version: 66.12
glider: 123
mission: 16
dive: 13
start: 12 26 114 7 32 55
data:
$ID,123
$MISSION,16
$DIVE,13
$N_DIVES,18
$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,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,24
$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,-2.3007963
$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
$GPS1,261214,072659,-6627.870,12020.956,30,2.0,40,-107.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-49.6
$GPS2,261214,073218,-6627.886,12020.915,18,1.9,35,-107.1
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,17.6,2166,-15.4,-10.000,-19.61,2885
$D_GRID,531
$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,16,-1.80,-194.6,403,2455,1309,914,0.0,0.0,0,201,0.00,0.00,-182.40,0.000,16386,0.000,0.000,403,2454,2858,2804,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,204,-1.80,-194.6,403,2454,2804,2913,3.0,-5.6,31,241,10.40,1.58,-19.83,0.000,19204,0.188,0.089,2162,3295,3346,3315,3377,0,0,0,0,0,0,24.30,24.41,24.74
$GC,469,-1.80,-194.6,2162,3295,3317,3377,32.8,-10.2,82,476,0.00,1.50,0.00,0.000,1030,0.000,0.046,2162,2405,3347,3318,3377,0,0,0,0,0,0,28.83,24.56,28.83
$GC,658,-1.80,-194.6,2162,2405,3317,3377,51.8,-9.9,119,664,0.00,1.58,0.00,0.000,260,0.000,0.065,2162,3300,3347,3318,3376,0,0,0,0,0,0,28.83,24.51,28.83
$GC,857,-1.80,-194.6,2162,3300,3318,3377,74.2,-10.7,158,863,0.00,1.48,0.00,0.000,1030,0.000,0.046,2162,2450,3346,3317,3376,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1045,-1.80,-194.6,2162,2450,3318,3376,93.4,-10.3,195,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2450,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-1.80,-194.6,2162,2449,3318,3376,112.9,-10.4,232,1239,0.00,1.48,0.00,0.000,260,0.000,0.065,2162,3291,3347,3318,3376,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1266,-1.80,-194.6,2162,3291,3318,3376,116.4,-10.2,238,1273,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2448,3347,3318,3376,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1455,-1.80,-194.6,2162,2447,3318,3376,135.7,-10.1,275,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2447,3346,3318,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,-1.80,-194.6,2162,2447,3318,3375,155.3,-10.7,312,1650,0.00,1.50,0.00,0.000,260,0.000,0.065,2162,3303,3346,3318,3375,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1677,-1.80,-194.6,2162,3303,3318,3376,158.9,-10.4,318,1684,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2451,3346,3318,3375,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1867,-1.80,-194.6,2161,2450,3319,3376,178.2,-10.1,355,1874,0.00,2.55,0.00,0.000,516,0.000,0.072,2162,1054,3346,3318,3375,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1887,-1.80,-194.6,2162,1054,3318,3375,180.2,-9.9,358,1893,0.00,2.45,0.00,0.000,1030,0.000,0.050,2162,2452,3346,3318,3375,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2075,-1.80,-194.6,2162,2452,3319,3375,199.1,-9.6,395,2082,0.00,1.48,0.00,0.000,260,0.000,0.067,2162,3290,3347,3319,3375,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2118,-1.80,-194.6,2162,3290,3319,3375,203.4,-10.2,403,2125,0.00,1.45,0.00,0.000,1030,0.000,0.047,2162,2457,3347,3319,3375,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2308,-1.80,-194.6,2162,2456,3319,3375,221.9,-9.6,440