version: 66.12
glider: 123
mission: 16
dive: 4
start: 12 25 114 14 4 31
data:
$ID,123
$MISSION,16
$DIVE,4
$N_DIVES,5
$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,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,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,2500
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$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,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
$GPS1,251214,135919,-6624.288,12017.331,76,1.7,90,-106.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-50.9
$GPS2,251214,140354,-6624.285,12017.293,26,1.7,27,-106.7
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,204.7,5862,-18.1,-10.000,-21.94,2183
$D_GRID,598
$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,-145.9,403,2498,1454,1079,0.0,0.0,0,187,0.00,0.00,-168.38,0.000,16386,0.000,0.000,403,2498,2891,2834,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,191,-2.00,-145.9,403,2498,2835,2947,3.5,-7.2,29,217,10.02,2.67,-9.05,0.000,19204,0.184,0.083,2118,1090,3146,3109,3183,0,0,0,0,0,0,24.37,24.43,24.79
$GC,248,-2.00,-145.9,2118,1089,3110,3183,13.5,-12.6,39,255,0.00,2.47,0.00,0.000,1030,0.000,0.050,2119,2500,3146,3110,3183,0,0,0,0,0,0,28.83,24.52,28.83
$GC,438,-2.00,-145.9,2118,2500,3111,3183,34.3,-9.2,76,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2500,3146,3110,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,626,-2.00,-145.9,2118,2500,3112,3181,54.7,-10.3,113,633,0.00,2.58,0.00,0.000,516,0.000,0.071,2118,1091,3147,3113,3181,0,0,0,0,0,0,28.83,24.52,28.83
$GC,670,-2.00,-145.9,2118,1091,3113,3181,59.6,-11.2,121,678,0.00,2.47,0.00,0.000,1030,0.000,0.050,2119,2504,3147,3113,3181,0,0,0,0,0,0,28.83,24.58,28.83
$GC,860,-2.00,-145.9,2118,2504,3113,3181,79.5,-10.2,158,866,0.00,1.42,0.00,0.000,260,0.000,0.067,2118,3293,3147,3113,3181,0,0,0,0,0,0,28.83,24.57,28.83
$GC,918,-2.00,-145.9,2118,3293,3113,3181,85.7,-10.6,169,925,0.00,1.40,0.00,0.000,1030,0.000,0.047,2118,2490,3147,3113,3181,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1108,-2.00,-145.9,2118,2490,3114,3181,105.7,-9.9,206,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2490,3147,3114,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1295,-2.00,-145.9,2118,2490,3113,3181,125.2,-10.4,243,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2490,3147,3114,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1484,-2.00,-145.9,2119,2490,3113,3181,145.6,-10.8,280,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2490,3147,3113,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1671,-2.00,-145.9,2118,2490,3114,3179,165.6,-10.5,317,1678,0.00,1.45,0.00,0.000,260,0.000,0.067,2118,3292,3146,3114,3179,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1770,-2.00,-145.9,2118,3292,3114,3179,176.4,-11.0,336,1777,0.00,1.38,0.00,0.000,1030,0.000,0.050,2118,2502,3147,3115,3179,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1959,-2.00,-145.9,2118,2502,3114,3178,196.3,-10.5,373,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2502,3146,3115,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2148,-2.00,-145.9,2118,2502,3115,3178,216.5,-10.5,410,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2501,3146,3115,3178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-2.00,-145.9,2118,2502,3115,3178,236.6,-10.4,447,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2502,3147,3115,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-2.00,-145.9,2118,2502,3115,3178,256.5,-10.5,475,2528,0.00,1.42,0.00,0.000,260,0.000,0.065,2119,3291,3146,3115,3178,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2585,-2.00,-145.9,2118,3292,3115,3178,263.1,-10.8,487,2589,0.00,1.38,0.00,0.000,1030,0.000,0.050,2118,2500,3146,3115,3178,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2786,-2.00,-145.9,2118,2499,3115,3178,283.8,-10.4,500,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2499,3146,3115,3178,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2944,begin apogee
$GC,2950,-0.50,0.0,2118,1614,3116,3177,300.4,-10.3,508,3099,1.73,0.00,138.60,1.018,10246,0.129,0.000,2447,1614,2550,2642,2458,0,0,0,0,1,0,24.53,28.83,23.32
