version: 66.12
glider: 123
mission: 16
dive: 8
start: 12 25 114 21 48 28
data:
$ID,123
$MISSION,16
$DIVE,8
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,251214,214236,-6625.159,12023.999,13,6.5,33,-106.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-45.5
$GPS2,251214,214751,-6625.176,12023.939,33,5.6,53,-106.9
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SE
$TGT_LATLONG,-6628.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,274.0,5288,-15.4,-10.000,-19.61,2885
$D_GRID,522
$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,-1.80,-194.6,398,2458,1311,913,0.0,0.0,0,198,0.00,0.00,-178.88,0.000,16386,0.000,0.000,398,2458,2847,2790,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,201,-1.80,-194.6,398,2458,2790,2905,3.1,-5.3,30,237,10.48,2.62,-18.73,0.000,18948,0.189,0.082,2162,1039,3344,3312,3377,0,0,0,0,0,0,24.30,24.38,24.75
$GC,440,-1.80,-194.6,2162,1038,3314,3377,32.0,-12.3,76,447,0.00,2.47,0.00,0.000,1030,0.000,0.049,2163,2451,3344,3313,3376,0,0,0,0,0,0,28.83,24.52,28.83
$GC,628,-1.80,-194.6,2162,2451,3313,3376,52.3,-10.4,113,635,0.00,1.50,0.00,0.000,260,0.000,0.066,2163,3306,3345,3314,3377,0,0,0,0,0,0,28.83,24.50,28.83
$GC,678,-1.80,-194.6,2162,3306,3314,3377,57.6,-10.9,122,684,0.00,1.50,0.00,0.000,1030,0.000,0.047,2163,2424,3345,3314,3376,0,0,0,0,0,0,28.83,24.57,28.83
$GC,867,-1.80,-194.6,2163,2424,3314,3377,77.2,-10.2,159,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2424,3345,3314,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1054,-1.80,-194.6,2162,2424,3314,3376,96.2,-10.4,196,1061,0.00,1.52,0.00,0.000,260,0.000,0.063,2163,3296,3345,3314,3377,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1093,-1.80,-194.6,2162,3296,3314,3377,100.4,-11.0,203,1099,0.00,1.48,0.00,0.000,1030,0.000,0.047,2163,2449,3345,3314,3377,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1282,-1.80,-194.6,2162,2449,3314,3376,120.5,-10.9,240,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2449,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-1.80,-194.6,2163,2449,3314,3377,140.7,-10.6,277,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2449,3345,3314,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,-1.80,-194.6,2162,2449,3314,3376,160.9,-10.4,314,1665,0.00,1.50,0.00,0.000,260,0.000,0.064,2162,3305,3345,3315,3376,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1732,-1.80,-194.6,2162,3305,3315,3376,168.4,-10.1,328,1739,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2455,3345,3315,3376,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1920,-1.80,-194.6,2162,2454,3315,3376,187.5,-10.3,365,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2454,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2109,-1.80,-194.6,2162,2454,3315,3376,207.0,-10.6,402,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2454,3346,3315,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2296,-1.80,-194.6,2162,2454,3314,3376,226.9,-10.5,439,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2454,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-1.80,-194.6,2162,2454,3315,3376,246.1,-9.9,476,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2454,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-1.80,-194.6,2162,2454,3315,3376,266.2,-9.8,492,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2455,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2868,-1.80,-194.6,2162,2454,3315,3376,284.4,-10.1,501,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2454,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3026,begin apogee
$GC,3032,-0.50,0.0,2162,1519,3315,3376,300.5,-10.1,509,3222,1.48,0.00,178.82,1.017,10246,0.121,0.000,2447,1519,2549,2655,2443,0,0,0,0,1,0,24.51,28.83,23.24
$STATE,3222,end apogee,CONTROL_FINISHED_OK
$STATE,3223,begin climb
$GC,3224,1.80,194.6,2447,1519,2654,2443,309.7,0.0,518,3421,2.38,2.47,181.02,0.983,11012,0.083,0.110,2948,309,1753,1945,1562,0,0,0,0,1,0,23.97,23.77,23.24
$GC,3589,1.80,197.9,2948,309,1937,1562,289.6,9.9,594,3595,0.00,2.15,0.00,0.000,1030,0.000,0.062,2948,1505,1749,1937,1561,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3789,1.84,229.1,2948,1504,1934,1562,271.9,8.9,607,3835,0.00,0.00,38.95,0.812,8454,0.000,0.000,2948,1504,1615,1814,1416,0,0,0,0,1,0,28.83,28.83,23.35
