version: 66.12
glider: 204
mission: 15
dive: 269
start: 4 22 115 1 35 19
data:
$ID,204
$MISSION,15
$DIVE,269
$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,82
$R_STBD_OVSHOOT,52
$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
$GPS1,220415,013005,1325.0277,14434.3281,30,0.9,30,1.0,0.0,0.0,9,20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.0
$GPS2,220415,013507,1325.0299,14434.3330,14,0.8,14,1.0,0.0,192.6,10,9.7
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,210.8,806,-27.2,-10.000,-30.00,965
$D_GRID,1881
$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,-1.03,-63.0,193,2624,797,801,0.0,0.0,0,58,0.00,0.00,-43.53,0.000,16386,0.000,0.000,194,2624,1968,1961,1975,0,0,0,0,0,0,26.84,28.83,26.91
$GC,60,-1.09,-104.5,195,2624,1959,1975,3.2,-5.6,7,112,11.38,1.62,-33.12,0.000,19204,0.222,0.058,2903,3679,3269,3243,3295,0,0,0,0,0,0,25.50,24.44,25.70
$GC,336,-1.09,-104.5,2903,3680,3243,3298,80.7,-28.5,51,340,0.00,1.52,0.00,0.000,1030,0.000,0.021,2910,2597,3270,3243,3298,0,0,0,0,0,0,26.77,26.74,26.78
$GC,646,-1.09,-104.5,2909,2595,3249,3299,155.6,-21.1,82,649,0.00,1.67,0.00,0.000,260,0.000,0.044,2903,3681,3273,3248,3298,0,0,0,0,0,0,27.13,26.48,27.17
$GC,876,-1.09,-104.5,2902,3682,3250,3303,201.6,-19.7,103,880,0.00,1.52,0.00,0.000,1030,0.000,0.021,2910,2594,3275,3248,3302,0,0,0,0,0,0,26.88,26.86,26.90
$GC,1186,-1.09,-104.5,2911,2590,3252,3303,258.5,-16.9,114,1190,0.00,1.67,0.00,0.000,260,0.000,0.044,2903,3680,3277,3252,3302,0,0,0,0,0,0,27.17,26.54,27.23
$GC,1211,-1.09,-104.5,2901,3680,3253,3303,258.5,-16.9,114,1217,0.00,1.50,0.00,0.000,1030,0.000,0.022,2908,2611,3277,3252,3302,0,0,0,0,0,0,26.89,26.86,26.91
$GC,1516,-1.09,-104.5,2909,2612,3253,3303,307.2,-14.0,125,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2611,3277,3252,3302,0,0,0,0,0,0,27.18,27.25,27.24
$GC,1816,-1.09,-104.5,2909,2611,3254,3302,348.4,-13.4,135,1819,0.00,1.65,0.00,0.000,260,0.000,0.043,2903,3680,3276,3252,3300,0,0,0,0,0,0,27.19,26.55,27.24
$GC,1921,-1.09,-104.5,2903,3681,3251,3300,362.5,-15.2,138,1925,0.00,1.52,0.00,0.000,1030,0.000,0.022,2910,2590,3276,3253,3299,0,0,0,0,0,0,26.90,26.89,26.91
$GC,2236,-1.09,-104.5,2910,2591,3253,3295,417.9,-16.9,149,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2591,3272,3251,3294,0,0,0,0,0,0,27.19,27.26,27.24
$GC,2536,-1.09,-104.5,2911,2591,3251,3290,463.5,-14.7,159,2539,0.00,1.67,0.00,0.000,260,0.000,0.042,2902,3679,3270,3252,3289,0,0,0,0,0,0,27.19,26.55,27.25
$GC,2586,-1.09,-104.5,2902,3680,3253,3290,468.0,-14.8,160,2590,0.00,1.52,0.00,0.000,1030,0.000,0.024,2910,2608,3270,3252,3289,0,0,0,0,0,0,26.88,26.86,26.90
$GC,2896,-1.09,-104.5,2911,2609,3250,3284,512.4,-13.3,171,2899,0.00,1.65,0.00,0.000,260,0.000,0.042,2902,3681,3267,3250,3284,0,0,0,0,0,0,27.19,26.54,27.24
$GC,2951,-1.09,-104.5,2902,3681,3250,3284,516.4,-13.3,172,2958,0.00,1.55,0.00,0.000,1030,0.000,0.024,2910,2590,3266,3248,3284,0,0,0,0,0,0,26.86,26.85,26.89
$GC,3256,-1.09,-104.5,2909,2591,3247,3283,563.7,-15.0,183,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2590,3264,3246,3282,0,0,0,0,0,0,27.19,27.26,27.24
$GC,3556,-1.09,-104.5,2911,2590,3241,3279,612.3,-16.4,193,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2590,3260,3241,3279,0,0,0,0,0,0,27.19,27.26,27.24
$GC,3856,-1.09,-104.5,2910,2591,3240,3277,658.4,-14.6,203,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2590,3257,3238,3276,0,0,0,0,0,0,27.19,27.26,27.24
