version: 66.12
glider: 203
mission: 6
dive: 19
start: 12 14 114 17 1 14
data:
$ID,203
$MISSION,6
$DIVE,19
$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,71
$R_STBD_OVSHOOT,33
$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
$GPS1,141214,165423,2044.5477,-15802.6680,34,1.2,34,9.6,0.6,340.7,6,94.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-62.1
$GPS2,141214,170104,2044.5581,-15802.6611,19,0.9,34,9.6,0.6,74.1,8,9.9
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,H1
$TGT_LATLONG,2015.120,-15751.550
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,150.9,57837,-16.8,-10.000,-19.73,2606
$D_GRID,4116
$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,-170.3,203,2873,1261,1159,0.0,0.0,0,45,0.00,0.00,-32.12,0.000,16386,0.000,0.000,201,2874,2165,2185,2146,0,0,0,0,0,0,26.94,28.83,27.02
$GC,47,-0.94,-170.3,201,2874,2186,2146,3.2,-4.6,5,94,8.57,2.20,-33.70,0.000,18948,0.222,0.044,2497,1407,3535,3592,3478,0,0,0,0,0,0,26.52,25.81,26.73
$GC,243,-0.72,-170.3,2497,1407,3593,3480,44.4,-24.1,43,250,0.22,2.12,0.00,0.000,3078,0.132,0.034,2563,2805,3535,3592,3479,0,0,0,0,0,0,26.71,26.84,26.79
$GC,554,-0.72,-170.3,2563,2806,3596,3479,100.9,-14.9,77,559,0.00,1.62,0.00,0.000,260,0.000,0.049,2559,3870,3536,3594,3479,0,0,0,0,0,0,27.15,26.91,27.21
$GC,589,-0.66,-170.3,2558,3870,3595,3480,105.8,-16.1,80,596,0.12,1.55,0.00,0.000,3078,0.150,0.025,2591,2806,3537,3594,3480,0,0,0,0,0,0,26.84,27.00,26.96
$GC,894,-0.66,-170.3,2591,2808,3598,3485,148.6,-13.3,111,898,0.00,2.05,0.00,0.000,516,0.000,0.025,2590,1390,3538,3594,3483,0,0,0,0,0,0,27.22,27.04,27.28
$GC,909,-0.66,-170.3,2591,1391,3596,3485,149.8,-12.7,112,916,0.00,2.12,0.00,0.000,1030,0.000,0.034,2590,2800,3539,3595,3483,0,0,0,0,0,0,27.05,27.01,27.08
$GC,1214,-0.66,-170.3,2590,2800,3598,3484,187.8,-12.1,143,1219,0.00,1.60,0.00,0.000,260,0.000,0.048,2584,3850,3540,3597,3483,0,0,0,0,0,0,27.27,27.04,27.34
$GC,1274,-0.66,-170.3,2584,3851,3598,3485,195.7,-13.5,149,1279,0.00,1.52,0.00,0.000,1030,0.000,0.025,2584,2789,3540,3597,3483,0,0,0,0,0,0,27.16,27.13,27.17
$GC,1584,-0.73,-170.3,2584,2790,3598,3486,235.8,-11.9,180,1589,0.00,1.62,0.00,0.000,260,0.000,0.049,2579,3853,3541,3597,3485,0,0,0,0,0,0,27.31,27.09,27.38
$GC,1674,-0.80,-170.3,2579,3853,3598,3485,246.4,-11.3,189,1678,0.00,1.48,0.00,0.000,1030,0.000,0.025,2579,2815,3541,3597,3485,0,0,0,0,0,0,27.20,27.17,27.22
$GC,1984,-0.87,-170.3,2579,2817,3598,3487,281.6,-11.3,202,1989,0.10,2.03,0.00,0.000,4612,0.099,0.026,2506,1403,3541,3597,3485,0,0,0,0,0,0,27.20,27.15,27.22
