version: 66.12
glider: 123
mission: 16
dive: 19
start: 12 26 114 18 59 15
data:
$ID,123
$MISSION,16
$DIVE,19
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,261214,185403,-6625.023,12018.655,14,3.2,34,-106.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-48.9
$GPS2,261214,185839,-6625.009,12018.619,13,3.0,33,-106.8
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,268.7,5558,-15.4,-10.000,-19.61,2885
$D_GRID,654
$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,-194.6,402,2446,1302,918,0.0,0.0,0,206,0.00,0.00,-187.07,0.000,16386,0.000,0.000,402,2446,2930,2886,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,209,-1.80,-194.6,402,2446,2887,2974,3.3,-6.3,31,240,10.40,0.00,-15.52,0.000,19206,0.187,0.000,2165,2446,3345,3313,3378,0,0,0,0,0,0,24.32,28.83,24.77
$GC,422,-1.80,-194.6,2164,2446,3317,3378,27.2,-10.2,72,429,0.00,2.55,0.00,0.000,516,0.000,0.068,2164,1039,3347,3317,3378,0,0,0,0,0,0,28.83,24.49,28.83
$GC,451,-1.80,-194.6,2164,1040,3317,3378,30.1,-10.2,77,459,0.00,2.50,0.00,0.000,1030,0.000,0.050,2164,2462,3348,3318,3378,0,0,0,0,0,0,28.83,24.54,28.83
$GC,642,-1.80,-194.6,2164,2462,3318,3378,48.1,-8.8,114,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2462,3347,3317,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-1.80,-194.6,2164,2462,3317,3377,67.1,-10.0,151,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2462,3348,3318,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1017,-1.80,-194.6,2164,2462,3317,3377,85.4,-10.1,188,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2462,3348,3318,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-1.80,-194.6,2164,2462,3318,3378,103.6,-9.8,225,1213,0.00,2.58,0.00,0.000,516,0.000,0.067,2164,1040,3347,3317,3378,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1229,-1.80,-194.6,2164,1040,3318,3378,105.9,-9.6,229,1237,0.00,2.47,0.00,0.000,1030,0.000,0.050,2164,2451,3348,3318,3378,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1419,-1.80,-194.6,2164,2450,3318,3378,124.4,-10.1,266,1426,0.00,1.48,0.00,0.000,260,0.000,0.067,2164,3292,3347,3318,3377,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1458,-1.80,-194.6,2164,3292,3317,3377,128.4,-10.2,273,1465,0.00,1.50,0.00,0.000,1030,0.000,0.045,2164,2402,3348,3318,3378,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1648,-1.80,-194.6,2164,2402,3318,3377,147.5,-10.0,310,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2402,3347,3318,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1837,-1.80,-194.6,2164,2402,3318,3377,165.8,-9.4,347,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2402,3347,3318,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-1.80,-194.6,2164,2402,3318,3377,183.1,-9.0,384,2031,0.00,1.58,0.00,0.000,260,0.000,0.067,2165,3298,3348,3319,3377,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2074,-1.80,-194.6,2164,3298,3318,3377,187.7,-9.4,393,2081,0.00,1.48,0.00,0.000,1030,0.000,0.046,2164,2446,3347,3318,3377,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2265,-1.80,-194.6,2164,2445,3319,3376,205.1,-9.5,430,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2445,3347,3319,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-1.80,-194.6,2164,2445,3319,3376,223.0,-9.5,467,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2445,3347,3319,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2641,-1.80,-194.6,2164,2445,3319,3375,241.0,-9.4,504,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2445,3347,3319,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,-1.80,-194.6,2164,2445,3319,3375,259.3,-9.2,528,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2445,3347,3319,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-1.80,-194.6,2164,2445,3319,3375,276.1,-9.3,537,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2445,3347,3319,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-1.80,-194.6,2164,2445,3320,3375,292.8,-9.3,546,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2445,3347,3319,3375,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3278,begin apogee
$GC,3284,-0.50,0.0,2164,1616,3319,3375,300.3,-9.5,550,3479,1.48,0.00,183.77,0.962,10246,0.127,0.000,2446,1616,2549,2655,2443,0,0,0,0,1,0,24.53,28.83,23.25
