version: 66.12
glider: 123
mission: 13
dive: 4
start: 11 5 114 21 51 20
data:
$ID,123
$MISSION,13
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,172
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51792
$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,652.8006
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$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,3300
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2920
$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,4
$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,-3.4555724
$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
$GPS1,051114,214727,4743.236,-12223.642,10,2.1,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.4
$GPS2,051114,215044,4743.204,-12223.610,12,2.1,32,18.2
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,307.4,1815,-18.1,-10.000,-21.91,2183
$D_GRID,158
$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,14,begin dive
$GC,16,-2.00,-146.6,399,1802,436,365,0.0,0.0,0,203,0.00,0.00,-183.73,0.000,16386,0.000,0.000,399,1803,3313,3261,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,206,-2.00,-146.6,399,1803,3261,3366,3.4,-7.9,31,232,13.90,2.58,-4.75,0.000,18948,0.168,0.080,2858,394,3518,3479,3558,0,0,0,0,0,0,24.46,24.51,24.88
$GC,334,-2.10,-146.6,2858,394,3479,3558,22.0,-10.4,55,341,0.00,2.40,0.00,0.000,1030,0.000,0.041,2859,1808,3518,3479,3558,0,0,0,0,0,0,28.83,24.71,28.83
$GC,524,-2.22,-146.6,2858,1811,3479,3558,40.1,-9.3,92,531,0.17,2.35,0.00,0.000,4356,0.073,0.042,2810,3190,3519,3480,3558,0,0,0,0,0,0,24.74,24.68,28.83
$GC,588,-2.22,-146.6,2810,3190,3479,3558,47.3,-10.8,104,595,0.00,2.38,0.00,0.000,1030,0.000,0.042,2810,1799,3519,3480,3558,0,0,0,0,0,0,28.83,24.68,28.83
$GC,779,-2.22,-146.6,2810,1799,3479,3558,69.1,-12.2,117,784,0.00,2.38,0.00,0.000,260,0.000,0.042,2810,3197,3518,3479,3558,0,0,0,0,0,0,28.83,24.71,28.83
$GC,820,-2.22,-146.6,2810,3197,3479,3558,74.5,-12.1,125,825,0.00,2.40,0.00,0.000,1030,0.000,0.042,2810,1793,3518,3479,3558,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1023,-2.22,-146.6,2810,1793,3479,3558,99.1,-12.5,138,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1793,3518,3479,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,-2.22,-146.6,2810,1793,3479,3558,121.4,-12.6,147,1208,0.00,2.38,0.00,0.000,260,0.000,0.044,2810,3189,3518,3478,3558,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1350,-2.22,-146.6,2810,3189,3478,3558,138.6,-11.5,177,1355,0.00,2.38,0.00,0.000,1030,0.000,0.044,2810,1799,3518,3479,3558,0,0,0,0,0,0,28.83,24.75,28.83
$STATE,1461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1461,begin apogee
$GC,1465,-0.50,0.0,2810,1799,3479,3558,150.4,-10.7,184,1593,1.88,0.00,122.93,0.610,10246,0.106,0.000,3188,1799,2917,2965,2870,0,0,0,0,0,0,24.69,28.83,23.80
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1596,2.00,146.6,3188,1799,2961,2867,153.7,0.0,190,1732,1.38,2.65,126.35,0.633,10756,0.061,0.077,3496,397,2315,2410,2221,0,0,0,0,0,0,24.33,24.16,23.75
$GC,1768,2.07,197.8,3497,397,2405,2218,147.5,7.6,227,1820,0.00,2.40,45.28,0.619,11270,0.000,0.041,3497,1801,2108,2210,2006,0,0,0,0,0,0,28.83,24.46,23.76