$GC,4156,-1.09,-104.5,2909,2591,3237,3275,702.5,-14.7,213,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2590,3255,3236,3274,0,0,0,0,0,0,27.18,27.26,27.24
$GC,4456,-1.09,-104.5,2910,2591,3234,3274,749.7,-16.1,223,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2590,3253,3232,3274,0,0,0,0,0,0,27.19,27.26,27.24
$GC,4756,-1.09,-104.5,2909,2590,3233,3273,795.4,-14.8,233,4760,0.00,2.03,0.00,0.000,516,0.000,0.027,2917,1219,3251,3230,3272,0,0,0,0,0,0,27.18,26.66,27.24
$GC,4786,-1.09,-104.5,2918,1219,3230,3273,799.6,-14.5,234,4790,0.00,2.08,0.00,0.000,1030,0.000,0.031,2908,2583,3251,3230,3272,0,0,0,0,0,0,26.65,26.62,26.68
$GC,5116,-1.09,-104.5,2909,2583,3227,3270,844.3,-13.6,245,5119,0.00,1.70,0.00,0.000,260,0.000,0.044,2899,3686,3248,3227,3269,0,0,0,0,0,0,27.18,26.44,27.24
$GC,5186,-1.09,-104.5,2899,3687,3229,3269,852.9,-13.9,247,5190,0.00,1.55,0.00,0.000,1030,0.000,0.024,2906,2604,3248,3227,3269,0,0,0,0,0,0,26.84,26.82,26.85
$GC,5506,-1.09,-104.5,2906,2605,3227,3267,902.4,-15.6,258,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2604,3245,3225,3266,0,0,0,0,0,0,27.18,27.25,27.24
$GC,5806,-1.09,-104.5,2905,2605,3225,3265,947.3,-14.5,268,5809,0.00,2.05,0.00,0.000,516,0.000,0.027,2916,1221,3243,3223,3264,0,0,0,0,0,0,27.18,26.65,27.24
$GC,5841,-1.09,-104.5,2917,1222,3223,3265,951.5,-14.5,269,5845,0.00,2.10,0.00,0.000,1030,0.000,0.031,2907,2599,3243,3223,3264,0,0,0,0,0,0,26.61,26.58,26.65
$STATE,6134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6134,begin apogee
$GC,6138,-0.17,0.0,2908,2421,3222,3262,990.8,-12.9,279,6229,1.10,0.00,87.28,1.242,10246,0.164,0.000,3211,2419,2837,2812,2862,0,0,0,0,0,0,25.33,24.93,23.68
$STATE,6229,end apogee,CONTROL_FINISHED_OK
$STATE,6229,begin climb
$GC,6231,1.09,104.5,3212,2419,2811,2860,994.0,0.0,282,6330,1.33,2.22,91.78,1.219,10756,0.123,0.028,3627,1042,2407,2393,2422,0,0,0,0,0,0,25.32,24.63,23.41
$GC,6556,1.16,149.7,3626,1042,2388,2417,989.6,5.2,293,6600,0.00,2.12,38.55,1.226,9222,0.000,0.029,3627,2420,2225,2215,2236,0,0,0,0,0,0,26.40,26.37,24.15
$GC,6917,1.16,149.7,3626,2421,2211,2227,952.3,11.3,305,6920,0.00,2.05,0.00,0.000,516,0.000,0.030,3637,1035,2217,2209,2225,0,0,0,0,0,0,26.89,26.51,26.95
$GC,7056,1.16,149.7,3638,1035,2206,2225,938.5,11.9,309,7063,0.00,2.10,0.00,0.000,1030,0.000,0.031,3632,2428,2215,2206,2225,0,0,0,0,0,0,26.61,26.55,26.65
$GC,7361,1.16,149.7,3631,2429,2207,2224,899.8,11.3,320,7366,0.00,1.98,0.00,0.000,260,0.000,0.045,3622,3688,2214,2206,2223,0,0,0,0,0,0,27.06,26.46,27.13
$GC,7436,1.16,149.7,3621,3689,2208,2224,893.0,11.2,322,7440,0.00,1.85,0.00,0.000,1030,0.000,0.025,3630,2422,2214,2205,2223,0,0,0,0,0,0,26.78,26.77,26.80
$GC,7751,1.16,153.8,3629,2423,2206,2222,859.8,9.6,333,7755,0.00,2.08,0.00,0.000,516,0.000,0.028,3642,1033,2212,2204,2221,0,0,0,0,0,0,27.12,26.67,27.17
$GC,7781,1.17,160.7,3640,1033,2206,2222,857.1,9.3,334,7796,0.00,2.12,8.65,1.156,9222,0.000,0.031,3632,2421,2182,2174,2190,0,0,0,0,0,0,26.65,26.63,24.61
$GC,8111,1.21,187.1,3631,2421,2171,2186,831.0,7.2,345,8137,0.00,0.00,24.27,1.155,8198,0.000,0.000,3632,2421,2075,2068,2083,0,0,0,0,0,0,27.05,25.70,24.58
$GC,8411,1.25,210.9,3632,2422,2061,2072,807.8,7.5,355,8436,0.12,1.98,21.25,1.144,10500,0.170,0.044,3655,3690,1975,1971,1979,0,0,0,0,0,0,26.39,25.31,24.56
$GC,8501,1.27,225.3,3654,3691,1971,1974,799.8,8.5,357,8520,0.00,1.88,13.70,1.132,9222,0.000,0.025,3664,2426,1916,1914,1918,0,0,0,0,0,0,26.46,26.39,24.46