,2315,0.00,2.55,0.00,0.000,516,0.000,0.072,2162,1057,3347,3319,3375,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2322,-1.80,-194.6,2162,1057,3319,3375,223.2,-9.4,442,2329,0.00,2.45,0.00,0.000,1030,0.000,0.050,2162,2453,3346,3319,3374,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2511,-1.80,-194.6,2162,2453,3319,3374,241.7,-9.9,479,2518,0.00,1.48,0.00,0.000,260,0.000,0.068,2162,3291,3347,3319,3375,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2531,-1.80,-194.6,2162,3292,3319,3374,243.6,-10.0,482,2537,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2449,3346,3319,3374,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2720,-1.80,-194.6,2162,2449,3319,3374,262.1,-9.8,501,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2448,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-1.80,-194.6,2162,2449,3319,3374,279.7,-9.6,510,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2449,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,-1.80,-194.6,2161,2448,3319,3374,297.0,-9.7,519,3083,0.00,1.48,0.00,0.000,260,0.000,0.067,2162,3291,3346,3319,3374,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3100,-1.80,-194.6,2162,3291,3319,3374,299.2,-10.2,523,3104,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2448,3346,3319,3374,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3113,-0.50,0.0,2161,1614,3319,3374,300.2,-10.1,525,3451,1.48,0.00,324.10,0.700,10246,0.123,0.000,2445,1614,2547,2652,2442,0,0,0,0,1,0,24.51,28.83,23.23
$STATE,3452,end apogee,CONTROL_FINISHED_OK
$STATE,3453,begin climb
$GC,3454,1.80,194.6,2445,1614,2652,2442,316.7,0.0,542,3806,2.40,2.60,336.10,0.651,10500,0.083,0.054,2952,3008,1747,1931,1563,0,0,0,0,0,0,24.00,23.93,23.49
$GC,4033,1.81,205.5,2952,3008,1914,1555,276.8,9.6,658,4048,0.00,2.55,9.25,0.684,9222,0.000,0.060,2952,1595,1713,1894,1532,0,0,0,0,0,0,28.83,24.40,23.77
$GC,4229,1.83,217.2,2952,1595,1885,1521,258.1,9.6,670,4255,0.00,2.55,19.15,0.672,8452,0.000,0.052,2952,3007,1658,1846,1471,0,0,0,0,0,0,28.83,24.09,23.67
$GC,4277,1.83,218.1,2952,3006,1843,1470,253.2,10.0,680,4282,0.00,2.55,0.00,0.000,1030,0.000,0.060,2952,1603,1656,1843,1469,0,0,0,0,0,0,28.83,24.25,28.83
$GC,4464,1.83,218.1,2952,1603,1841,1468,234.6,10.1,711,4471,0.00,2.55,0.00,0.000,516,0.000,0.109,2952,306,1654,1841,1468,0,0,0,0,0,0,28.83,24.34,28.83
$GC,4522,1.83,218.1,2952,307,1841,1467,228.3,10.8,722,4529,0.00,2.33,0.00,0.000,1030,0.000,0.061,2952,1605,1653,1840,1467,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4712,1.83,218.1,2952,1605,1840,1467,209.5,10.1,759,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1605,1653,1840,1467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,1.83,218.1,2953,1605,1841,1467,190.5,10.2,796,4907,0.00,2.55,0.00,0.000,516,0.000,0.103,2952,303,1653,1840,1467,0,0,0,0,0,0,28.83,24.39,28.83
$GC,4934,1.83,218.1,2952,304,1839,1467,186.8,10.8,802,4941,0.00,2.33,0.00,0.000,1030,0.000,0.062,2952,1598,1653,1839,1467,0,0,0,0,0,0,28.83,24.52,28.83
$GC,5123,1.84,225.9,2952,1599,1839,1467,167.9,9.7,839,5141,0.00,0.00,12.15,0.696,8198,0.000,0.000,2952,1598,1625,1814,1436,0,0,0,0,0,0,28.83,28.83,23.80
$GC,5323,1.84,225.9,2952,1599,1812,1435,147.6,10.2,878,5330,0.00,2.53,0.00,0.000,516,0.000,0.103,2952,306,1623,1812,1435,0,0,0,0,0,0,28.83,24.38,28.83
