version: 66.12
glider: 203
mission: 6
dive: 15
start: 12 13 114 22 16 21
data:
$ID,203
$MISSION,6
$DIVE,15
$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,78
$R_STBD_OVSHOOT,35
$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
$GPS1,131214,221205,2055.0903,-15806.1846,36,1.0,36,9.6,0.8,244.0,8,19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-57.5
$GPS2,131214,221611,2055.1118,-15806.2100,7,0.8,7,9.6,0.5,359.0,12,22.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,151.4,78322,-16.8,-10.000,-19.73,2606
$D_GRID,3210
$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,-170.3,182,2778,1079,959,0.0,0.0,0,51,0.00,0.00,-37.45,0.000,16386,0.000,0.000,180,2777,2136,2159,2114,0,0,0,0,0,0,26.89,28.83,26.97
$GC,52,-0.94,-170.3,181,2777,2160,2114,3.2,-6.6,6,100,8.68,2.05,-34.90,0.000,18948,0.221,0.044,2495,1403,3534,3590,3479,0,0,0,0,0,0,26.46,25.70,26.67
$GC,224,-0.72,-170.3,2495,1403,3593,3479,36.6,-24.6,39,231,0.25,2.12,0.00,0.000,3078,0.137,0.036,2568,2798,3535,3592,3479,0,0,0,0,0,0,26.64,26.77,26.72
$GC,535,-0.61,-170.3,2568,2798,3595,3479,98.4,-20.6,77,540,0.12,1.60,0.00,0.000,2308,0.166,0.050,2599,3846,3537,3594,3480,0,0,0,0,0,0,26.80,26.87,26.91
$GC,574,-0.61,-170.3,2598,3847,3595,3481,105.9,-19.0,81,580,0.00,1.50,0.00,0.000,1030,0.000,0.027,2598,2817,3536,3594,3479,0,0,0,0,0,0,26.99,26.96,27.01
$GC,885,-0.61,-170.3,2598,2818,3596,3484,150.3,-13.1,112,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2816,3539,3595,3483,0,0,0,0,0,0,27.19,27.27,27.26
$GC,1185,-0.69,-170.3,2598,2817,3600,3483,183.4,-10.4,142,1189,0.00,2.05,0.00,0.000,516,0.000,0.027,2598,1395,3541,3600,3483,0,0,0,0,0,0,27.24,27.05,27.31
$GC,1225,-0.79,-170.3,2598,1394,3600,3484,187.5,-10.2,146,1229,0.00,2.15,0.00,0.000,1030,0.000,0.035,2592,2822,3541,3599,3484,0,0,0,0,0,0,27.08,27.02,27.10
$GC,1535,-0.87,-170.3,2592,2823,3600,3486,223.0,-12.1,177,1536,0.12,0.00,0.00,0.000,4102,0.091,0.000,2521,2823,3542,3599,3486,0,0,0,0,0,0,27.12,27.17,27.16
$GC,1855,-0.87,-170.3,2521,2823,3600,3486,274.2,-16.3,199,1860,0.00,1.58,0.00,0.000,260,0.000,0.050,2513,3856,3542,3598,3486,0,0,0,0,0,0,27.32,27.09,27.39
$GC,1915,-0.87,-170.3,2512,3856,3600,3486,284.1,-16.7,201,1920,0.00,1.50,0.00,0.000,1030,0.000,0.028,2512,2818,3542,3599,3486,0,0,0,0,0,0,27.20,27.17,27.20
$GC,2245,-0.87,-170.3,2512,2818,3599,3486,332.6,-14.8,212,2249,0.00,1.60,0.00,0.000,260,0.000,0.050,2505,3853,3542,3599,3485,0,0,0,0,0,0,27.34,27.11,27.41
$GC,2289,-0.87,-170.3,2505,3854,3598,3487,337.3,-15.1,213,2294,0.08,1.50,0.00,0.000,3078,0.197,0.028,2519,2816,3542,3599,3485,0,0,0,0,0,0,27.03,27.19,27.15
