version: 66.12
glider: 123
mission: 16
dive: 3
start: 12 25 114 12 23 4
data:
$ID,123
$MISSION,16
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,315
$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,90
$T_MISSION,115
$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,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,-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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,23
$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,3
$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
$GPS1,251214,121059,-6624.916,12017.768,37,1.6,43,-106.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-46.6
$GPS2,251214,122227,-6624.924,12017.751,10,3.3,30,-106.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,53.5,22136368,-18.1,-10.000,-21.94,2183
$D_GRID,619
$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,-145.9,398,2199,1438,1087,0.0,0.0,0,186,0.00,0.00,-167.20,0.000,16386,0.000,0.000,398,2198,2858,2807,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,189,-2.00,-145.9,398,2198,2807,2909,3.3,-6.2,28,226,9.95,2.05,-16.70,0.000,19204,0.179,0.078,2118,3304,3305,3272,3339,0,0,0,0,0,0,24.34,24.47,24.82
$GC,454,-2.00,-145.9,2118,3304,3274,3339,38.7,-12.8,79,461,0.00,1.92,0.00,0.000,1030,0.000,0.050,2118,2197,3306,3274,3338,0,0,0,0,0,0,28.83,24.56,28.83
$GC,643,-2.00,-145.9,2118,2197,3275,3338,61.2,-12.5,116,649,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3298,3306,3275,3337,0,0,0,0,0,0,28.83,24.56,28.83
$GC,878,-2.00,-145.9,2118,3298,3275,3338,89.8,-12.1,162,884,0.00,1.92,0.00,0.000,1030,0.000,0.050,2118,2194,3306,3275,3338,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1066,-2.00,-145.9,2118,2194,3276,3338,111.5,-11.4,199,1072,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3297,3306,3275,3338,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1226,-2.00,-145.9,2118,3297,3275,3338,130.3,-11.5,230,1232,0.00,1.92,0.00,0.000,1030,0.000,0.050,2118,2192,3306,3275,3338,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1414,-2.00,-145.9,2118,2192,3276,3338,151.6,-11.3,267,1420,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3297,3307,3276,3338,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1522,-2.00,-145.9,2118,3297,3276,3338,164.1,-11.5,288,1529,0.00,1.90,0.00,0.000,1030,0.000,0.050,2118,2201,3307,3276,3338,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1710,-2.00,-145.9,2118,2201,3276,3337,185.3,-11.2,325,1717,0.00,1.95,0.00,0.000,260,0.000,0.061,2118,3294,3306,3276,3337,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1821,-2.00,-145.9,2118,3294,3276,3338,198.2,-11.9,346,1827,0.00,1.92,0.00,0.000,1030,0.000,0.052,2118,2194,3306,3276,3337,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2009,-2.00,-145.9,2118,2194,3277,3337,220.3,-11.8,383,2015,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3297,3307,3276,3338,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2102,-2.00,-145.9,2118,3297,3276,3337,231.5,-12.1,401,2109,0.00,1.92,0.00,0.000,1030,0.000,0.051,2118,2196,3306,3276,3337,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2307,-2.00,-145.9,2117,2195,3278,3335,254.9,-11.4,435,2310,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3299,3306,3277,3336,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2415,-2.00,-145.9,2118,3299,3278,3336,267.8,-11.9,457,2420,0.00,1.92,0.00,0.000,1030,0.000,0.051,2118,2200,3307,3278,3336,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,2446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2446,begin apogee
$GC,2450,-0.50,0.0,2118,2199,3277,3336,271.3,-11.6,460,2597,1.75,0.00,136.48,1.004,10246,0.135,0.000,2446,2200,2709,2795,2623,0,0,0,0,1,0,24.52,28.83,23.37