$GC,2039,-0.87,-170.3,2506,1405,3598,3486,286.0,-12.0,203,2046,0.05,2.12,0.00,0.000,3078,0.158,0.034,2515,2818,3541,3597,3485,0,0,0,0,0,0,27.01,27.13,27.11
$GC,2344,-0.87,-170.3,2514,2819,3598,3487,334.8,-14.5,214,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2818,3540,3597,3484,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2644,-0.87,-170.3,2514,2817,3597,3485,374.2,-12.4,224,2649,0.00,1.60,0.00,0.000,260,0.000,0.050,2509,3860,3539,3595,3484,0,0,0,0,0,0,27.37,27.15,27.44
$GC,2694,-0.87,-170.3,2509,3860,3596,3484,378.1,-12.4,225,2698,0.00,1.50,0.00,0.000,1030,0.000,0.027,2509,2815,3539,3595,3484,0,0,0,0,0,0,27.26,27.22,27.27
$GC,3004,-0.87,-170.3,2509,2816,3592,3484,418.8,-12.3,236,3008,0.00,1.60,0.00,0.000,260,0.000,0.050,2502,3852,3537,3591,3484,0,0,0,0,0,0,27.39,27.17,27.46
$GC,3059,-0.87,-170.3,2501,3852,3592,3485,422.5,-12.2,237,3066,0.10,1.48,0.00,0.000,3078,0.170,0.027,2525,2826,3537,3590,3484,0,0,0,0,0,0,27.08,27.24,27.20
$GC,3364,-0.87,-170.3,2525,2827,3588,3484,462.3,-12.5,248,3369,0.00,1.58,0.00,0.000,260,0.000,0.052,2520,3848,3535,3586,3484,0,0,0,0,0,0,27.39,27.17,27.46
$GC,3419,-0.87,-170.3,2520,3849,3585,3485,466.3,-12.7,249,3426,0.00,1.48,0.00,0.000,1030,0.000,0.028,2520,2827,3534,3585,3484,0,0,0,0,0,0,27.28,27.24,27.29
$GC,3724,-0.87,-170.3,2520,2827,3582,3482,508.7,-12.6,260,3728,0.00,2.05,0.00,0.000,516,0.000,0.027,2520,1408,3531,3581,3482,0,0,0,0,0,0,27.40,27.23,27.46
$GC,3754,-0.87,-170.3,2520,1408,3582,3482,512.5,-12.6,261,3759,0.00,2.15,0.00,0.000,1030,0.000,0.037,2511,2834,3531,3581,3482,0,0,0,0,0,0,27.23,27.20,27.25
$GC,4084,-0.87,-170.3,2511,2835,3578,3480,551.6,-11.3,272,4089,0.00,1.58,0.00,0.000,260,0.000,0.054,2503,3864,3527,3576,3479,0,0,0,0,0,0,27.40,27.19,27.47
$GC,4154,-0.87,-170.3,2504,3866,3577,3480,558.7,-11.6,274,4158,0.08,1.48,0.00,0.000,3078,0.193,0.029,2518,2858,3527,3577,3478,0,0,0,0,0,0,27.10,27.25,27.22
$GC,4474,-0.87,-170.3,2518,2858,3576,3477,594.4,-10.6,285,4479,0.00,2.10,0.00,0.000,516,0.000,0.028,2518,1412,3525,3574,3477,0,0,0,0,0,0,27.41,27.24,27.47
$GC,4529,-0.87,-170.3,2518,1412,3575,3477,597.5,-10.5,286,4536,0.00,2.17,0.00,0.000,1030,0.000,0.037,2512,2852,3525,3574,3477,0,0,0,0,0,0,27.24,27.20,27.27
$GC,4834,-0.87,-170.3,2512,2852,3572,3474,635.5,-12.1,297,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2852,3522,3571,3474,0,0,0,0,0,0,27.41,27.49,27.48
$GC,5134,-0.87,-170.3,2512,2851,3568,3473,672.9,-12.6,307,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2852,3520,3567,3473,0,0,0,0,0,0,27.41,27.49,27.48
$GC,5434,-0.87,-170.3,2512,2853,3568,3472,709.3,-11.6,317,5438,0.00,2.12,0.00,0.000,516,0.000,0.028,2512,1403,3518,3566,3471,0,0,0,0,0,0,27.41,27.24,27.48
