version: 66.12
glider: 123
mission: 16
dive: 7
start: 12 25 114 19 54 36
data:
$ID,123
$MISSION,16
$DIVE,7
$N_DIVES,12
$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,200
$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,2450
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,23
$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
$GPS1,251214,194402,-6624.720,12022.204,24,2.4,182,-106.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-50.6
$GPS2,251214,195400,-6624.740,12022.110,129,2.0,129,-106.9
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,217.7,2194,-15.4,-10.000,-19.61,2885
$D_GRID,506
$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,-1.80,-194.6,401,2455,1304,915,0.0,0.0,0,205,0.00,0.00,-186.18,0.000,16386,0.000,0.000,401,2455,2914,2858,2971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,208,-1.80,-194.6,401,2455,2860,2971,3.6,-7.7,31,238,10.45,0.00,-15.20,0.000,18694,0.189,0.000,2162,2455,3344,3310,3379,0,0,0,0,0,0,24.28,28.83,24.75
$GC,422,-1.80,-194.6,2162,2455,3313,3378,29.8,-10.7,72,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3345,3313,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,609,-1.80,-194.6,2162,2455,3313,3379,49.6,-10.6,109,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3345,3312,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-1.80,-194.6,2162,2455,3313,3379,69.6,-10.4,146,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3313,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-1.80,-194.6,2162,2454,3313,3378,88.6,-9.6,183,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3313,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-1.80,-194.6,2162,2454,3313,3378,108.7,-10.9,220,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3345,3313,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-1.80,-194.6,2161,2455,3313,3378,128.6,-10.8,257,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3345,3313,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-1.80,-194.6,2162,2455,3314,3378,148.2,-10.5,294,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3345,3313,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1739,-1.80,-194.6,2162,2454,3314,3378,167.8,-10.4,331,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3314,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,-1.80,-194.6,2162,2455,3314,3378,187.8,-10.4,368,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3314,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,-1.80,-194.6,2162,2455,3313,3378,207.1,-9.9,405,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3314,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-1.80,-194.6,2163,2455,3314,3378,226.1,-9.9,442,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3315,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-1.80,-194.6,2162,2455,3314,3378,245.0,-9.9,479,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3314,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2687,-1.80,-194.6,2162,2455,3314,3378,264.3,-10.1,496,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3314,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-1.80,-194.6,2162,2455,3314,3378,282.8,-10.2,505,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2455,3346,3314,3378,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3046,begin apogee
$GC,3052,-0.50,0.0,2162,1496,3315,3378,300.8,-9.8,514,3241,1.50,0.00,179.18,1.008,10246,0.129,0.000,2447,1496,2548,2655,2442,0,0,0,0,1,0,24.50,28.83,23.25
$STATE,3242,end apogee,CONTROL_FINISHED_OK
$STATE,3242,begin climb
$GC,3244,1.80,194.6,2446,1496,2655,2442,309.2,0.0,523,3448,2.40,2.50,182.35,0.992,11012,0.088,0.110,2948,308,1753,1944,1562,0,0,0,0,1,0,23.97,23.79,23.25
$GC,3604,1.80,198.2,2947,308,1936,1560,287.7,9.9,598,3611,0.00,2.15,0.00,0.000,1030,0.000,0.062,2948,1502,1748,1936,1560,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3790,1.83,220.2,2948,1502,1933,1560,270.7,9.2,608,3831,0.00,0.00,30.98,0.768,8198,0.000,0.000,2947,1502,1650,1845,1456,0,0,0,0,1,0,28.83,28.83,23.40
