version: 66.12
glider: 123
mission: 16
dive: 16
start: 12 26 114 13 9 36
data:
$ID,123
$MISSION,16
$DIVE,16
$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,17
$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
$GPS1,261214,130408,-6627.155,12018.715,53,1.8,61,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-49.5
$GPS2,261214,130900,-6627.162,12018.738,14,1.9,32,-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,104.8,4040,-15.4,-10.000,-19.61,2885
$D_GRID,655
$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,-194.6,400,2459,1314,914,0.0,0.0,0,206,0.00,0.00,-186.00,0.000,16386,0.000,0.000,400,2456,2895,2844,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,208,-1.80,-194.6,400,2455,2845,2947,3.2,-6.1,31,245,10.50,1.55,-17.08,0.000,18692,0.191,0.086,2162,3296,3346,3317,3375,0,0,0,0,0,0,24.30,24.44,24.75
$GC,473,-1.80,-194.6,2162,3296,3318,3375,33.4,-11.4,82,480,0.00,1.50,0.00,0.000,1030,0.000,0.044,2162,2403,3346,3318,3374,0,0,0,0,0,0,28.83,24.57,28.83
$GC,661,-1.80,-194.6,2162,2402,3318,3375,52.9,-10.6,119,668,0.00,1.58,0.00,0.000,260,0.000,0.063,2162,3301,3346,3319,3374,0,0,0,0,0,0,28.83,24.53,28.83
$GC,802,-1.80,-194.6,2161,3302,3318,3375,68.4,-11.5,146,809,0.00,1.48,0.00,0.000,1030,0.000,0.044,2162,2448,3346,3318,3374,0,0,0,0,0,0,28.83,24.60,28.83
$GC,991,-1.80,-194.6,2162,2447,3319,3374,88.4,-10.7,183,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2447,3347,3319,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-1.80,-194.6,2162,2447,3319,3375,108.1,-10.2,220,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2447,3347,3319,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1366,-1.80,-194.6,2162,2447,3319,3374,126.5,-10.0,257,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2447,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-1.80,-194.6,2162,2447,3319,3374,145.6,-10.2,294,1563,0.00,1.48,0.00,0.000,260,0.000,0.063,2162,3293,3346,3319,3374,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1610,-1.80,-194.6,2162,3293,3319,3374,151.3,-10.7,304,1616,0.00,1.45,0.00,0.000,1030,0.000,0.045,2162,2454,3346,3319,3374,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1799,-1.80,-194.6,2162,2454,3319,3374,170.4,-9.8,341,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2454,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-1.80,-194.6,2162,2454,3320,3374,188.7,-9.5,378,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2454,3347,3320,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2176,-1.80,-194.6,2162,2454,3320,3374,206.3,-8.9,415,2183,0.00,1.48,0.00,0.000,260,0.000,0.064,2162,3300,3347,3320,3374,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2220,-1.80,-194.6,2161,3300,3320,3374,210.5,-9.7,423,2226,0.00,1.48,0.00,0.000,1030,0.000,0.045,2162,2447,3347,3320,3374,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2409,-1.80,-194.6,2162,2447,3320,3374,228.1,-9.5,460,2415,0.00,2.53,0.00,0.000,516,0.000,0.069,2162,1054,3346,3320,3373,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2438,-1.80,-194.6,2162,1054,3320,3374,230.8,-9.6,465,2445,0.00,2.45,0.00,0.000,1030,0.000,0.047,2162,2459,3347,3320,3374,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2629,-1.80,-194.6,2162,2459,3321,3373,249.5,-9.8,502,2635,0.00,1.48,0.00,0.000,260,0.000,0.065,2162,3307,3347,3321,3374,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2685,-1.80,-194.6,2162,3307,3321,3373,255.5,-10.3,513,2693,0.00,1.48,0.00,0.000,1030,0.000,0.045,2162,2451,3347,3321,3373,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2873,-1.80,-194.6,2161,2451,3321,3373,273.8,-9.8,523,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2451,3347,3321,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,-1.80,-194.6,2162,2451,3321,3373,291.2,-9.9,532,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2451,3347,3321,3373,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3151,begin apogee
$GC,3157,-0.50,0.0,2161,1620,3321,3373,301.6,-10.3,537,3553,1.50,0.00,384.48,0.673,10246,0.129,0.000,2447,1620,2548,2651,2445,0,0,0,0,1,0,24.53,28.83,23.24
$STATE,3555,end apogee,CONTROL_FINISHED_OK
$STATE,3555,begin climb
$GC,3556,1.80,194.6,2446,1620,2651,2445,323.1,0.0,557,3902,2.40,2.65,332.30,0.655,11012,0.086,0.103,2949,307,1750,1934,1567,0,0,0,0,0,0,23.98,23.84,23.49