$GC,5459,-0.87,-170.3,2512,1402,3567,3471,709.3,-11.6,317,5466,0.00,2.17,0.00,0.000,1030,0.000,0.038,2511,2832,3518,3565,3471,0,0,0,0,0,0,27.25,27.21,27.27
$GC,5764,-0.87,-170.3,2511,2833,3564,3470,743.4,-9.4,328,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2831,3515,3563,3468,0,0,0,0,0,0,27.41,27.49,27.48
$GC,6064,-0.87,-170.3,2511,2832,3562,3467,771.0,-9.3,338,6069,0.00,1.58,0.00,0.000,260,0.000,0.055,2503,3853,3514,3561,3467,0,0,0,0,0,0,27.41,27.18,27.48
$GC,6109,-0.87,-170.3,2503,3853,3561,3467,773.8,-9.3,339,6113,0.08,1.48,0.00,0.000,3078,0.194,0.031,2517,2850,3514,3561,3467,0,0,0,0,0,0,27.11,27.26,27.23
$GC,6424,-0.87,-170.3,2518,2851,3560,3467,805.3,-9.9,350,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2849,3512,3559,3466,0,0,0,0,0,0,27.42,27.50,27.48
$GC,6724,-0.87,-170.3,2516,2851,3559,3466,838.8,-11.8,360,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2850,3511,3558,3465,0,0,0,0,0,0,27.41,27.50,27.49
$GC,7024,-0.87,-170.3,2517,2849,3556,3464,874.4,-12.0,370,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2848,3509,3555,3463,0,0,0,0,0,0,27.42,27.50,27.49
$GC,7324,-0.87,-170.3,2518,2850,3555,3461,908.6,-11.2,380,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2850,3507,3554,3461,0,0,0,0,0,0,27.41,27.50,27.48
$GC,7624,-0.87,-170.3,2517,2851,3553,3462,940.9,-10.6,390,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2850,3506,3553,3460,0,0,0,0,0,0,27.42,27.50,27.49
$GC,7924,-0.87,-170.3,2518,2851,3552,3461,972.4,-10.6,400,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2850,3505,3551,3459,0,0,0,0,0,0,27.42,27.50,27.49
$STATE,8103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8103,begin apogee
$GC,8106,-0.23,0.0,2518,2954,3551,3460,992.5,-11.3,406,8259,0.65,0.00,146.02,1.356,10244,0.132,0.000,2729,2953,2838,2890,2786,0,0,0,0,1,0,27.10,24.98,24.06
$STATE,8260,end apogee,CONTROL_FINISHED_OK
$STATE,8260,begin climb
$GC,8261,0.94,170.3,2730,2954,2898,2788,1001.3,0.0,411,8409,1.05,1.52,142.25,1.042,10500,0.082,0.059,3101,3846,2143,2193,2094,0,0,0,0,0,0,25.18,25.19,24.39
$GC,8634,0.79,200.0,3101,3846,2174,2074,988.2,8.8,423,8664,0.08,1.38,24.55,0.999,13318,0.161,0.030,3087,2927,2016,2065,1967,0,0,0,0,0,0,26.08,26.26,25.01
$GC,8974,0.74,229.4,3087,2927,2054,1954,956.5,8.8,435,9007,0.08,1.52,24.60,1.006,12548,0.221,0.054,3071,3854,1891,1942,1840,0,0,0,0,0,0,26.38,25.88,25.21
$GC,9121,0.67,240.4,3070,3854,1936,1833,944.7,9.6,439,9130,0.12,1.38,2.95,0.644,13318,0.184,0.030,3046,2942,1860,1914,1806,0,0,0,0,0,0,26.16,26.32,25.10
