version: 66.12
glider: 123
mission: 16
dive: 9
start: 12 25 114 23 44 29
data:
$ID,123
$MISSION,16
$DIVE,9
$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,15
$R_STBD_OVSHOOT,26
$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
$GPS1,251214,233636,-6626.016,12023.304,95,1.9,95,-107.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-47.8
$GPS2,251214,234353,-6626.027,12023.292,18,1.5,31,-107.0
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SE
$TGT_LATLONG,-6628.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,243.8,3865,-15.4,-10.000,-19.61,2885
$D_GRID,581
$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,-194.6,401,2455,1309,911,0.0,0.0,0,201,0.00,0.00,-182.40,0.000,16386,0.000,0.000,401,2455,2888,2834,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,204,-1.80,-194.6,400,2455,2834,2943,3.6,-7.4,31,241,10.35,2.67,-15.85,0.000,18948,0.184,0.083,2163,1040,3345,3313,3378,0,0,0,0,0,0,24.28,24.37,24.73
$GC,333,-1.80,-194.6,2164,1039,3314,3377,21.4,-12.0,55,339,0.00,2.47,0.00,0.000,1030,0.000,0.049,2163,2447,3345,3314,3377,0,0,0,0,0,0,28.83,24.49,28.83
$GC,521,-1.80,-194.6,2163,2448,3314,3378,40.9,-10.6,92,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2447,3345,3314,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-1.80,-194.6,2163,2448,3314,3377,59.3,-9.0,129,716,0.00,1.50,0.00,0.000,260,0.000,0.066,2164,3304,3346,3314,3378,0,0,0,0,0,0,28.83,24.50,28.83
$GC,773,-1.80,-194.6,2164,3304,3315,3378,65.7,-10.1,141,780,0.00,1.50,0.00,0.000,1030,0.000,0.047,2164,2421,3346,3315,3378,0,0,0,0,0,0,28.83,24.56,28.83
$GC,963,-1.80,-194.6,2164,2421,3314,3378,85.4,-10.5,178,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2421,3346,3315,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1150,-1.80,-194.6,2163,2421,3315,3378,105.1,-10.3,215,1157,0.00,1.52,0.00,0.000,260,0.000,0.063,2164,3293,3346,3315,3377,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1214,-1.80,-194.6,2163,3293,3315,3378,111.9,-10.7,227,1220,0.00,1.48,0.00,0.000,1030,0.000,0.048,2164,2449,3346,3315,3378,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1403,-1.80,-194.6,2164,2449,3316,3377,131.3,-10.1,264,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2449,3346,3316,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1592,-1.80,-194.6,2164,2449,3316,3378,150.3,-10.3,301,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2448,3346,3316,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1781,-1.80,-194.6,2163,2449,3317,3377,169.7,-10.7,338,1788,0.00,1.48,0.00,0.000,260,0.000,0.065,2164,3294,3346,3316,3377,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1825,-1.80,-194.6,2163,3294,3317,3377,174.4,-10.9,346,1832,0.00,1.48,0.00,0.000,1030,0.000,0.048,2164,2450,3346,3316,3377,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2014,-1.80,-194.6,2164,2449,3317,3377,193.6,-9.9,383,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2449,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2203,-1.80,-194.6,2164,2449,3318,3376,213.0,-10.4,420,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2449,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-1.80,-194.6,2164,2449,3317,3376,232.1,-10.2,457,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2449,3347,3318,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-1.80,-194.6,2164,2449,3317,3375,252.1,-10.3,493,2594,0.00,1.48,0.00,0.000,260,0.000,0.065,2164,3293,3346,3317,3376,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2635,-1.80,-194.6,2164,3293,3317,3376,256.9,-10.3,502,2639,0.00,1.48,0.00,0.000,1030,0.000,0.049,2164,2453,3346,3317,3376,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2832,-1.80,-194.6,2164,2449,3317,3376,276.2,-9.9,514,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2450,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3012,-1.80,-194.6,2163,2449,3318,3376,294.0,-9.9,523,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2450,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3090,begin apogee
$GC,3097,-0.50,0.0,2163,1515,3317,3375,301.9,-9.9,527,3291,1.50,0.00,179.43,1.008,10246,0.129,0.000,2448,1515,2549,2656,2442,0,0,0,0,1,0,24.49,28.83,23.23
$STATE,3292,end apogee,CONTROL_FINISHED_OK
$STATE,3292,begin climb
$GC,3294,1.80,194.6,2448,1515,2655,2442,311.5,0.0,537,3494,2.40,2.47,181.38,0.981,11012,0.090,0.109,2949,306,1753,1945,1562,0,0,0,0,1,0,24.01,23.77,23.23
