version: 66.12
glider: 123
mission: 16
dive: 6
start: 12 25 114 17 52 51
data:
$ID,123
$MISSION,16
$DIVE,6
$N_DIVES,9
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,330
$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,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,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,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
$GPS1,251214,174723,-6624.839,12020.335,78,1.0,78,-106.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-47.4
$GPS2,251214,175214,-6624.849,12020.264,19,1.4,20,-106.8
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,196.4,3520,-15.4,-10.000,-19.61,2885
$D_GRID,559
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.80,-194.6,402,2436,1304,915,0.0,0.0,0,209,0.00,0.00,-189.93,0.000,16386,0.000,0.000,402,2435,2979,2928,3031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,213,-1.80,-194.6,402,2435,2927,3031,3.7,-7.3,33,244,10.30,1.52,-12.85,0.000,18692,0.184,0.084,2163,3293,3344,3308,3380,0,0,0,0,0,0,24.30,24.42,24.76
$GC,382,-1.80,-194.6,2163,3293,3308,3380,25.5,-11.0,65,389,0.00,1.48,0.00,0.000,1030,0.000,0.048,2163,2450,3344,3309,3380,0,0,0,0,0,0,28.83,24.56,28.83
$GC,573,-1.80,-194.6,2162,2449,3309,3380,46.6,-11.8,102,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2450,3344,3309,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,762,-1.80,-194.6,2162,2449,3309,3381,65.6,-9.7,139,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2449,3344,3309,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,950,-1.80,-194.6,2163,2449,3309,3380,85.0,-9.9,176,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2449,3344,3309,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1139,-1.80,-194.6,2163,2449,3309,3380,104.7,-10.2,213,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2449,3344,3309,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-1.80,-194.6,2162,2449,3309,3380,124.3,-9.9,250,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2449,3344,3309,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1516,-1.80,-194.6,2163,2449,3309,3379,143.9,-10.5,287,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2449,3344,3309,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1705,-1.80,-194.6,2162,2449,3310,3380,163.4,-10.0,324,1711,0.00,1.48,0.00,0.000,260,0.000,0.065,2163,3294,3344,3310,3379,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1768,-1.80,-194.6,2162,3294,3309,3380,170.1,-10.5,336,1775,0.00,1.48,0.00,0.000,1030,0.000,0.049,2163,2452,3344,3309,3379,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1956,-1.80,-194.6,2163,2451,3309,3379,189.3,-10.0,373,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2451,3344,3310,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-1.80,-194.6,2163,2451,3310,3379,208.3,-9.8,410,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2452,3344,3309,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2333,-1.80,-194.6,2163,2451,3310,3379,226.6,-9.7,447,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2451,3345,3310,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2522,-1.80,-194.6,2163,2451,3309,3379,245.4,-10.1,484,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2451,3344,3309,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-1.80,-194.6,2163,2451,3309,3379,264.7,-10.5,500,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2452,3344,3310,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,-1.80,-194.6,2163,2451,3309,3379,283.6,-10.3,509,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2451,3344,3310,3379,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3068,begin apogee
$GC,3074,-0.50,0.0,2163,1517,3310,3379,301.7,-9.9,518,3264,1.48,0.00,179.23,1.014,10246,0.125,0.000,2445,1516,2549,2654,2444,0,0,0,0,1,0,24.51,28.83,23.25
$STATE,3265,end apogee,CONTROL_FINISHED_OK
$STATE,3265,begin climb
$GC,3267,1.80,194.6,2445,1516,2653,2443,310.6,0.0,527,3470,2.38,2.55,182.35,0.987,10756,0.083,0.110,2947,308,1753,1944,1562,0,0,0,0,1,0,24.00,23.80,23.27
$GC,3581,1.80,194.6,2948,308,1938,1562,293.6,10.3,593,3586,0.00,2.15,0.00,0.000,1030,0.000,0.063,2948,1498,1750,1938,1562,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3773,1.82,215.8,2947,1499,1935,1561,275.8,9.2,604,3813,0.00,2.55,26.90,0.727,8452,0.000,0.053,2948,2913,1669,1862,1477,0,0,0,0,1,0,28.83,24.06,23.44
