05,26.79,27.12
$GC,10856,0.96,282.7,3594,3702,1678,1673,771.2,15.8,439,10861,0.00,1.88,0.00,0.000,1030,0.000,0.028,3602,2416,1674,1677,1672,0,0,0,0,0,0,26.91,26.89,26.93
$GC,11187,0.96,282.7,3602,2415,1676,1673,719.0,16.7,450,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2414,1674,1676,1672,0,0,0,0,0,0,27.11,27.19,27.18
$GC,11487,0.96,282.7,3602,2415,1675,1673,666.8,17.4,460,11491,0.00,2.03,0.00,0.000,260,0.000,0.049,3602,3704,1673,1675,1672,0,0,0,0,0,0,27.15,26.86,27.22
$GC,11556,0.96,282.7,3602,3705,1677,1671,656.0,17.7,462,11561,0.00,1.88,0.00,0.000,1030,0.000,0.028,3611,2424,1674,1676,1672,0,0,0,0,0,0,27.01,26.98,27.02
$GC,11877,0.96,282.7,3611,2423,1675,1671,604.0,14.8,473,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,2423,1673,1674,1672,0,0,0,0,0,0,27.19,27.27,27.25
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$STATE,17075,end climb,SURFACE_DEPTH_REACHED
$STATE,17075,begin surface coast
$FINISH,0.6,1.008444
$STATE,17090,end surface coast,CONTROL_FINISHED_OK
$STATE,17090,begin surface
$SM_CCo,17104,23.15,0.116,0,0,796,500.17
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$IRIDIUM_FIX,1314.23,14450.67,301207,193059
$TT8_MAMPS,0.053928,0.053928
$HUMID,38.89
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.03,5.611
$10V_AH,10.26,3.854
$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,23.700,102.975,487.975,23.150,0.000,0.000,0.000,211.075,0.000,0.000,7.940,0.000,14189.664,658.055,2474.561,62.427,0.000,1845.179,0.000,1783.012,0.000,0.547,0.000
$DEVICE_MAMPS,233.325,65.790,1308.150,116.280,0.000,0.000,0.000,80.325,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,552.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229056
$DATA_FILE_SIZE,36750,819
$CAP_FILE_SIZE,139071,0
$CFSIZE,1024393216,1015496704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17574.32,0x236db2,7,5
$CURRENT,0.108,194.14,1
$GPS,050315,105429,1318.648,14453.508,35,0.8,35,1.1,0.7,213.4,9,50.4