version: 66.12
glider: 203
mission: 6
dive: 9
start: 12 12 114 20 36 43
data:
$ID,203
$MISSION,6
$DIVE,9
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,2825
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$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,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,37
$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,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
$GPS1,121214,203235,2105.5566,-15809.9551,27,0.9,27,9.6,0.6,339.3,10,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-65.2
$GPS2,121214,203634,2105.5991,-15809.9766,7,0.9,7,9.6,0.0,0.0,9,13.6
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,151.5,98818,-18.3,-10.000,-21.02,2236
$D_GRID,2904
$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,-1.06,-146.0,190,2599,1254,1160,0.0,0.0,0,46,0.00,0.00,-32.30,0.000,16386,0.000,0.000,190,2598,2171,2193,2149,0,0,0,0,0,0,26.86,28.83,26.94
$GC,48,-1.06,-146.0,190,2598,2194,2149,3.1,-4.4,5,94,8.65,2.05,-31.48,0.000,18948,0.226,0.044,2467,1197,3435,3496,3375,0,0,0,0,0,0,26.41,26.17,26.63
$GC,238,-1.06,-146.0,2467,1198,3496,3377,45.8,-26.0,42,245,0.00,2.15,0.00,0.000,1030,0.000,0.035,2460,2604,3435,3496,3375,0,0,0,0,0,0,26.78,26.75,26.81
$GC,549,-1.06,-146.0,2460,2607,3497,3380,132.2,-22.8,75,553,0.00,1.92,0.00,0.000,260,0.000,0.051,2450,3848,3437,3496,3378,0,0,0,0,0,0,27.10,26.85,27.16
$GC,704,-1.06,-146.0,2450,3850,3497,3383,165.4,-21.2,90,711,0.05,1.83,0.00,0.000,3078,0.159,0.027,2466,2590,3439,3497,3381,0,0,0,0,0,0,26.79,26.97,26.87
$GC,1009,-1.06,-146.0,2467,2591,3501,3383,223.2,-17.4,121,1013,0.00,1.95,0.00,0.000,260,0.000,0.050,2459,3847,3440,3499,3382,0,0,0,0,0,0,27.20,26.96,27.27
$GC,1034,-1.06,-146.0,2459,3847,3501,3382,227.0,-18.4,123,1041,0.00,1.83,0.00,0.000,1030,0.000,0.028,2459,2594,3441,3499,3383,0,0,0,0,0,0,27.06,27.05,27.08
$GC,1349,-1.06,-146.0,2459,2596,3500,3385,284.4,-18.1,143,1353,0.00,1.95,0.00,0.000,260,0.000,0.051,2450,3850,3442,3499,3385,0,0,0,0,0,0,27.26,27.01,27.32
$GC,1479,-1.06,-146.0,2450,3852,3500,3385,308.0,-19.7,147,1483,0.05,1.83,0.00,0.000,3078,0.155,0.028,2466,2590,3441,3499,3384,0,0,0,0,0,0,26.93,27.12,27.02
$GC,1799,-1.06,-146.0,2466,2591,3500,3385,365.9,-16.4,158,1803,0.00,1.95,0.00,0.000,260,0.000,0.052,2459,3846,3441,3499,3384,0,0,0,0,0,0,27.30,27.05,27.37
$GC,2014,-1.06,-146.0,2459,3846,3499,3383,400.2,-15.7,165,2019,0.00,1.80,0.00,0.000,1030,0.000,0.028,2459,2598,3440,3498,3383,0,0,0,0,0,0,27.19,27.16,27.20
$GC,2339,-1.06,-146.0,2460,2600,3496,3385,449.1,-14.8,176,2343,0.00,1.92,0.00,0.000,260,0.000,0.054,2450,3843,3439,3496,3383,0,0,0,0,0,0,27.34,27.10,27.41
$GC,2433,-1.06,-146.0,2450,3843,3495,3384,463.5,-15.7,179,2438,0.10,1.83,0.00,0.000,3078,0.176,0.029,2473,2600,3439,3494,3384,0,0,0,0,0,0,27.01,27.19,27.14
$GC,2759,-1.06,-146.0,2474,2601,3490,3385,510.4,-13.8,190,2763,0.00,1.95,0.00,0.000,260,0.000,0.056,2470,3849,3436,3489,3383,0,0,0,0,0,0,27.36,27.10,27.43
$GC,2883,-1.06,-146.0,2470,3849,3490,3383,526.9,-13.8,194,2888,0.00,1.85,0.00,0.000,1030,0.000,0.030,2470,2588,3435,3487,3383,0,0,0,0,0,0,27.24,27.21,27.26
$GC,3209,-1.06,-146.0,2471,2588,3486,3380,572.1,-14.1,205,3213,0.00,1.98,0.00,0.000,260,0.000,0.055,2462,3852,3432,3485,3380,0,0,0,0,0,0,27.37,27.13,27.44
