version: 66.12
glider: 203
mission: 6
dive: 14
start: 12 13 114 17 24 18
data:
$ID,203
$MISSION,6
$DIVE,14
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52103
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-63.024231
$PRESSURE_SLOPE,0.0001160131
$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,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,131214,172005,2057.6604,-15807.0410,26,0.9,26,9.6,0.0,0.0,8,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-60.8
$GPS2,131214,172408,2057.6782,-15807.0801,7,0.9,7,9.6,0.0,0.0,8,13.5
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,151.5,83309,-16.8,-10.000,-19.73,2606
$D_GRID,3096
$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,-0.94,-170.3,189,2833,1250,1158,0.0,0.0,0,45,0.00,0.00,-31.23,0.000,16386,0.000,0.000,188,2833,2128,2144,2112,0,0,0,0,0,0,26.85,28.83,26.93
$GC,46,-0.94,-170.3,190,2833,2147,2111,3.2,-4.8,5,99,8.80,2.15,-34.62,0.000,18948,0.228,0.042,2496,1395,3536,3592,3480,0,0,0,0,0,0,26.42,25.67,26.63
$GC,253,-0.72,-170.3,2496,1396,3593,3481,46.2,-24.8,45,261,0.22,2.10,0.00,0.000,3078,0.139,0.036,2561,2768,3536,3593,3480,0,0,0,0,0,0,26.63,26.75,26.72
$GC,565,-0.65,-170.3,2561,2768,3596,3480,107.6,-17.0,78,566,0.10,0.00,0.00,0.000,2054,0.177,0.000,2588,2768,3538,3596,3480,0,0,0,0,0,0,26.81,26.94,26.91
$GC,865,-0.65,-170.3,2588,2768,3602,3481,146.6,-12.5,108,869,0.00,1.67,0.00,0.000,260,0.000,0.050,2583,3852,3540,3599,3481,0,0,0,0,0,0,27.17,26.94,27.24
$GC,945,-0.65,-170.3,2583,3852,3601,3482,157.5,-13.2,116,949,0.00,1.55,0.00,0.000,1030,0.000,0.026,2583,2781,3541,3601,3482,0,0,0,0,0,0,27.07,27.03,27.08
$GC,1255,-0.65,-170.3,2583,2782,3601,3488,198.5,-13.1,147,1259,0.00,1.98,0.00,0.000,516,0.000,0.027,2583,1406,3543,3600,3486,0,0,0,0,0,0,27.24,27.05,27.31
$GC,1305,-0.72,-170.3,2584,1407,3601,3488,204.6,-12.0,152,1309,0.00,2.08,0.00,0.000,1030,0.000,0.036,2579,2779,3543,3600,3487,0,0,0,0,0,0,27.07,27.04,27.10
$GC,1615,-0.79,-170.3,2579,2779,3601,3488,243.0,-11.8,183,1619,0.00,1.65,0.00,0.000,260,0.000,0.052,2579,3855,3543,3600,3487,0,0,0,0,0,0,27.29,27.06,27.36
$GC,1695,-0.87,-170.3,2579,3855,3601,3489,250.9,-11.3,190,1699,0.10,1.55,0.00,0.000,5126,0.105,0.027,2513,2782,3543,3600,3486,0,0,0,0,0,0,27.08,27.14,27.15
$GC,2005,-0.87,-170.3,2513,2783,3601,3489,295.9,-13.1,201,2009,0.00,1.98,0.00,0.000,516,0.000,0.027,2513,1410,3543,3599,3487,0,0,0,0,0,0,27.32,27.15,27.39
$GC,2070,-0.87,-170.3,2513,1410,3601,3489,303.7,-13.2,203,2074,0.05,2.08,0.00,0.000,3078,0.165,0.035,2520,2791,3543,3600,3487,0,0,0,0,0,0,26.98,27.12,27.07
