version: 66.12
glider: 204
mission: 15
dive: 295
start: 4 27 115 3 56 31
data:
$ID,204
$MISSION,15
$DIVE,295
$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,85
$R_STBD_OVSHOOT,36
$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
$GPS1,270415,034836,1326.4462,14435.0312,37,0.8,37,1.0,0.0,0.0,10,21.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.6
$GPS2,270415,035621,1326.5334,14434.9932,5,1.1,5,1.0,0.7,19.9,7,26.0
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,207.3,3789,-16.9,-10.000,-20.51,2373
$D_GRID,1396
$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,13,-0.81,-155.7,188,2590,795,803,0.0,0.0,0,59,0.00,0.00,-43.97,0.000,16386,0.000,0.000,188,2589,1977,1966,1989,0,0,0,0,0,0,26.84,28.83,26.91
$GC,61,-0.81,-155.7,188,2591,1967,1990,3.1,-4.9,7,119,11.95,2.00,-40.00,0.000,18948,0.223,0.038,3007,1217,3474,3451,3498,0,0,0,0,0,0,25.51,26.00,25.70
$GC,223,-0.81,-155.7,3007,1218,3454,3500,34.3,-25.1,38,229,0.00,2.12,0.00,0.000,1030,0.000,0.033,2999,2607,3476,3453,3499,0,0,0,0,0,0,26.51,26.44,26.52
$GC,534,-0.81,-155.7,3000,2608,3452,3500,110.7,-20.8,75,537,0.00,1.67,0.00,0.000,260,0.000,0.045,2990,3699,3476,3453,3500,0,0,0,0,0,0,27.10,26.44,27.15
$GC,588,-0.81,-155.7,2991,3699,3452,3501,120.4,-19.2,80,595,0.00,1.55,0.00,0.000,1030,0.000,0.021,2998,2590,3476,3453,3500,0,0,0,0,0,0,26.83,26.81,26.84
$GC,894,-0.81,-155.7,2996,2591,3457,3504,173.2,-14.8,111,898,0.00,1.98,0.00,0.000,516,0.000,0.025,3007,1232,3478,3455,3501,0,0,0,0,0,0,27.15,26.71,27.21
$GC,938,-0.81,-155.7,3007,1232,3458,3503,178.7,-13.6,115,945,0.00,2.08,0.00,0.000,1030,0.000,0.033,2999,2599,3479,3456,3502,0,0,0,0,0,0,26.63,26.60,26.67
$GC,1244,-0.81,-155.7,2999,2600,3456,3505,223.4,-14.3,136,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2599,3480,3457,3504,0,0,0,0,0,0,27.17,27.24,27.23
$GC,1544,-0.81,-155.7,2999,2600,3457,3505,263.3,-13.6,146,1548,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3693,3481,3458,3504,0,0,0,0,0,0,27.18,26.53,27.24
$GC,1593,-0.81,-155.7,2991,3694,3458,3505,267.8,-14.2,147,1597,0.00,1.52,0.00,0.000,1030,0.000,0.021,2997,2596,3481,3458,3505,0,0,0,0,0,0,26.90,26.89,26.92
$GC,1904,-0.81,-155.7,2997,2597,3459,3505,314.3,-12.5,158,1907,0.00,1.70,0.00,0.000,260,0.000,0.046,2990,3694,3480,3457,3504,0,0,0,0,0,0,27.18,26.51,27.24
$GC,1973,-0.81,-155.7,2991,3695,3456,3504,321.7,-12.2,160,1978,0.00,1.52,0.00,0.000,1030,0.000,0.021,2997,2597,3480,3457,3504,0,0,0,0,0,0,26.90,26.89,26.92
$GC,2294,-0.81,-155.7,2996,2598,3459,3500,361.2,-11.6,171,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2597,3478,3457,3500,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2594,-0.81,-155.7,2998,2598,3456,3496,388.6,-7.7,181,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2597,3476,3457,3496,0,0,0,0,0,0,27.18,27.25,27.24
$GC,2894,-0.81,-155.7,2998,2598,3453,3493,414.7,-10.0,191,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2597,3472,3453,3492,0,0,0,0,0,0,27.18,27.25,27.24
$GC,3194,-0.81,-155.7,2998,2597,3449,3489,448.6,-10.6,201,3198,0.00,2.03,0.00,0.000,516,0.000,0.027,3007,1226,3469,3449,3489,0,0,0,0,0,0,27.18,26.70,27.24
$GC,3218,-0.81,-155.7,3006,1226,3451,3489,448.6,-10.6,201,3225,0.00,2.08,0.00,0.000,1030,0.000,0.031,2998,2596,3469,3449,3489,0,0,0,0,0,0,26.68,26.65,26.71
$GC,3524,-0.81,-155.7,2999,2597,3447,3486,477.6,-8.6,212,3528,0.00,1.67,0.00,0.000,260,0.000,0.044,2991,3687,3466,3447,3485,0,0,0,0,0,0,27.18,26.51,27.24