$GC,2605,-0.87,-170.3,2519,2817,3597,3486,383.2,-12.6,224,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2816,3540,3595,3485,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2905,-0.87,-170.3,2519,2817,3593,3486,415.7,-11.1,234,2910,0.00,1.62,0.00,0.000,260,0.000,0.053,2513,3865,3538,3591,3485,0,0,0,0,0,0,27.37,27.15,27.44
$GC,2995,-0.87,-170.3,2514,3866,3591,3486,427.3,-12.6,237,2999,0.00,1.50,0.00,0.000,1030,0.000,0.028,2513,2830,3537,3590,3485,0,0,0,0,0,0,27.26,27.22,27.27
$GC,3325,-0.87,-170.3,2514,2831,3587,3486,470.3,-12.8,248,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2829,3535,3585,3485,0,0,0,0,0,0,27.39,27.46,27.46
$GC,3625,-0.87,-170.3,2514,2831,3584,3483,509.8,-13.2,258,3629,0.00,1.60,0.00,0.000,260,0.000,0.054,2507,3860,3532,3583,3482,0,0,0,0,0,0,27.39,27.17,27.46
$GC,3649,-0.87,-170.3,2507,3860,3583,3481,509.8,-13.2,258,3656,0.00,1.48,0.00,0.000,1030,0.000,0.030,2506,2848,3531,3582,3481,0,0,0,0,0,0,27.27,27.23,27.29
$GC,3955,-0.87,-170.3,2507,2849,3580,3481,552.9,-12.7,269,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2847,3528,3578,3479,0,0,0,0,0,0,27.39,27.48,27.46
$GC,4255,-0.87,-170.3,2507,2847,3578,3478,590.8,-12.9,279,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2847,3527,3577,3478,0,0,0,0,0,0,27.39,27.48,27.47
$GC,4555,-0.87,-170.3,2507,2848,3576,3476,629.5,-13.0,289,4559,0.00,1.58,0.00,0.000,260,0.000,0.056,2500,3850,3525,3574,3476,0,0,0,0,0,0,27.41,27.17,27.47
$GC,4589,-0.87,-170.3,2500,3851,3573,3477,633.4,-13.0,290,4594,0.10,1.48,0.00,0.000,3078,0.184,0.031,2522,2844,3524,3573,3476,0,0,0,0,0,0,27.08,27.24,27.21
$GC,4915,-0.87,-170.3,2521,2845,3573,3473,671.2,-11.2,301,4919,0.00,1.60,0.00,0.000,260,0.000,0.057,2517,3868,3521,3570,3473,0,0,0,0,0,0,27.41,27.17,27.48
$GC,4949,-0.87,-170.3,2517,3867,3571,3473,674.7,-11.3,302,4954,0.00,1.50,0.00,0.000,1030,0.000,0.031,2517,2847,3521,3570,3473,0,0,0,0,0,0,27.29,27.24,27.30
$GC,5275,-0.87,-170.3,2517,2847,3568,3472,712.2,-11.4,313,5279,0.00,2.12,0.00,0.000,516,0.000,0.030,2517,1396,3519,3567,3472,0,0,0,0,0,0,27.41,27.22,27.48
$GC,5309,-0.87,-170.3,2517,1395,3568,3472,715.7,-11.4,314,5314,0.00,2.22,0.00,0.000,1030,0.000,0.039,2511,2861,3519,3567,3472,0,0,0,0,0,0,27.24,27.20,27.26
$GC,5635,-0.87,-170.3,2510,2863,3566,3471,754.3,-11.4,325,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2862,3517,3564,3470,0,0,0,0,0,0,27.41,27.49,27.48
