version: 66.12
glider: 123
mission: 16
dive: 2
start: 12 25 114 10 35 54
data:
$ID,123
$MISSION,16
$DIVE,2
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,315
$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,90
$T_MISSION,115
$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,150
$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,-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,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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2710
$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,3
$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
$GPS1,251214,103048,-6625.511,12017.214,11,1.5,11,-106.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-49.5
$GPS2,251214,103518,-6625.516,12017.212,31,1.5,36,-106.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,44.4,22136448,-18.1,-10.000,-21.94,2183
$D_GRID,669
$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,15,-2.00,-145.9,401,2206,1412,1105,0.0,0.0,0,193,0.00,0.00,-173.93,0.000,16386,0.000,0.000,401,2205,2984,2947,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,195,-2.00,-145.9,401,2205,2948,3021,3.6,-7.6,29,222,9.88,2.03,-11.00,0.000,19204,0.179,0.076,2118,3305,3306,3279,3333,0,0,0,0,0,0,24.43,24.54,24.89
$GC,450,-2.00,-145.9,2118,3306,3281,3333,37.1,-12.4,78,456,0.00,1.95,0.00,0.000,1030,0.000,0.052,2118,2188,3307,3281,3333,0,0,0,0,0,0,28.83,24.60,28.83
$GC,638,-2.00,-145.9,2118,2188,3281,3333,59.5,-11.5,115,645,0.00,1.95,0.00,0.000,260,0.000,0.059,2118,3300,3307,3281,3333,0,0,0,0,0,0,28.83,24.62,28.83
$GC,872,-2.00,-145.9,2118,3301,3281,3333,86.9,-11.7,161,879,0.00,1.92,0.00,0.000,1030,0.000,0.051,2118,2195,3307,3281,3333,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1061,-2.00,-145.9,2118,2195,3281,3333,108.9,-11.7,198,1068,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3305,3306,3281,3332,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1270,-2.00,-145.9,2118,3305,3281,3332,134.1,-12.0,239,1277,0.00,1.92,0.00,0.000,1030,0.000,0.051,2118,2196,3306,3281,3332,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1459,-2.00,-145.9,2118,2197,3282,3332,156.3,-11.7,276,1466,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3306,3307,3282,3332,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1584,-2.00,-145.9,2117,3305,3281,3332,171.1,-11.9,300,1591,0.00,1.92,0.00,0.000,1030,0.000,0.051,2118,2198,3307,3281,3333,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1772,-2.00,-145.9,2118,2198,3281,3332,192.5,-11.3,337,1779,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3306,3306,3281,3332,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1882,-2.00,-145.9,2118,3306,3281,3332,205.6,-12.0,358,1888,0.00,1.92,0.00,0.000,1030,0.000,0.051,2118,2199,3307,3282,3333,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2071,-2.00,-145.9,2117,2200,3282,3332,227.7,-11.8,395,2077,0.00,1.95,0.00,0.000,260,0.000,0.060,2118,3307,3307,3282,3332,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2179,-2.00,-145.9,2118,3307,3281,3332,240.6,-12.1,416,2186,0.00,1.92,0.00,0.000,1030,0.000,0.052,2118,2201,3306,3281,3332,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2383,-2.00,-145.9,2118,2202,3282,3332,264.2,-11.6,438,2387,0.00,1.92,0.00,0.000,260,0.000,0.060,2118,3300,3307,3282,3332,0,0,0,0,0,0,28.83,24.70,28.83
$STATE,2431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2431,begin apogee
$GC,2437,-0.50,0.0,2118,2202,3282,3331,270.2,-11.8,448,2594,1.73,0.00,142.88,0.969,10246,0.135,0.000,2445,2202,2709,2801,2618,0,0,0,0,1,0,24.57,28.83,23.44
