version: 66.12
glider: 123
mission: 18
dive: 3
start: 12 30 114 9 14 51
data:
$ID,123
$MISSION,18
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,990
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$D_FINISH,8
$D_PITCH,1.75
$D_SAFE,300
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,260
$T_MISSION,320
$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,2
$ICE_FREEZE_MARGIN,0.12
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,251
$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,70
$ESCAPE_HEADING_DELTA,0
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,-6625
$TGT_DEFAULT_LON,12015
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$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,2540
$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,2400
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,25
$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,-1.4706271
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,25
$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
$GPS1,301214,091031,-6652.170,11831.830,15,1.8,15,-107.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-50.1
$GPS2,301214,091413,-6652.173,11831.833,14,1.9,14,-107.2
$SPEED_LIMITS,0.200,0.327
$TGT_NAME,WP1
$TGT_LATLONG,-6624.000,11836.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,65.6,52268,-27.2,-11.538,-30.00,1105
$D_GRID,330
$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,-2.83,-83.9,399,2382,1295,928,0.0,0.0,0,217,0.00,0.00,-197.98,0.000,16386,0.000,0.000,399,2382,2865,2803,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,220,-2.90,-133.6,400,2382,2803,2929,3.5,-6.9,33,246,8.75,1.65,-8.80,0.000,18692,0.186,0.082,1902,3286,3095,3053,3138,0,0,0,0,0,0,24.46,24.59,24.91
$GC,474,-2.90,-133.6,1901,3285,3057,3134,48.1,-17.4,82,481,0.00,1.50,0.00,0.000,1030,0.000,0.040,1902,2378,3095,3057,3134,0,0,0,0,0,0,28.83,24.73,28.83
$GC,664,-2.90,-133.6,1901,2377,3059,3132,78.9,-16.3,119,670,0.00,1.60,0.00,0.000,260,0.000,0.060,1902,3301,3095,3059,3132,0,0,0,0,0,0,28.83,24.68,28.83
$GC,897,-2.90,-133.6,1902,3301,3060,3131,118.6,-17.2,165,903,0.00,1.50,0.00,0.000,1030,0.000,0.040,1902,2389,3095,3060,3131,0,0,0,0,0,0,28.83,24.77,28.83
$GC,1085,-2.90,-133.6,1901,2388,3062,3130,149.6,-16.2,202,1092,0.00,1.58,0.00,0.000,260,0.000,0.060,1902,3298,3096,3062,3130,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1265,-2.90,-133.6,1901,3298,3063,3129,179.9,-17.0,237,1271,0.00,1.50,0.00,0.000,1030,0.000,0.040,1901,2385,3095,3062,3129,0,0,0,0,0,0,28.83,24.78,28.83
$GC,1455,-2.90,-133.6,1901,2384,3063,3128,210.8,-16.0,274,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2384,3095,3063,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-2.90,-133.6,1902,2384,3063,3128,241.0,-16.2,311,1651,0.00,1.58,0.00,0.000,260,0.000,0.060,1902,3293,3095,3063,3128,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1678,-2.90,-133.6,1901,3293,3064,3128,246.5,-16.7,317,1684,0.00,1.50,0.00,0.000,1030,0.000,0.041,1902,2382,3096,3064,3128,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1881,-2.90,-133.6,1901,2382,3064,3128,278.8,-15.9,330,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2382,3095,3064,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-2.90,-133.6,1901,2381,3064,3127,307.5,-16.1,339,2067,0.00,1.58,0.00,0.000,260,0.000,0.060,1901,3291,3095,3064,3127,0,0,0,0,0,0,28.83,24.74,28.83
$GC,2092,-2.90,-133.6,1901,3291,3064,3127,313.0,-16.6,345,2096,0.00,1.50,0.00,0.000,1030,0.000,0.041,1902,2408,3095,3064,3127,0,0,0,0,0,0,28.83,24.81,28.83
$STATE,2202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2202,begin apogee
$GC,2208,-0.50,0.0,1901,1713,3065,3127,331.1,-16.5,352,2428,2.83,0.00,212.85,0.672,10246,0.144,0.000,2428,1713,2548,2623,2474,0,0,0,0,0,0,24.65,28.83,23.65
$STATE,2429,end apogee,CONTROL_FINISHED_OK
$STATE,2429,begin climb
$GC,2430,2.90,133.6,2427,1713,2620,2471,340.3,0.0,363,2652,3.42,2.78,209.38,0.636,10756,0.073,0.089,3170,312,2001,2145,1857,0,0,0,0,0,0,24.23,24.05,23.64