$GC,2395,-0.87,-170.3,2520,2792,3601,3489,346.1,-12.7,214,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2791,3543,3599,3487,0,0,0,0,0,0,27.34,27.43,27.41
$GC,2695,-0.87,-170.3,2520,2791,3597,3487,382.9,-12.3,224,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2791,3541,3596,3487,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2995,-0.87,-170.3,2521,2792,3593,3489,420.9,-12.8,234,2999,0.00,1.62,0.00,0.000,260,0.000,0.053,2515,3856,3539,3591,3487,0,0,0,0,0,0,27.37,27.15,27.44
$GC,3154,-0.87,-170.3,2515,3857,3590,3487,441.3,-13.6,239,3159,0.00,1.58,0.00,0.000,1030,0.000,0.028,2515,2770,3538,3590,3487,0,0,0,0,0,0,27.27,27.23,27.28
$GC,3475,-0.87,-170.3,2515,2771,3586,3487,483.3,-12.9,250,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2770,3536,3585,3487,0,0,0,0,0,0,27.39,27.47,27.46
$GC,3775,-0.87,-170.3,2515,2770,3585,3484,519.7,-12.0,260,3779,0.00,1.67,0.00,0.000,260,0.000,0.053,2509,3856,3533,3583,3484,0,0,0,0,0,0,27.39,27.17,27.46
$GC,3854,-0.87,-170.3,2508,3857,3584,3484,527.8,-12.9,262,3859,0.00,1.55,0.00,0.000,1030,0.000,0.029,2509,2791,3533,3583,3483,0,0,0,0,0,0,27.28,27.24,27.29
$GC,4165,-0.87,-170.3,2509,2790,3581,3480,569.1,-12.4,273,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2790,3530,3580,3480,0,0,0,0,0,0,27.40,27.48,27.47
$GC,4465,-0.87,-170.3,2509,2791,3578,3479,604.2,-11.6,283,4469,0.00,1.65,0.00,0.000,260,0.000,0.054,2501,3852,3528,3577,3479,0,0,0,0,0,0,27.41,27.17,27.47
$GC,4515,-0.87,-170.3,2501,3853,3577,3480,608.2,-12.0,284,4519,0.10,1.55,0.00,0.000,3078,0.184,0.030,2522,2797,3528,3577,3479,0,0,0,0,0,0,27.08,27.25,27.21
$GC,4825,-0.87,-170.3,2522,2797,3576,3477,644.2,-10.7,295,4829,0.00,1.65,0.00,0.000,260,0.000,0.057,2517,3852,3526,3575,3477,0,0,0,0,0,0,27.41,27.17,27.48
$GC,4904,-0.87,-170.3,2517,3852,3575,3476,651.1,-11.0,297,4909,0.00,1.52,0.00,0.000,1030,0.000,0.031,2516,2809,3525,3574,3476,0,0,0,0,0,0,27.29,27.25,27.30
$GC,5215,-0.87,-170.3,2517,2809,3572,3475,688.6,-11.3,308,5219,0.00,1.62,0.00,0.000,260,0.000,0.056,2510,3849,3523,3571,3475,0,0,0,0,0,0,27.41,27.17,27.48
$GC,5259,-0.87,-170.3,2512,3849,3572,3475,692.1,-11.3,309,5264,0.00,1.52,0.00,0.000,1030,0.000,0.031,2510,2813,3522,3570,3474,0,0,0,0,0,0,27.29,27.24,27.30
$GC,5575,-0.87,-170.3,2510,2814,3569,3473,731.3,-12.0,320,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2814,3520,3568,3473,0,0,0,0,0,0,27.41,27.49,27.48
$GC,5875,-0.87,-170.3,2510,2814,3567,3473,768.2,-12.4,330,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2814,3519,3566,3472,0,0,0,0,0,0,27.41,27.50,27.48
