version: 66.12
glider: 123
mission: 16
dive: 18
start: 12 26 114 17 17 4
data:
$ID,123
$MISSION,16
$DIVE,18
$N_DIVES,22
$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
$GPS1,261214,170935,-6625.584,12018.193,70,0.9,75,-106.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-47.9
$GPS2,261214,171624,-6625.577,12018.154,21,1.0,32,-106.9
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_NW
$TGT_LATLONG,-6625.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,145.8,1074,-24.1,-10.000,-27.35,1281
$D_GRID,659
$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,-2.52,-84.6,399,2460,1306,913,0.0,0.0,0,208,0.00,0.00,-186.27,0.000,16390,0.000,0.000,399,2460,2896,2844,2948,0,0,0,0,0,0,28.83,28.83,24.81
$GC,211,-2.57,-117.6,399,2461,2845,2948,3.5,-7.4,32,232,9.55,1.55,-5.25,0.000,18692,0.193,0.086,1994,3292,3031,2999,3064,0,0,0,0,0,0,24.29,24.42,24.72
$GC,460,-2.57,-117.6,1994,3292,3003,3063,38.7,-12.3,80,466,0.00,1.50,0.00,0.000,1030,0.000,0.045,1994,2404,3033,3003,3064,0,0,0,0,0,0,28.83,24.57,28.83
$GC,649,-2.57,-117.6,1994,2403,3004,3063,61.9,-12.1,117,656,0.00,1.58,0.00,0.000,260,0.000,0.063,1994,3303,3033,3004,3062,0,0,0,0,0,0,28.83,24.53,28.83
$GC,789,-2.57,-117.6,1994,3302,3004,3062,79.7,-13.3,144,795,0.00,1.48,0.00,0.000,1030,0.000,0.045,1994,2450,3033,3004,3063,0,0,0,0,0,0,28.83,24.60,28.83
$GC,977,-2.57,-117.6,1994,2450,3004,3062,103.7,-12.2,181,984,0.00,1.48,0.00,0.000,260,0.000,0.063,1994,3293,3033,3004,3062,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1112,-2.57,-117.6,1994,3293,3004,3062,121.0,-13.2,207,1118,0.00,1.45,0.00,0.000,1030,0.000,0.046,1994,2457,3033,3004,3062,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1300,-2.57,-117.6,1994,2457,3007,3061,144.6,-12.2,244,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2457,3034,3007,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1488,-2.57,-117.6,1994,2457,3008,3061,167.4,-12.3,281,1495,0.00,1.48,0.00,0.000,260,0.000,0.064,1994,3300,3034,3007,3061,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1642,-2.57,-117.6,1994,3300,3007,3061,187.3,-13.1,311,1649,0.00,1.48,0.00,0.000,1030,0.000,0.045,1994,2449,3034,3007,3061,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1831,-2.57,-117.6,1994,2449,3008,3060,210.4,-12.3,348,1837,0.00,1.48,0.00,0.000,260,0.000,0.064,1994,3292,3034,3008,3060,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1939,-2.57,-117.6,1994,3292,3008,3060,224.4,-12.9,369,1946,0.00,1.48,0.00,0.000,1030,0.000,0.046,1994,2445,3034,3009,3059,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2131,-2.57,-117.6,1994,2444,3008,3059,247.2,-11.9,406,2137,0.00,1.50,0.00,0.000,260,0.000,0.064,1994,3303,3034,3009,3059,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2277,-2.57,-117.6,1994,3303,3008,3058,266.0,-12.5,435,2282,0.00,1.48,0.00,0.000,1030,0.000,0.044,1994,2449,3033,3009,3058,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2475,-2.57,-117.6,1994,2448,3009,3058,289.7,-12.0,447,2479,0.00,1.48,0.00,0.000,260,0.000,0.063,1994,3292,3033,3009,3058,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,2557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2557,begin apogee
$GC,2565,-0.50,0.0,1994,1617,3009,3058,300.1,-12.1,464,2774,2.40,0.00,204.12,0.662,10246,0.134,0.000,2448,1617,2550,2618,2482,0,0,0,0,0,0,24.50,28.83,23.50
$STATE,2775,end apogee,CONTROL_FINISHED_OK
$STATE,2775,begin climb
$GC,2777,2.57,117.6,2447,1617,2614,2475,307.0,0.0,474,2989,3.15,2.62,198.00,0.646,10756,0.080,0.100,3115,310,2061,2203,1920,0,0,0,0,0,0,24.04,23.85,23.49
