version: 66.12
glider: 123
mission: 13
dive: 5
start: 11 5 114 22 56 14
data:
$ID,123
$MISSION,13
$DIVE,5
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,172
$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,50
$T_MISSION,65
$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,1.023
$MASS,51792
$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,-1
$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,652.8006
$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,3300
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2920
$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,-3.4555724
$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
$GPS1,051114,225148,4743.464,-12223.698,13,2.0,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-60.3
$GPS2,051114,225537,4743.458,-12223.698,15,1.9,15,18.2
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,272.6,1623,-18.1,-10.000,-21.91,2183
$D_GRID,166
$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,-146.6,397,1797,427,368,0.0,0.0,0,204,0.00,0.00,-185.02,0.000,16386,0.000,0.000,398,1797,3356,3310,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,207,-2.00,-146.6,398,1797,3310,3404,3.7,-9.3,31,233,13.95,2.58,-3.60,0.000,18948,0.170,0.082,2861,393,3520,3486,3554,0,0,0,0,0,0,24.46,24.51,24.87
$GC,293,-2.11,-146.6,2861,393,3487,3553,16.6,-6.6,46,299,0.00,2.40,0.00,0.000,1030,0.000,0.041,2861,1803,3520,3487,3554,0,0,0,0,0,0,28.83,24.70,28.83
$GC,484,-2.23,-146.6,2861,1803,3487,3554,29.5,-7.7,83,491,0.20,2.38,0.00,0.000,4356,0.067,0.044,2809,3193,3520,3487,3554,0,0,0,0,0,0,24.72,24.67,28.83
$GC,558,-2.23,-146.6,2809,3193,3487,3553,36.8,-10.0,97,565,0.00,2.40,0.00,0.000,1030,0.000,0.043,2809,1793,3520,3487,3554,0,0,0,0,0,0,28.83,24.68,28.83
$GC,758,-2.23,-146.6,2809,1793,3488,3554,59.5,-11.6,124,765,0.00,2.38,0.00,0.000,260,0.000,0.042,2809,3191,3520,3487,3554,0,0,0,0,0,0,28.83,24.70,28.83
$GC,878,-2.23,-146.6,2809,3191,3487,3554,71.7,-9.2,148,885,0.00,2.40,0.00,0.000,1030,0.000,0.042,2809,1797,3521,3488,3554,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1077,-2.23,-146.6,2809,1797,3487,3554,92.9,-11.8,161,1083,0.00,2.35,0.00,0.000,260,0.000,0.042,2809,3191,3520,3487,3554,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1139,-2.23,-146.6,2808,3191,3487,3554,100.4,-11.2,173,1144,0.00,2.38,0.00,0.000,1030,0.000,0.043,2809,1802,3520,3487,3554,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1342,-2.23,-146.6,2809,1802,3487,3553,120.9,-10.1,186,1348,0.00,2.38,0.00,0.000,260,0.000,0.044,2808,3197,3520,3487,3553,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1455,-2.23,-146.6,2809,3197,3487,3554,133.1,-10.1,209,1462,0.00,2.40,0.00,0.000,1030,0.000,0.042,2809,1796,3520,3486,3554,0,0,0,0,0,0,28.83,24.75,28.83
$STATE,1620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1620,begin apogee
$GC,1624,-0.50,0.0,2809,1796,3487,3554,150.6,-10.9,218,1752,1.88,0.00,122.15,0.605,10246,0.107,0.000,3187,1796,2917,2955,2879,0,0,0,0,0,0,24.70,28.83,23.80
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1755,2.00,146.6,3186,1796,2952,2877,154.1,0.0,224,1887,1.40,0.00,125.20,0.636,10758,0.060,0.000,3498,1796,2320,2408,2233,0,0,0,0,0,0,24.32,28.83,23.75