$GC,5935,-0.87,-170.3,2511,2862,3565,3468,786.6,-10.5,335,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2862,3515,3563,3468,0,0,0,0,0,0,27.41,27.50,27.48
$GC,6235,-0.87,-170.3,2511,2861,3562,3466,817.5,-10.2,345,6239,0.00,2.15,0.00,0.000,516,0.000,0.030,2511,1406,3514,3561,3467,0,0,0,0,0,0,27.41,27.23,27.48
$GC,6284,-0.87,-170.3,2511,1407,3562,3468,820.7,-10.2,346,6290,0.00,2.20,0.00,0.000,1030,0.000,0.039,2510,2849,3514,3561,3467,0,0,0,0,0,0,27.24,27.21,27.26
$GC,6595,-0.87,-170.3,2510,2848,3560,3465,854.7,-10.6,357,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2849,3512,3559,3465,0,0,0,0,0,0,27.41,27.50,27.48
$GC,6895,-0.87,-170.3,2511,2848,3560,3464,886.4,-10.5,367,6899,0.00,1.58,0.00,0.000,260,0.000,0.057,2511,3856,3510,3557,3464,0,0,0,0,0,0,27.41,27.18,27.48
$GC,6934,-0.87,-170.3,2511,3856,3557,3464,889.6,-10.6,368,6938,0.00,1.48,0.00,0.000,1030,0.000,0.031,2510,2853,3510,3557,3464,0,0,0,0,0,0,27.29,27.26,27.31
$GC,7255,-0.87,-170.3,2511,2853,3556,3463,924.1,-10.2,379,7260,0.00,2.12,0.00,0.000,516,0.000,0.029,2511,1395,3508,3554,3462,0,0,0,0,0,0,27.41,27.26,27.48
$GC,7275,-0.87,-170.3,2511,1397,3556,3464,924.1,-10.2,379,7279,0.00,2.22,0.00,0.000,1030,0.000,0.039,2508,2854,3508,3555,3462,0,0,0,0,0,0,27.24,27.20,27.26
$GC,7585,-0.87,-170.3,2508,2857,3555,3462,957.5,-9.9,390,7590,0.00,1.55,0.00,0.000,260,0.000,0.057,2500,3856,3507,3554,3460,0,0,0,0,0,0,27.41,27.18,27.48
$GC,7639,-0.87,-170.3,2499,3856,3554,3460,960.6,-9.9,391,7647,0.10,1.48,0.00,0.000,3078,0.193,0.031,2521,2855,3506,3553,3460,0,0,0,0,0,0,27.05,27.25,27.20
$STATE,7944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7944,begin apogee
$GC,7947,-0.23,0.0,2521,2948,3554,3459,990.2,-8.8,402,8089,0.62,0.00,135.23,1.506,10244,0.138,0.000,2722,2948,2838,2890,2786,0,0,0,0,1,0,27.08,24.93,24.01
$STATE,8090,end apogee,CONTROL_FINISHED_OK
$STATE,8090,begin climb
$GC,8091,0.94,170.3,2723,2948,2898,2786,994.1,0.0,406,8248,1.10,1.55,142.52,1.576,10500,0.091,0.060,3102,3853,2147,2197,2097,0,0,0,0,1,0,25.13,25.13,23.78
$GC,8262,0.96,427.7,3101,3852,2200,2101,995.7,-0.1,412,8495,0.00,1.42,226.30,1.004,9222,0.000,0.031,3108,2952,1089,1157,1022,0,0,0,0,0,0,25.27,25.23,24.06
$GC,8817,0.96,427.7,3108,2951,1137,996,908.5,16.6,431,8821,0.00,1.50,0.00,0.000,260,0.000,0.054,3109,3860,1066,1136,996,0,0,0,0,0,0,26.32,26.10,26.39
$GC,8927,0.89,427.7,3108,3859,1135,995,892.6,17.3,434,8931,0.00,1.42,0.00,0.000,1030,0.000,0.030,3113,2915,1064,1134,995,0,0,0,0,0,0,26.37,26.34,26.39
$GC,9237,0.89,427.7,3113,2915,1135,994,837.4,16.6,445,9241,0.00,2.05,0.00,0.000,516,0.000,0.031,3122,1556,1064,1134,995,0,0,0,0,0,0,26.76,26.56,26.83