$GC,3214,2.57,117.6,3116,309,2187,1911,267.1,12.5,565,3222,0.00,2.33,0.00,0.000,1030,0.000,0.057,3116,1611,2049,2187,1911,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3402,2.57,117.6,3116,1611,2185,1910,245.8,11.7,578,3409,0.00,2.53,0.00,0.000,516,0.000,0.097,3116,309,2047,2185,1910,0,0,0,0,0,0,28.83,24.38,28.83
$GC,3571,2.57,117.6,3115,309,2184,1910,224.9,12.3,611,3577,0.00,2.30,0.00,0.000,1030,0.000,0.057,3116,1605,2047,2184,1910,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3760,2.57,117.6,3116,1605,2182,1910,203.2,11.4,648,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1605,2046,2182,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,2.57,117.6,3116,1605,2181,1910,181.5,11.7,685,3955,0.00,2.53,0.00,0.000,516,0.000,0.097,3116,304,2045,2181,1910,0,0,0,0,0,0,28.83,24.42,28.83
$GC,4018,2.57,117.6,3116,304,2181,1910,173.0,11.7,698,4025,0.00,2.30,0.00,0.000,1030,0.000,0.059,3116,1598,2046,2182,1910,0,0,0,0,0,0,28.83,24.55,28.83
$GC,4207,2.57,117.6,3116,1598,2180,1909,152.1,10.8,735,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1598,2045,2180,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4395,2.57,117.6,3116,1598,2179,1910,131.4,11.0,772,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1598,2044,2179,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4583,2.57,117.6,3116,1598,2178,1910,110.5,11.7,809,4590,0.00,2.50,0.00,0.000,516,0.000,0.096,3116,307,2044,2178,1910,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4667,2.57,117.6,3116,306,2178,1909,100.5,11.9,825,4674,0.00,2.30,0.00,0.000,1030,0.000,0.060,3116,1598,2043,2178,1909,0,0,0,0,0,0,28.83,24.57,28.83
$GC,4857,2.57,117.6,3116,1598,2177,1910,79.1,11.3,862,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1598,2043,2177,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5045,2.57,117.6,3116,1598,2177,1910,58.6,10.9,899,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1598,2042,2176,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5232,2.57,117.6,3116,1598,2176,1909,37.9,10.9,936,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1599,2043,2176,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5420,2.57,117.6,3116,1598,2176,1910,17.0,11.2,973,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1598,2042,2176,1909,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5562,end climb,SURFACE_DEPTH_REACHED
$STATE,5563,begin surface coast
$FINISH,0.4,1.024914
$STATE,5584,end surface coast,CONTROL_FINISHED_OK
$STATE,5584,begin surface
$SM_CCo,5606,135.45,0.070,0,0,1122,350.04
$SM_GC,1.20,12.52,1.52,135.45,0.068,0.054,0.070,402,2443,1122,-9.89,-0.90,350.04,0,0,0,0,0,0,24.52,24.58,24.37
$RAFOS_CLK,325
$RAFOS,2,1419617372,18.166670,18.158890,45,41,34,0,0,0,85,71,11,0,0,0
$RAFOS,1,1419617117,18.100000,18.088055,47,41,41,0,0,0,553,211,726,0,0,0
$RAFOS,0,1419616863,18.033333,18.017500,49,48,47,0,0,0,307,286,369,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12018.10,261214,150904
$TT8_MAMPS,0.026964,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.49,5.579
$10V_AH,9.68,6.679
$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,27.625,43.350,402.125,135.450,0.000,0.000,0.000,241.925,1.000,0.000,33.357,2173.539,1431.517,734.255,1728.362,102.922,0.000,1760.133,0.000,1435.231,720.000,0.539,0.000
$DEVICE_MAMPS,192.780,100.215,662.490,70.380,0.000,0.000,0.000,123.930,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297404
$DATA_FILE_SIZE,39992,1005
$CAP_FILE_SIZE,88007,0
$CFSIZE,260034560,253177856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7465.75,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.122,301.51,1
$GPS,261214,185403,-6625.023,12018.655,14,3.2,34,-106.8