$GC,3563,-0.81,-155.7,2991,3688,3447,3485,480.3,-8.7,213,3568,0.00,1.52,0.00,0.000,1030,0.000,0.024,2997,2610,3466,3447,3485,0,0,0,0,0,0,26.86,26.84,26.89
$GC,3884,-0.81,-155.7,2996,2611,3445,3483,511.3,-9.1,224,3887,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3693,3462,3443,3482,0,0,0,0,0,0,27.18,26.49,27.24
$GC,3919,-0.81,-155.7,2989,3694,3445,3482,514.1,-9.1,225,3922,0.00,1.55,0.00,0.000,1030,0.000,0.024,2997,2596,3462,3443,3481,0,0,0,0,0,0,26.86,26.84,26.87
$GC,4244,-0.81,-155.7,2998,2597,3439,3479,547.3,-10.3,236,4248,0.00,2.03,0.00,0.000,516,0.000,0.028,3007,1228,3458,3439,3477,0,0,0,0,0,0,27.17,26.66,27.24
$GC,4268,-0.81,-155.7,3006,1230,3440,3479,547.3,-10.3,236,4275,0.00,2.10,0.00,0.000,1030,0.000,0.031,2998,2602,3458,3438,3478,0,0,0,0,0,0,26.63,26.60,26.67
$GC,4574,-0.81,-155.7,2997,2602,3438,3477,581.1,-10.3,247,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3455,3435,3476,0,0,0,0,0,0,27.17,27.24,27.24
$GC,4874,-0.81,-155.7,2997,2603,3434,3474,611.1,-10.0,257,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3452,3432,3473,0,0,0,0,0,0,27.17,27.24,27.24
$GC,5174,-0.81,-155.7,2999,2602,3430,3472,639.5,-9.3,267,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3450,3430,3471,0,0,0,0,0,0,27.17,27.24,27.24
$GC,5474,-0.81,-155.7,2998,2603,3430,3470,668.7,-10.0,277,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2602,3448,3428,3469,0,0,0,0,0,0,27.17,27.24,27.24
$GC,5774,-0.81,-155.7,2998,2602,3428,3468,701.3,-11.5,287,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2602,3446,3426,3467,0,0,0,0,0,0,27.17,27.24,27.24
$GC,6074,-0.81,-155.7,2998,2603,3426,3466,733.7,-10.6,297,6077,0.00,1.67,0.00,0.000,260,0.000,0.044,2990,3688,3444,3424,3465,0,0,0,0,0,0,27.17,26.41,27.23
$GC,6144,-0.81,-155.7,2989,3689,3425,3465,740.1,-10.6,299,6148,0.00,1.55,0.00,0.000,1030,0.000,0.024,2997,2603,3443,3423,3464,0,0,0,0,0,0,26.82,26.80,26.84
$GC,6464,-0.81,-155.7,2998,2603,3421,3464,774.1,-10.5,310,6467,0.00,1.70,0.00,0.000,260,0.000,0.045,2990,3691,3442,3421,3464,0,0,0,0,0,0,27.17,26.38,27.23
$GC,6498,-0.81,-155.7,2989,3692,3423,3464,777.3,-10.4,311,6502,0.00,1.58,0.00,0.000,1030,0.000,0.024,2996,2589,3442,3421,3463,0,0,0,0,0,0,26.80,26.78,26.82
$GC,6824,-0.81,-155.7,2997,2589,3420,3463,809.4,-9.2,322,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2589,3441,3420,3462,0,0,0,0,0,0,27.17,27.24,27.23
$GC,7124,-0.81,-155.7,2995,2589,3419,3462,834.1,-8.1,332,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2589,3439,3418,3461,0,0,0,0,0,0,27.17,27.24,27.23
$GC,7424,-0.81,-155.7,2996,2590,3417,3461,859.4,-8.8,342,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2589,3437,3415,3460,0,0,0,0,0,0,27.17,27.24,27.23
$GC,7724,-0.81,-155.7,2996,2590,3416,3460,886.2,-8.7,352,7727,0.00,1.73,0.00,0.000,260,0.000,0.045,2989,3691,3436,3414,3459,0,0,0,0,0,0,27.17,26.34,27.23
$GC,7743,-0.81,-155.7,2990,3692,3414,3459,886.2,-8.7,352,7747,0.00,1.58,0.00,0.000,1030,0.000,0.024,2996,2594,3436,3414,3459,0,0,0,0,0,0,26.77,26.76,26.80
$GC,8054,-0.81,-155.7,2996,2595,3413,3458,914.2,-8.7,363,8057,0.00,2.05,0.00,0.000,516,0.000,0.029,3005,1223,3435,3413,3458,0,0,0,0,0,0,27.17,26.54,27.23
$GC,8084,-0.81,-155.7,3005,1224,3413,3458,916.6,-8.7,364,8088,0.00,2.12,0.00,0.000,1030,0.000,0.032,2996,2602,3435,3413,3458,0,0,0,0,0,0,26.53,26.49,26.55