$GC,4128,1.80,194.6,2949,307,1921,1553,282.7,10.3,672,4135,0.00,2.33,0.00,0.000,1030,0.000,0.057,2949,1616,1736,1921,1552,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4315,1.80,194.6,2949,1616,1919,1552,264.5,10.1,682,4319,0.00,2.55,0.00,0.000,516,0.000,0.099,2949,310,1735,1919,1552,0,0,0,0,0,0,28.83,24.37,28.83
$GC,4472,1.80,194.6,2949,309,1917,1552,246.7,10.9,713,4478,0.00,2.30,0.00,0.000,1030,0.000,0.057,2949,1604,1734,1917,1552,0,0,0,0,0,0,28.83,24.52,28.83
$GC,4661,1.80,194.6,2949,1604,1917,1552,227.2,10.4,750,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1604,1734,1916,1552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4850,1.81,203.3,2949,1605,1916,1552,208.1,9.7,787,4863,0.00,2.58,4.05,0.555,8708,0.000,0.097,2949,314,1721,1902,1540,0,0,0,0,0,0,28.83,24.34,23.90
$GC,4880,1.81,203.3,2948,313,1902,1540,204.9,11.3,792,4887,0.00,2.30,0.00,0.000,1030,0.000,0.058,2949,1601,1721,1902,1541,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5070,1.81,208.7,2949,1602,1902,1540,186.7,9.8,829,5088,0.00,0.00,13.23,0.659,8198,0.000,0.000,2949,1601,1694,1878,1511,0,0,0,0,0,0,28.83,28.83,23.79
$GC,5270,1.83,222.3,2949,1602,1872,1506,167.5,9.5,868,5299,0.00,0.00,25.48,0.647,8198,0.000,0.000,2949,1602,1640,1829,1452,0,0,0,0,0,0,28.83,28.83,23.65
$GC,5482,1.85,238.2,2949,1602,1820,1442,146.8,9.4,909,5519,0.00,2.65,29.05,0.635,8708,0.000,0.097,2949,306,1573,1768,1378,0,0,0,0,0,0,28.83,23.98,23.63
$GC,5551,1.85,238.2,2949,306,1764,1373,139.6,10.9,921,5557,0.00,2.35,0.00,0.000,1030,0.000,0.060,2949,1607,1568,1764,1372,0,0,0,0,0,0,28.83,24.33,28.83
$GC,5741,1.86,242.9,2949,1607,1762,1371,120.8,9.8,958,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1607,1567,1763,1371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5931,1.86,246.7,2949,1607,1763,1371,102.4,9.9,995,5948,0.00,0.00,13.30,0.627,8198,0.000,0.000,2949,1607,1540,1737,1344,0,0,0,0,0,0,28.83,28.83,23.80
$GC,6131,1.87,249.4,2949,1607,1731,1336,82.3,9.9,1034,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1608,1533,1731,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6320,1.89,262.8,2949,1607,1731,1336,63.5,9.5,1071,6360,0.00,0.00,28.42,0.603,8198,0.000,0.000,2949,1607,1475,1680,1271,0,0,0,0,1,0,28.83,28.83,23.61
$GC,6543,1.89,262.8,2949,1607,1680,1272,42.8,10.7,1114,6550,0.00,2.50,0.00,0.000,516,0.000,0.097,2949,311,1476,1680,1272,0,0,0,0,0,0,28.83,24.37,28.83
$GC,6574,1.89,262.8,2949,311,1680,1272,39.4,11.8,1119,6581,0.00,2.30,0.00,0.000,1030,0.000,0.060,2949,1599,1476,1680,1272,0,0,0,0,0,0,28.83,24.51,28.83
$GC,6763,1.92,289.6,2949,1599,1680,1271,20.3,9.0,1156,6828,0.12,2.58,49.17,0.588,10500,0.104,0.054,2980,2996,1367,1585,1149,0,0,0,0,1,0,24.53,24.10,23.58
$GC,6852,1.92,289.6,2980,2997,1584,1148,10.9,10.8,1171,6859,0.00,2.53,0.00,0.000,1030,0.000,0.057,2980,1600,1366,1584,1148,0,0,0,0,0,0,28.83,24.26,28.83
$STATE,6918,end climb,SURFACE_DEPTH_REACHED
$STATE,6918,begin surface coast
$FINISH,0.4,1.005187
$STATE,6945,end surface coast,CONTROL_FINISHED_OK
$STATE,6946,begin surface
$SM_CCo,6968,37.03,0.073,0,0,1123,350.04
$SM_GC,1.05,11.90,1.52,37.03,0.064,0.048,0.073,403,2447,1123,-9.89,-0.96,350.04,0,0,0,0,0,0,24.38,24.44,24.34
$RAFOS_CLK,396
$RAFOS,2,1419603000,14.166670,14.166667,59,53,52,0,0,0,156,81,139,0,0,0
$RAFOS,1,1419602747,14.100000,14.096389,53,53,52,0,0,0,86,631,54,0,0,0
$RAFOS,0,1419602466,14.033333,14.018333,54,50,50,0,0,0,433,403,486,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,12020.82,261214,111035
$TT8_MAMPS,0.026215,0.026215
$HUMID,63.03
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.24,5.346
$10V_AH,9.72,6.563
$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,26.425,52.550,879.475,37.025,0.000,0.000,0.000,186.150,1.000,0.000,33.649,2482.315,1696.697,1067.806,1943.839,122.997,0.000,2226.459,0.000,1695.031,720.000,0.539,0.000
$DEVICE_MAMPS,191.250,103.275,673.200,72.675,0.000,0.000,0.000,122.400,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297460
$DATA_FILE_SIZE,46636,1189
$CAP_FILE_SIZE,105125,0
$CFSIZE,260034560,253272064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$INTR,0,6939.94,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.089,297.67,1
$GPS,261214,150735,-6626.387,12018.745,11,7.5,31,-106.9