$GC,3439,-1.06,-146.0,2462,3853,3483,3379,605.8,-16.0,212,3443,0.00,1.83,0.00,0.000,1030,0.000,0.031,2462,2597,3430,3482,3378,0,0,0,0,0,0,27.24,27.22,27.27
$GC,3749,-1.06,-146.0,2462,2596,3481,3376,654.9,-14.7,223,3753,0.00,1.95,0.00,0.000,260,0.000,0.057,2456,3845,3428,3480,3376,0,0,0,0,0,0,27.39,27.14,27.46
$GC,3823,-1.06,-146.0,2457,3845,3480,3375,664.0,-15.1,225,3828,0.00,1.85,0.00,0.000,1030,0.000,0.031,2456,2596,3426,3478,3375,0,0,0,0,0,0,27.27,27.22,27.28
$GC,4139,-1.06,-146.0,2457,2597,3477,3373,712.9,-14.6,236,4143,0.00,1.95,0.00,0.000,260,0.000,0.057,2447,3842,3424,3476,3372,0,0,0,0,0,0,27.39,27.14,27.46
$GC,4213,-1.06,-146.0,2447,3843,3476,3374,722.2,-15.0,238,4218,0.10,1.85,0.00,0.000,3078,0.180,0.032,2469,2595,3424,3475,3373,0,0,0,0,0,0,27.05,27.23,27.21
$GC,4529,-1.06,-146.0,2469,2595,3474,3371,768.5,-14.0,249,4533,0.00,1.98,0.00,0.000,260,0.000,0.058,2469,3848,3422,3473,3371,0,0,0,0,0,0,27.40,27.15,27.47
$GC,4723,-1.06,-146.0,2469,3849,3472,3371,795.1,-14.8,255,4728,0.00,1.85,0.00,0.000,1030,0.000,0.032,2469,2597,3420,3472,3369,0,0,0,0,0,0,27.28,27.24,27.29
$GC,5039,-1.06,-146.0,2469,2597,3469,3368,841.5,-13.8,266,5043,0.00,1.98,0.00,0.000,260,0.000,0.057,2462,3852,3418,3468,3369,0,0,0,0,0,0,27.40,27.15,27.48
$GC,5133,-1.06,-146.0,2462,3852,3469,3368,854.2,-14.0,269,5138,0.00,1.85,0.00,0.000,1030,0.000,0.033,2462,2603,3417,3467,3368,0,0,0,0,0,0,27.28,27.24,27.29
$GC,5459,-1.06,-146.0,2462,2604,3466,3367,896.8,-12.5,280,5463,0.00,1.95,0.00,0.000,260,0.000,0.058,2457,3843,3415,3465,3366,0,0,0,0,0,0,27.41,27.15,27.48
$GC,5589,-1.06,-146.0,2458,3844,3465,3366,911.6,-12.4,284,5593,0.00,1.83,0.00,0.000,1030,0.000,0.033,2457,2605,3414,3464,3365,0,0,0,0,0,0,27.27,27.24,27.29
$GC,5909,-1.06,-146.0,2458,2606,3463,3365,952.0,-12.6,295,5913,0.00,1.95,0.00,0.000,260,0.000,0.059,2449,3843,3413,3462,3364,0,0,0,0,0,0,27.41,27.15,27.47
$GC,6018,-1.06,-146.0,2449,3843,3462,3364,965.0,-14.0,298,6023,0.10,1.85,0.00,0.000,3078,0.184,0.033,2471,2601,3412,3461,3364,0,0,0,0,0,0,27.06,27.24,27.22
$STATE,6208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6208,begin apogee
$GC,6210,-0.25,0.0,2472,2807,3462,3362,992.1,-12.3,305,6334,0.80,0.00,115.55,1.528,10246,0.139,0.000,2728,2808,2838,2892,2785,0,0,0,0,1,0,27.05,24.96,24.04
$STATE,6334,end apogee,CONTROL_FINISHED_OK
$STATE,6334,begin climb
$GC,6335,1.06,146.0,2729,2810,2900,2786,997.6,0.0,309,6469,1.23,1.73,122.90,1.554,11012,0.083,0.055,3146,3844,2244,2293,2196,0,0,0,0,1,0,25.14,24.55,23.85
$GC,6479,1.35,432.8,3146,3845,2299,2201,1002.3,-3.2,314,6743,0.25,1.65,255.43,0.985,11270,0.067,0.033,3246,2815,1068,1135,1002,0,0,0,0,0,0,25.19,25.24,24.25
$GC,7049,1.35,432.8,3246,2815,1113,976,883.6,24.6,333,7053,0.00,2.20,0.00,0.000,516,0.000,0.034,3255,1398,1044,1112,976,0,0,0,0,0,0,26.36,26.19,26.44
$GC,7253,1.35,432.8,3255,1397,1109,976,838.5,24.9,339,7262,0.00,2.20,0.00,0.000,1030,0.000,0.038,3255,2799,1043,1110,976,0,0,0,0,0,0,26.45,26.41,26.48
$GC,7559,1.35,432.8,3255,2799,1110,974,752.0,26.3,350,7563,0.00,1.67,0.00,0.000,260,0.000,0.054,3255,3856,1041,1109,974,0,0,0,0,0,0,26.83,26.61,26.91