$GC,2062,2.20,209.1,3497,1796,2396,2227,139.2,7.1,261,2126,0.00,2.50,55.55,0.619,10500,0.000,0.042,3498,3191,2062,2156,1968,0,0,0,0,0,0,28.83,24.24,23.77
$GC,2173,2.40,246.6,3497,3191,2150,1967,131.0,8.2,283,2215,0.00,2.45,34.55,0.607,11270,0.000,0.044,3498,1796,1909,2014,1805,0,0,0,0,0,0,28.83,24.42,23.78
$GC,2405,2.62,264.7,3498,1796,2003,1802,110.4,9.2,302,2427,0.00,2.45,16.62,0.595,10500,0.000,0.042,3498,3195,1837,1944,1730,0,0,0,0,0,0,28.83,24.30,23.85
$GC,2493,2.81,264.7,3497,3195,1938,1729,101.7,10.2,320,2498,0.00,2.45,0.00,0.000,3078,0.000,0.045,3498,1793,1833,1938,1729,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2680,3.03,274.4,3498,1793,1938,1727,83.6,9.5,330,2692,0.00,0.00,9.40,0.579,10758,0.000,0.000,3498,1793,1800,1910,1690,0,0,0,0,0,0,28.83,28.83,23.95
$GC,2878,3.34,341.0,3497,1793,1902,1686,67.2,6.9,342,2943,0.00,0.00,62.72,0.582,10246,0.000,0.000,3498,1793,1527,1659,1395,0,0,0,0,0,0,28.83,28.83,23.82
$GC,3115,3.59,341.0,3497,1793,1647,1388,44.7,10.3,360,3121,0.00,2.40,0.00,0.000,2308,0.000,0.043,3497,3190,1518,1648,1388,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3144,3.85,341.0,3497,3190,1647,1388,41.6,10.3,365,3151,0.00,2.42,0.00,0.000,3078,0.000,0.045,3497,1798,1517,1647,1388,0,0,0,0,0,0,28.83,24.52,28.83
$GC,3334,4.13,349.2,3497,1798,1646,1387,20.7,9.6,402,3341,0.00,0.00,2.72,0.304,10246,0.000,0.000,3498,1798,1496,1628,1365,0,0,0,0,0,0,28.83,28.83,24.03
$GC,3523,4.46,368.8,3497,1798,1627,1365,3.8,9.1,439,3536,0.00,0.00,9.85,0.054,10758,0.000,0.000,3498,1798,1415,1554,1276,0,0,0,0,0,0,28.83,28.83,24.61
$STATE,3541,end climb,SURFACE_DEPTH_REACHED
$STATE,3541,begin surface coast
$FINISH,0.2,1.002966
$STATE,3572,end surface coast,CONTROL_FINISHED_OK
$STATE,3572,begin surface
$SM_CCo,3593,116.20,0.053,0,0,400,618.16
$SM_CCo,3712,-0.25,0.000,0,0,400,618.16
$SM_CCo,3715,0.00,0.000,0,0,400,618.16
$SM_GC,1.03,13.65,0.00,0.00,0.047,0.000,0.000,400,1798,400,-13.29,-0.06,618.16,0,0,0,0,0,0,24.59,28.83,28.83
$RAFOS_CLK,128
$RAFOS,2,1415231046,23.750000,23.735001,51,46,43,0,0,0,638,2395,2482,0,0,0
$RAFOS,1,1415229854,23.416666,23.403889,124,48,47,0,0,0,551,1972,1920,0,0,0
$RAFOS,0,1415228644,23.083334,23.067778,111,46,42,0,0,0,594,211,1593,0,0,0
$RAFOS,2,1415227442,22.750000,22.733889,100,47,46,0,0,0,654,464,201,0,0,0
$RAFOS_FIX,4753.426758,-12145.739258,051114,232357,3,112,82.05
$IRIDIUM_FIX,4726.11,-12226.80,051114,214808
$TT8_MAMPS,0.024717,0.024717
$HUMID,59.13
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.75,2.144
$10V_AH,10.14,4.945
$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,31.075,38.700,438.775,116.200,0.000,0.000,0.000,151.575,0.000,0.000,15.847,882.602,1545.784,686.628,827.178,68.907,0.000,1273.842,0.000,649.704,1260.000,0.547,0.000
$DEVICE_MAMPS,169.830,81.855,635.715,52.785,0.000,0.000,0.000,113.985,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318344
$DATA_FILE_SIZE,16770,448
$CAP_FILE_SIZE,57449,0
$CFSIZE,260034560,254459904
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3892.70,0x23769e,7,5
$INTR,1,1622.09,0x23769e,2,5
$INTR,2,3576.39,0x23769e,7,5
$INTR,3,3717.03,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.040,92.98,1
$GPS,061114,000003,4743.697,-12224.258,12,4.1,32,18.2