version: 66.12
glider: 123
mission: 17
dive: 3
start: 12 28 114 13 51 44
data:
$ID,123
$MISSION,17
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,125
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-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,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,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$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,2450
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2550
$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,2
$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,-2.1347077
$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
$GPS1,281214,134638,-6624.435,11958.900,55,1.7,56,-106.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-47.1
$GPS2,281214,135107,-6624.443,11958.887,15,1.4,15,-106.5
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,CENTRAL
$TGT_LATLONG,-6625.000,12007.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,222.1,6100,-15.4,-10.000,-19.61,2885
$D_GRID,698
$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,-1.80,-194.6,397,2447,1280,931,0.0,0.0,0,212,0.00,0.00,-193.23,0.000,16386,0.000,0.000,397,2447,2917,2841,2994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,215,-1.80,-194.6,397,2446,2843,2993,3.4,-6.4,33,248,10.43,2.65,-16.38,0.000,18948,0.187,0.080,2163,1039,3345,3292,3398,0,0,0,0,0,0,24.36,24.46,24.83
$GC,321,-1.80,-194.6,2163,1039,3307,3389,16.8,-10.6,52,328,0.00,2.47,0.00,0.000,1030,0.000,0.050,2164,2450,3347,3307,3388,0,0,0,0,0,0,28.83,24.57,28.83
$GC,510,-1.80,-194.6,2163,2451,3311,3382,34.9,-9.6,89,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2451,3346,3311,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,700,-1.80,-194.6,2163,2450,3314,3380,53.6,-9.7,126,706,0.00,2.55,0.00,0.000,516,0.000,0.068,2164,1041,3346,3314,3379,0,0,0,0,0,0,28.83,24.56,28.83
$GC,764,-1.80,-194.6,2163,1041,3314,3380,60.1,-10.3,138,770,0.00,2.47,0.00,0.000,1030,0.000,0.051,2163,2452,3346,3314,3379,0,0,0,0,0,0,28.83,24.63,28.83
$GC,952,-1.80,-194.6,2163,2452,3316,3378,79.1,-9.7,175,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2452,3347,3316,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-1.80,-194.6,2163,2451,3317,3378,97.0,-9.5,212,1147,0.00,2.55,0.00,0.000,516,0.000,0.068,2164,1042,3347,3317,3378,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1204,-1.80,-194.6,2163,1042,3318,3378,103.2,-9.9,224,1211,0.00,2.47,0.00,0.000,1030,0.000,0.051,2164,2451,3347,3317,3378,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1393,-1.80,-194.6,2163,2451,3318,3378,121.1,-9.9,261,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2451,3348,3318,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1583,-1.80,-194.6,2163,2451,3318,3377,139.3,-9.5,298,1590,0.00,2.55,0.00,0.000,516,0.000,0.068,2163,1042,3347,3318,3377,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1628,-1.80,-194.6,2163,1042,3318,3377,143.7,-9.8,306,1634,0.00,2.47,0.00,0.000,1030,0.000,0.051,2164,2452,3347,3318,3377,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1816,-1.80,-194.6,2163,2452,3318,3376,162.2,-9.8,343,1823,0.00,2.55,0.00,0.000,516,0.000,0.067,2164,1042,3347,3318,3376,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1850,-1.80,-194.6,2163,1042,3318,3376,165.6,-9.7,349,1858,0.00,2.47,0.00,0.000,1030,0.000,0.052,2164,2452,3347,3318,3376,0,0,0,0,0,0,28.83,24.66,28.83
