version: 66.12
glider: 123
mission: 16
dive: 14
start: 12 26 114 9 35 21
data:
$ID,123
$MISSION,16
$DIVE,14
$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,14
$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,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
$GPS1,261214,092908,-6627.849,12019.737,71,1.8,73,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-48.6
$GPS2,261214,093433,-6627.860,12019.738,49,1.9,63,-107.0
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,11.4,1311,-22.0,-10.000,-25.45,1521
$D_GRID,621
$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,-2.34,-100.8,400,2463,1304,914,0.0,0.0,0,203,0.00,0.00,-184.02,0.000,16386,0.000,0.000,400,2462,2889,2837,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,206,-2.41,-160.1,399,2463,2837,2942,3.2,-6.0,31,237,9.65,2.67,-12.30,0.000,18948,0.188,0.082,2030,1040,3204,3173,3236,0,0,0,0,0,0,24.30,24.39,24.75
$GC,464,-2.41,-160.1,2030,1040,3175,3236,42.6,-15.1,81,471,0.00,2.47,0.00,0.000,1030,0.000,0.050,2031,2450,3205,3175,3236,0,0,0,0,0,0,28.83,24.53,28.83
$GC,654,-2.41,-160.1,2030,2450,3176,3236,69.4,-13.5,118,660,0.00,1.48,0.00,0.000,260,0.000,0.066,2030,3292,3205,3175,3236,0,0,0,0,0,0,28.83,24.51,28.83
$GC,682,-2.41,-160.1,2030,3292,3175,3236,73.4,-13.9,123,689,0.00,1.50,0.00,0.000,1030,0.000,0.047,2030,2407,3206,3175,3237,0,0,0,0,0,0,28.83,24.58,28.83
$GC,871,-2.41,-160.1,2030,2407,3175,3236,99.8,-14.2,160,877,0.00,1.58,0.00,0.000,260,0.000,0.065,2030,3303,3206,3175,3237,0,0,0,0,0,0,28.83,24.53,28.83
$GC,909,-2.41,-160.1,2030,3303,3175,3236,105.3,-14.5,167,915,0.00,1.48,0.00,0.000,1030,0.000,0.047,2030,2453,3205,3175,3236,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1097,-2.41,-160.1,2031,2452,3175,3236,130.9,-13.3,204,1103,0.00,1.48,0.00,0.000,260,0.000,0.066,2030,3291,3206,3176,3236,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1160,-2.41,-160.1,2030,3291,3176,3236,139.7,-14.2,216,1166,0.00,1.48,0.00,0.000,1030,0.000,0.047,2030,2448,3206,3176,3236,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1348,-2.41,-160.1,2030,2448,3176,3236,165.9,-13.9,253,1355,0.00,1.48,0.00,0.000,260,0.000,0.064,2030,3292,3206,3176,3236,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1412,-2.41,-160.1,2030,3292,3176,3237,174.8,-14.0,265,1419,0.00,1.48,0.00,0.000,1030,0.000,0.047,2030,2447,3206,3175,3237,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1602,-2.41,-160.1,2030,2447,3176,3236,200.3,-13.7,302,1608,0.00,1.48,0.00,0.000,260,0.000,0.063,2030,3295,3206,3176,3236,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1660,-2.41,-160.1,2030,3295,3176,3235,208.6,-14.2,313,1667,0.00,1.48,0.00,0.000,1030,0.000,0.047,2030,2449,3206,3176,3236,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1851,-2.41,-160.1,2030,2449,3176,3236,234.2,-13.5,350,1858,0.00,1.48,0.00,0.000,260,0.000,0.063,2030,3293,3206,3177,3236,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1910,-2.41,-160.1,2030,3293,3176,3236,242.5,-14.1,361,1917,0.00,1.48,0.00,0.000,1030,0.000,0.047,2030,2447,3205,3176,3235,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2109,-2.41,-160.1,2030,2447,3177,3235,269.8,-13.7,379,2113,0.00,1.48,0.00,0.000,260,0.000,0.063,2030,3293,3205,3176,3235,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2158,-2.41,-160.1,2030,3293,3176,3235,276.9,-14.1,389,2162,0.00,1.48,0.00,0.000,1030,0.000,0.047,2030,2447,3206,3177,3235,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,2329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2329,begin apogee
$GC,2335,-0.50,0.0,2030,1611,3178,3235,300.1,-13.6,399,2619,2.17,0.00,277.27,0.679,10246,0.127,0.000,2446,1610,2548,2637,2459,0,0,0,0,0,0,24.49,28.83,23.49
$STATE,2620,end apogee,CONTROL_FINISHED_OK
$STATE,2620,begin climb
$GC,2621,2.41,160.1,2446,1610,2632,2453,312.7,0.0,413,2903,3.00,2.60,269.02,0.652,10500,0.078,0.053,3086,3011,1892,2052,1732,0,0,0,0,0,0,24.03,23.93,23.49
$GC,3111,2.41,160.1,3085,3011,2030,1716,270.4,12.4,513,3118,0.00,2.55,0.00,0.000,1030,0.000,0.058,3085,1591,1873,2030,1717,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3301,2.41,160.1,3085,1591,2029,1715,247.7,11.9,527,3308,0.00,2.50,0.00,0.000,516,0.000,0.103,3085,310,1872,2029,1715,0,0,0,0,0,0,28.83,24.36,28.83