$STATE,2595,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2597,2.00,145.9,2445,2202,2800,2618,278.3,0.0,456,2759,2.58,2.85,144.75,0.934,11012,0.088,0.097,2991,796,2113,2275,1951,0,0,0,0,1,0,24.20,24.01,23.43
$GC,2985,2.06,190.2,2991,795,2263,1948,265.6,7.9,534,3045,0.00,2.50,47.58,0.850,9222,0.000,0.053,2991,2213,1932,2102,1763,0,0,0,0,1,0,28.83,24.50,23.47
$GC,3227,2.10,222.5,2990,2213,2091,1763,245.1,8.5,564,3276,0.12,2.85,37.30,0.793,10756,0.108,0.091,3020,796,1800,1977,1624,0,0,0,0,1,0,24.49,24.05,23.49
$GC,3504,2.10,222.5,3019,796,1972,1622,215.3,11.1,617,3511,0.00,2.47,0.00,0.000,1030,0.000,0.053,3019,2198,1797,1972,1622,0,0,0,0,0,0,28.83,24.51,28.83
$GC,3694,2.10,222.5,3020,2198,1970,1622,194.9,10.9,654,3700,0.00,2.67,0.00,0.000,516,0.000,0.090,3020,797,1796,1970,1622,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3928,2.10,222.5,3020,798,1969,1621,168.7,10.7,700,3934,0.00,2.47,0.00,0.000,1030,0.000,0.054,3020,2200,1795,1970,1621,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4116,2.10,225.1,3020,2200,1968,1621,149.8,9.9,737,4124,0.00,2.67,0.00,0.000,516,0.000,0.089,3020,796,1795,1968,1622,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4351,2.10,225.1,3020,795,1967,1621,125.1,10.5,783,4357,0.00,2.47,0.00,0.000,1030,0.000,0.053,3020,2199,1794,1967,1621,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4540,2.11,226.6,3020,2199,1966,1621,105.7,9.9,820,4547,0.00,2.65,0.00,0.000,516,0.000,0.086,3020,797,1793,1966,1621,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4776,2.11,226.6,3020,798,1966,1621,80.8,10.6,866,4783,0.00,2.47,0.00,0.000,1030,0.000,0.053,3020,2202,1794,1966,1622,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4965,2.11,227.7,3019,2202,1965,1621,61.7,9.9,903,4978,0.00,2.70,6.18,0.691,8708,0.000,0.085,3020,791,1779,1952,1606,0,0,0,0,0,0,28.83,24.39,24.01
$GC,5207,2.11,227.7,3020,791,1951,1607,35.8,10.9,950,5213,0.00,2.47,0.00,0.000,1030,0.000,0.053,3020,2200,1778,1951,1606,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5396,2.11,227.7,3020,2200,1950,1606,15.5,11.8,987,5402,0.00,2.65,0.00,0.000,516,0.000,0.086,3020,797,1778,1951,1606,0,0,0,0,0,0,28.83,24.53,28.83
$STATE,5507,end climb,SURFACE_DEPTH_REACHED
$STATE,5507,begin surface coast
$FINISH,0.4,1.026512
$STATE,5529,end surface coast,CONTROL_FINISHED_OK
$STATE,5529,begin surface
$SM_CCo,5551,69.15,0.073,0,0,1282,350.04
$SM_GC,1.26,12.02,2.53,69.15,0.067,0.053,0.073,399,2195,1282,-9.91,-0.96,350.04,0,0,0,0,0,0,24.58,24.64,24.47
$RAFOS_CLK,302
$RAFOS,0,1419508863,12.033333,12.017500,48,47,46,0,0,0,269,1047,444,0,0,0
$RAFOS,2,1419502172,10.166670,10.158889,53,47,45,0,0,0,530,18,373,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12010.74,251214,102615
$TT8_MAMPS,0.026964,0.026964
$HUMID,65.04
$INTERNAL_PRESSURE,8.2718
$TCM_TEMP,15.40
$XPDR_PINGS,12
$24V_AH,23.43,3.509
$10V_AH,9.73,5.730
$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,26.325,63.700,378.675,69.150,0.000,0.000,0.000,0.000,3.000,0.000,37.549,2241.857,1254.079,646.732,1509.306,80.695,0.000,1422.721,0.000,1444.770,480.000,0.543,0.000
$DEVICE_MAMPS,179.010,97.155,969.255,72.675,0.000,0.000,0.000,0.000,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298764
$DATA_FILE_SIZE,40040,1013
$CAP_FILE_SIZE,97428,0
$CFSIZE,260034560,254042112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,3222.28,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.071,298.96,1
$GPS,251214,121059,-6624.916,12017.768,37,1.6,43,-106.8