$GC,6175,-0.87,-170.3,2511,2815,3566,3472,805.4,-12.6,340,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2814,3517,3564,3471,0,0,0,0,0,0,27.41,27.50,27.48
$GC,6475,-0.87,-170.3,2511,2814,3564,3468,840.5,-11.5,350,6479,0.00,1.62,0.00,0.000,260,0.000,0.058,2505,3849,3515,3563,3468,0,0,0,0,0,0,27.42,27.18,27.48
$GC,6509,-0.87,-170.3,2505,3849,3562,3468,844.1,-11.5,351,6515,0.08,1.52,0.00,0.000,3078,0.209,0.031,2518,2817,3515,3562,3468,0,0,0,0,0,0,27.09,27.26,27.22
$GC,6835,-0.87,-170.3,2518,2818,3562,3468,879.9,-10.9,362,6839,0.00,2.08,0.00,0.000,516,0.000,0.030,2518,1397,3513,3559,3467,0,0,0,0,0,0,27.42,27.23,27.48
$GC,6859,-0.87,-170.3,2518,1398,3562,3469,879.9,-10.9,362,6868,0.00,2.17,0.00,0.000,1030,0.000,0.039,2513,2824,3513,3560,3467,0,0,0,0,0,0,27.24,27.20,27.27
$GC,7165,-0.87,-170.3,2513,2825,3561,3467,915.4,-10.5,373,7169,0.00,1.60,0.00,0.000,260,0.000,0.057,2511,3850,3513,3560,3466,0,0,0,0,0,0,27.41,27.17,27.49
$GC,7195,-0.87,-170.3,2511,3851,3560,3467,918.6,-10.5,374,7199,0.00,1.52,0.00,0.000,1030,0.000,0.033,2511,2818,3512,3559,3466,0,0,0,0,0,0,27.29,27.25,27.31
$GC,7525,-0.87,-170.3,2511,2819,3558,3467,952.1,-10.1,385,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2818,3511,3558,3465,0,0,0,0,0,0,27.41,27.50,27.48
$GC,7825,-0.87,-170.3,2510,2818,3557,3464,982.7,-10.3,395,7829,0.00,1.60,0.00,0.000,260,0.000,0.057,2511,3845,3510,3556,3464,0,0,0,0,0,0,27.41,27.18,27.49
$GC,7864,-0.87,-170.3,2511,3846,3557,3465,986.0,-10.5,396,7869,0.00,1.50,0.00,0.000,1030,0.000,0.032,2511,2831,3510,3556,3464,0,0,0,0,0,0,27.29,27.25,27.31
$STATE,7914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7914,begin apogee
$GC,7917,-0.23,0.0,2512,2953,3557,3465,992.3,-10.6,398,8060,0.68,0.00,141.25,1.014,10244,0.142,0.000,2725,2952,2837,2889,2786,0,0,0,0,0,0,27.07,25.27,24.61
$STATE,8061,end apogee,CONTROL_FINISHED_OK
$STATE,8061,begin climb
$GC,8062,0.94,170.3,2725,2952,2884,2778,997.6,0.0,402,8207,1.08,1.52,138.38,1.033,10500,0.095,0.059,3095,3853,2143,2193,2094,0,0,0,0,0,0,25.37,25.40,24.41
$GC,8430,0.79,184.5,3095,3853,2167,2068,981.7,9.4,415,8437,0.10,1.38,3.35,0.613,13318,0.209,0.031,3084,2949,2085,2135,2035,0,0,0,0,0,0,26.09,26.28,25.27
$GC,8746,0.75,230.6,3084,2951,2158,2055,955.0,8.2,426,8800,0.00,1.45,50.65,0.949,8452,0.000,0.054,3083,3853,1893,1944,1842,0,0,0,0,0,0,26.75,25.41,24.96
$GC,8900,0.62,230.6,3083,3853,1926,1823,939.3,10.7,431,8906,0.22,1.38,0.00,0.000,5126,0.176,0.030,3028,2946,1873,1924,1823,0,0,0,0,0,0,25.98,26.18,26.15