$GC,9332,0.89,427.7,3123,1557,1134,996,822.8,16.4,448,9336,0.00,2.12,0.00,0.000,1030,0.000,0.037,3123,2923,1064,1134,994,0,0,0,0,0,0,26.65,26.61,26.67
$GC,9657,0.83,427.7,3122,2923,1132,994,766.7,17.2,459,9661,0.12,2.05,0.00,0.000,4612,0.188,0.030,3102,1560,1062,1131,994,0,0,0,0,0,0,26.63,26.77,26.79
$GC,9747,0.83,427.7,3101,1560,1132,994,753.4,15.4,462,9751,0.00,2.08,0.00,0.000,1030,0.000,0.037,3101,2902,1062,1131,994,0,0,0,0,0,0,26.82,26.79,26.84
$GC,10077,0.83,427.7,3102,2902,1132,994,703.2,14.7,473,10081,0.00,2.03,0.00,0.000,516,0.000,0.031,3109,1555,1062,1130,994,0,0,0,0,0,0,27.07,26.89,27.15
$GC,10151,0.83,427.7,3109,1556,1132,996,694.5,14.5,475,10156,0.00,2.05,0.00,0.000,1030,0.000,0.037,3109,2893,1062,1131,994,0,0,0,0,0,0,26.92,26.89,26.96
$GC,10467,0.83,427.7,3109,2894,1131,995,643.0,16.0,486,10471,0.00,2.00,0.00,0.000,516,0.000,0.031,3118,1556,1062,1130,994,0,0,0,0,0,0,27.14,26.96,27.22
$GC,10506,0.83,427.7,3118,1556,1131,994,638.2,16.1,487,10511,0.08,2.03,0.00,0.000,5126,0.150,0.037,3095,2880,1062,1130,994,0,0,0,0,0,0,26.82,26.96,26.91
$GC,10827,0.83,427.7,3094,2880,1131,993,589.3,14.8,498,10831,0.00,1.98,0.00,0.000,516,0.000,0.031,3102,1550,1061,1129,993,0,0,0,0,0,0,27.19,27.00,27.26
$GC,10892,0.83,427.7,3102,1551,1131,995,580.6,14.8,500,10896,0.00,2.00,0.00,0.000,1030,0.000,0.037,3102,2858,1061,1130,993,0,0,0,0,0,0,27.03,26.99,27.05
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$STATE,15307,end climb,SURFACE_DEPTH_REACHED
$STATE,15308,begin surface coast
$FINISH,1.1,1.007417
$STATE,15323,end surface coast,CONTROL_FINISHED_OK
$STATE,15323,begin surface
$SM_CCo,15394,0.00,0.000,0,0,1063,435.41
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$IRIDIUM_FIX,2050.21,-15809.34,131214,172109
$TT8_MAMPS,0.055426,0.055426
$HUMID,40.82
$INTERNAL_PRESSURE,9.1184
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,23.78,6.245
$10V_AH,10.44,6.375
$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
$DEVICE_SECS,19.275,115.375,504.050,0.000,0.000,0.000,0.000,189.350,1.000,0.000,8.006,0.000,12517.862,639.221,2410.712,60.141,0.000,1798.769,0.000,1732.619,0.000,0.553,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,557.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36709,826
$CAP_FILE_SIZE,139550,0
$CFSIZE,1024393216,1018560512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,17522.03,0x236d6a,7,5
$INTR,1,15325.10,0x236d6a,7,5
$CURRENT,0.000,294.02,1
$GPS,141214,023335,2052.462,-15805.324,24,0.8,24,9.6,0.0,0.0,11,85.8