version: 66.12
glider: 123
mission: 16
dive: 15
start: 12 26 114 11 13 55
data:
$ID,123
$MISSION,16
$DIVE,15
$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,16
$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
$GPS1,261214,110908,-6627.846,12018.954,85,1.9,86,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-49.1
$GPS2,261214,111318,-6627.847,12018.984,14,1.9,31,-107.0
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_NW
$TGT_LATLONG,-6625.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,90.9,5323,-15.4,-10.000,-19.61,2885
$D_GRID,640
$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,-194.6,400,2458,1305,921,0.0,0.0,0,205,0.00,0.00,-185.38,0.000,16386,0.000,0.000,401,2458,2925,2879,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,207,-1.80,-194.6,401,2458,2880,2972,3.2,-5.9,31,239,10.45,1.58,-16.08,0.000,18692,0.189,0.087,2162,3303,3345,3314,3377,0,0,0,0,0,0,24.31,24.44,24.76
$GC,467,-1.80,-194.6,2161,3303,3318,3377,34.3,-10.1,81,473,0.00,1.50,0.00,0.000,1030,0.000,0.046,2162,2413,3347,3317,3377,0,0,0,0,0,0,28.83,24.58,28.83
$GC,656,-1.80,-194.6,2161,2412,3318,3378,54.2,-10.8,118,663,0.00,1.55,0.00,0.000,260,0.000,0.063,2162,3298,3347,3317,3377,0,0,0,0,0,0,28.83,24.53,28.83
$GC,801,-1.80,-194.6,2161,3298,3317,3377,69.5,-10.7,146,808,0.00,1.48,0.00,0.000,1030,0.000,0.046,2161,2447,3347,3317,3377,0,0,0,0,0,0,28.83,24.60,28.83
$GC,990,-1.80,-194.6,2162,2447,3318,3377,89.4,-10.3,183,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2447,3347,3318,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-1.80,-194.6,2161,2447,3318,3377,108.8,-10.2,220,1184,0.00,1.48,0.00,0.000,260,0.000,0.063,2162,3294,3347,3317,3377,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1206,-1.80,-194.6,2161,3294,3318,3377,111.8,-10.7,225,1213,0.00,1.45,0.00,0.000,1030,0.000,0.047,2162,2456,3347,3318,3377,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1395,-1.80,-194.6,2161,2455,3318,3376,131.4,-10.4,262,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2456,3347,3318,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-1.80,-194.6,2162,2455,3318,3376,150.7,-10.7,299,1591,0.00,1.48,0.00,0.000,260,0.000,0.064,2162,3301,3347,3318,3376,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1649,-1.80,-194.6,2161,3301,3318,3376,157.4,-10.7,311,1655,0.00,1.48,0.00,0.000,1030,0.000,0.046,2162,2449,3347,3318,3376,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1837,-1.80,-194.6,2162,2449,3318,3375,176.5,-10.2,348,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2449,3347,3318,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-1.80,-194.6,2161,2449,3318,3375,195.5,-9.9,385,2031,0.00,1.48,0.00,0.000,260,0.000,0.064,2162,3291,3346,3318,3375,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2059,-1.80,-194.6,2162,3291,3318,3375,199.0,-10.7,391,2065,0.00,1.48,0.00,0.000,1030,0.000,0.046,2162,2444,3346,3318,3375,0,0,0,0,0,0,28.83,24.64,28.83
$GC,2247,-1.80,-194.6,2161,2444,3318,3375,217.9,-10.0,428,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2443,3346,3318,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2435,-1.80,-194.6,2161,2443,3319,3375,236.5,-10.0,465,2442,0.00,1.50,0.00,0.000,260,0.000,0.064,2161,3302,3346,3318,3375,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2469,-1.80,-194.6,2162,3303,3318,3375,239.9,-10.1,471,2476,0.00,1.48,0.00,0.000,1030,0.000,0.045,2162,2450,3347,3319,3375,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2674,-1.80,-194.6,2162,2448,3319,3374,260.2,-9.8,496,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2449,3346,3318,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2853,-1.80,-194.6,2162,2449,3318,3375,277.5,-9.6,505,2857,0.00,1.50,0.00,0.000,260,0.000,0.063,2162,3306,3346,3319,3374,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2887,-1.80,-194.6,2161,3306,3319,3374,281.2,-10.4,512,2893,0.00,1.48,0.00,0.000,1030,0.000,0.046,2162,2454,3346,3319,3374,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3074,-1.80,-194.6,2161,2454,3318,3375,298.9,-9.5,522,3079,0.00,2.53,0.00,0.000,516,0.000,0.070,2162,1055,3346,3319,3374,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,3088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3088,begin apogee
$GC,3094,-0.50,0.0,2161,1600,3319,3374,300.5,-9.3,525,3292,1.50,0.00,183.88,0.969,10246,0.129,0.000,2447,1600,2548,2654,2442,0,0,0,0,1,0,24.51,28.83,23.24