$GC,3844,1.85,233.2,2947,2913,1862,1477,269.1,9.4,618,3883,0.00,2.60,25.15,0.692,9222,0.000,0.064,2947,1498,1596,1795,1398,0,0,0,0,1,0,28.83,24.26,23.43
$GC,4067,1.85,238.4,2947,1498,1796,1398,248.1,9.8,638,4080,0.00,0.00,10.02,0.656,8198,0.000,0.000,2948,1498,1577,1777,1378,0,0,0,0,0,0,28.83,28.83,23.75
$GC,4263,1.85,238.4,2947,1498,1769,1372,228.3,10.1,676,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1498,1571,1769,1373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4450,1.85,238.4,2948,1498,1768,1373,209.4,10.4,713,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1498,1570,1768,1373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,1.85,238.4,2947,1498,1767,1372,190.8,10.4,750,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1498,1570,1767,1373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4827,1.86,240.6,2948,1498,1766,1373,172.6,9.9,787,4834,0.00,2.50,0.00,0.000,260,0.000,0.054,2948,2915,1569,1766,1373,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4860,1.86,240.6,2947,2915,1766,1373,169.3,10.1,793,4867,0.00,2.58,0.00,0.000,1030,0.000,0.063,2948,1499,1569,1766,1372,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5050,1.86,240.6,2948,1499,1765,1373,150.5,10.1,830,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1499,1569,1765,1373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5238,1.86,240.9,2947,1499,1764,1373,132.0,10.0,867,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1499,1569,1765,1373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5426,1.87,250.0,2948,1499,1764,1373,113.4,9.7,904,5457,0.00,2.60,19.88,0.621,8452,0.000,0.053,2948,2911,1530,1728,1332,0,0,0,0,1,0,28.83,24.22,23.68
$GC,5494,1.87,254.7,2948,2911,1727,1332,106.9,9.8,916,5513,0.00,2.58,11.07,0.641,9222,0.000,0.063,2947,1498,1508,1709,1307,0,0,0,0,0,0,28.83,24.34,23.72
$GC,5696,1.88,255.1,2948,1498,1704,1304,87.4,10.0,955,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1497,1504,1704,1304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5883,1.88,261.1,2947,1498,1703,1304,68.9,9.8,992,5903,0.10,2.53,12.55,0.638,10500,0.121,0.051,2968,2912,1481,1683,1280,0,0,0,0,0,0,24.53,24.25,23.81
$GC,5951,1.88,261.1,2968,2911,1680,1278,61.8,10.4,1004,5957,0.00,2.58,0.00,0.000,1030,0.000,0.063,2969,1499,1479,1680,1278,0,0,0,0,0,0,28.83,24.37,28.83
$GC,6139,1.88,261.1,2968,1499,1679,1278,41.5,10.8,1041,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1499,1478,1679,1277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6328,1.88,261.1,2968,1499,1678,1277,20.8,10.9,1078,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1499,1478,1679,1278,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6485,end climb,SURFACE_DEPTH_REACHED
$STATE,6485,begin surface coast
$FINISH,0.4,1.007828
$STATE,6512,end surface coast,CONTROL_FINISHED_OK
$STATE,6512,begin surface
$SM_CCo,6533,53.08,0.074,0,0,1122,350.04
$SM_GC,1.11,11.70,1.73,53.08,0.060,0.050,0.074,401,2452,1122,-9.89,-0.74,350.04,0,0,0,0,0,0,24.49,24.53,24.39
$RAFOS_CLK,371
$RAFOS,2,1419530972,18.166670,18.158890,45,44,44,0,0,0,331,342,1190,0,0,0
$RAFOS,1,1419530720,18.100000,18.088888,52,45,44,0,0,0,121,684,98,0,0,0
$RAFOS,0,1419530465,18.033333,18.018055,44,42,42,0,0,0,1271,720,994,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12022.75,251214,155330
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.25
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,15.40
$XPDR_PINGS,3
$24V_AH,23.25,3.962
$10V_AH,9.69,5.963
$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,25.950,34.725,467.150,53.075,0.000,0.000,0.000,198.275,0.750,0.000,21.365,2458.577,1756.859,737.229,1831.126,111.894,0.000,1811.497,0.000,1588.755,720.000,0.539,0.000
$DEVICE_MAMPS,184.365,110.160,1013.625,74.205,0.000,0.000,0.000,123.165,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297456
$DATA_FILE_SIZE,43318,1114
$CAP_FILE_SIZE,97201,0
$CFSIZE,260034560,253829120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.069,317.99,1
$GPS,251214,194402,-6624.720,12022.204,24,2.4,182,-106.9