version: 66.12
glider: 203
mission: 6
dive: 17
start: 12 14 114 7 6 30
data:
$ID,203
$MISSION,6
$DIVE,17
$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,68
$R_STBD_OVSHOOT,28
$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
$GPS1,141214,070205,2049.7805,-15804.6934,24,0.9,24,9.6,0.0,0.0,9,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-59.7
$GPS2,141214,070620,2049.7964,-15804.7480,7,0.8,7,9.6,0.6,359.6,10,14.9
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,150.7,68192,-16.8,-10.000,-19.73,2606
$D_GRID,3643
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.94,-170.3,188,2802,1049,925,0.0,0.0,0,51,0.00,0.00,-37.45,0.000,16386,0.000,0.000,187,2803,2099,2116,2083,0,0,0,0,0,0,26.98,28.83,27.05
$GC,52,-0.94,-170.3,188,2803,2117,2084,3.1,-4.9,6,105,8.70,2.08,-35.67,0.000,18948,0.226,0.043,2497,1407,3536,3591,3482,0,0,0,0,0,0,26.55,25.84,26.76
$GC,228,-0.72,-170.3,2497,1407,3593,3482,39.3,-20.3,40,236,0.22,2.12,0.00,0.000,3078,0.136,0.035,2562,2807,3536,3592,3481,0,0,0,0,0,0,26.71,26.84,26.80
$GC,534,-0.61,-170.3,2563,2808,3594,3484,100.4,-20.2,76,539,0.15,1.60,0.00,0.000,2308,0.155,0.050,2600,3858,3538,3594,3482,0,0,0,0,0,0,26.84,26.92,26.96
$GC,559,-0.54,-170.3,2601,3859,3595,3483,103.6,-17.9,78,568,0.08,1.55,0.00,0.000,3078,0.132,0.026,2626,2785,3538,3594,3482,0,0,0,0,0,0,26.84,27.00,26.92
$GC,865,-0.66,-170.3,2626,2784,3599,3482,141.0,-10.9,109,869,0.00,2.03,0.00,0.000,516,0.000,0.026,2626,1384,3540,3598,3482,0,0,0,0,0,0,27.22,27.03,27.29
$GC,919,-0.80,-170.3,2626,1384,3600,3482,146.2,-10.5,114,927,0.10,2.12,0.00,0.000,5126,0.047,0.034,2543,2798,3540,3599,3482,0,0,0,0,0,0,27.03,27.02,27.05
$GC,1224,-0.80,-170.3,2542,2799,3600,3488,191.6,-15.0,145,1229,0.00,1.60,0.00,0.000,260,0.000,0.049,2534,3854,3543,3599,3487,0,0,0,0,0,0,27.27,27.05,27.34
$GC,1274,-0.80,-170.3,2534,3856,3600,3488,199.5,-15.9,150,1279,0.00,1.55,0.00,0.000,1030,0.000,0.025,2534,2782,3543,3599,3487,0,0,0,0,0,0,27.16,27.13,27.17
$GC,1584,-0.80,-170.3,2534,2782,3600,3487,246.5,-14.7,181,1589,0.00,1.65,0.00,0.000,260,0.000,0.050,2525,3855,3543,3599,3488,0,0,0,0,0,0,27.31,27.08,27.38
$GC,1599,-0.80,-170.3,2526,3856,3600,3489,248.0,-14.7,182,1606,0.08,1.50,0.00,0.000,3078,0.187,0.027,2540,2816,3543,3599,3487,0,0,0,0,0,0,27.01,27.15,27.13
$GC,1914,-0.80,-170.3,2540,2817,3600,3489,289.4,-11.9,194,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2816,3543,3599,3487,0,0,0,0,0,0,27.34,27.41,27.40
$GC,2214,-0.80,-170.3,2540,2815,3600,3487,324.2,-12.2,204,2219,0.00,1.62,0.00,0.000,260,0.000,0.051,2535,3862,3543,3599,3488,0,0,0,0,0,0,27.35,27.13,27.42
$GC,2254,-0.80,-170.3,2536,3863,3600,3489,328.2,-12.6,205,2259,0.00,1.52,0.00,0.000,1030,0.000,0.027,2535,2802,3543,3599,3487,0,0,0,0,0,0,27.24,27.21,27.25
$GC,2574,-0.80,-170.3,2535,2803,3597,3489,372.6,-13.6,216,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2802,3541,3596,3487,0,0,0,0,0,0,27.36,27.45,27.43
$GC,2874,-0.80,-170.3,2536,2802,3593,3487,413.5,-13.8,226,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2802,3539,3592,3487,0,0,0,0,0,0,27.38,27.46,27.45
$GC,3174,-0.80,-170.3,2536,2803,3589,3489,451.9,-12.1,236,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2802,3537,3588,3486,0,0,0,0,0,0,27.39,27.47,27.46
