version: 66.12
glider: 123
mission: 18
dive: 2
start: 12 30 114 6 53 10
data:
$ID,123
$MISSION,18
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,360
$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,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,4
$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,19
$R_STBD_OVSHOOT,27
$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,-1.4706271
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,25
$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
$GPS1,301214,064854,-6652.954,11832.555,12,2.0,29,-107.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.5
$GPS2,301214,065235,-6652.962,11832.539,12,1.8,28,-107.2
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,POLY
$TGT_LATLONG,-6652.000,11832.000
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,139.8,1824,-13.5,-10.000,-18.01,3575
$D_GRID,337
$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,14,begin dive
$GC,16,-1.67,-243.2,400,2443,1180,839,0.0,0.0,0,229,0.00,0.00,-209.62,0.000,16386,0.000,0.000,400,2444,2984,2944,3025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,232,-1.67,-243.2,400,2444,2943,3025,3.4,-7.2,35,269,10.38,1.48,-19.17,0.000,18692,0.183,0.080,2190,3291,3542,3508,3576,0,0,0,0,0,0,24.51,24.63,24.95
$GC,497,-1.67,-243.2,2190,3291,3509,3576,31.7,-9.3,86,504,0.00,1.45,0.00,0.000,1030,0.000,0.040,2191,2433,3542,3508,3576,0,0,0,0,0,0,28.83,24.79,28.83
$GC,686,-1.67,-243.2,2190,2431,3508,3575,47.9,-8.3,123,692,0.00,1.50,0.00,0.000,260,0.000,0.060,2191,3301,3541,3508,3575,0,0,0,0,0,0,28.83,24.72,28.83
$GC,729,-1.67,-243.2,2190,3302,3508,3576,51.7,-8.8,131,736,0.00,1.45,0.00,0.000,1030,0.000,0.041,2191,2447,3542,3509,3575,0,0,0,0,0,0,28.83,24.79,28.83
$GC,919,-1.67,-243.2,2190,2446,3508,3575,68.3,-8.9,168,925,0.00,2.47,0.00,0.000,516,0.000,0.064,2191,1058,3541,3508,3575,0,0,0,0,0,0,28.83,24.72,28.83
$GC,988,-1.67,-243.2,2190,1058,3509,3575,74.9,-9.7,181,995,0.00,2.40,0.00,0.000,1030,0.000,0.044,2191,2456,3542,3509,3575,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1178,-1.67,-243.2,2190,2455,3508,3574,91.6,-8.5,218,1184,0.00,2.47,0.00,0.000,516,0.000,0.060,2190,1059,3541,3508,3574,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1222,-1.67,-243.2,2190,1059,3509,3574,95.5,-8.8,226,1228,0.00,2.40,0.00,0.000,1030,0.000,0.044,2191,2457,3541,3508,3574,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1411,-1.67,-243.2,2190,2457,3509,3573,112.6,-8.8,263,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2457,3541,3509,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1600,-1.67,-243.2,2190,2457,3508,3573,129.4,-8.8,300,1607,0.00,2.47,0.00,0.000,516,0.000,0.061,2191,1059,3540,3508,3573,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1679,-1.67,-243.2,2190,1059,3508,3573,136.5,-8.8,315,1686,0.00,2.38,0.00,0.000,1030,0.000,0.044,2191,2448,3540,3508,3573,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1868,-1.67,-243.2,2190,2448,3508,3573,153.0,-8.7,352,1875,0.00,2.45,0.00,0.000,516,0.000,0.060,2191,1062,3540,3508,3573,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1913,-1.67,-243.2,2190,1061,3508,3572,156.9,-8.8,360,1919,0.00,2.38,0.00,0.000,1030,0.000,0.044,2191,2451,3541,3509,3573,0,0,0,0,0,0,28.83,24.83,28.83
