version: 66.12
glider: 203
mission: 6
dive: 231
start: 1 26 115 7 21 48
data:
$ID,203
$MISSION,6
$DIVE,231
$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,83
$R_STBD_OVSHOOT,41
$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
$GPS1,260115,071527,2109.5364,-15808.7881,16,0.8,19,9.6,0.7,106.3,9,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-62.1
$GPS2,260115,072137,2109.5142,-15808.7109,6,0.8,16,9.6,0.5,71.9,9,9.4
$SPEED_LIMITS,0.100,0.272
$TGT_NAME,RECOVERY
$TGT_LATLONG,2109.516,-15808.905
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,276.3,335,-44.2,-10.000,-45.00,397
$D_GRID,1616
$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,-1.74,-25.8,189,2803,1018,919,0.0,0.0,0,56,0.00,0.00,-41.45,0.000,16386,0.000,0.000,188,2802,2193,2221,2165,0,0,0,0,0,0,26.86,28.83,26.94
$GC,58,-1.77,-48.9,189,2802,2222,2166,3.3,-4.0,6,88,7.88,1.60,-16.77,0.000,18692,0.215,0.057,2222,3857,2807,2862,2753,0,0,0,0,0,0,25.87,25.95,26.22
$GC,312,-1.77,-48.9,2222,3857,2864,2757,82.2,-32.8,47,316,0.00,1.50,0.00,0.000,1030,0.000,0.023,2222,2808,2810,2863,2757,0,0,0,0,0,0,26.75,26.73,26.77
$GC,622,-1.77,-48.9,2222,2808,2867,2757,164.0,-25.6,78,626,0.00,1.60,0.00,0.000,260,0.000,0.042,2214,3846,2811,2866,2757,0,0,0,0,0,0,27.13,26.52,27.19
$GC,852,-1.77,-48.9,2214,3847,2867,2762,213.8,-18.8,101,856,0.05,1.50,0.00,0.000,3078,0.184,0.022,2227,2788,2813,2866,2760,0,0,0,0,0,0,26.53,26.86,26.54
$GC,1172,-1.77,-48.9,2227,2789,2870,2762,273.8,-19.1,125,1176,0.00,1.62,0.00,0.000,260,0.000,0.042,2221,3846,2815,2870,2760,0,0,0,0,0,0,27.20,26.57,27.27
$GC,1237,-1.77,-48.9,2222,3846,2870,2760,286.3,-20.6,127,1241,0.00,1.48,0.00,0.000,1030,0.000,0.022,2222,2806,2815,2870,2760,0,0,0,0,0,0,26.91,26.89,26.92
$GC,1563,-1.77,-48.9,2221,2805,2870,2760,352.8,-19.0,138,1566,0.00,1.60,0.00,0.000,260,0.000,0.044,2214,3846,2814,2869,2760,0,0,0,0,0,0,27.22,26.56,27.29
$GC,1792,-1.77,-48.9,2214,3847,2869,2762,394.0,-19.5,145,1798,0.05,1.48,0.00,0.000,3078,0.182,0.023,2226,2821,2814,2869,2760,0,0,0,0,0,0,26.58,26.90,26.60
$GC,2103,-1.77,-48.9,2226,2820,2867,2760,451.4,-17.1,156,2107,0.00,1.60,0.00,0.000,260,0.000,0.044,2221,3849,2813,2866,2760,0,0,0,0,0,0,27.24,26.54,27.30
$GC,2332,-1.77,-48.9,2221,3849,2864,2761,491.0,-19.3,163,2336,0.00,1.48,0.00,0.000,1030,0.000,0.024,2221,2826,2811,2863,2760,0,0,0,0,0,0,26.94,26.89,26.94
$STATE,2611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2611,begin apogee
$GC,2615,-0.19,0.0,2221,2958,2859,2761,543.5,-16.9,173,2665,1.75,0.00,42.28,1.148,10244,0.154,0.000,2734,2957,2608,2655,2561,0,0,0,0,1,0,25.47,25.85,24.82