$STATE,3293,end apogee,CONTROL_FINISHED_OK
$STATE,3294,begin climb
$GC,3295,1.80,194.6,2446,1600,2653,2442,309.5,0.0,535,3653,2.38,2.58,338.60,0.654,10756,0.086,0.101,2949,325,1744,1930,1559,0,0,0,0,0,0,24.01,23.84,23.49
$GC,3856,1.82,212.1,2949,325,1919,1552,272.5,9.4,647,3888,0.00,2.30,24.95,0.653,9222,0.000,0.058,2949,1616,1681,1869,1493,0,0,0,0,0,0,28.83,24.45,23.61
$GC,4076,1.85,236.2,2948,1616,1857,1478,252.7,9.1,664,4122,0.00,0.00,40.20,0.649,8198,0.000,0.000,2949,1616,1581,1780,1383,0,0,0,0,0,0,28.83,28.83,23.58
$GC,4305,1.86,247.0,2948,1616,1768,1371,230.7,9.6,703,4322,0.00,0.00,14.32,0.650,8198,0.000,0.000,2949,1616,1541,1743,1340,0,0,0,0,0,0,28.83,28.83,23.72
$GC,4505,1.88,261.5,2948,1616,1731,1328,211.8,9.5,742,4536,0.00,2.65,24.33,0.649,8708,0.000,0.099,2949,323,1477,1686,1268,0,0,0,0,0,0,28.83,23.99,23.63
$GC,4559,1.88,261.5,2949,322,1681,1261,206.3,10.6,751,4566,0.00,2.30,0.00,0.000,1030,0.000,0.060,2949,1596,1471,1681,1261,0,0,0,0,0,0,28.83,24.29,28.83
$GC,4748,1.89,269.9,2949,1596,1679,1259,187.8,9.7,788,4768,0.10,2.53,10.62,0.640,10500,0.115,0.056,2971,3005,1445,1657,1234,0,0,0,0,0,0,24.49,24.21,23.79
$GC,4780,1.89,269.9,2971,3005,1653,1232,184.3,10.6,793,4787,0.00,2.50,0.00,0.000,1030,0.000,0.057,2972,1617,1441,1652,1231,0,0,0,0,0,0,28.83,24.28,28.83
$GC,4969,1.89,269.9,2971,1617,1650,1228,163.4,11.2,830,4976,0.00,2.55,0.00,0.000,516,0.000,0.100,2971,308,1439,1650,1228,0,0,0,0,0,0,28.83,24.37,28.83
$GC,5008,1.89,269.9,2971,308,1650,1227,158.5,12.2,837,5015,0.00,2.33,0.00,0.000,1030,0.000,0.060,2971,1605,1438,1650,1227,0,0,0,0,0,0,28.83,24.50,28.83
$GC,5197,1.89,269.9,2971,1604,1650,1227,136.6,11.5,874,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1605,1439,1651,1227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,1.89,269.9,2971,1604,1649,1227,115.0,10.7,911,5393,0.00,2.47,0.00,0.000,260,0.000,0.054,2972,3006,1438,1649,1227,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5410,1.89,269.9,2971,3006,1649,1227,112.2,11.4,915,5417,0.00,2.53,0.00,0.000,1030,0.000,0.058,2971,1598,1438,1649,1227,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5599,1.89,269.9,2972,1598,1649,1227,92.2,10.6,952,5606,0.00,2.50,0.00,0.000,516,0.000,0.099,2971,307,1437,1648,1227,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5642,1.89,269.9,2971,307,1648,1227,87.3,11.3,960,5649,0.00,2.33,0.00,0.000,1030,0.000,0.060,2971,1606,1437,1648,1227,0,0,0,0,0,0,28.83,24.54,28.83
$GC,5831,1.89,269.9,2971,1607,1648,1227,66.9,11.4,997,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1607,1437,1648,1227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6020,1.89,269.9,2971,1607,1648,1227,46.4,11.2,1034,6027,0.00,2.53,0.00,0.000,516,0.000,0.098,2972,306,1437,1648,1227,0,0,0,0,0,0,28.83,24.44,28.83
$GC,6044,1.89,269.9,2971,306,1648,1227,43.6,12.2,1038,6052,0.00,2.33,0.00,0.000,1030,0.000,0.061,2971,1605,1437,1648,1227,0,0,0,0,0,0,28.83,24.56,28.83
$GC,6234,1.89,269.9,2971,1605,1648,1227,22.0,11.1,1075,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1605,1437,1648,1227,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6410,end climb,SURFACE_DEPTH_REACHED
$STATE,6410,begin surface coast
$FINISH,0.4,1.013604
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6437,begin surface
$SM_CCo,6458,48.97,0.073,0,0,1121,350.04
$SM_GC,1.17,11.82,1.52,48.97,0.065,0.051,0.073,401,2453,1121,-9.90,-0.65,350.04,0,0,0,0,0,0,24.51,24.57,24.41
$RAFOS_CLK,365
$RAFOS,2,1419595770,12.166670,12.158334,53,44,43,0,0,0,1242,1270,1255,0,0,0
$RAFOS,1,1419595518,12.100000,12.088333,54,53,51,0,0,0,1076,1012,1066,0,0,0
$RAFOS,0,1419595266,12.033333,12.018333,60,52,51,0,0,0,571,554,496,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,12018.10,261214,093041
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,23.24,5.177
$10V_AH,9.71,6.499
$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,26.250,60.300,636.900,48.975,0.000,0.000,0.000,148.750,0.250,0.000,32.869,2401.296,1593.249,868.935,1799.628,116.607,0.000,1928.452,0.000,1590.293,720.000,0.538,0.000
$DEVICE_MAMPS,188.955,100.980,969.255,72.675,0.000,0.000,0.000,120.870,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297380
$DATA_FILE_SIZE,43342,1115
$CAP_FILE_SIZE,101444,0
$CFSIZE,260034560,253337600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5913.81,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.041,214.73,1
$GPS,261214,130408,-6627.155,12018.715,53,1.8,61,-107.0