$GC,5347,1.84,225.9,2952,307,1812,1434,144.9,11.4,882,5354,0.00,2.33,0.00,0.000,1030,0.000,0.062,2952,1600,1623,1812,1434,0,0,0,0,0,0,28.83,24.50,28.83
$GC,5536,1.84,225.9,2952,1600,1811,1433,125.7,10.2,919,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1600,1622,1811,1434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5724,1.84,225.9,2952,1600,1810,1434,106.7,10.0,956,5731,0.00,2.53,0.00,0.000,516,0.000,0.101,2952,305,1622,1810,1434,0,0,0,0,0,0,28.83,24.42,28.83
$GC,5758,1.84,225.9,2952,304,1809,1434,103.0,10.9,962,5765,0.00,2.33,0.00,0.000,1030,0.000,0.063,2952,1597,1621,1810,1433,0,0,0,0,0,0,28.83,24.54,28.83
$GC,5947,1.85,237.2,2952,1597,1809,1434,84.6,9.6,999,5984,0.00,2.65,24.00,0.633,8708,0.000,0.100,2952,301,1579,1771,1387,0,0,0,0,1,0,28.83,24.08,23.69
$GC,6010,1.85,237.2,2952,302,1771,1387,78.0,11.0,1010,6017,0.00,2.35,0.00,0.000,1030,0.000,0.063,2952,1603,1579,1771,1388,0,0,0,0,0,0,28.83,24.36,28.83
$GC,6200,1.85,237.2,2952,1603,1769,1388,58.4,10.7,1047,6207,0.00,2.47,0.00,0.000,260,0.000,0.057,2953,3005,1578,1769,1388,0,0,0,0,0,0,28.83,24.47,28.83
$GC,6218,1.85,237.2,2952,3005,1769,1387,56.5,10.4,1050,6225,0.00,2.55,0.00,0.000,1030,0.000,0.060,2952,1589,1578,1769,1387,0,0,0,0,0,0,28.83,24.46,28.83
$GC,6408,1.86,240.8,2952,1590,1768,1387,38.1,9.9,1087,6422,0.00,2.53,5.03,0.544,8708,0.000,0.103,2952,306,1567,1760,1375,0,0,0,0,0,0,28.83,24.32,23.94
$GC,6439,1.86,240.8,2952,306,1759,1375,34.9,10.3,1092,6447,0.00,2.33,0.00,0.000,1030,0.000,0.063,2952,1596,1567,1759,1375,0,0,0,0,0,0,28.83,24.46,28.83
$GC,6630,1.89,264.8,2952,1596,1758,1375,16.6,9.1,1129,6654,0.00,2.53,16.50,0.110,8452,0.000,0.054,2952,3016,1467,1672,1262,0,0,0,0,0,0,28.83,24.44,24.40
$GC,6671,1.89,264.8,2952,3016,1672,1262,11.9,11.7,1136,6679,0.00,2.55,0.00,0.000,1030,0.000,0.060,2952,1602,1467,1672,1262,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,6754,end climb,SURFACE_DEPTH_REACHED
$STATE,6754,begin surface coast
$FINISH,0.4,1.026238
$STATE,6782,end surface coast,CONTROL_FINISHED_OK
$STATE,6782,begin surface
$SM_CCo,6803,53.80,0.071,0,0,1121,350.04
$SM_GC,1.07,11.75,1.55,53.80,0.065,0.050,0.071,400,2460,1121,-9.90,-0.48,350.04,0,0,0,0,0,0,24.46,24.52,24.39
$RAFOS_CLK,386
$RAFOS,2,1419581370,8.166670,8.158334,62,50,50,0,0,0,551,542,750,0,0,0
$RAFOS,1,1419581118,8.100000,8.088333,53,52,48,0,0,0,183,205,126,0,0,0
$RAFOS,0,1419580863,8.033333,8.017500,55,44,44,0,0,0,443,382,463,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,12025.47,261214,052731
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.74
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.40
$XPDR_PINGS,4
$24V_AH,23.23,4.925
$10V_AH,9.97,6.386
$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,26.025,83.625,746.275,53.800,0.000,0.000,0.000,210.225,1.000,0.000,36.275,2499.780,1654.492,991.975,1921.165,125.431,0.000,2157.677,0.000,1649.517,720.000,0.539,0.000
$DEVICE_MAMPS,188.190,108.630,699.975,71.145,0.000,0.000,0.000,122.400,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297428
$DATA_FILE_SIZE,46703,1157
$CAP_FILE_SIZE,110736,0
$CFSIZE,260034560,253427712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,7274.01,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.023,194.56,1
$GPS,261214,092908,-6627.849,12019.737,71,1.8,73,-107.0