version: 66.12
glider: 123
mission: 16
dive: 5
start: 12 25 114 15 57 45
data:
$ID,123
$MISSION,16
$DIVE,5
$N_DIVES,6
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,251214,155203,-6624.387,12019.042,33,5.5,53,-106.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-47.4
$GPS2,251214,155709,-6624.383,12018.980,15,3.0,35,-106.8
$SPEED_LIMITS,0.173,0.248
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,215.4,4604,-18.1,-10.000,-21.94,2183
$D_GRID,571
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-2.00,-145.9,404,2507,1307,908,0.0,0.0,0,202,0.00,0.00,-183.18,0.000,16386,0.000,0.000,404,2506,2914,2855,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,205,-2.00,-145.9,404,2507,2855,2974,3.6,-6.9,31,230,10.15,0.00,-8.23,0.000,18438,0.189,0.000,2117,2506,3144,3107,3182,0,0,0,0,0,0,24.30,28.83,24.76
$GC,412,-2.00,-145.9,2117,2507,3109,3182,28.8,-11.0,71,419,0.00,2.60,0.00,0.000,516,0.000,0.071,2116,1085,3145,3108,3182,0,0,0,0,0,0,28.83,24.46,28.83
$GC,452,-2.00,-145.9,2117,1086,3109,3182,33.0,-11.0,78,460,0.00,2.50,0.00,0.000,1030,0.000,0.050,2117,2507,3145,3109,3182,0,0,0,0,0,0,28.83,24.53,28.83
$GC,641,-2.00,-145.9,2116,2506,3110,3181,52.8,-10.1,115,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2506,3145,3110,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-2.00,-145.9,2117,2507,3111,3181,72.5,-10.2,152,835,0.00,1.42,0.00,0.000,260,0.000,0.066,2117,3298,3145,3111,3180,0,0,0,0,0,0,28.83,24.53,28.83
$GC,883,-2.00,-145.9,2117,3299,3112,3181,78.2,-10.4,162,889,0.00,1.42,0.00,0.000,1030,0.000,0.048,2117,2486,3146,3112,3181,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1071,-2.00,-145.9,2117,2485,3112,3180,98.3,-10.9,199,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2485,3146,3112,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1259,-2.00,-145.9,2116,2486,3113,3180,118.6,-11.0,236,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2486,3146,3113,3180,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1447,-2.00,-145.9,2117,2485,3113,3179,138.9,-11.2,273,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2486,3146,3114,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1637,-2.00,-145.9,2117,2486,3113,3179,159.3,-11.4,310,1643,0.00,1.45,0.00,0.000,260,0.000,0.066,2117,3288,3146,3113,3179,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1745,-2.00,-145.9,2116,3288,3113,3179,171.5,-11.3,331,1751,0.00,1.38,0.00,0.000,1030,0.000,0.049,2117,2495,3146,3113,3179,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1934,-2.00,-145.9,2117,2495,3114,3177,191.9,-11.0,368,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2494,3145,3114,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,-2.00,-145.9,2117,2494,3114,3177,212.1,-11.2,405,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2495,3145,3114,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2311,-2.00,-145.9,2117,2495,3114,3177,232.1,-10.7,442,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2495,3145,3114,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-2.00,-145.9,2117,2495,3114,3177,252.5,-10.1,478,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2494,3145,3114,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-2.00,-145.9,2117,2495,3114,3177,270.5,-10.1,487,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2495,3145,3114,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-2.00,-145.9,2117,2495,3114,3177,288.5,-10.0,496,2872,0.00,1.42,0.00,0.000,260,0.000,0.066,2117,3285,3145,3115,3176,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2949,-2.00,-145.9,2117,3284,3114,3176,297.0,-10.5,512,2953,0.00,1.35,0.00,0.000,1030,0.000,0.049,2117,2507,3145,3114,3176,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,2988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2989,begin apogee
$GC,2994,-0.50,0.0,2117,1907,3115,3176,301.1,-10.2,517,3141,1.75,0.00,137.10,1.008,10246,0.132,0.000,2447,1906,2549,2633,2465,0,0,0,0,1,0,24.50,28.83,23.30
$STATE,3142,end apogee,CONTROL_FINISHED_OK
$STATE,3142,begin climb
$GC,3144,2.00,145.9,2447,1906,2632,2464,306.5,0.0,524,3301,2.58,2.85,139.80,0.979,10756,0.086,0.100,2992,494,1953,2119,1787,0,0,0,0,1,0,24.02,23.85,23.28
$GC,3493,2.01,154.1,2992,494,2108,1786,285.0,9.6,596,3514,0.00,2.55,12.50,0.695,9222,0.000,0.058,2992,1912,1917,2081,1754,0,0,0,0,0,0,28.83,24.44,23.72