$GC,2041,-1.80,-194.6,2163,2452,3319,3376,184.1,-9.6,386,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2452,3347,3319,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-1.80,-194.6,2163,2452,3319,3375,202.6,-9.9,423,2235,0.00,2.55,0.00,0.000,516,0.000,0.067,2164,1042,3347,3319,3375,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2272,-1.80,-194.6,2163,1042,3319,3375,206.9,-10.1,431,2279,0.00,2.47,0.00,0.000,1030,0.000,0.051,2163,2455,3347,3319,3375,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2462,-1.80,-194.6,2163,2455,3319,3374,225.3,-9.6,468,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2455,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2649,-1.80,-194.6,2163,2455,3319,3374,243.3,-9.5,505,2657,0.00,2.55,0.00,0.000,516,0.000,0.068,2164,1041,3346,3319,3374,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2709,-1.80,-194.6,2163,1041,3319,3374,249.1,-10.0,516,2715,0.00,2.47,0.00,0.000,1030,0.000,0.050,2164,2456,3346,3319,3374,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2903,-1.80,-194.6,2163,2456,3320,3374,267.6,-9.6,527,2909,0.00,2.55,0.00,0.000,516,0.000,0.067,2164,1042,3347,3320,3374,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2932,-1.80,-194.6,2163,1043,3319,3374,270.5,-9.8,533,2937,0.00,2.47,0.00,0.000,1030,0.000,0.051,2164,2456,3346,3319,3374,0,0,0,0,0,0,28.83,24.69,28.83
$GC,3124,-1.80,-194.6,2163,2456,3319,3374,288.6,-9.5,544,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2456,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3243,begin apogee
$GC,3249,-0.50,0.0,2166,1598,3320,3374,300.1,-9.5,550,3575,1.48,0.00,321.05,0.675,10246,0.127,0.000,2445,1598,2550,2648,2452,0,0,0,0,0,0,24.58,28.83,23.55
$STATE,3576,end apogee,CONTROL_FINISHED_OK
$STATE,3576,begin climb
$GC,3577,1.80,194.6,2445,1598,2645,2447,315.3,0.0,566,3909,2.38,2.62,317.70,0.640,11012,0.084,0.103,2948,315,1750,1942,1559,0,0,0,0,0,0,24.08,23.92,23.56
$GC,4107,1.80,194.6,2948,315,1934,1545,276.3,10.6,674,4111,0.00,2.33,0.00,0.000,1030,0.000,0.060,2948,1613,1739,1934,1545,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4303,1.80,195.3,2948,1616,1932,1545,256.8,10.0,686,4309,0.00,2.45,0.00,0.000,260,0.000,0.057,2948,3000,1738,1932,1545,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4331,1.81,204.0,2948,3000,1932,1545,253.8,9.7,692,4346,0.00,2.50,9.02,0.668,9222,0.000,0.057,2948,1601,1717,1911,1523,0,0,0,0,0,0,28.83,24.47,23.85
$GC,4529,1.82,212.5,2948,1601,1908,1519,234.7,9.7,728,4547,0.00,0.00,13.40,0.648,8198,0.000,0.000,2948,1601,1681,1878,1485,0,0,0,0,0,0,28.83,28.83,23.79
$GC,4730,1.84,225.9,2948,1601,1877,1482,215.4,9.5,767,4760,0.00,2.55,23.08,0.666,8452,0.000,0.055,2948,3006,1626,1828,1424,0,0,0,0,0,0,28.83,24.12,23.68
$GC,4792,1.84,225.9,2948,3006,1826,1423,209.2,10.3,778,4799,0.00,2.53,0.00,0.000,1030,0.000,0.057,2948,1601,1624,1826,1422,0,0,0,0,0,0,28.83,24.34,28.83
