version: 66.12
glider: 203
mission: 6
dive: 195
start: 1 18 115 23 10 5
data:
$ID,203
$MISSION,6
$DIVE,195
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,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,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,86
$R_STBD_OVSHOOT,42
$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
$GPS1,180115,230352,2015.7321,-15749.7188,39,0.8,39,9.6,0.0,0.0,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-63.9
$GPS2,180115,230955,2015.6768,-15749.6992,7,0.8,7,9.6,0.0,0.0,10,12.1
$SPEED_LIMITS,0.092,0.264
$TGT_NAME,RECOVERY
$TGT_LATLONG,2109.516,-15808.905
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,324.7,105083,-17.4,-9.167,-19.15,2608
$D_GRID,1020
$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,-0.90,-155.7,185,2791,1019,928,0.0,0.0,0,56,0.00,0.00,-41.22,0.000,16386,0.000,0.000,185,2790,2186,2215,2157,0,0,0,0,0,0,26.55,28.83,26.63
$GC,58,-0.90,-155.7,186,2790,2216,2157,3.3,-3.4,6,99,8.77,1.67,-27.40,0.000,18692,0.205,0.060,2499,3848,3245,3309,3181,0,0,0,0,0,0,25.72,24.48,26.05
$GC,323,-0.90,-155.7,2499,3850,3310,3184,60.3,-23.8,54,327,0.00,1.50,0.00,0.000,1030,0.000,0.023,2499,2802,3246,3309,3183,0,0,0,0,0,0,26.68,26.67,26.70
$GC,633,-0.90,-155.7,2499,2803,3311,3184,128.8,-21.2,85,637,0.00,1.60,0.00,0.000,260,0.000,0.043,2491,3840,3246,3310,3183,0,0,0,0,0,0,27.03,26.58,27.09
$GC,718,-0.90,-155.7,2491,3842,3311,3186,145.7,-20.4,93,725,0.05,1.48,0.00,0.000,3078,0.142,0.023,2508,2805,3247,3310,3184,0,0,0,0,0,0,26.56,26.82,26.60
$GC,1023,-0.90,-155.7,2508,2806,3311,3189,197.7,-15.6,124,1027,0.00,1.60,0.00,0.000,260,0.000,0.044,2502,3844,3249,3310,3188,0,0,0,0,0,0,27.11,26.66,27.17
$GC,1158,-0.90,-155.7,2502,3844,3311,3189,220.2,-17.2,137,1166,0.00,1.50,0.00,0.000,1030,0.000,0.022,2502,2791,3249,3310,3189,0,0,0,0,0,0,26.94,26.90,26.96
$GC,1463,-0.90,-155.7,2502,2791,3312,3188,267.7,-14.7,160,1467,0.00,1.62,0.00,0.000,260,0.000,0.044,2498,3850,3250,3312,3189,0,0,0,0,0,0,27.17,26.70,27.22
$GC,1543,-0.90,-155.7,2497,3850,3313,3187,276.3,-14.2,162,1547,0.00,1.45,0.00,0.000,1030,0.000,0.022,2497,2817,3250,3312,3189,0,0,0,0,0,0,26.96,26.94,26.98
$GC,1853,-0.90,-155.7,2497,2817,3315,3188,321.8,-13.6,173,1857,0.00,1.58,0.00,0.000,260,0.000,0.044,2489,3844,3250,3312,3188,0,0,0,0,0,0,27.20,26.74,27.26
$GC,1893,-0.90,-155.7,2489,3844,3314,3190,326.3,-14.1,174,1897,0.10,1.45,0.00,0.000,3078,0.159,0.023,2513,2834,3251,3313,3189,0,0,0,0,0,0,26.67,26.94,26.74
$GC,2214,-0.90,-155.7,2513,2836,3314,3190,369.3,-13.1,185,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2834,3250,3312,3188,0,0,0,0,0,0,27.20,27.28,27.27
$GC,2513,-0.90,-155.7,2514,2834,3310,3188,405.1,-12.0,195,2517,0.00,1.55,0.00,0.000,516,0.000,0.022,2513,1744,3248,3309,3188,0,0,0,0,0,0,27.21,26.94,27.28
$GC,2553,-0.90,-155.7,2512,1746,3310,3189,408.8,-12.2,196,2557,0.00,1.62,0.00,0.000,1030,0.000,0.034,2510,2816,3248,3308,3188,0,0,0,0,0,0,26.84,26.80,26.87
$GC,2874,-0.90,-155.7,2510,2818,3304,3189,447.9,-11.4,207,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2817,3245,3302,3188,0,0,0,0,0,0,27.22,27.29,27.29
$GC,3173,-0.90,-155.7,2510,2817,3299,3187,482.7,-11.6,217,3177,0.00,1.60,0.00,0.000,260,0.000,0.047,2503,3850,3242,3297,3188,0,0,0,0,0,0,27.22,26.72,27.29
$GC,3244,-0.90,-155.7,2503,3852,3297,3189,490.0,-11.8,219,3247,0.00,1.48,0.00,0.000,1030,0.000,0.024,2502,2813,3242,3296,3188,0,0,0,0,0,0,26.98,26.97,27.01