$GC,3474,-0.80,-170.3,2535,2802,3586,3487,484.7,-11.2,246,3479,0.00,1.65,0.00,0.000,260,0.000,0.054,2527,3869,3535,3584,3487,0,0,0,0,0,0,27.39,27.17,27.47
$GC,3509,-0.80,-170.3,2527,3871,3584,3488,488.3,-11.5,247,3513,0.00,1.55,0.00,0.000,1030,0.000,0.028,2527,2801,3535,3584,3487,0,0,0,0,0,0,27.28,27.25,27.30
$GC,3834,-0.80,-170.3,2527,2802,3583,3485,527.8,-12.0,258,3839,0.00,2.03,0.00,0.000,516,0.000,0.028,2527,1403,3533,3582,3484,0,0,0,0,0,0,27.40,27.22,27.47
$GC,3859,-0.80,-170.3,2526,1403,3583,3484,527.8,-12.0,258,3867,0.05,2.12,0.00,0.000,3078,0.171,0.037,2535,2808,3532,3581,3484,0,0,0,0,0,0,27.08,27.20,27.16
$GC,4164,-0.80,-170.3,2535,2807,3580,3481,566.8,-12.0,269,4169,0.00,1.60,0.00,0.000,260,0.000,0.054,2530,3852,3529,3578,3480,0,0,0,0,0,0,27.41,27.18,27.47
$GC,4219,-0.80,-170.3,2530,3852,3579,3480,570.5,-12.1,270,4226,0.00,1.52,0.00,0.000,1030,0.000,0.028,2530,2800,3529,3578,3480,0,0,0,0,0,0,27.29,27.26,27.31
$GC,4524,-0.80,-170.3,2530,2801,3577,3480,608.0,-10.9,281,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2800,3527,3576,3479,0,0,0,0,0,0,27.41,27.49,27.48
$GC,4824,-0.80,-170.3,2530,2800,3575,3477,638.4,-10.2,291,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2800,3525,3573,3477,0,0,0,0,0,0,27.41,27.49,27.48
$GC,5124,-0.80,-170.3,2530,2801,3571,3478,670.3,-10.7,301,5130,0.00,1.62,0.00,0.000,260,0.000,0.054,2523,3849,3523,3570,3476,0,0,0,0,0,0,27.41,27.20,27.48
$GC,5169,-0.80,-170.3,2524,3850,3570,3477,673.5,-10.7,302,5174,0.10,1.52,0.00,0.000,3078,0.184,0.030,2546,2807,3522,3569,3475,0,0,0,0,0,0,27.09,27.27,27.22
$GC,5485,-0.88,-170.3,2546,2807,3568,3474,704.2,-9.2,313,5489,0.00,1.62,0.00,0.000,260,0.000,0.057,2541,3848,3520,3567,3474,0,0,0,0,0,0,27.41,27.17,27.48
$GC,5545,-0.96,-170.3,2540,3847,3567,3473,709.9,-9.4,315,5549,0.03,1.50,0.00,0.000,5126,0.109,0.030,2502,2804,3520,3567,3473,0,0,0,0,0,0,27.15,27.27,27.21
$GC,5874,-0.96,-170.3,2502,2804,3565,3472,748.0,-11.7,326,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2804,3518,3565,3472,0,0,0,0,0,0,27.41,27.50,27.48
$GC,6174,-0.96,-170.3,2502,2804,3564,3471,785.2,-12.8,336,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2804,3517,3563,3471,0,0,0,0,0,0,27.41,27.50,27.49
$GC,6474,-0.96,-170.3,2503,2806,3562,3470,823.4,-12.6,346,6479,0.00,1.65,0.00,0.000,260,0.000,0.056,2498,3852,3514,3561,3468,0,0,0,0,0,0,27.42,27.18,27.49
$GC,6509,-0.96,-170.3,2498,3852,3562,3470,827.1,-12.5,347,6514,0.00,1.52,0.00,0.000,1030,0.000,0.031,2498,2812,3515,3561,3469,0,0,0,0,0,0,27.29,27.27,27.32
$GC,6834,-0.96,-170.3,2498,2812,3560,3467,867.2,-12.2,358,6839,0.00,2.08,0.00,0.000,516,0.000,0.029,2498,1392,3513,3559,3467,0,0,0,0,0,0,27.41,27.24,27.48
$GC,6864,-0.96,-170.3,2498,1391,3560,3466,871.0,-12.2,359,6869,0.00,2.15,0.00,0.000,1030,0.000,0.039,2498,2805,3513,3559,3467,0,0,0,0,0,0,27.24,27.20,27.27
$GC,7194,-0.96,-170.3,2497,2807,3558,3467,911.5,-12.3,370,7199,0.00,1.62,0.00,0.000,260,0.000,0.057,2498,3849,3511,3557,3466,0,0,0,0,0,0,27.41,27.18,27.48
$GC,7229,-0.96,-170.3,2497,3849,3557,3466,915.2,-12.4,371,7233,0.00,1.52,0.00,0.000,1030,0.000,0.030,2498,2809,3511,3557,3466,0,0,0,0,0,0,27.30,27.26,27.32