$GC,4981,1.84,225.9,2948,1601,1825,1420,190.0,10.4,815,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1601,1622,1825,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,1.84,225.9,2948,1601,1825,1420,170.4,10.5,852,5177,0.00,2.47,0.00,0.000,260,0.000,0.056,2948,3000,1622,1824,1420,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5199,1.84,225.9,2948,3000,1825,1420,167.3,11.0,857,5206,0.00,2.50,0.00,0.000,1030,0.000,0.058,2948,1601,1622,1825,1420,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5387,1.84,225.9,2948,1601,1825,1419,148.0,10.3,894,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1601,1621,1824,1419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5576,1.84,227.3,2947,1601,1824,1419,128.6,10.0,931,5582,0.00,2.47,0.00,0.000,260,0.000,0.055,2948,3003,1621,1824,1419,0,0,0,0,0,0,28.83,24.53,28.83
$GC,5614,1.84,227.3,2947,3003,1824,1419,124.7,10.4,938,5620,0.00,2.50,0.00,0.000,1030,0.000,0.057,2948,1600,1621,1823,1419,0,0,0,0,0,0,28.83,24.53,28.83
$GC,5803,1.84,227.3,2948,1599,1824,1419,105.4,10.1,975,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1600,1621,1824,1419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,1.85,235.7,2948,1600,1822,1419,86.6,9.7,1012,6014,0.00,0.00,18.00,0.654,8198,0.000,0.000,2948,1600,1586,1789,1383,0,0,0,0,0,0,28.83,28.83,23.80
$GC,6196,1.85,235.7,2948,1600,1789,1382,65.4,10.6,1052,6204,0.00,2.47,0.00,0.000,260,0.000,0.055,2948,3001,1585,1788,1382,0,0,0,0,0,0,28.83,24.51,28.83
$GC,6241,1.85,235.7,2948,3000,1789,1382,60.7,10.5,1060,6248,0.00,2.53,0.00,0.000,1030,0.000,0.059,2948,1599,1585,1788,1382,0,0,0,0,0,0,28.83,24.52,28.83
$GC,6433,1.85,235.7,2948,1599,1788,1381,40.8,10.8,1097,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1599,1585,1789,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6620,1.85,235.7,2948,1599,1788,1381,20.3,11.1,1134,6626,0.00,2.47,0.00,0.000,260,0.000,0.054,2948,3006,1584,1788,1380,0,0,0,0,0,0,28.83,24.56,28.83
$GC,6663,1.85,235.7,2948,3006,1788,1380,15.9,10.1,1142,6670,0.00,2.53,0.00,0.000,1030,0.000,0.060,2948,1596,1584,1788,1380,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,6791,end climb,SURFACE_DEPTH_REACHED
$STATE,6791,begin surface coast
$FINISH,0.7,1.026485
$STATE,6817,end surface coast,CONTROL_FINISHED_OK
$STATE,6817,begin surface
$SM_CCo,6838,57.33,0.076,0,0,1121,350.04
$SM_GC,1.29,11.68,1.52,57.33,0.064,0.051,0.076,400,2445,1121,-9.89,-1.05,350.04,0,0,0,0,0,0,24.56,24.61,24.44
$RAFOS_CLK,387
$RAFOS,2,1419775767,14.166670,14.157500,56,55,52,0,0,0,71,568,1230,0,0,0
$RAFOS,1,1419775514,14.100000,14.087222,63,56,52,0,0,0,362,403,378,0,0,0
$RAFOS,0,1419775261,14.033333,14.016945,40,39,39,0,0,0,191,268,582,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12000.69,281214,114202
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.05
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.40
$XPDR_PINGS,4
$24V_AH,23.55,6.267
$10V_AH,9.71,7.039
$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,25.950,78.325,702.250,57.325,0.000,0.000,0.000,180.275,1.000,0.000,16.194,2532.896,1691.787,946.235,1891.079,118.969,0.000,2076.563,0.000,1670.989,720.000,0.539,0.000
$DEVICE_MAMPS,187.425,102.510,674.730,76.500,0.000,0.000,0.000,122.400,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,301024
$DATA_FILE_SIZE,43422,1172
$CAP_FILE_SIZE,108145,0
$CFSIZE,260034560,254095360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7565.71,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.047,63.69,1
$GPS,281214,154823,-6624.832,12001.092,40,5.2,60,-106.5