$GC,9226,0.65,257.9,3028,2947,1922,1822,910.0,8.9,442,9259,0.00,2.15,24.08,0.909,8708,0.000,0.030,3032,1549,1773,1825,1722,0,0,0,0,0,0,26.76,26.03,25.36
$GC,9307,0.67,280.8,3032,1549,1817,1716,904.3,9.1,444,9332,0.00,2.22,20.83,0.924,9222,0.000,0.039,3032,2948,1693,1746,1641,0,0,0,0,0,0,26.28,26.23,25.15
$GC,9648,0.67,280.8,3032,2950,1725,1620,866.7,10.8,456,9652,0.00,2.12,0.00,0.000,516,0.000,0.030,3040,1556,1671,1724,1619,0,0,0,0,0,0,26.70,26.53,26.77
$GC,9672,0.67,280.8,3040,1556,1725,1619,866.7,10.8,456,9680,0.00,2.20,0.00,0.000,1030,0.000,0.039,3040,2953,1671,1724,1619,0,0,0,0,0,0,26.54,26.51,26.58
$GC,9978,0.67,280.8,3040,2953,1724,1618,830.2,10.7,467,9982,0.00,2.12,0.00,0.000,516,0.000,0.031,3039,1550,1670,1722,1618,0,0,0,0,0,0,26.90,26.71,26.98
$GC,10042,0.67,280.8,3040,1551,1723,1619,824.1,10.5,469,10047,0.00,2.15,0.00,0.000,1030,0.000,0.039,3040,2929,1670,1722,1618,0,0,0,0,0,0,26.77,26.72,26.79
$GC,10368,0.67,280.8,3040,2929,1722,1617,790.0,10.1,480,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2929,1669,1721,1617,0,0,0,0,0,0,27.03,27.12,27.11
$GC,10668,0.68,289.7,3040,2929,1722,1616,761.0,9.6,490,10672,0.00,2.05,0.00,0.000,516,0.000,0.031,3039,1559,1669,1721,1617,0,0,0,0,0,0,27.10,26.91,27.17
$GC,10767,0.70,308.7,3039,1558,1722,1617,753.0,9.2,493,10798,0.00,2.10,25.40,0.841,9222,0.000,0.039,3040,2916,1574,1629,1520,0,0,0,0,0,0,26.96,26.91,25.73
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$STATE,17127,end climb,SURFACE_DEPTH_REACHED
$STATE,17127,begin surface coast
$FINISH,1.0,1.005485
$STATE,17143,end surface coast,CONTROL_FINISHED_OK
$STATE,17143,begin surface
$SM_CCo,17215,0.00,0.000,0,0,1025,444.97
$SM_GC,2.22,7.57,0.10,0.00,0.036,0.088,0.000,184,2778,1025,-8.10,1.72,444.97,0,0,0,0,0,0,26.96,27.01,27.01
$IRIDIUM_FIX,2050.21,-15806.34,131214,125845
$TT8_MAMPS,0.055426,0.055426
$HUMID,39.05
$INTERNAL_PRESSURE,9.1277
$TCM_TEMP,25.10
$XPDR_PINGS,5
$24V_AH,24.41,6.056
$10V_AH,10.42,6.317
$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,19.500,126.750,499.900,0.000,0.000,0.000,0.000,188.200,1.250,0.000,7.925,0.000,14044.188,633.679,2703.584,66.354,0.000,1900.204,0.000,1973.605,0.000,0.554,0.000
$DEVICE_MAMPS,227.970,87.975,1032.750,0.000,0.000,0.000,0.000,88.740,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,607.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273216
$DATA_FILE_SIZE,40115,899
$CAP_FILE_SIZE,158292,0
$CFSIZE,1024393216,1018626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.000,258.21,1
$GPS,131214,221205,2055.090,-15806.185,36,1.0,36,9.6,0.8,244.0,8,19.8