$GC,3693,2.04,176.8,2992,1912,2074,1752,267.1,8.9,609,3734,0.00,2.83,27.60,0.732,8708,0.000,0.096,2992,496,1828,1999,1657,0,0,0,0,1,0,28.83,23.99,23.44
$GC,3785,2.04,176.8,2992,496,1999,1657,258.1,10.3,627,3790,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1897,1828,1999,1657,0,0,0,0,0,0,28.83,24.37,28.83
$GC,3972,2.04,176.8,2992,1898,1998,1657,240.0,10.0,652,3978,0.00,2.72,0.00,0.000,516,0.000,0.096,2992,491,1827,1997,1657,0,0,0,0,0,0,28.83,24.35,28.83
$GC,4046,2.04,176.8,2992,491,1996,1656,232.2,10.3,666,4053,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1905,1826,1996,1657,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4235,2.05,186.5,2992,1905,1995,1657,213.7,9.5,703,4265,0.00,2.78,16.67,0.682,8708,0.000,0.095,2992,496,1787,1959,1616,0,0,0,0,1,0,28.83,24.13,23.70
$GC,4362,2.05,186.5,2992,496,1957,1615,200.6,10.3,727,4369,0.00,2.53,0.00,0.000,1030,0.000,0.059,2992,1905,1786,1958,1615,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4552,2.06,189.5,2992,1905,1956,1616,182.3,9.9,764,4558,0.00,2.72,0.00,0.000,516,0.000,0.094,2992,491,1786,1956,1616,0,0,0,0,0,0,28.83,24.39,28.83
$GC,4660,2.06,189.5,2991,492,1956,1616,170.8,10.6,785,4667,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1905,1785,1955,1615,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4851,2.06,191.7,2992,1905,1955,1615,152.1,9.9,822,4869,0.00,2.80,9.25,0.667,8708,0.000,0.093,2992,497,1763,1935,1592,0,0,0,0,0,0,28.83,24.22,23.84
$GC,4911,2.06,191.7,2992,498,1934,1590,145.7,10.5,833,4919,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1904,1762,1934,1590,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5102,2.08,203.0,2992,1904,1932,1590,127.2,9.5,870,5132,0.00,2.75,17.73,0.623,8708,0.000,0.093,2991,496,1720,1896,1545,0,0,0,0,1,0,28.83,24.15,23.74
$GC,5189,2.08,203.0,2992,496,1896,1545,118.5,10.4,886,5196,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1901,1720,1896,1545,0,0,0,0,0,0,28.83,24.43,28.83
$GC,5378,2.08,203.0,2992,1901,1896,1546,99.8,10.1,923,5384,0.00,2.72,0.00,0.000,516,0.000,0.094,2992,493,1720,1895,1545,0,0,0,0,0,0,28.83,24.39,28.83
$GC,5477,2.08,203.0,2992,493,1896,1545,89.5,10.3,942,5483,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1905,1720,1896,1545,0,0,0,0,0,0,28.83,24.52,28.83
$GC,5666,2.08,203.0,2992,1905,1896,1545,70.2,10.7,979,5672,0.00,2.72,0.00,0.000,516,0.000,0.094,2992,491,1720,1896,1545,0,0,0,0,0,0,28.83,24.42,28.83
$GC,5734,2.08,203.0,2992,491,1896,1545,62.4,11.3,992,5741,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1899,1720,1896,1545,0,0,0,0,0,0,28.83,24.53,28.83
$GC,5923,2.08,203.0,2992,1900,1896,1545,41.5,10.0,1029,5931,0.00,2.70,0.00,0.000,516,0.000,0.094,2992,496,1720,1896,1545,0,0,0,0,0,0,28.83,24.44,28.83
$GC,6017,2.08,204.0,2992,496,1896,1545,31.5,10.0,1047,6024,0.00,2.53,0.00,0.000,1030,0.000,0.060,2992,1909,1720,1896,1545,0,0,0,0,0,0,28.83,24.55,28.83
$GC,6207,2.08,204.3,2992,1909,1896,1546,12.8,10.0,1084,6214,0.00,2.72,0.00,0.000,516,0.000,0.093,2992,490,1721,1896,1546,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,6289,end climb,SURFACE_DEPTH_REACHED
$STATE,6289,begin surface coast
$FINISH,0.4,1.026508
$STATE,6311,end surface coast,CONTROL_FINISHED_OK
$STATE,6311,begin surface
$SM_CCo,6335,88.07,0.073,0,0,1122,350.04
$SM_GC,1.21,12.02,3.67,88.07,0.070,0.057,0.073,403,2499,1122,-9.89,-0.79,350.04,0,0,0,0,0,0,24.47,24.55,24.37
$RAFOS_CLK,364
$RAFOS,2,1419523777,16.166670,16.160278,49,48,48,0,0,0,719,1056,1128,0,0,0
$RAFOS,1,1419523522,16.100000,16.089445,64,54,51,0,0,0,1234,1208,1177,0,0,0
$RAFOS,0,1419523264,16.033333,16.017778,68,48,48,0,0,0,779,298,1043,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12015.39,251214,140034
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.68
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,15.20
$XPDR_PINGS,3
$24V_AH,23.28,3.833
$10V_AH,9.94,5.904
$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,26.500,73.925,360.650,88.075,0.000,0.000,0.000,198.875,0.750,0.000,36.453,2476.114,1664.878,693.164,1833.936,112.626,0.000,1758.383,0.000,1574.463,720.000,0.540,0.000
$DEVICE_MAMPS,188.955,100.215,1008.270,73.440,0.000,0.000,0.000,122.400,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297360
$DATA_FILE_SIZE,43370,1104
$CAP_FILE_SIZE,102076,0
$CFSIZE,260034560,253882368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$INTR,0,6793.29,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.064,252.69,1
$GPS,251214,174723,-6624.839,12020.335,78,1.0,78,-106.8