$GC,3563,-0.90,-155.7,2503,2813,3292,3189,529.8,-12.1,230,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2812,3239,3291,3188,0,0,0,0,0,0,27.22,27.30,27.29
$GC,3863,-0.90,-155.7,2502,2813,3288,3189,564.1,-11.2,240,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2812,3237,3287,3187,0,0,0,0,0,0,27.22,27.31,27.29
$GC,4163,-0.90,-155.7,2503,2812,3284,3187,596.8,-10.8,250,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2812,3235,3283,3187,0,0,0,0,0,0,27.22,27.30,27.29
$GC,4463,-0.90,-155.7,2502,2812,3282,3185,629.1,-11.0,260,4467,0.00,1.65,0.00,0.000,260,0.000,0.048,2498,3854,3232,3280,3185,0,0,0,0,0,0,27.23,26.66,27.29
$GC,4628,-0.90,-155.7,2497,3854,3281,3184,647.0,-12.0,265,4632,0.00,1.50,0.00,0.000,1030,0.000,0.026,2498,2827,3232,3280,3184,0,0,0,0,0,0,26.99,26.94,27.01
$GC,4943,-0.90,-155.7,2498,2827,3278,3182,684.6,-11.2,276,4947,0.00,1.62,0.00,0.000,260,0.000,0.049,2497,3850,3229,3277,3182,0,0,0,0,0,0,27.23,26.64,27.29
$GC,4993,-0.90,-155.7,2498,3850,3277,3182,688.3,-11.4,277,4997,0.00,1.45,0.00,0.000,1030,0.000,0.027,2497,2849,3229,3277,3182,0,0,0,0,0,0,26.96,26.93,26.98
$GC,5303,-0.90,-155.7,2497,2849,3274,3181,724.1,-10.7,288,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2849,3227,3274,3181,0,0,0,0,0,0,27.23,27.31,27.29
$GC,5603,-0.90,-155.7,2497,2850,3273,3181,756.8,-11.0,298,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2849,3225,3271,3180,0,0,0,0,0,0,27.23,27.31,27.30
$GC,5903,-0.90,-155.7,2497,2849,3271,3179,789.2,-10.7,308,5907,0.00,1.60,0.00,0.000,260,0.000,0.050,2497,3851,3224,3270,3179,0,0,0,0,0,0,27.22,26.60,27.29
$GC,5948,-0.90,-155.7,2497,3851,3270,3178,792.6,-10.9,309,5952,0.00,1.50,0.00,0.000,1030,0.000,0.027,2497,2821,3224,3270,3178,0,0,0,0,0,0,26.94,26.91,26.95
$GC,6263,-0.90,-155.7,2497,2822,3268,3177,826.4,-10.1,320,6267,0.00,1.65,0.00,0.000,260,0.000,0.050,2497,3854,3221,3267,3176,0,0,0,0,0,0,27.23,26.58,27.29
$GC,6313,-0.90,-155.7,2497,3855,3267,3177,829.5,-10.1,321,6317,0.00,1.48,0.00,0.000,1030,0.000,0.028,2497,2849,3221,3267,3176,0,0,0,0,0,0,26.92,26.91,26.95
$GC,6623,-0.90,-155.7,2498,2850,3266,3176,861.7,-9.5,332,6627,0.00,1.60,0.00,0.000,516,0.000,0.024,2497,1745,3220,3265,3175,0,0,0,0,0,0,27.22,26.89,27.29
$GC,6688,-0.90,-155.7,2497,1747,3265,3175,867.2,-9.3,334,6692,0.00,1.70,0.00,0.000,1030,0.000,0.037,2497,2838,3219,3264,3174,0,0,0,0,0,0,26.74,26.71,26.78
$GC,7014,-0.90,-155.7,2497,2838,3265,3174,897.7,-9.2,345,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2837,3218,3263,3174,0,0,0,0,0,0,27.22,27.30,27.29
$GC,7313,-0.90,-155.7,2497,2839,3264,3174,926.4,-10.0,355,7317,0.00,1.60,0.00,0.000,260,0.000,0.051,2497,3845,3217,3263,3172,0,0,0,0,0,0,27.23,26.56,27.29
$GC,7378,-0.90,-155.7,2497,3845,3263,3173,932.5,-10.0,357,7383,0.00,1.50,0.00,0.000,1030,0.000,0.027,2497,2827,3217,3262,3172,0,0,0,0,0,0,26.94,26.89,26.95
$GC,7704,-0.90,-155.7,2497,2827,3261,3172,967.2,-10.5,368,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2827,3216,3261,3171,0,0,0,0,0,0,27.22,27.30,27.29
$STATE,7942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7942,begin apogee
$GC,7945,-0.19,0.0,2498,2953,3262,3170,992.7,-10.8,376,8074,0.75,0.00,126.12,1.069,10244,0.116,0.000,2737,2953,2607,2649,2566,0,0,0,0,0,0,26.07,25.15,24.34
$STATE,8074,end apogee,CONTROL_FINISHED_OK
$STATE,8074,begin climb