$GC,7603,1.35,432.8,3255,3856,1109,973,743.7,26.7,351,7608,0.00,1.62,0.00,0.000,1030,0.000,0.032,3263,2779,1041,1109,974,0,0,0,0,0,0,26.74,26.70,26.76
$GC,7919,1.35,432.8,3263,2779,1109,973,654.9,25.9,362,7923,0.00,2.08,0.00,0.000,516,0.000,0.034,3272,1410,1040,1108,973,0,0,0,0,0,0,26.98,26.78,27.05
$GC,7938,1.35,432.8,3272,1410,1109,975,654.9,25.9,362,7943,0.00,2.15,0.00,0.000,1030,0.000,0.038,3272,2801,1040,1108,973,0,0,0,0,0,0,26.82,26.78,26.85
$GC,8249,1.35,432.8,3272,2802,1108,974,563.7,27.5,373,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2801,1040,1107,973,0,0,0,0,0,0,27.07,27.15,27.15
$GC,8549,1.35,432.8,3272,2802,1108,973,479.2,28.1,383,8553,0.00,1.67,0.00,0.000,260,0.000,0.055,3272,3868,1039,1107,972,0,0,0,0,0,0,27.13,26.90,27.20
$GC,8679,1.35,432.8,3273,3869,1107,973,444.4,29.0,387,8683,0.00,1.58,0.00,0.000,1030,0.000,0.031,3281,2793,1039,1106,972,0,0,0,0,0,0,27.04,26.99,27.03
$GC,8999,1.35,432.8,3281,2794,1108,974,358.0,24.8,398,9003,0.00,2.08,0.00,0.000,516,0.000,0.035,3291,1411,1039,1106,972,0,0,0,0,0,0,27.20,26.98,27.27
$GC,9043,1.35,432.8,3291,1411,1106,972,350.6,24.8,399,9049,0.05,2.12,0.00,0.000,5126,0.218,0.038,3278,2802,1039,1106,972,0,0,0,0,0,0,26.82,26.98,26.93
$GC,9359,1.35,432.8,3278,2803,1106,972,267.1,25.4,410,9363,0.00,1.62,0.00,0.000,260,0.000,0.053,3278,3851,1038,1105,971,0,0,0,0,0,0,27.22,26.99,27.29
$GC,9499,1.35,432.8,3278,3853,1105,971,230.7,27.1,418,9503,0.00,1.52,0.00,0.000,1030,0.000,0.031,3284,2800,1037,1104,971,0,0,0,0,0,0,27.11,27.08,27.11
$GC,9809,1.35,432.8,3284,2801,1106,972,155.6,25.4,449,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2800,1037,1104,970,0,0,0,0,0,0,27.27,27.34,27.34
$GC,10109,1.35,432.8,3284,2800,1105,970,83.5,20.1,479,10113,0.00,1.62,0.00,0.000,260,0.000,0.052,3284,3850,1037,1105,970,0,0,0,0,0,0,27.28,27.05,27.36
$GC,10169,1.35,432.8,3283,3851,1106,971,69.9,22.5,485,10173,0.10,1.55,0.00,0.000,5126,0.216,0.029,3273,2788,1037,1105,970,0,0,0,0,0,0,26.91,27.13,27.09
$GC,10474,1.35,432.8,3273,2787,1106,970,9.8,20.5,535,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2788,1037,1105,970,0,0,0,0,0,0,27.31,27.39,27.38
$STATE,10513,end climb,SURFACE_DEPTH_REACHED
$STATE,10513,begin surface coast
$FINISH,0.9,1.013795
$STATE,10523,end surface coast,CONTROL_FINISHED_OK
$STATE,10523,begin surface
$SM_CCo,10595,0.00,0.000,0,0,1037,442.03
$SM_GC,2.23,7.93,0.22,0.00,0.047,0.053,0.000,200,2582,1037,-8.11,1.98,442.03,0,0,0,0,0,0,27.09,27.15,27.15
$IRIDIUM_FIX,2059.45,-15810.63,121214,161113
$TT8_MAMPS,0.056924,0.056924
$HUMID,46.88
$INTERNAL_PRESSURE,9.0719
$TCM_TEMP,23.20
$XPDR_PINGS,3
$24V_AH,23.85,5.433
$10V_AH,10.45,5.997
$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,19.400,83.050,493.875,0.000,0.000,0.000,0.000,184.050,0.750,0.000,7.943,0.000,8207.326,563.165,2004.861,47.118,0.000,1557.399,0.000,1462.903,0.000,0.554,0.000
$DEVICE_MAMPS,225.675,65.025,1553.715,0.000,0.000,0.000,0.000,89.505,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,367.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270528
$DATA_FILE_SIZE,23482,545
$CAP_FILE_SIZE,102666,0
$CFSIZE,1024393216,1019101184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,15746.99,0x236d6a,7,5
$CURRENT,0.000,279.95,1
$GPS,121214,233348,2103.868,-15809.766,15,0.9,15,9.6,0.0,0.0,11,34.0