version: 66.12
glider: 123
mission: 15
dive: 2
start: 12 14 114 5 6 44
data:
$ID,123
$MISSION,15
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,20
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02775
$MASS,52100
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0105
$HD_C,2.4000001e-05
$HEADING,300
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3500
$C_PITCH,2560
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,10
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,2
$ROLL_MIN,300
$ROLL_MAX,3300
$ROLL_DEG,40
$C_ROLL_DIVE,1200
$C_ROLL_CLIMB,1200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2710
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,90
$AH0_10V,70
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-2.3007963
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043547689
$SEABIRD_T_H,0.00062576577
$SEABIRD_T_I,2.391554e-05
$SEABIRD_T_J,2.5780666e-06
$SEABIRD_C_G,-9.9836788
$SEABIRD_C_H,1.11155
$SEABIRD_C_I,-0.0018295855
$SEABIRD_C_J,0.00022378819
$GPS1,141214,050235,-6612.486,10954.347,15,1.4,25,-97.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-39.9
$GPS2,141214,050608,-6612.496,10954.315,16,1.9,17,-97.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,HEADING
$TGT_LATLONG,-6607.096,10931.215
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,29.0,20000,-18.1,-10.000,-21.94,2183
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-2.00,-145.9,401,1193,538,325,0.0,0.0,0,331,0.00,0.00,-311.23,0.000,16386,0.000,0.000,401,1190,3066,3004,3129,0,0,0,0,2,0,28.83,28.83,24.94
$GC,334,-2.00,-145.9,401,1191,3004,3129,3.4,-6.4,51,360,9.82,1.88,-8.60,0.000,18948,0.177,0.140,2118,305,3307,3256,3358,0,0,0,0,0,0,24.44,24.46,24.92
$GC,588,-2.00,-145.9,2118,305,3267,3347,37.2,-12.1,100,595,0.00,1.60,0.00,0.000,1030,0.000,0.076,2118,1176,3307,3267,3347,0,0,0,0,0,0,28.83,24.65,28.83
$GC,777,-2.00,-145.9,2118,1176,3270,3345,59.6,-11.8,137,783,0.00,2.50,0.00,0.000,260,0.000,0.051,2118,2618,3307,3270,3345,0,0,0,0,0,0,28.83,24.66,28.83
$GC,1012,-2.00,-145.9,2118,2618,3272,3343,86.4,-11.0,183,1019,0.00,2.58,0.00,0.000,1030,0.000,0.067,2118,1199,3307,3272,3343,0,0,0,0,0,0,28.83,24.64,28.83
$STATE,1128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1128,begin apogee
$GC,1132,-0.50,0.0,2118,1199,3272,3343,100.1,-11.7,206,1275,1.65,0.00,132.45,0.909,10246,0.122,0.000,2443,1199,2709,2776,2643,0,0,0,0,1,0,24.58,28.83,23.51
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1278,2.00,145.9,2442,1199,2776,2642,106.7,0.0,220,1433,2.58,2.58,135.32,0.876,10500,0.085,0.051,2993,2621,2113,2256,1970,0,0,0,0,1,0,24.20,24.13,23.51
$GC,1620,2.06,189.1,2993,2621,2244,1967,93.2,8.0,289,1680,0.00,2.62,44.33,0.783,9222,0.000,0.070,2993,1200,1937,2089,1785,0,0,0,0,1,0,28.83,24.46,23.56
$GC,1864,2.08,203.5,2993,1200,2083,1782,70.8,9.3,335,1895,0.00,2.62,20.52,0.606,8452,0.000,0.051,2993,2625,1877,2033,1722,0,0,0,0,1,0,28.83,24.27,23.73
$GC,2007,2.09,215.2,2993,2625,2031,1721,57.1,9.4,362,2039,0.00,2.62,17.92,0.567,9222,0.000,0.070,2993,1200,1832,1990,1674,0,0,0,0,1,0,28.83,24.46,23.80
$GC,2221,2.11,231.6,2993,1200,1988,1671,36.7,9.2,403,2259,0.12,2.58,23.23,0.610,10500,0.113,0.051,3022,2612,1764,1930,1599,0,0,0,0,1,0,24.53,24.26,23.73
$GC,2335,2.11,231.6,3022,2611,1929,1597,24.3,10.9,424,2342,0.00,2.62,0.00,0.000,1030,0.000,0.070,3022,1193,1763,1929,1597,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2523,begin surface coast
$FINISH,0.5,1.014159
$STATE,2544,end surface coast,CONTROL_FINISHED_OK
$STATE,2544,begin surface
$SM_CCo,2563,64.28,0.072,0,0,1282,350.04
$SM_GC,1.29,12.05,0.00,64.28,0.067,0.000,0.072,399,1193,1282,-9.91,-0.20,350.04,0,0,0,0,0,0,24.50,28.83,24.44
$RAFOS_CLK,138
$RAFOS,1,1418534642,5.416667,5.400556,56,54,52,0,0,0,1498,699,1540,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6543.17,10953.96,141214,045813
$TT8_MAMPS,0.027713,0.027713
$HUMID,62.36
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.30
$XPDR_PINGS,17
$24V_AH,23.51,2.944
$10V_AH,9.81,5.343
$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,26.225,24.200,373.775,64.275,0.000,0.000,0.000,0.000,4.250,0.000,18.055,913.073,379.366,681.237,705.884,42.078,0.000,1116.954,0.000,671.672,960.000,0.539,0.000
$DEVICE_MAMPS,177.480,139.995,908.820,71.910,0.000,0.000,0.000,0.000,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,235612
$DATA_FILE_SIZE,16791,465
$CAP_FILE_SIZE,56144,0
$CFSIZE,260034560,251817984
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$INTR,0,3266.99,0x23769e,7,5
$INTR,1,1130.36,0x23769e,2,5
$INTR,2,2548.02,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.003,141.58,1
$GPS,141214,055125,-6612.485,10954.032,11,1.8,11,-97.8