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2666,begin climb
$GC,2667,1.77,48.9,2735,2959,2670,2563,545.5,0.0,174,2716,1.75,0.00,42.60,0.778,11270,0.067,0.000,3373,2958,2404,2448,2360,0,0,0,0,0,0,26.00,26.33,24.98
$GC,3033,1.81,71.7,3372,2958,2441,2354,531.7,4.1,187,3052,0.00,0.00,17.92,0.801,8198,0.000,0.000,3373,2958,2314,2356,2272,0,0,0,0,0,0,26.89,26.15,25.47
$GC,3332,1.82,79.5,3372,2958,2345,2263,508.7,8.0,197,3338,0.00,1.58,3.03,0.719,8708,0.000,0.021,3381,1886,2289,2335,2243,0,0,0,0,0,0,26.94,26.34,25.04
$GC,3447,1.83,89.7,3381,1885,2349,2243,500.2,7.4,201,3463,0.00,1.60,12.93,0.807,9222,0.000,0.031,3381,2942,2241,2283,2200,0,0,0,0,0,0,26.62,26.58,25.58
$GC,3778,1.85,89.7,3381,2942,2273,2191,469.2,9.2,212,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2942,2231,2272,2191,0,0,0,0,0,0,27.01,27.08,27.07
$GC,4078,1.88,89.7,3381,2942,2270,2189,443.5,8.5,222,4083,0.08,1.40,0.00,0.000,2308,0.131,0.042,3417,3860,2228,2268,2189,0,0,0,0,0,0,26.94,26.58,26.95
$GC,4307,1.88,89.7,3417,3860,2267,2188,424.4,9.5,229,4311,0.00,1.30,0.00,0.000,1030,0.000,0.024,3422,2954,2227,2267,2188,0,0,0,0,0,0,26.87,26.83,26.89
$GC,4618,1.89,97.7,3421,2954,2265,2187,397.0,7.9,240,4621,0.00,1.40,0.00,0.000,260,0.000,0.041,3422,3855,2226,2265,2187,0,0,0,0,0,0,27.17,26.60,27.24
$GC,4847,1.90,106.2,3423,3857,2265,2188,379.7,7.8,247,4862,0.00,1.30,12.12,0.770,9222,0.000,0.024,3429,2952,2174,2213,2136,0,0,0,0,0,0,26.90,26.86,25.78
$GC,5183,1.93,106.2,3429,2954,2205,2129,348.2,8.8,259,5187,0.00,1.40,0.00,0.000,260,0.000,0.043,3429,3853,2165,2204,2127,0,0,0,0,0,0,27.11,26.53,27.17
$GC,5412,1.95,106.2,3429,3854,2204,2126,330.4,8.7,266,5416,0.00,1.30,0.00,0.000,1030,0.000,0.024,3436,2949,2164,2203,2126,0,0,0,0,0,0,26.86,26.83,26.89
$GC,5724,1.98,106.2,3436,2950,2202,2127,301.5,8.6,277,5726,0.00,1.48,0.00,0.000,516,0.000,0.021,3443,1896,2163,2202,2125,0,0,0,0,0,0,27.18,26.85,27.24
$GC,5953,2.02,106.2,3444,1896,2201,2127,283.6,8.2,284,5957,0.00,1.60,0.00,0.000,1030,0.000,0.031,3444,2949,2163,2200,2126,0,0,0,0,0,0,26.71,26.67,26.73
$GC,6263,2.03,116.9,3444,2949,2201,2124,261.0,7.2,295,6276,0.00,1.55,8.68,0.731,8708,0.000,0.021,3452,1878,2126,2164,2089,0,0,0,0,0,0,27.21,26.58,25.82
$GC,6503,2.06,134.5,3451,1878,2162,2086,246.3,5.5,307,6526,0.00,1.62,14.93,0.675,9222,0.000,0.031,3452,2955,2051,2087,2015,0,0,0,0,0,0,26.67,26.65,25.79
$GC,6823,2.08,134.5,3452,2956,2085,2011,217.3,9.1,339,6826,0.00,1.50,0.00,0.000,516,0.000,0.021,3460,1897,2047,2085,2009,0,0,0,0,0,0,27.07,26.76,27.13