$GC,2001,2.26,231.7,3496,1801,2197,2004,129.2,8.4,246,2041,0.00,2.42,30.25,0.610,10500,0.000,0.044,3497,3193,1969,2073,1866,0,0,0,0,0,0,28.83,24.27,23.80
$GC,2113,2.46,263.1,3496,3192,2067,1865,118.9,8.5,268,2147,0.00,2.42,29.08,0.609,11270,0.000,0.044,3496,1800,1846,1958,1735,0,0,0,0,0,0,28.83,24.46,23.80
$GC,2346,2.67,263.1,3497,1799,1947,1728,95.4,10.8,287,2347,0.00,0.00,0.00,0.000,2054,0.000,0.000,3497,1799,1838,1948,1728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2525,2.94,312.7,3496,1800,1945,1728,79.7,7.7,296,2573,0.00,0.00,46.10,0.591,10246,0.000,0.000,3497,1799,1643,1766,1520,0,0,0,0,0,0,28.83,28.83,23.82
$GC,2745,3.18,312.7,3496,1800,1754,1513,58.2,10.4,307,2751,0.00,2.62,0.00,0.000,2564,0.000,0.077,3497,394,1633,1754,1513,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2773,3.39,312.7,3497,394,1754,1512,54.7,12.2,313,2778,0.00,2.40,0.00,0.000,3078,0.000,0.041,3497,1799,1632,1753,1512,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2960,3.64,312.7,3496,1802,1751,1512,35.9,10.2,344,2967,0.00,2.38,0.00,0.000,2308,0.000,0.044,3497,3194,1632,1752,1512,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2995,3.90,312.7,3497,3194,1751,1512,32.5,10.2,350,3002,0.00,2.42,0.00,0.000,3078,0.000,0.044,3497,1793,1631,1751,1512,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3185,4.19,339.9,3497,1793,1750,1512,14.2,8.7,387,3204,0.00,2.47,12.45,0.081,10500,0.000,0.041,3497,3190,1532,1660,1404,0,0,0,0,0,0,28.83,24.59,24.56
$GC,3222,4.51,364.3,3497,3190,1660,1404,11.0,8.9,393,3241,0.00,2.40,12.23,0.074,11270,0.000,0.044,3497,1800,1433,1569,1298,0,0,0,0,0,0,28.83,24.59,24.56
$STATE,3362,end climb,SURFACE_DEPTH_REACHED
$STATE,3362,begin surface coast
$FINISH,0.2,1.000479
$STATE,3408,end surface coast,CONTROL_FINISHED_OK
$STATE,3408,begin surface
$SM_CCo,3428,118.57,0.053,0,0,399,618.16
$SM_CCo,3550,-0.28,0.000,0,0,400,618.16
$SM_CCo,3553,0.00,0.000,0,0,400,618.16
$SM_GC,0.95,13.62,0.00,0.00,0.047,0.000,0.000,397,1800,400,-13.31,0.00,618.16,0,0,0,0,0,0,24.62,28.83,28.83
$RAFOS_CLK,121
$RAFOS,1,1415226257,22.416666,22.404722,138,47,42,0,0,0,537,1651,112,0,0,0
$RAFOS,0,1415225055,22.083334,22.070833,42,39,39,0,0,0,1601,664,818,0,0,0
$RAFOS_FIX,4752.732910,-12145.655273,051114,212148,2,104,63.63
$IRIDIUM_FIX,4722.92,-12225.08,051114,214210
$TT8_MAMPS,0.027713,0.027713
$HUMID,58.19
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,23.75,2.063
$10V_AH,10.04,4.916
$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,30.950,43.825,424.650,118.575,0.000,0.000,0.000,0.000,0.000,0.000,32.734,822.325,1438.217,679.185,671.450,53.749,0.000,1094.983,0.000,621.047,1260.000,0.546,0.000
$DEVICE_MAMPS,168.300,80.325,633.420,52.785,0.000,0.000,0.000,0.000,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318344
$DATA_FILE_SIZE,16792,429
$CAP_FILE_SIZE,70051,0
$CFSIZE,260034560,254484480
$ERRORS,0,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2830.58,0x23769e,7,5
$INTR,1,1462.35,0x23769e,2,5
$INTR,2,3411.30,0x23769e,7,5
$INTR,3,3554.90,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.115,134.71,1
$GPS,051114,225148,4743.464,-12223.698,13,2.0,30,18.2