$GC,2101,-1.67,-243.2,2190,2451,3509,3572,173.9,-9.3,397,2109,0.00,2.45,0.00,0.000,516,0.000,0.060,2191,1061,3540,3508,3573,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2146,-1.67,-243.2,2190,1062,3508,3573,178.0,-9.3,405,2154,0.00,2.38,0.00,0.000,1030,0.000,0.044,2190,2451,3541,3509,3573,0,0,0,0,0,0,28.83,24.84,28.83
$GC,2337,-1.67,-243.2,2190,2451,3509,3572,195.5,-9.3,442,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2451,3540,3509,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2525,-1.67,-243.2,2190,2451,3509,3572,212.8,-8.8,479,2532,0.00,2.47,0.00,0.000,516,0.000,0.062,2190,1054,3540,3508,3572,0,0,0,0,0,0,28.83,24.80,28.83
$GC,2614,-1.67,-243.2,2190,1054,3508,3571,221.0,-9.2,496,2621,0.00,2.40,0.00,0.000,1030,0.000,0.044,2191,2457,3540,3508,3572,0,0,0,0,0,0,28.83,24.86,28.83
$GC,2803,-1.67,-243.2,2190,2457,3508,3571,237.6,-8.5,533,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2457,3540,3509,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3008,-1.67,-243.2,2190,2457,3508,3571,255.8,-9.1,564,3015,0.00,2.45,0.00,0.000,516,0.000,0.060,2190,1061,3539,3508,3570,0,0,0,0,0,0,28.83,24.82,28.83
$GC,3107,-1.67,-243.2,2190,1062,3508,3570,265.2,-9.3,584,3114,0.00,2.38,0.00,0.000,1030,0.000,0.044,2190,2448,3539,3509,3570,0,0,0,0,0,0,28.83,24.87,28.83
$GC,3308,-1.67,-243.2,2190,2448,3508,3570,282.9,-8.5,597,3312,0.00,2.45,0.00,0.000,516,0.000,0.061,2191,1061,3539,3509,3570,0,0,0,0,0,0,28.83,24.82,28.83
$GC,3350,-1.67,-243.2,2190,1061,3509,3569,286.5,-8.6,605,3354,0.00,2.38,0.00,0.000,1030,0.000,0.044,2191,2451,3539,3508,3570,0,0,0,0,0,0,28.83,24.87,28.83
$STATE,3509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3509,begin apogee
$GC,3516,-0.50,0.0,2190,1618,3508,3569,300.8,-9.0,616,3885,1.30,0.00,363.65,0.667,10246,0.112,0.000,2449,1618,2548,2673,2424,0,0,0,0,0,0,24.78,28.83,23.72
$STATE,3886,end apogee,CONTROL_FINISHED_OK
$STATE,3886,begin climb
$GC,3888,1.67,243.2,2448,1618,2668,2420,321.5,0.0,634,4259,2.17,2.55,358.27,0.640,10500,0.075,0.050,2924,3006,1551,1750,1352,0,0,0,0,0,0,24.24,24.14,23.71
$GC,4415,1.67,243.2,2924,3006,1741,1350,285.8,10.7,716,4420,0.00,2.50,0.00,0.000,1030,0.000,0.054,2924,1597,1545,1741,1350,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4609,1.67,243.2,2924,1597,1738,1348,266.0,10.5,727,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1597,1543,1738,1349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4788,1.68,247.7,2924,1596,1737,1348,248.2,9.9,736,4794,0.00,2.47,0.00,0.000,260,0.000,0.050,2924,3013,1542,1737,1348,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4861,1.68,247.7,2924,3013,1737,1348,240.8,10.0,750,4868,0.00,2.50,0.00,0.000,1030,0.000,0.053,2924,1596,1542,1736,1348,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5050,1.69,257.8,2924,1596,1736,1348,222.0,9.7,787,5073,0.00,0.00,18.88,0.659,8198,0.000,0.000,2924,1596,1495,1695,1296,0,0,0,0,0,0,28.83,28.83,23.86
$GC,5256,1.69,257.8,2924,1596,1692,1294,201.3,10.0,827,5263,0.00,2.45,0.00,0.000,260,0.000,0.050,2924,3006,1493,1692,1294,0,0,0,0,0,0,28.83,24.59,28.83
$GC,5329,1.69,257.8,2924,3006,1691,1294,193.7,10.6,841,5336,0.00,2.47,0.00,0.000,1030,0.000,0.054,2924,1599,1492,1692,1293,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5519,1.69,257.8,2925,1599,1691,1293,174.0,10.2,878,5526,0.00,2.45,0.00,0.000,260,0.000,0.050,2924,3009,1492,1691,1293,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5563,1.69,257.8,2924,3009,1691,1293,169.3,10.7,886,5570,0.00,2.47,0.00,0.000,1030,0.000,0.053,2925,1601,1492,1691,1294,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5751,1.70,267.8,2924,1601,1690,1293,150.4,9.7,923,5776,0.00,2.53,15.15,0.659,8452,0.000,0.049,2925,2999,1457,1659,1255,0,0,0,0,0,0,28.83,24.36,23.93