$GC,8826,1.27,227.0,3663,2426,1911,1911,766.6,9.8,368,8829,0.00,2.10,0.00,0.000,516,0.000,0.030,3674,1035,1909,1909,1910,0,0,0,0,0,0,26.90,26.51,26.96
$GC,8871,1.27,227.2,3673,1035,1908,1911,763.5,10.0,369,8874,0.00,2.12,0.00,0.000,1030,0.000,0.031,3665,2417,1908,1907,1910,0,0,0,0,0,0,26.52,26.48,26.55
$GC,9186,1.27,227.2,3666,2417,1906,1911,727.5,11.4,380,9189,0.00,1.98,0.00,0.000,260,0.000,0.044,3655,3688,1908,1907,1910,0,0,0,0,0,0,27.05,26.43,27.11
$GC,9206,1.27,227.2,3656,3689,1907,1911,727.5,11.4,380,9209,0.00,1.85,0.00,0.000,1030,0.000,0.025,3664,2426,1908,1907,1910,0,0,0,0,0,0,26.76,26.72,26.77
$GC,9516,1.27,227.2,3663,2426,1908,1910,685.4,13.2,391,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3664,2425,1908,1907,1910,0,0,0,0,0,0,27.10,27.17,27.16
$GC,9816,1.27,227.2,3664,2426,1906,1910,645.9,12.8,401,9819,0.00,1.98,0.00,0.000,260,0.000,0.044,3657,3687,1907,1906,1909,0,0,0,0,0,0,27.13,26.46,27.19
$GC,9886,1.27,227.2,3658,3688,1906,1910,637.8,13.1,403,9890,0.00,1.85,0.00,0.000,1030,0.000,0.025,3665,2421,1907,1906,1909,0,0,0,0,0,0,26.79,26.77,26.82
$GC,10206,1.27,227.2,3666,2421,1905,1909,594.4,13.0,414,10210,0.00,2.08,0.00,0.000,516,0.000,0.031,3676,1038,1906,1904,1909,0,0,0,0,0,0,27.15,26.63,27.20
$GC,10226,1.27,227.2,3677,1038,1903,1909,594.4,13.0,414,10229,0.00,2.10,0.00,0.000,1030,0.000,0.031,3667,2414,1906,1903,1909,0,0,0,0,0,0,26.63,26.60,26.66
$GC,10536,1.27,227.2,3666,2415,1906,1910,556.3,10.9,425,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,3667,2414,1906,1904,1909,0,0,0,0,0,0,27.15,27.22,27.21
$GC,10836,1.27,227.2,3666,2415,1906,1910,525.6,10.2,435,10839,0.00,2.00,0.00,0.000,260,0.000,0.044,3664,3694,1906,1904,1909,0,0,0,0,0,0,27.16,26.41,27.22
$GC,10891,1.27,227.2,3663,3695,1906,1909,522.3,10.4,436,10897,0.00,1.85,0.00,0.000,1030,0.000,0.024,3672,2422,1906,1904,1909,0,0,0,0,0,0,26.79,26.77,26.81
$GC,11196,1.27,227.2,3672,2424,1906,1909,485.8,11.5,447,11199,0.00,1.98,0.00,0.000,260,0.000,0.044,3665,3687,1906,1904,1908,0,0,0,0,0,0,27.16,26.40,27.22
$GC,11271,1.27,227.2,3664,3688,1906,1909,478.0,12.3,449,11275,0.00,1.85,0.00,0.000,1030,0.000,0.025,3673,2422,1907,1905,1909,0,0,0,0,0,0,26.79,26.76,26.81
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$STATE,15881,end climb,SURFACE_DEPTH_REACHED
$STATE,15881,begin surface coast
$FINISH,0.9,1.009436
$STATE,15896,end surface coast,CONTROL_FINISHED_OK
$STATE,15896,begin surface
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$IRIDIUM_FIX,1320.88,14433.41,160208,145740
$TT8_MAMPS,0.053928,0.053928
$HUMID,41.61
$INTERNAL_PRESSURE,9.27221
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.41,81.807
$10V_AH,9.86,45.222
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.300,115.375,408.150,46.450,0.000,0.000,0.000,226.475,0.000,0.000,15.344,0.000,12966.720,591.693,2555.660,137.225,0.000,1814.080,0.000,1843.469,0.000,0.546,0.000
$DEVICE_MAMPS,221.850,58.140,1242.360,122.400,0.000,0.000,0.000,81.855,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,536.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229104
$DATA_FILE_SIZE,33361,795
$CAP_FILE_SIZE,141126,0
$CFSIZE,1024393216,993116160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$INTR,0,16966.96,0x236db2,7,5
$CURRENT,0.054,130.80,1
$GPS,220415,060205,1323.316,14433.495,28,0.9,28,1.0,0.5,178.5,8,28.3