$STATE,2598,end apogee,CONTROL_FINISHED_OK
$STATE,2598,begin climb
$GC,2600,2.00,145.9,2446,2200,2795,2621,278.3,0.0,467,2757,2.58,2.78,138.12,0.969,10756,0.088,0.092,2991,796,2112,2271,1954,0,0,0,0,1,0,24.10,23.93,23.37
$GC,2983,2.07,199.6,2991,796,2258,1951,264.9,7.5,546,3050,0.00,2.50,56.33,0.875,9222,0.000,0.051,2991,2214,1895,2065,1726,0,0,0,0,1,0,28.83,24.48,23.40
$GC,3230,2.09,217.7,2991,2214,2056,1724,243.6,9.1,577,3267,0.12,2.75,24.60,0.698,10756,0.104,0.086,3021,799,1821,1993,1649,0,0,0,0,1,0,24.46,24.06,23.52
$GC,3496,2.09,217.7,3021,799,1989,1647,215.5,10.9,628,3503,0.00,2.47,0.00,0.000,1030,0.000,0.051,3021,2199,1818,1989,1648,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3685,2.09,217.7,3021,2199,1987,1647,196.0,10.8,665,3692,0.00,2.67,0.00,0.000,516,0.000,0.088,3021,795,1817,1987,1648,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3919,2.09,217.7,3021,795,1986,1648,170.5,10.8,711,3926,0.00,2.47,0.00,0.000,1030,0.000,0.053,3021,2199,1817,1986,1648,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4109,2.09,217.8,3020,2199,1985,1647,151.2,10.0,748,4115,0.00,2.65,0.00,0.000,516,0.000,0.086,3021,799,1816,1985,1647,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4343,2.09,217.8,3021,799,1984,1647,126.4,10.8,794,4350,0.00,2.47,0.00,0.000,1030,0.000,0.052,3021,2205,1815,1983,1647,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4532,2.09,217.8,3021,2205,1983,1647,107.0,10.1,831,4538,0.00,2.65,0.00,0.000,516,0.000,0.085,3021,799,1815,1983,1647,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4766,2.09,217.8,3021,799,1983,1648,82.5,10.7,877,4773,0.00,2.47,0.00,0.000,1030,0.000,0.052,3021,2208,1815,1983,1648,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4955,2.09,217.8,3021,2208,1982,1648,62.9,10.6,914,4962,0.00,2.65,0.00,0.000,516,0.000,0.084,3021,798,1816,1984,1648,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5180,2.09,217.8,3021,798,1982,1646,38.9,10.1,958,5187,0.00,2.47,0.00,0.000,1030,0.000,0.052,3021,2210,1814,1982,1647,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5369,2.09,217.8,3021,2210,1982,1647,20.0,11.1,995,5376,0.00,2.67,0.00,0.000,516,0.000,0.084,3021,794,1814,1982,1647,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5509,2.09,217.8,3021,794,1982,1648,3.4,12.9,1022,5516,0.00,2.47,0.00,0.000,1030,0.000,0.053,3021,2204,1814,1981,1648,0,0,0,0,0,0,28.83,24.61,28.83
$STATE,5520,end climb,SURFACE_DEPTH_REACHED
$STATE,5520,begin surface coast
$FINISH,0.4,1.026329
$STATE,5547,end surface coast,CONTROL_FINISHED_OK
$STATE,5547,begin surface
$SM_CCo,5566,76.50,0.073,0,0,1281,350.04
$SM_GC,1.31,12.15,0.00,76.50,0.072,0.000,0.073,403,2208,1281,-9.89,0.23,350.04,0,0,0,0,0,0,24.51,28.83,24.43
$RAFOS_CLK,312
$RAFOS,1,1419509118,12.100000,12.088333,45,43,41,0,0,0,250,187,680,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12015.39,251214,121228
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.56
$INTERNAL_PRESSURE,8.25227
$TCM_TEMP,15.30
$XPDR_PINGS,10
$24V_AH,23.37,3.622
$10V_AH,9.64,5.788
$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,26.550,63.375,355.525,76.500,0.000,0.000,0.000,466.425,2.500,0.000,31.408,2266.960,1358.918,636.229,1980.956,106.849,0.000,1896.276,0.000,1468.908,0.000,0.539,0.000
$DEVICE_MAMPS,179.010,91.800,1003.680,72.675,0.000,0.000,0.000,127.755,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297556
$DATA_FILE_SIZE,39971,1029
$CAP_FILE_SIZE,92285,0
$CFSIZE,260034560,253997056
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,6428.79,0x23769e,7,5
$INTR,1,2447.79,0x23769e,2,5
$INTR,2,5550.75,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.117,272.38,1
$GPS,251214,135919,-6624.288,12017.331,76,1.7,90,-106.7