$GC,4009,1.86,247.0,2948,1505,1813,1416,251.3,9.4,624,4046,0.00,2.53,25.40,0.694,8452,0.000,0.052,2948,2908,1541,1745,1338,0,0,0,0,1,0,28.83,24.05,23.45
$GC,4084,1.88,259.9,2948,2907,1745,1338,244.3,9.5,638,4119,0.00,2.58,21.45,0.635,9222,0.000,0.064,2948,1500,1488,1696,1280,0,0,0,0,1,0,28.83,24.27,23.51
$GC,4302,1.89,268.1,2948,1501,1695,1279,223.1,9.7,680,4321,0.12,0.00,16.30,0.662,10246,0.106,0.000,2977,1500,1457,1667,1247,0,0,0,0,0,0,24.44,28.83,23.68
$GC,4503,1.89,268.1,2977,1500,1659,1239,201.1,11.1,719,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1500,1449,1659,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4691,1.89,268.1,2977,1501,1658,1239,179.7,11.1,756,4698,0.00,2.50,0.00,0.000,260,0.000,0.054,2978,2908,1448,1658,1239,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4726,1.89,268.1,2977,2908,1659,1239,175.9,11.0,762,4732,0.00,2.58,0.00,0.000,1030,0.000,0.063,2977,1493,1448,1658,1239,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4914,1.89,268.1,2977,1493,1658,1239,154.4,11.2,799,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1493,1448,1658,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5103,1.89,268.1,2977,1493,1658,1239,133.9,10.7,836,5109,0.00,2.50,0.00,0.000,260,0.000,0.054,2978,2909,1448,1658,1239,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5131,1.89,268.1,2977,2909,1658,1239,130.8,11.0,841,5138,0.00,2.55,0.00,0.000,1030,0.000,0.063,2977,1500,1448,1658,1239,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5322,1.89,268.1,2977,1499,1657,1239,110.1,10.9,878,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1500,1448,1657,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5509,1.89,268.1,2977,1500,1657,1239,89.5,11.1,915,5516,0.00,2.50,0.00,0.000,260,0.000,0.054,2978,2912,1448,1657,1239,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5548,1.89,268.1,2977,2912,1657,1239,85.0,11.7,922,5555,0.00,2.58,0.00,0.000,1030,0.000,0.063,2978,1493,1447,1657,1238,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5737,1.89,268.1,2977,1493,1656,1239,62.2,12.0,959,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1493,1447,1656,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5925,1.90,272.8,2977,1493,1655,1239,41.2,9.8,996,5938,0.00,2.55,3.92,0.652,8452,0.000,0.053,2977,2903,1436,1645,1227,0,0,0,0,0,0,28.83,24.44,23.84
$GC,5970,1.91,280.7,2977,2903,1645,1227,36.6,9.7,1004,6001,0.00,2.55,17.40,0.621,9222,0.000,0.063,2977,1500,1404,1616,1193,0,0,0,0,1,0,28.83,24.44,23.72
$GC,6183,1.91,280.7,2977,1500,1616,1194,13.1,12.1,1045,6191,0.00,2.47,0.00,0.000,260,0.000,0.053,2977,2908,1405,1616,1194,0,0,0,0,0,0,28.83,24.48,28.83
$GC,6218,1.95,311.1,2977,2908,1616,1193,9.8,8.9,1051,6247,0.00,2.58,20.40,0.094,9222,0.000,0.064,2977,1493,1277,1506,1049,0,0,0,0,0,0,28.83,24.46,24.39
$STATE,6278,end climb,SURFACE_DEPTH_REACHED
$STATE,6278,begin surface coast
$FINISH,0.7,1.026504
$STATE,6305,end surface coast,CONTROL_FINISHED_OK
$STATE,6305,begin surface
$SM_CCo,6326,23.62,0.073,0,0,1121,350.04
$SM_GC,1.35,11.90,1.73,23.62,0.067,0.049,0.073,401,2452,1121,-9.89,-0.88,350.04,0,0,0,0,0,0,24.44,24.50,24.39
$RAFOS_CLK,359
$RAFOS,2,1419545367,22.166670,22.157499,50,44,44,0,0,0,189,172,226,0,0,0
$RAFOS,1,1419545115,22.100000,22.087500,56,51,50,0,0,0,946,8,926,0,0,0
$RAFOS,0,1419544862,22.033333,22.017221,56,55,52,0,0,0,498,573,1126,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12020.03,251214,174856
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.37
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.24,4.231
$10V_AH,9.95,6.083
$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,26.350,52.625,503.675,23.625,0.000,0.000,0.000,191.475,1.000,0.000,53.803,2336.015,1707.724,740.831,1788.099,111.469,0.000,1790.226,0.000,1522.718,720.000,0.539,0.000
$DEVICE_MAMPS,188.955,110.160,1016.685,72.675,0.000,0.000,0.000,121.635,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297344
$DATA_FILE_SIZE,40105,1067
$CAP_FILE_SIZE,97281,0
$CFSIZE,260034560,253734912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$INTR,0,6831.30,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.116,260.43,1
$GPS,251214,233636,-6626.016,12023.304,95,1.9,95,-107.0