$STATE,3480,end apogee,CONTROL_FINISHED_OK
$STATE,3480,begin climb
$GC,3482,1.80,194.6,2445,1616,2655,2443,309.8,0.0,560,3829,2.40,2.70,330.20,0.656,11012,0.084,0.102,2951,312,1748,1934,1562,0,0,0,0,0,0,24.00,23.84,23.50
$GC,4002,1.80,194.7,2951,312,1925,1554,274.0,10.0,664,4009,0.00,2.33,0.00,0.000,1030,0.000,0.059,2951,1610,1739,1925,1553,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4202,1.82,212.5,2951,1610,1923,1553,255.4,9.4,677,4232,0.00,0.00,27.00,0.646,8198,0.000,0.000,2951,1610,1681,1870,1492,0,0,0,0,0,0,28.83,28.83,23.62
$GC,4401,1.82,212.5,2951,1610,1860,1481,235.7,10.1,708,4408,0.00,2.55,0.00,0.000,516,0.000,0.100,2951,308,1670,1860,1481,0,0,0,0,0,0,28.83,24.34,28.83
$GC,4455,1.82,212.5,2951,308,1860,1479,229.9,11.1,718,4462,0.00,2.33,0.00,0.000,1030,0.000,0.060,2951,1605,1669,1860,1479,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4644,1.83,218.0,2951,1605,1860,1479,211.5,9.8,755,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1605,1669,1859,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4834,1.84,227.6,2951,1605,1858,1479,193.3,9.7,792,4864,0.00,2.58,22.83,0.668,8708,0.000,0.097,2951,309,1617,1812,1423,0,0,0,0,0,0,28.83,24.03,23.67
$GC,4901,1.84,227.6,2951,309,1810,1421,186.0,11.0,804,4907,0.00,2.33,0.00,0.000,1030,0.000,0.062,2951,1596,1615,1810,1421,0,0,0,0,0,0,28.83,24.36,28.83
$GC,5091,1.84,227.6,2951,1596,1809,1419,166.0,10.8,841,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1596,1614,1809,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5281,1.84,227.6,2951,1596,1807,1420,146.3,10.6,878,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1596,1614,1808,1420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5468,1.85,238.7,2951,1596,1807,1420,128.0,9.6,915,5492,0.00,0.00,18.98,0.640,8198,0.000,0.000,2951,1596,1575,1772,1378,0,0,0,0,0,0,28.83,28.83,23.73
$GC,5675,1.86,240.7,2951,1596,1769,1375,107.6,9.9,955,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1596,1572,1769,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5863,1.86,240.7,2951,1596,1767,1375,88.7,10.3,992,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1596,1571,1768,1375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6051,1.86,240.7,2951,1596,1767,1375,69.5,10.6,1029,6059,0.00,2.50,0.00,0.000,516,0.000,0.099,2951,306,1571,1767,1375,0,0,0,0,0,0,28.83,24.44,28.83
$GC,6105,1.86,240.7,2951,306,1766,1374,63.6,10.9,1039,6112,0.00,2.33,0.00,0.000,1030,0.000,0.063,2951,1600,1570,1767,1374,0,0,0,0,0,0,28.83,24.56,28.83
$GC,6294,1.87,252.3,2950,1600,1766,1374,44.9,9.6,1076,6330,0.00,0.00,27.67,0.607,8454,0.000,0.000,2951,1600,1520,1721,1320,0,0,0,0,1,0,28.83,28.83,23.60
$GC,6513,1.87,252.3,2951,1600,1721,1320,22.8,10.1,1118,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1600,1520,1721,1320,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6698,end climb,SURFACE_DEPTH_REACHED
$STATE,6699,begin surface coast
$FINISH,0.4,1.026612
$STATE,6725,end surface coast,CONTROL_FINISHED_OK
$STATE,6725,begin surface
$SM_CCo,6746,58.62,0.073,0,0,1122,350.04
$SM_GC,1.11,11.52,1.52,58.62,0.055,0.053,0.073,396,2450,1122,-9.90,-0.85,350.04,0,0,0,0,0,0,24.51,24.54,24.39
$RAFOS_CLK,384
$RAFOS,2,1419624595,20.166670,20.165277,44,42,42,0,0,0,1263,1240,1281,0,0,0
$RAFOS,1,1419624314,20.100000,20.087223,42,41,38,0,0,0,189,106,198,0,0,0
$RAFOS,0,1419624061,20.033333,20.016945,57,50,50,0,0,0,303,330,357,0,0,0
$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,62.83
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.25,5.714
$10V_AH,9.98,6.740
$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,25.800,38.800,610.450,58.625,0.000,0.000,0.000,172.725,1.000,0.000,34.280,2532.250,1719.378,845.788,1880.336,122.324,0.000,1943.050,0.000,1654.062,720.000,0.540,0.000
$DEVICE_MAMPS,187.425,101.745,961.605,72.675,0.000,0.000,0.000,121.635,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297364
$DATA_FILE_SIZE,43364,1160
$CAP_FILE_SIZE,101616,0
$CFSIZE,260034560,253116416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,6129.96,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.119,257.49,1
$GPS,261214,205406,-6625.905,12018.140,43,1.0,43,-106.9