$GC,8414,-0.81,-155.7,2997,2603,3411,3457,947.2,-9.5,375,8418,0.00,1.70,0.00,0.000,260,0.000,0.045,2988,3695,3434,3412,3456,0,0,0,0,0,0,27.17,26.32,27.22
$GC,8439,-0.81,-155.7,2987,3695,3413,3457,947.2,-9.5,375,8445,0.00,1.58,0.00,0.000,1030,0.000,0.024,2995,2605,3434,3412,3456,0,0,0,0,0,0,26.77,26.74,26.79
$GC,8744,-0.81,-155.7,2994,2606,3414,3456,981.5,-10.5,386,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2605,3433,3411,3455,0,0,0,0,0,0,27.16,27.23,27.22
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8832,begin apogee
$GC,8836,-0.17,0.0,2994,2425,3413,3456,990.5,-10.0,389,8968,0.75,0.00,129.02,1.226,10246,0.143,0.000,3213,2423,2838,2810,2866,0,0,0,0,0,0,25.43,24.70,23.45
$STATE,8968,end apogee,CONTROL_FINISHED_OK
$STATE,8968,begin climb
$GC,8970,0.81,155.7,3214,2424,2807,2863,996.3,0.0,393,9114,1.02,2.22,137.05,1.210,10756,0.123,0.027,3533,1028,2198,2190,2207,0,0,0,0,0,0,25.09,24.10,23.13
$GC,9314,0.94,243.2,3534,1028,2181,2199,987.8,6.2,405,9394,0.12,2.17,75.25,1.203,11270,0.135,0.031,3566,2417,1847,1845,1849,0,0,0,0,0,0,25.90,26.26,23.82
$GC,9704,0.94,243.2,3565,2418,1835,1833,945.8,11.3,418,9707,0.00,2.03,0.00,0.000,260,0.000,0.045,3557,3705,1832,1833,1832,0,0,0,0,0,0,26.83,26.36,26.89
$GC,9803,0.94,243.2,3556,3706,1835,1833,935.3,11.5,421,9807,0.00,1.90,0.00,0.000,1030,0.000,0.025,3566,2419,1832,1833,1832,0,0,0,0,0,0,26.65,26.63,26.66
$GC,10124,0.94,243.2,3566,2417,1832,1830,900.0,11.0,432,10127,0.00,2.00,0.00,0.000,260,0.000,0.045,3557,3687,1830,1832,1829,0,0,0,0,0,0,27.03,26.44,27.09
$GC,10143,0.94,243.2,3556,3688,1834,1830,900.0,11.0,432,10147,0.00,1.85,0.00,0.000,1030,0.000,0.025,3566,2411,1830,1832,1829,0,0,0,0,0,0,26.74,26.72,26.77
$GC,10454,0.94,243.2,3567,2407,1831,1828,861.0,11.6,443,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2407,1830,1831,1829,0,0,0,0,0,0,27.08,27.15,27.15
$GC,10754,0.94,243.2,3567,2407,1830,1829,829.5,10.1,453,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2407,1829,1831,1828,0,0,0,0,0,0,27.11,27.18,27.17
$GC,11054,0.98,274.1,3565,2407,1832,1829,802.5,8.7,463,11085,0.00,0.00,26.20,1.124,8198,0.000,0.000,3566,2407,1715,1716,1714,0,0,0,0,0,0,27.13,25.23,24.49
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$STATE,17924,end climb,SURFACE_DEPTH_REACHED
$STATE,17924,begin surface coast
$FINISH,0.8,1.009194
$STATE,17934,end surface coast,CONTROL_FINISHED_OK
$STATE,17934,begin surface
$SM_CCo,18010,0.00,0.000,0,0,765,509.00
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$IRIDIUM_FIX,1258.73,14437.26,210208,171950
$TT8_MAMPS,0.05243,0.05243
$HUMID,42.99
$INTERNAL_PRESSURE,9.24291
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.13,85.258
$10V_AH,9.82,46.838
$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,24.500,122.500,564.425,0.000,0.000,0.000,0.000,337.425,0.000,0.000,6.531,0.000,15049.475,692.274,2562.830,156.784,0.000,2019.022,0.000,1737.020,0.000,0.546,0.000
$DEVICE_MAMPS,222.615,53.550,1226.295,0.000,0.000,0.000,0.000,77.265,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,574.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229072
$DATA_FILE_SIZE,36775,852
$CAP_FILE_SIZE,150356,0
$CFSIZE,1024393216,990986240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,17232.03,0x236db2,7,5
$CURRENT,0.022,66.34,1
$GPS,270415,085736,1324.264,14433.985,37,0.7,37,1.0,0.0,0.0,11,16.6