$GC,4011,1.86,240.0,2947,1503,1844,1456,250.3,9.3,619,4047,0.00,0.00,27.27,0.721,8198,0.000,0.000,2948,1502,1569,1770,1369,0,0,0,0,1,0,28.83,28.83,23.42
$GC,4229,1.86,245.5,2948,1502,1770,1369,229.0,9.8,659,4248,0.00,2.53,10.38,0.669,8452,0.000,0.054,2948,2910,1544,1744,1345,0,0,0,0,0,0,28.83,24.20,23.75
$GC,4275,1.86,245.5,2948,2909,1744,1344,224.4,10.2,667,4281,0.00,2.58,0.00,0.000,1030,0.000,0.063,2948,1499,1544,1744,1344,0,0,0,0,0,0,28.83,24.30,28.83
$GC,4464,1.87,253.1,2948,1499,1741,1343,205.7,9.7,704,4483,0.00,0.00,12.75,0.670,8198,0.000,0.000,2948,1499,1514,1716,1312,0,0,0,0,0,0,28.83,28.83,23.73
$GC,4665,1.87,253.1,2948,1499,1712,1309,185.5,10.2,743,4672,0.00,2.50,0.00,0.000,260,0.000,0.054,2947,2909,1511,1712,1310,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4715,1.87,253.1,2947,2909,1712,1309,180.5,10.6,752,4722,0.00,2.58,0.00,0.000,1030,0.000,0.063,2948,1492,1511,1712,1310,0,0,0,0,0,0,28.83,24.42,28.83
$GC,4904,1.91,279.0,2947,1492,1711,1309,161.6,9.1,789,4952,0.12,2.62,31.98,0.736,10500,0.107,0.054,2977,2907,1411,1626,1197,0,0,0,0,1,0,24.50,24.03,23.43
$GC,4969,1.91,279.0,2977,2907,1626,1197,154.7,10.7,800,4976,0.00,2.58,0.00,0.000,1030,0.000,0.063,2977,1501,1411,1625,1197,0,0,0,0,0,0,28.83,24.22,28.83
$GC,5158,1.91,279.0,2977,1502,1625,1197,134.0,10.9,837,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1502,1411,1626,1197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5348,1.91,279.0,2977,1502,1625,1197,112.9,11.2,874,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1502,1411,1626,1197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5535,1.91,279.0,2977,1502,1625,1198,91.6,11.1,911,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1502,1411,1626,1197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5723,1.91,279.0,2977,1502,1625,1198,70.4,11.1,948,5730,0.00,2.47,0.00,0.000,260,0.000,0.054,2977,2910,1411,1625,1197,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5767,1.91,279.0,2977,2910,1625,1197,65.6,11.1,956,5774,0.00,2.55,0.00,0.000,1030,0.000,0.063,2977,1500,1411,1625,1197,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5956,1.91,279.0,2977,1500,1623,1197,45.3,11.1,993,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1500,1411,1624,1198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6146,1.91,279.0,2977,1500,1623,1198,22.6,13.2,1030,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1500,1410,1623,1198,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6317,end climb,SURFACE_DEPTH_REACHED
$STATE,6317,begin surface coast
$FINISH,0.5,1.026470
$STATE,6339,end surface coast,CONTROL_FINISHED_OK
$STATE,6339,begin surface
$SM_CCo,6360,43.53,0.073,0,0,1122,350.04
$SM_GC,1.21,11.77,1.73,43.53,0.061,0.049,0.073,399,2454,1122,-9.90,-0.57,350.04,0,0,0,0,0,0,24.49,24.54,24.40
$RAFOS_CLK,359
$RAFOS,2,1419538170,20.166670,20.158333,49,48,47,0,0,0,213,1236,1226,0,0,0
$RAFOS,1,1419537916,20.100000,20.087778,52,51,50,0,0,0,249,745,443,0,0,0
$RAFOS,0,1419537665,20.033333,20.018055,55,51,51,0,0,0,480,406,438,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12020.03,251214,174856
$TT8_MAMPS,0.026215,0.026215
$HUMID,64.25
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.30
$XPDR_PINGS,6
$24V_AH,23.25,4.097
$10V_AH,9.79,6.026
$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,26.250,28.575,474.875,43.525,0.000,0.000,0.000,244.225,1.500,0.000,131.030,2361.233,1735.357,742.731,1917.677,114.003,0.000,1823.048,0.000,1524.518,720.000,0.539,0.000
$DEVICE_MAMPS,188.955,110.160,1007.505,73.440,0.000,0.000,0.000,131.580,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297432
$DATA_FILE_SIZE,40072,1068
$CAP_FILE_SIZE,92747,0
$CFSIZE,260034560,253784064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$INTR,0,7303.62,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.023,241.75,1
$GPS,251214,214236,-6625.159,12023.999,13,6.5,33,-106.9