$GC,5808,1.71,275.1,2924,2999,1658,1255,144.8,9.8,933,5828,0.00,2.47,12.18,0.617,9222,0.000,0.053,2924,1601,1426,1630,1222,0,0,0,0,0,0,28.83,24.51,23.89
$GC,6010,1.71,275.1,2925,1601,1627,1220,124.5,10.3,972,6017,0.00,2.45,0.00,0.000,260,0.000,0.050,2925,3010,1424,1628,1220,0,0,0,0,0,0,28.83,24.61,28.83
$GC,6054,1.71,275.1,2924,3010,1628,1220,119.8,10.5,980,6061,0.00,2.50,0.00,0.000,1030,0.000,0.054,2924,1594,1423,1627,1220,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6243,1.71,276.6,2924,1594,1627,1220,100.1,10.0,1017,6251,0.00,2.45,0.00,0.000,260,0.000,0.050,2924,3007,1423,1627,1220,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6287,1.71,276.6,2924,3007,1627,1220,95.4,10.4,1025,6295,0.00,2.47,0.00,0.000,1030,0.000,0.054,2924,1599,1423,1627,1219,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6478,1.74,294.6,2924,1599,1626,1219,76.4,9.5,1062,6525,0.00,2.50,38.97,0.618,8452,0.000,0.049,2924,3005,1346,1558,1135,0,0,0,0,0,0,28.83,24.22,23.80
$GC,6569,1.74,294.6,2924,3005,1556,1134,66.9,10.9,1078,6575,0.00,2.50,0.00,0.000,1030,0.000,0.054,2924,1600,1345,1556,1134,0,0,0,0,0,0,28.83,24.48,28.83
$GC,6758,1.74,294.6,2924,1601,1554,1134,46.4,10.7,1115,6765,0.00,2.45,0.00,0.000,260,0.000,0.050,2924,3007,1344,1554,1134,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6802,1.74,294.6,2924,3007,1554,1134,41.4,11.3,1123,6808,0.00,2.50,0.00,0.000,1030,0.000,0.056,2925,1595,1343,1554,1133,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6991,1.74,294.6,2924,1595,1553,1133,20.4,11.0,1160,6997,0.00,2.45,0.00,0.000,260,0.000,0.050,2925,3007,1343,1553,1134,0,0,0,0,0,0,28.83,24.65,28.83
$GC,7029,1.74,294.6,2924,3007,1553,1133,16.1,11.2,1167,7035,0.00,2.47,0.00,0.000,1030,0.000,0.055,2924,1600,1343,1553,1134,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,7146,end climb,SURFACE_DEPTH_REACHED
$STATE,7146,begin surface coast
$FINISH,0.5,1.026270
$STATE,7174,end surface coast,CONTROL_FINISHED_OK
$STATE,7174,begin surface
$SM_CCo,7195,27.05,0.074,0,0,1122,350.04
$SM_GC,1.36,11.48,1.52,27.05,0.062,0.045,0.074,400,2459,1122,-9.90,-0.57,350.04,0,0,0,0,0,0,24.64,24.70,24.58
$RAFOS_CLK,384
$RAFOS,2,1419926996,8.166670,8.165556,67,56,56,0,0,0,209,184,119,0,0,0
$RAFOS,1,1419926720,8.100000,8.088889,66,59,56,0,0,0,166,208,177,0,0,0
$RAFOS,0,1419926464,8.033333,8.017777,52,52,51,0,0,0,165,182,528,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6625.71,11831.81,301214,064437
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.08
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,17
$24V_AH,23.71,7.282
$10V_AH,9.97,7.504
$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,25.325,97.300,807.100,27.050,0.000,0.000,0.000,0.000,4.250,0.000,29.546,2618.362,1765.908,1074.795,1763.735,102.941,0.000,2033.787,0.000,1702.111,720.000,1.004,0.000
$DEVICE_MAMPS,182.835,79.560,667.080,74.205,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,299440
$DATA_FILE_SIZE,46639,1195
$CAP_FILE_SIZE,123764,0
$CFSIZE,260034560,254124032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2938.19,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,47.033,31.33,1
$GPS,301214,065235,-6652.962,11832.539,241,99.0,241,-107.2