version: 66.12
glider: 203
mission: 6
dive: 233
start: 1 26 115 12 39 7
data:
$ID,203
$MISSION,6
$DIVE,233
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$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,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$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,4
$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,100740
$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,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,95
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2608
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,260115,123330,2109.6553,-15808.3115,33,1.1,42,9.6,0.3,134.2,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-61.6
$GPS2,260115,123853,2109.6238,-15808.2998,17,1.1,17,9.6,0.0,320.2,7,4.9
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,RECOVERY
$TGT_LATLONG,2109.516,-15808.905
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,247.2,1064,-30.6,-10.000,-31.74,833
$D_GRID,1492
$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,-1.26,-54.1,183,2787,1016,919,0.0,0.0,0,56,0.00,0.00,-41.15,0.000,16386,0.000,0.000,182,2786,2175,2200,2150,0,0,0,0,0,0,26.88,28.83,26.95
$GC,58,-1.32,-96.0,183,2787,2201,2152,3.3,-4.8,6,93,8.38,1.65,-22.40,0.000,18692,0.212,0.057,2367,3853,3001,3064,2938,0,0,0,0,0,0,25.93,24.57,26.26
$GC,318,-1.32,-96.0,2367,3854,3065,2943,70.2,-30.6,50,326,0.00,1.48,0.00,0.000,1030,0.000,0.021,2368,2802,3002,3064,2941,0,0,0,0,0,0,26.80,26.79,26.82
$GC,623,-1.32,-96.0,2367,2803,3067,2943,151.2,-24.6,81,626,0.00,1.60,0.00,0.000,260,0.000,0.041,2360,3849,3003,3066,2941,0,0,0,0,0,0,27.15,26.59,27.21
$GC,643,-1.32,-96.0,2360,3850,3067,2943,156.7,-25.5,83,647,0.00,1.42,0.00,0.000,1030,0.000,0.022,2359,2842,3003,3066,2941,0,0,0,0,0,0,26.89,26.86,26.91
$GC,953,-1.32,-96.0,2359,2841,3067,2946,224.4,-18.9,114,957,0.08,1.52,0.00,0.000,2564,0.203,0.021,2372,1748,3006,3066,2946,0,0,0,0,0,0,26.92,26.88,26.92
$GC,1183,-1.32,-96.0,2372,1748,3068,2947,263.0,-17.5,131,1186,0.00,1.62,0.00,0.000,1030,0.000,0.031,2366,2841,3006,3067,2946,0,0,0,0,0,0,26.77,26.75,26.82
$GC,1493,-1.32,-96.0,2367,2843,3069,2947,319.0,-16.4,142,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2842,3007,3068,2946,0,0,0,0,0,0,27.24,27.32,27.30
$GC,1793,-1.32,-96.0,2367,2843,3069,2948,372.2,-17.8,152,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2841,3007,3068,2947,0,0,0,0,0,0,27.24,27.32,27.31
$GC,2093,-1.32,-96.0,2367,2841,3068,2946,420.7,-15.6,162,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2841,3006,3066,2946,0,0,0,0,0,0,27.24,27.32,27.32
$GC,2393,-1.32,-96.0,2367,2842,3064,2948,466.5,-15.1,172,2396,0.00,1.52,0.00,0.000,260,0.000,0.044,2359,3844,3004,3062,2946,0,0,0,0,0,0,27.25,26.60,27.32
$GC,2547,-1.32,-96.0,2360,3846,3061,2948,491.7,-17.0,177,2552,0.08,1.42,0.00,0.000,3078,0.197,0.023,2372,2851,3002,3059,2946,0,0,0,0,0,0,26.67,26.93,26.72
$STATE,2842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2842,begin apogee
$GC,2846,-0.19,0.0,2372,2960,3055,2947,540.5,-15.9,187,2924,1.17,0.00,75.43,0.783,10244,0.132,0.000,2737,2960,2606,2656,2557,0,0,0,0,0,0,25.74,25.85,25.18
$STATE,2924,end apogee,CONTROL_FINISHED_OK
$STATE,2925,begin climb
$GC,2926,1.32,96.0,2739,2961,2653,2554,544.5,0.0,189,3007,1.25,1.58,73.62,0.767,10756,0.060,0.021,3223,1883,2211,2254,2169,0,0,0,0,0,0,25.99,26.10,24.94
$GC,3153,1.36,120.4,3223,1885,2246,2161,535.1,7.0,197,3177,0.00,1.62,19.10,0.787,9222,0.000,0.033,3222,2939,2111,2156,2067,0,0,0,0,0,0,26.38,26.36,25.32
$GC,3503,1.36,120.4,3223,2938,2148,2056,500.3,10.4,209,3506,0.00,1.40,0.00,0.000,260,0.000,0.043,3222,3848,2101,2146,2057,0,0,0,0,0,0,26.95,26.52,27.02
$GC,3733,1.36,120.4,3223,3848,2147,2055,475.4,12.1,216,3736,0.00,1.27,0.00,0.000,1030,0.000,0.024,3229,2955,2099,2145,2054,0,0,0,0,0,0,26.81,26.78,26.82