$GC,7053,2.10,134.5,3461,1896,2086,2010,197.0,9.0,362,7056,0.00,1.58,0.00,0.000,1030,0.000,0.031,3460,2939,2047,2084,2010,0,0,0,0,0,0,26.67,26.64,26.70
$GC,7363,2.10,134.5,3460,2939,2084,2009,167.7,9.8,393,7366,0.00,1.48,0.00,0.000,516,0.000,0.021,3468,1894,2046,2083,2010,0,0,0,0,0,0,27.17,26.84,27.23
$GC,7593,2.13,153.9,3468,1894,2085,2010,150.8,5.0,416,7615,0.00,1.58,14.95,0.607,9222,0.000,0.031,3468,2941,1972,2010,1935,0,0,0,0,0,0,26.72,26.69,25.89
$GC,7913,2.15,166.2,3468,2942,2008,1932,128.8,6.8,448,7925,0.08,1.48,4.32,0.707,10756,0.137,0.020,3514,1888,1935,1978,1892,0,0,0,0,0,0,26.93,26.53,25.83
$GC,7999,2.17,166.2,3515,1888,1985,1893,122.2,8.6,456,8006,0.00,1.58,0.00,0.000,1030,0.000,0.029,3515,2937,1939,1985,1893,0,0,0,0,0,0,26.69,26.67,26.72
$GC,8304,2.20,179.6,3515,2937,1986,1893,98.4,6.5,487,8320,0.00,1.42,12.68,0.533,8452,0.000,0.039,3514,3862,1870,1911,1829,0,0,0,0,0,0,27.15,26.53,25.92
$GC,8544,2.20,179.6,3515,3863,1906,1827,75.8,10.7,510,8551,0.00,1.33,0.00,0.000,1030,0.000,0.022,3522,2915,1865,1905,1825,0,0,0,0,0,0,26.82,26.81,26.84
$GC,8849,2.22,194.5,3522,2916,1906,1827,53.8,6.1,541,8864,0.00,1.45,9.75,0.476,8452,0.000,0.039,3522,3854,1808,1848,1769,0,0,0,0,0,0,27.15,26.55,25.97
$GC,9089,2.22,194.5,3523,3855,1847,1768,24.7,14.0,584,9098,0.00,1.27,0.00,0.000,1030,0.000,0.021,3530,2931,1806,1846,1766,0,0,0,0,0,0,26.87,26.86,26.89
$STATE,9260,end climb,SURFACE_DEPTH_REACHED
$STATE,9260,begin surface coast
$FINISH,1.3,1.023337
$STATE,9271,end surface coast,CONTROL_FINISHED_OK
$STATE,9271,begin surface
$SM_CCo,9286,79.38,0.125,0,0,974,400.08
$SM_GC,1.89,8.55,0.10,79.38,0.034,0.085,0.125,190,2794,974,-8.10,2.74,400.08,0,0,0,0,0,0,26.69,27.02,26.29
$IRIDIUM_FIX,2059.45,-15809.77,260115,044323
$TT8_MAMPS,0.055426,0.055426
$HUMID,41.69
$INTERNAL_PRESSURE,9.1649
$TCM_TEMP,25.10
$XPDR_PINGS,3
$24V_AH,24.82,71.194
$10V_AH,10.26,39.489
$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,20.175,47.925,196.175,79.375,0.000,0.000,0.000,236.500,0.750,0.000,16.561,0.000,7042.786,372.058,2192.726,120.747,0.000,1382.424,0.000,1534.747,0.000,0.554,0.000
$DEVICE_MAMPS,214.965,84.915,1148.265,124.695,0.000,0.000,0.000,84.150,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,416.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270280
$DATA_FILE_SIZE,26816,620
$CAP_FILE_SIZE,139031,0
$CFSIZE,1024393216,995213312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,9259.07,0x236db2,7,5
$CURRENT,0.050,27.59,1
$GPS,260115,095852,2110.044,-15808.875,40,1.0,40,9.6,1.0,139.2,7,8.5