$GC,3650,1.80,194.6,2949,305,1937,1560,290.1,10.1,608,3656,0.00,2.15,0.00,0.000,1030,0.000,0.062,2949,1500,1748,1937,1560,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3837,1.81,208.8,2949,1500,1933,1559,272.8,9.5,618,3869,0.00,2.58,20.62,0.650,8452,0.000,0.053,2950,2907,1696,1886,1506,0,0,0,0,1,0,28.83,24.15,23.58
$GC,3900,1.82,215.4,2949,2907,1886,1506,266.7,9.8,631,3917,0.00,2.58,12.02,0.663,9222,0.000,0.063,2950,1500,1671,1864,1478,0,0,0,0,0,0,28.83,24.28,23.66
$GC,4097,1.84,231.3,2949,1500,1856,1474,247.9,9.4,646,4127,0.00,0.00,22.60,0.659,8198,0.000,0.000,2949,1500,1605,1802,1408,0,0,0,0,1,0,28.83,28.83,23.50
$GC,4310,1.85,239.4,2949,1500,1802,1408,227.3,9.7,687,4335,0.00,2.55,15.65,0.669,8452,0.000,0.053,2949,2914,1569,1768,1371,0,0,0,0,0,0,28.83,24.14,23.69
$GC,4362,1.85,239.4,2949,2913,1765,1371,222.1,10.2,696,4368,0.00,2.58,0.00,0.000,1030,0.000,0.062,2949,1500,1568,1765,1371,0,0,0,0,0,0,28.83,24.27,28.83
$GC,4551,1.85,239.4,2949,1501,1763,1370,202.9,10.1,733,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1500,1566,1763,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,1.86,246.1,2949,1500,1762,1370,184.3,9.8,770,4759,0.00,2.53,11.23,0.664,8452,0.000,0.054,2949,2909,1541,1739,1344,0,0,0,0,0,0,28.83,24.23,23.78
$GC,4781,1.86,246.1,2949,2909,1737,1344,180.1,10.1,777,4787,0.00,2.58,0.00,0.000,1030,0.000,0.062,2949,1497,1540,1737,1343,0,0,0,0,0,0,28.83,24.31,28.83
$GC,4969,1.88,255.8,2949,1498,1734,1342,161.4,9.7,814,4993,0.00,0.00,16.67,0.659,8198,0.000,0.000,2949,1497,1504,1705,1303,0,0,0,0,1,0,28.83,28.83,23.70
$GC,5176,1.88,255.8,2950,1497,1703,1302,140.5,10.0,854,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1497,1502,1702,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5366,1.89,269.6,2949,1497,1702,1302,122.3,9.5,891,5402,0.10,2.58,22.73,0.633,10500,0.116,0.054,2972,2916,1447,1654,1241,0,0,0,0,1,0,24.53,24.13,23.60
$GC,5456,1.89,269.6,2972,2916,1654,1241,112.2,11.7,907,5463,0.00,2.60,0.00,0.000,1030,0.000,0.063,2972,1493,1447,1654,1241,0,0,0,0,0,0,28.83,24.34,28.83
$GC,5644,1.89,269.6,2972,1493,1654,1241,90.9,11.1,944,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1493,1447,1654,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5832,1.89,269.6,2972,1493,1654,1241,70.3,10.8,981,5839,0.00,2.50,0.00,0.000,260,0.000,0.053,2972,2909,1447,1654,1241,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5866,1.89,269.6,2972,2909,1654,1241,66.8,10.8,987,5873,0.00,2.55,0.00,0.000,1030,0.000,0.063,2972,1500,1447,1653,1241,0,0,0,0,0,0,28.83,24.46,28.83
$GC,6055,1.89,269.6,2972,1500,1654,1241,46.0,11.0,1024,6061,0.00,2.47,0.00,0.000,260,0.000,0.053,2972,2910,1447,1654,1241,0,0,0,0,0,0,28.83,24.51,28.83
$GC,6094,1.89,269.6,2972,2910,1654,1240,41.6,11.1,1031,6100,0.00,2.55,0.00,0.000,1030,0.000,0.063,2972,1500,1447,1654,1241,0,0,0,0,0,0,28.83,24.48,28.83
$GC,6282,1.89,269.6,2971,1500,1654,1242,20.9,10.8,1068,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1499,1447,1654,1241,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6441,end climb,SURFACE_DEPTH_REACHED
$STATE,6441,begin surface coast
$FINISH,0.4,1.014466
$STATE,6463,end surface coast,CONTROL_FINISHED_OK
$STATE,6463,begin surface
$SM_CCo,6484,50.50,0.072,0,0,1123,350.04
$SM_GC,1.28,11.85,1.73,50.50,0.066,0.048,0.072,400,2456,1123,-9.90,-0.57,350.04,0,0,0,0,0,0,24.49,24.53,24.39
$RAFOS_CLK,368
$RAFOS,2,1419552573,0.166670,0.159167,57,56,54,0,0,0,372,414,396,0,0,0
$RAFOS,1,1419552319,0.100000,0.088611,51,49,47,0,0,0,75,55,66,0,0,0
$RAFOS,0,1419552063,0.033333,0.017500,43,43,41,0,0,0,325,1273,493,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12022.75,251214,233800
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.25
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,15.40
$XPDR_PINGS,5
$24V_AH,23.23,4.364
$10V_AH,9.67,6.144
$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,26.200,55.775,482.325,50.500,0.000,0.000,0.000,272.575,1.250,0.000,32.054,2451.729,1747.452,765.978,1901.933,121.237,0.000,1917.674,0.000,1573.958,720.000,0.539,0.000
$DEVICE_MAMPS,184.365,108.630,1008.270,71.910,0.000,0.000,0.000,126.225,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297424
$DATA_FILE_SIZE,43423,1103
$CAP_FILE_SIZE,101895,0
$CFSIZE,260034560,253673472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$INTR,0,6959.61,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.063,192.82,1
$GPS,261214,013505,-6626.919,12024.531,53,1.7,59,-107.1