$GC,7554,-0.96,-170.3,2498,2811,3556,3466,955.8,-12.4,382,7559,0.00,2.05,0.00,0.000,516,0.000,0.030,2498,1401,3509,3554,3465,0,0,0,0,0,0,27.41,27.23,27.49
$GC,7584,-0.96,-170.3,2498,1401,3555,3465,959.6,-12.4,383,7589,0.00,2.15,0.00,0.000,1030,0.000,0.038,2497,2814,3509,3554,3465,0,0,0,0,0,0,27.24,27.20,27.27
$STATE,7853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7853,begin apogee
$GC,7856,-0.23,0.0,2498,2948,3556,3464,992.3,-11.9,392,8007,0.73,0.00,143.43,0.992,10244,0.142,0.000,2728,2947,2826,2879,2773,0,0,0,0,0,0,27.08,25.31,24.65
$STATE,8008,end apogee,CONTROL_FINISHED_OK
$STATE,8008,begin climb
$GC,8009,0.94,170.3,2729,2947,2878,2771,999.6,0.0,397,8158,1.02,1.50,136.95,1.105,10500,0.086,0.058,3097,3843,2143,2193,2094,0,0,0,0,1,0,25.49,25.52,23.98
$GC,8382,0.79,193.1,3097,3844,2211,2113,982.2,9.1,409,8412,0.10,1.38,27.02,1.022,13318,0.201,0.031,3085,2938,2050,2100,2000,0,0,0,0,0,0,26.09,26.27,24.96
$GC,8722,0.73,215.1,3085,2937,2081,1981,949.9,9.1,421,8745,0.10,1.52,18.42,1.004,12548,0.210,0.054,3063,3853,1952,2003,1901,0,0,0,0,0,0,26.34,25.98,25.29
$GC,8797,0.66,234.8,3063,3855,1995,1894,944.4,9.2,423,8817,0.08,1.38,17.48,0.991,13318,0.167,0.031,3045,2938,1881,1933,1829,0,0,0,0,0,0,26.08,26.26,25.13
$GC,9142,0.70,278.3,3045,2939,1914,1808,913.5,8.3,435,9186,0.00,2.17,37.53,0.979,8708,0.000,0.028,3052,1547,1692,1745,1640,0,0,0,0,0,0,26.70,25.72,25.06
$GC,9236,0.74,319.6,3052,1548,1737,1633,905.9,8.4,438,9277,0.00,2.22,36.20,0.962,9222,0.000,0.037,3052,2946,1535,1591,1480,0,0,0,0,0,0,26.09,26.06,24.79
$GC,9587,0.74,319.6,3052,2947,1566,1456,870.2,10.4,450,9591,0.00,2.12,0.00,0.000,516,0.000,0.029,3053,1553,1510,1565,1455,0,0,0,0,0,0,26.62,26.44,26.69
$GC,9647,0.74,319.6,3053,1554,1566,1456,864.2,10.3,452,9651,0.00,2.15,0.00,0.000,1030,0.000,0.037,3053,2925,1509,1565,1453,0,0,0,0,0,0,26.51,26.48,26.55
$GC,9976,0.74,319.6,3053,2927,1564,1455,828.4,11.1,463,9981,0.00,2.08,0.00,0.000,516,0.000,0.029,3053,1552,1507,1562,1453,0,0,0,0,0,0,26.89,26.71,26.96
$GC,10011,0.74,319.6,3053,1553,1564,1454,825.2,11.0,464,10016,0.00,2.12,0.00,0.000,1030,0.000,0.037,3053,2922,1508,1564,1453,0,0,0,0,0,0,26.74,26.70,26.76
$GC,10336,0.74,319.6,3053,2921,1564,1452,789.3,10.9,475,10341,0.00,2.05,0.00,0.000,516,0.000,0.029,3053,1556,1507,1563,1452,0,0,0,0,0,0,27.02,26.84,27.09
$GC,10381,0.74,319.6,3053,1556,1564,1453,786.1,10.8,476,10386,0.00,2.10,0.00,0.000,1030,0.000,0.037,3054,2915,1508,1563,1453,0,0,0,0,0,0,26.86,26.82,26.89
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$STATE,17675,end climb,SURFACE_DEPTH_REACHED
$STATE,17676,begin surface coast
$FINISH,1.1,1.013058
$STATE,17691,end surface coast,CONTROL_FINISHED_OK
$STATE,17691,begin surface
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$TT8_MAMPS,0.056175,0.056175
$HUMID,38.93
$INTERNAL_PRESSURE,9.137
$TCM_TEMP,25.30
$XPDR_PINGS,6
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$10V_AH,10.39,6.496
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273228
$DATA_FILE_SIZE,40158,928
$CAP_FILE_SIZE,156990,0
$CFSIZE,1024393216,1018380288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,16111.09,0x236d6a,7,5
$CURRENT,0.000,230.46,1
$GPS,141214,120323,2047.169,-15803.618,35,1.1,35,9.6,0.0,0.0,7,18.7