$GC,8076,0.90,155.7,2738,2955,2642,2562,997.3,0.0,380,8216,0.98,1.52,129.00,1.065,10500,0.071,0.052,3091,3849,1960,2000,1921,0,0,0,0,0,0,25.29,25.31,23.80
$GC,8440,0.90,155.7,3091,3849,1991,1911,970.9,10.9,392,8445,0.00,1.33,0.00,0.000,1030,0.000,0.027,3097,2958,1949,1990,1909,0,0,0,0,0,0,26.25,26.24,26.27
$GC,8756,0.90,155.7,3098,2960,1989,1909,937.5,10.1,403,8759,0.00,1.55,0.00,0.000,516,0.000,0.023,3105,1901,1947,1988,1907,0,0,0,0,0,0,26.82,26.58,26.89
$GC,8985,0.90,155.7,3106,1902,1989,1908,916.9,9.9,410,8989,0.00,1.65,0.00,0.000,1030,0.000,0.035,3105,2952,1946,1986,1907,0,0,0,0,0,0,26.58,26.55,26.63
$GC,9295,0.90,155.7,3105,2952,1988,1905,881.8,10.7,421,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2952,1946,1986,1906,0,0,0,0,0,0,27.01,27.10,27.09
$GC,9595,0.90,155.7,3105,2953,1986,1907,848.6,11.2,431,9599,0.00,1.55,0.00,0.000,516,0.000,0.024,3109,1899,1944,1984,1905,0,0,0,0,0,0,27.07,26.79,27.14
$GC,9665,0.90,155.7,3109,1899,1987,1905,842.1,11.2,433,9669,0.00,1.62,0.00,0.000,1030,0.000,0.035,3110,2943,1945,1985,1905,0,0,0,0,0,0,26.69,26.65,26.72
$GC,9986,0.90,155.7,3109,2943,1985,1905,803.7,11.5,444,9989,0.00,1.45,0.00,0.000,260,0.000,0.047,3109,3856,1945,1985,1905,0,0,0,0,0,0,27.11,26.58,27.18
$GC,10085,0.90,155.7,3110,3857,1985,1906,792.7,12.1,447,10089,0.00,1.33,0.00,0.000,1030,0.000,0.028,3116,2949,1944,1985,1904,0,0,0,0,0,0,26.84,26.82,26.86
$GC,10405,0.90,155.7,3116,2951,1985,1905,756.6,10.7,458,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2949,1944,1984,1904,0,0,0,0,0,0,27.14,27.22,27.22
$GC,10705,0.90,155.7,3115,2951,1984,1905,726.5,9.7,468,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2949,1943,1983,1904,0,0,0,0,0,0,27.15,27.24,27.23
$GC,11005,0.90,155.7,3115,2949,1984,1903,697.8,9.5,478,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2950,1943,1983,1904,0,0,0,0,0,0,27.17,27.25,27.24
$GC,11305,0.90,155.7,3116,2949,1984,1903,669.8,9.3,488,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2949,1943,1983,1903,0,0,0,0,0,0,27.17,27.26,27.25
$GC,11605,0.90,155.7,3117,2951,1984,1905,640.9,9.6,498,11609,0.00,1.52,0.00,0.000,516,0.000,0.023,3123,1897,1943,1983,1903,0,0,0,0,0,0,27.19,26.84,27.26
$GC,11645,0.90,155.7,3122,1896,1984,1903,638.2,9.5,499,11649,0.00,1.65,0.00,0.000,1030,0.000,0.035,3123,2953,1942,1982,1903,0,0,0,0,0,0,26.70,26.66,26.72
$GC,11966,0.90,155.7,3122,2955,1984,1905,606.1,9.8,510,11969,0.00,1.42,0.00,0.000,260,0.000,0.047,3123,3851,1943,1983,1903,0,0,0,0,0,0,27.19,26.55,27.27
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$STATE,18562,end climb,SURFACE_DEPTH_REACHED
$STATE,18562,begin surface coast
$FINISH,1.4,1.009126
$STATE,18582,end surface coast,CONTROL_FINISHED_OK
$STATE,18582,begin surface
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$TT8_MAMPS,0.058422,0.058422
$HUMID,40.62
$INTERNAL_PRESSURE,9.1649
$TCM_TEMP,25.50
$XPDR_PINGS,2
$24V_AH,23.80,67.220
$10V_AH,10.17,37.083
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.375,97.125,337.800,53.675,0.000,0.000,0.000,249.350,0.500,454.900,7.970,0.000,15211.936,535.094,3076.877,171.784,0.000,1912.385,0.000,2159.239,0.000,0.556,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.377,0.000,0.000,0.000
$MEM,287668
$DATA_FILE_SIZE,43381,974
$CAP_FILE_SIZE,216215,0
$CFSIZE,1024393216,998621184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,16337.58,0x236db2,7,5
$CURRENT,0.085,161.64,1
$GPS,190115,042152,2017.187,-15750.380,39,0.9,39,9.6,0.0,0.0,8,10.1