$GC,4043,1.36,120.4,3229,2955,2143,2053,441.1,10.2,227,4046,0.00,1.40,0.00,0.000,260,0.000,0.044,3230,3850,2098,2143,2053,0,0,0,0,0,0,27.14,26.59,27.20
$GC,4272,1.36,120.4,3230,3850,2142,2052,419.6,10.1,234,4276,0.00,1.27,0.00,0.000,1030,0.000,0.024,3234,2961,2096,2141,2052,0,0,0,0,0,0,26.89,26.86,26.93
$GC,4583,1.36,120.4,3234,2961,2140,2051,387.7,9.6,245,4586,0.00,1.40,0.00,0.000,260,0.000,0.044,3234,3855,2094,2139,2050,0,0,0,0,0,0,27.20,26.63,27.27
$GC,4813,1.36,120.4,3234,3855,2137,2049,366.6,10.4,252,4817,0.00,1.27,0.00,0.000,1030,0.000,0.025,3241,2961,2093,2136,2050,0,0,0,0,0,0,26.89,26.86,26.91
$GC,5124,1.38,120.4,3241,2961,2135,2049,334.5,8.9,263,5127,0.00,1.52,0.00,0.000,516,0.000,0.023,3246,1898,2091,2134,2049,0,0,0,0,0,0,27.22,26.87,27.29
$GC,5163,1.40,120.4,3247,1899,2135,2050,331.9,8.9,264,5166,0.00,1.58,0.00,0.000,1030,0.000,0.033,3246,2938,2091,2134,2048,0,0,0,0,0,0,26.72,26.70,26.76
$GC,5484,1.43,120.4,3246,2937,2133,2047,305.4,8.6,275,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2937,2090,2133,2047,0,0,0,0,0,0,27.22,27.30,27.29
$GC,5783,1.47,146.9,3246,2937,2133,2046,285.5,6.7,285,5806,0.08,1.45,18.23,0.685,10500,0.128,0.044,3290,3860,2000,2041,1960,0,0,0,0,0,0,27.07,26.54,25.84
$GC,6032,1.47,146.9,3290,3861,2038,1955,261.2,10.2,293,6036,0.00,1.30,0.00,0.000,1030,0.000,0.024,3297,2962,1996,2038,1954,0,0,0,0,0,0,26.81,26.77,26.82
$GC,6343,1.48,146.9,3297,2964,2037,1955,228.8,9.4,317,6346,0.00,1.38,0.00,0.000,260,0.000,0.043,3297,3847,1994,2036,1953,0,0,0,0,0,0,27.15,26.55,27.22
$GC,6563,1.48,146.9,3297,3847,2036,1952,209.3,10.1,339,6566,0.00,1.27,0.00,0.000,1030,0.000,0.024,3304,2958,1993,2035,1952,0,0,0,0,0,0,26.87,26.84,26.89
$GC,6873,1.51,146.9,3304,2958,2036,1952,181.3,8.5,370,6876,0.00,1.48,0.00,0.000,516,0.000,0.021,3312,1898,1993,2035,1952,0,0,0,0,0,0,27.20,26.87,27.27
$GC,7103,1.54,167.5,3312,1898,2037,1952,164.0,7.5,393,7125,0.00,1.60,15.98,0.604,9222,0.000,0.031,3312,2960,1917,1959,1876,0,0,0,0,0,0,26.72,26.69,25.93
$GC,7423,1.54,167.5,3312,2960,1957,1870,131.2,9.6,425,7426,0.00,1.35,0.00,0.000,260,0.000,0.041,3312,3852,1913,1955,1871,0,0,0,0,0,0,27.13,26.56,27.19
$GC,7653,1.59,198.1,3312,3854,1955,1872,109.7,6.2,448,7679,0.00,1.20,22.48,0.521,9222,0.000,0.023,3319,2994,1794,1837,1752,0,0,0,0,0,0,26.87,26.86,25.91
$GC,7984,1.60,198.1,3318,2995,1831,1745,75.0,9.4,481,7989,0.00,1.33,0.00,0.000,260,0.000,0.042,3319,3857,1786,1830,1743,0,0,0,0,0,0,27.08,26.55,27.15
$GC,8213,1.63,219.8,3319,3858,1831,1745,57.4,7.3,504,8235,0.00,1.20,15.02,0.462,9222,0.000,0.023,3325,2998,1704,1749,1659,0,0,0,0,0,0,26.86,26.84,25.97
$GC,8533,1.63,219.8,3325,2999,1747,1656,24.1,11.1,559,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2998,1700,1746,1654,0,0,0,0,0,0,27.11,27.19,27.18
$STATE,8702,end climb,SURFACE_DEPTH_REACHED
$STATE,8702,begin surface coast
$FINISH,1.4,1.009876
$STATE,8717,end surface coast,CONTROL_FINISHED_OK
$STATE,8718,begin surface
$SM_CCo,8731,69.68,0.124,0,0,975,400.08
$SM_GC,2.03,7.93,0.22,69.68,0.029,0.046,0.124,195,2778,975,-8.09,2.21,400.08,0,0,0,0,0,0,26.65,26.97,26.30
$IRIDIUM_FIX,2104.07,-15811.92,260115,100231
$TT8_MAMPS,0.056924,0.056924
$HUMID,42.71
$INTERNAL_PRESSURE,9.1928
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.57,71.303
$10V_AH,10.29,39.584
$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,18.950,40.500,239.850,69.675,0.000,0.000,0.000,246.025,0.000,0.000,18.155,0.000,6575.197,376.050,2053.482,114.305,0.000,1344.588,0.000,1410.039,0.000,0.554,0.000
$DEVICE_MAMPS,211.905,83.385,787.185,123.930,0.000,0.000,0.000,81.090,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,400.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270328
$DATA_FILE_SIZE,26758,596
$CAP_FILE_SIZE,127902,0
$CFSIZE,1024393216,995065856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$INTR,0,9178.96,0x236db2,7,5
$CURRENT,0.088,111.99,1
$GPS,260115,150631,2109.250,-15808.258,22,0.8,24,9.6,0.5,129.2,10,9.2