$GC,3415,2.41,160.1,3085,311,2027,1715,233.0,12.8,549,3421,0.00,2.30,0.00,0.000,1030,0.000,0.058,3085,1605,1871,2027,1715,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3603,2.41,160.1,3085,1604,2026,1715,210.9,11.5,586,3610,0.00,2.53,0.00,0.000,516,0.000,0.099,3085,309,1870,2026,1715,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3647,2.41,160.1,3085,309,2025,1715,205.3,12.6,594,3654,0.00,2.30,0.00,0.000,1030,0.000,0.060,3086,1600,1870,2025,1715,0,0,0,0,0,0,28.83,24.52,28.83
$GC,3837,2.41,160.1,3085,1600,2025,1716,183.1,12.0,631,3844,0.00,2.53,0.00,0.000,516,0.000,0.099,3085,308,1870,2025,1715,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3881,2.41,160.1,3085,308,2024,1715,177.5,12.5,639,3888,0.00,2.30,0.00,0.000,1030,0.000,0.060,3085,1596,1869,2024,1715,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4070,2.41,160.1,3085,1597,2024,1715,154.9,12.1,676,4077,0.00,2.50,0.00,0.000,516,0.000,0.098,3086,310,1870,2024,1716,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4124,2.41,160.1,3085,309,2024,1715,148.0,12.6,686,4131,0.00,2.33,0.00,0.000,1030,0.000,0.060,3086,1607,1869,2023,1715,0,0,0,0,0,0,28.83,24.54,28.83
$GC,4314,2.41,160.1,3085,1607,2023,1716,126.1,11.4,723,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1607,1869,2024,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,2.41,160.1,3085,1607,2023,1715,104.4,11.8,760,4508,0.00,2.53,0.00,0.000,516,0.000,0.099,3085,309,1869,2023,1715,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4605,2.41,160.1,3085,309,2023,1715,91.3,12.6,780,4611,0.00,2.33,0.00,0.000,1030,0.000,0.060,3085,1607,1869,2023,1715,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4794,2.41,160.1,3085,1608,2022,1715,68.9,12.0,817,4800,0.00,2.53,0.00,0.000,516,0.000,0.098,3085,306,1868,2022,1715,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4848,2.41,160.1,3085,306,2022,1715,62.0,13.1,827,4854,0.00,2.33,0.00,0.000,1030,0.000,0.060,3086,1606,1868,2022,1715,0,0,0,0,0,0,28.83,24.57,28.83
$GC,5036,2.41,160.1,3086,1606,2022,1715,39.8,11.8,864,5043,0.00,2.50,0.00,0.000,516,0.000,0.096,3085,309,1868,2022,1715,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5079,2.41,160.1,3085,309,2022,1715,33.9,13.5,872,5086,0.00,2.33,0.00,0.000,1030,0.000,0.060,3086,1607,1868,2022,1715,0,0,0,0,0,0,28.83,24.57,28.83
$GC,5268,2.41,160.1,3085,1608,2021,1716,10.9,12.4,909,5275,0.00,2.53,0.00,0.000,516,0.000,0.097,3085,306,1868,2021,1715,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5307,2.41,160.1,3086,306,2021,1715,5.9,12.6,916,5313,0.00,2.33,0.00,0.000,1030,0.000,0.061,3085,1605,1868,2021,1715,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,5334,end climb,SURFACE_DEPTH_REACHED
$STATE,5334,begin surface coast
$FINISH,0.4,1.013625
$STATE,5360,end surface coast,CONTROL_FINISHED_OK
$STATE,5360,begin surface
$SM_CCo,5382,116.22,0.070,0,0,1121,350.04
$SM_GC,1.22,12.35,1.52,116.22,0.065,0.050,0.070,401,2455,1121,-9.90,-0.62,350.04,0,0,0,0,0,0,24.49,24.56,24.37
$RAFOS_CLK,308
$RAFOS,2,1419588588,10.166670,10.163333,50,49,44,0,0,0,391,1072,468,0,0,0
$RAFOS,1,1419588320,10.100000,10.088889,52,52,51,0,0,0,838,885,805,0,0,0
$RAFOS,0,1419588065,10.033333,10.018056,58,54,49,0,0,0,281,298,307,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,12018.10,261214,072833
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.34
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,15.30
$XPDR_PINGS,5
$24V_AH,23.49,5.037
$10V_AH,9.97,6.439
$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,27.175,72.800,546.300,116.225,0.000,0.000,0.000,187.800,1.250,0.000,64.127,2012.277,1279.266,862.362,1596.295,101.573,0.000,1815.059,0.000,1323.687,720.000,0.538,0.000
$DEVICE_MAMPS,188.190,103.275,679.320,70.380,0.000,0.000,0.000,123.165,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297432
$DATA_FILE_SIZE,36783,926
$CAP_FILE_SIZE,89035,0
$CFSIZE,260034560,253407232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7344.38,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.044,104.00,1
$GPS,261214,110908,-6627.846,12018.954,85,1.9,86,-107.0