$STATE,3100,end apogee,CONTROL_FINISHED_OK
$STATE,3100,begin climb
$GC,3101,2.00,145.9,2446,1614,2641,2457,306.2,0.0,515,3261,2.55,2.75,139.77,0.987,10756,0.083,0.110,2992,307,1953,2124,1783,0,0,0,0,1,0,24.06,23.86,23.31
$GC,3488,2.02,160.8,2992,307,2112,1780,281.5,9.3,595,3522,0.00,2.35,21.23,0.666,9222,0.000,0.062,2992,1614,1892,2064,1721,0,0,0,0,1,0,28.83,24.46,23.53
$GC,3709,2.04,176.1,2992,1614,2063,1722,261.2,9.3,612,3740,0.00,0.00,22.90,0.675,8198,0.000,0.000,2992,1614,1831,2007,1656,0,0,0,0,1,0,28.83,28.83,23.51
$GC,3911,2.05,183.5,2992,1614,2005,1655,242.2,9.6,634,3928,0.00,0.00,13.50,0.686,8198,0.000,0.000,2992,1615,1798,1975,1622,0,0,0,0,0,0,28.83,28.83,23.71
$GC,4110,2.05,183.5,2992,1614,1971,1620,222.2,10.2,673,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1615,1796,1971,1621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4300,2.05,185.4,2992,1614,1970,1621,203.3,9.9,710,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1614,1795,1970,1621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,2.06,189.3,2992,1614,1968,1621,184.7,9.8,747,4499,0.00,0.00,8.62,0.663,8198,0.000,0.000,2992,1615,1775,1951,1600,0,0,0,0,0,0,28.83,28.83,23.84
$GC,4682,2.06,194.6,2992,1615,1948,1598,165.7,9.7,785,4695,0.00,0.00,8.55,0.657,8198,0.000,0.000,2992,1614,1754,1931,1577,0,0,0,0,0,0,28.83,28.83,23.84
$GC,4878,2.07,201.4,2992,1615,1928,1575,146.9,9.7,823,4896,0.00,0.00,12.30,0.666,8198,0.000,0.000,2992,1614,1724,1903,1545,0,0,0,0,0,0,28.83,28.83,23.78
$GC,5079,2.07,201.4,2992,1614,1901,1544,126.6,10.2,862,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1614,1722,1901,1544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5267,2.08,206.0,2992,1614,1900,1544,107.8,9.8,899,5274,0.00,0.00,4.70,0.565,8198,0.000,0.000,2992,1614,1711,1890,1532,0,0,0,0,0,0,28.83,28.83,23.90
$GC,5456,2.10,218.1,2991,1614,1887,1531,89.1,9.4,936,5487,0.12,0.00,21.95,0.623,10246,0.106,0.000,3021,1614,1661,1845,1477,0,0,0,0,1,0,24.53,28.83,23.62
$GC,5668,2.10,218.1,3020,1614,1844,1477,67.3,10.8,977,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1614,1660,1844,1477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5857,2.10,218.1,3021,1614,1844,1476,47.8,11.4,1014,5864,0.00,2.58,0.00,0.000,516,0.000,0.106,3021,306,1661,1845,1477,0,0,0,0,0,0,28.83,24.40,28.83
$GC,5896,2.10,218.1,3021,306,1845,1477,43.0,12.4,1021,5903,0.00,2.33,0.00,0.000,1030,0.000,0.066,3021,1591,1660,1844,1476,0,0,0,0,0,0,28.83,24.53,28.83
$GC,6086,2.10,218.1,3021,1591,1845,1477,21.8,11.1,1058,6093,0.00,2.50,0.00,0.000,516,0.000,0.103,3021,310,1661,1845,1477,0,0,0,0,0,0,28.83,24.41,28.83
$GC,6140,2.10,218.1,3021,310,1844,1477,14.9,13.3,1068,6147,0.00,2.35,0.00,0.000,1030,0.000,0.064,3021,1613,1660,1844,1477,0,0,0,0,0,0,28.83,24.56,28.83
$STATE,6234,end climb,SURFACE_DEPTH_REACHED
$STATE,6234,begin surface coast
$FINISH,0.5,1.026514
$STATE,6257,end surface coast,CONTROL_FINISHED_OK
$STATE,6257,begin surface
$SM_CCo,6278,78.68,0.075,0,0,1121,350.04
$SM_GC,1.29,12.20,1.60,78.68,0.073,0.051,0.075,404,2503,1121,-9.89,-0.65,350.04,0,0,0,0,0,0,24.46,24.55,24.37
$RAFOS_CLK,358
$RAFOS,2,1419516561,14.166670,14.155833,54,53,48,0,0,0,937,955,1112,0,0,0
$RAFOS,1,1419516305,14.100000,14.084723,67,57,54,0,0,0,990,960,937,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6543.17,11502.64,251214,121946
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.64
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.31,3.729
$10V_AH,9.93,5.846
$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,26.625,37.275,392.125,78.675,0.000,0.000,0.000,180.675,1.000,0.000,28.493,2429.524,1653.262,677.311,1781.631,113.091,0.000,1702.677,0.000,1555.486,480.000,0.539,0.000
$DEVICE_MAMPS,184.365,110.160,1018.215,74.970,0.000,0.000,0.000,124.695,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297400
$DATA_FILE_SIZE,40113,1090
$CAP_FILE_SIZE,97056,0
$CFSIZE,260034560,253943808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.040,311.06,1
$GPS,251214,155203,-6624.387,12019.042,33,5.5,53,-106.8