$GC,2878,2.90,133.6,3170,312,2134,1849,299.3,13.9,454,2885,0.00,2.45,0.00,0.000,1030,0.000,0.050,3171,1711,1991,2134,1849,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3065,2.90,133.6,3170,1712,2130,1849,276.2,12.6,464,3071,0.00,2.65,0.00,0.000,516,0.000,0.084,3170,308,1989,2130,1849,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3245,2.90,133.6,3170,308,2129,1848,251.3,13.9,500,3251,0.00,2.42,0.00,0.000,1030,0.000,0.050,3171,1700,1988,2129,1848,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3436,2.90,133.6,3170,1701,2129,1847,226.2,12.8,538,3443,0.00,2.45,0.00,0.000,260,0.000,0.053,3171,3102,1988,2129,1848,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3480,2.90,133.6,3170,3102,2127,1847,220.5,13.0,546,3487,0.00,2.45,0.00,0.000,1030,0.000,0.050,3171,1702,1987,2127,1847,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3670,2.90,133.6,3170,1702,2127,1847,196.4,12.3,583,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1702,1987,2127,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3858,2.90,133.6,3170,1703,2126,1847,172.7,12.5,620,3864,0.00,2.45,0.00,0.000,260,0.000,0.051,3171,3104,1987,2126,1848,0,0,0,0,0,0,28.83,24.62,28.83
$GC,3906,2.90,133.6,3170,3104,2125,1847,166.3,13.3,629,3913,0.00,2.45,0.00,0.000,1030,0.000,0.050,3170,1701,1986,2126,1847,0,0,0,0,0,0,28.83,24.61,28.83
$GC,4096,2.90,133.6,3170,1701,2125,1847,141.5,13.0,666,4104,0.00,2.47,0.00,0.000,260,0.000,0.051,3170,3106,1986,2125,1848,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4126,2.90,133.6,3170,3106,2124,1847,137.6,13.4,671,4133,0.00,2.47,0.00,0.000,1030,0.000,0.051,3171,1694,1985,2124,1847,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4315,2.90,133.6,3170,1694,2124,1847,113.4,12.6,708,4321,0.00,2.60,0.00,0.000,516,0.000,0.084,3171,305,1985,2124,1847,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4354,2.90,133.6,3170,305,2124,1847,108.1,13.8,715,4361,0.00,2.45,0.00,0.000,1030,0.000,0.054,3170,1702,1986,2125,1847,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4542,2.90,133.6,3170,1702,2124,1848,84.1,12.9,752,4549,0.00,2.42,0.00,0.000,260,0.000,0.052,3171,3101,1985,2124,1847,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4603,2.90,133.6,3170,3101,2123,1847,76.5,12.8,763,4610,0.00,2.45,0.00,0.000,1030,0.000,0.051,3170,1701,1985,2123,1847,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4792,2.90,133.6,3170,1701,2123,1848,52.2,12.4,800,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1701,1985,2123,1847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,2.90,133.6,3170,1701,2123,1847,28.4,12.1,837,4987,0.00,2.60,0.00,0.000,516,0.000,0.086,3171,308,1985,2123,1847,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5009,2.90,133.6,3170,308,2123,1847,24.7,13.3,842,5017,0.00,2.45,0.00,0.000,1030,0.000,0.053,3170,1711,1985,2123,1847,0,0,0,0,0,0,28.83,24.72,28.83
$FREEZE,7.86,-1.268,-1.811,2,1,0
$FREEZE,7.10,-1.266,-1.811,2,1,0
$FREEZE,6.36,-1.252,-1.810,2,1,0
$FREEZE,5.74,-1.212,-1.809,2,1,0
$FREEZE,5.10,-1.164,-1.808,2,1,0
$FREEZE,4.47,-1.098,-1.807,2,1,0
$FREEZE,3.85,-1.080,-1.806,2,1,0
$FREEZE,3.27,-1.078,-1.806,2,1,0
$FREEZE,2.69,-1.041,-1.806,2,1,0
$STATE,5181,end climb,SURFACE_DEPTH_REACHED
$STATE,5181,begin surface coast
$FREEZE,2.01,-1.038,-1.806,2,1,0
$FREEZE,1.40,-1.025,-1.805,2,1,0
$FREEZE,0.81,-1.017,-1.805,2,1,0
$FREEZE,0.56,-1.011,-1.805,2,1,0
$FINISH,0.6,1.026481
$STATE,5203,end surface coast,CONTROL_FINISHED_OK
$STATE,5203,begin surface
$SM_CCo,5224,80.22,0.073,0,0,1327,300.00
$SM_GC,1.43,12.73,1.20,80.22,0.067,0.045,0.073,400,2397,1327,-9.81,-0.96,300.00,0,0,0,0,0,0,24.64,24.72,24.51
$RAFOS_CLK,298
$RAFOS,2,1419934189,10.166670,10.163611,61,60,55,0,0,0,211,183,140,0,0,0
$RAFOS,1,1419933934,10.100000,10.092778,73,71,61,0,0,0,202,150,225,0,0,0
$RAFOS,0,1419933663,10.033333,10.017500,61,58,58,0,0,0,218,188,151,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6620.33,11834.00,301214,090543
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,301.0,68.1
$24V_AH,23.64,7.375
$10V_AH,9.82,7.563
$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,27.725,57.950,422.225,80.225,0.000,0.000,0.000,0.000,3.000,0.000,15.477,1886.806,1422.598,709.227,1297.445,82.019,0.000,1416.303,0.000,1255.968,720.000,7.242,0.000
$DEVICE_MAMPS,185.895,88.740,671.670,73.440,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300272
$DATA_FILE_SIZE,33380,879
$CAP_FILE_SIZE,97523,0
$CFSIZE,260034560,254107648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8499.54,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.159,218.96,1
$GPS,301214,104606,-6652.068,11830.897,126,2.0,127,-107.1