$GC,9426,0.72,284.5,3047,2943,1931,1820,916.8,8.3,450,9473,0.00,0.00,45.97,0.991,8198,0.000,0.000,3046,2942,1678,1732,1625,0,0,0,0,0,0,26.78,25.64,25.02
$GC,9756,0.72,284.5,3046,2942,1710,1602,884.1,10.1,461,9760,0.00,2.10,0.00,0.000,516,0.000,0.028,3052,1548,1655,1709,1602,0,0,0,0,0,0,26.65,26.47,26.72
$GC,9811,0.72,284.5,3052,1548,1710,1604,881.0,10.3,462,9818,0.00,2.17,0.00,0.000,1030,0.000,0.038,3052,2940,1655,1709,1602,0,0,0,0,0,0,26.53,26.49,26.55
$GC,10116,0.72,284.5,3052,2940,1709,1601,844.7,11.2,473,10121,0.00,2.10,0.00,0.000,516,0.000,0.029,3053,1550,1654,1708,1600,0,0,0,0,0,0,26.90,26.72,26.97
$GC,10156,0.72,284.5,3054,1552,1708,1602,841.4,11.3,474,10161,0.00,2.15,0.00,0.000,1030,0.000,0.037,3053,2933,1654,1707,1601,0,0,0,0,0,0,26.75,26.71,26.77
$GC,10476,0.72,284.5,3054,2933,1706,1600,804.0,11.3,485,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2933,1653,1706,1600,0,0,0,0,0,0,27.02,27.10,27.10
$GC,10776,0.72,284.5,3053,2934,1706,1600,770.5,10.8,495,10781,0.00,2.05,0.00,0.000,516,0.000,0.029,3053,1559,1652,1706,1599,0,0,0,0,0,0,27.10,26.91,27.17
$GC,10831,0.72,284.5,3053,1560,1706,1600,767.5,10.7,496,10838,0.00,2.10,0.00,0.000,1030,0.000,0.037,3053,2920,1652,1706,1599,0,0,0,0,0,0,26.94,26.91,26.97
$GC,11136,0.72,284.5,3053,2920,1706,1598,732.7,10.5,507,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2920,1652,1705,1599,0,0,0,0,0,0,27.15,27.24,27.23
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$STATE,17797,end climb,SURFACE_DEPTH_REACHED
$STATE,17797,begin surface coast
$FINISH,1.1,1.009820
$STATE,17812,end surface coast,CONTROL_FINISHED_OK
$STATE,17812,begin surface
$SM_CCo,17884,0.00,0.000,0,0,944,464.84
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$IRIDIUM_FIX,2036.38,-15803.78,141214,165529
$TT8_MAMPS,0.057673,0.057673
$HUMID,39.32
$INTERNAL_PRESSURE,9.1091
$TCM_TEMP,25.20
$XPDR_PINGS,5
$24V_AH,24.06,6.913
$10V_AH,10.42,6.623
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.275,122.150,512.875,0.000,0.000,0.000,0.000,256.850,1.250,0.000,34.315,0.000,14834.132,715.218,2655.329,68.058,0.000,1983.308,0.000,1841.329,0.000,0.553,0.000
$DEVICE_MAMPS,221.850,84.915,1356.345,0.000,0.000,0.000,0.000,92.565,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,621.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,273144
$DATA_FILE_SIZE,40047,922
$CAP_FILE_SIZE,156013,0
$CFSIZE,1024393216,1018216448
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$INTR,0,17616.30,0x236d6a,7,5
$INTR,1,17519.98,0x23373e,1,24
$INTR,2,17814.33,0x236d6a,7,5
$CURRENT,0.000,270.63,1
$GPS,141214,220005,2041.801,-15801.347,32,0.8,32,9.6,0.0,0.0,11,15.4