version: 66.12
glider: 123
mission: 16
dive: 10
start: 12 26 114 1 40 58
data:
$ID,123
$MISSION,16
$DIVE,10
$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,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
$GPS1,261214,013505,-6626.919,12024.531,53,1.7,59,-107.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-44.7
$GPS2,261214,014010,-6626.932,12024.541,19,2.3,39,-107.1
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SE
$TGT_LATLONG,-6628.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,272.5,2008,-15.7,-10.000,-19.82,2806
$D_GRID,586
$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,-1.81,-189.1,399,2460,1308,915,0.0,0.0,0,205,0.00,0.00,-185.82,0.000,16386,0.000,0.000,400,2459,2935,2882,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,208,-1.82,-194.6,399,2459,2882,2988,3.7,-8.0,31,239,10.40,2.62,-13.25,0.000,18948,0.187,0.080,2157,1035,3345,3312,3378,0,0,0,0,0,0,24.30,24.38,24.74
$GC,387,-1.82,-194.6,2156,1035,3313,3377,27.4,-10.4,65,393,0.00,2.47,0.00,0.000,1030,0.000,0.048,2157,2450,3345,3313,3377,0,0,0,0,0,0,28.83,24.51,28.83
$GC,575,-1.82,-194.6,2157,2450,3314,3377,47.4,-10.7,102,582,0.00,1.48,0.00,0.000,260,0.000,0.066,2157,3295,3345,3314,3377,0,0,0,0,0,0,28.83,24.50,28.83
$GC,645,-1.82,-194.6,2157,3295,3313,3377,55.1,-11.0,115,651,0.00,1.50,0.00,0.000,1030,0.000,0.047,2157,2409,3345,3314,3377,0,0,0,0,0,0,28.83,24.56,28.83
$GC,833,-1.82,-194.6,2157,2408,3314,3377,74.7,-10.3,152,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2408,3345,3314,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-1.82,-194.6,2157,2408,3314,3377,93.7,-9.9,189,1028,0.00,1.55,0.00,0.000,260,0.000,0.064,2157,3293,3345,3314,3377,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1096,-1.82,-194.6,2157,3292,3314,3377,101.6,-10.9,203,1102,0.00,1.48,0.00,0.000,1030,0.000,0.048,2157,2449,3345,3314,3377,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1286,-1.82,-194.6,2157,2449,3315,3376,121.5,-10.5,240,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3315,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1475,-1.82,-194.6,2157,2449,3315,3376,141.0,-10.1,277,1481,0.00,1.48,0.00,0.000,260,0.000,0.064,2157,3293,3346,3315,3377,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1523,-1.82,-194.6,2157,3293,3315,3376,145.9,-10.3,286,1530,0.00,1.48,0.00,0.000,1030,0.000,0.049,2157,2450,3346,3316,3376,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1713,-1.82,-194.6,2157,2449,3316,3376,165.4,-10.4,323,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3316,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1903,-1.82,-194.6,2157,2449,3316,3375,184.9,-10.3,360,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-1.82,-194.6,2156,2449,3317,3375,203.8,-10.1,397,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3317,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2280,-1.82,-194.6,2157,2449,3317,3375,222.8,-10.1,434,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3317,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2470,-1.82,-194.6,2157,2449,3317,3375,242.6,-10.5,471,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3317,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-1.82,-194.6,2157,2449,3317,3375,262.3,-10.1,491,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3317,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2843,-1.82,-194.6,2157,2449,3317,3375,280.4,-10.0,500,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3346,3317,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-1.82,-194.6,2157,2449,3317,3374,298.6,-10.3,509,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2449,3345,3317,3374,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3041,begin apogee
$GC,3047,-0.50,0.0,2157,1514,3317,3375,300.6,-10.3,510,3236,1.50,0.00,178.57,1.001,10246,0.122,0.000,2446,1513,2549,2656,2442,0,0,0,0,1,0,24.52,28.83,23.23
$STATE,3237,end apogee,CONTROL_FINISHED_OK
$STATE,3237,begin climb
$GC,3239,1.82,194.6,2446,1514,2656,2442,309.4,0.0,519,3436,2.40,2.50,180.43,0.972,11012,0.079,0.109,2956,315,1753,1945,1562,0,0,0,0,1,0,23.96,23.77,23.23
$GC,3633,1.83,198.3,2956,315,1937,1561,283.8,9.9,601,3637,0.00,2.12,0.00,0.000,1030,0.000,0.061,2956,1501,1749,1937,1561,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3825,1.86,220.0,2956,1501,1934,1561,266.5,9.2,612,3864,0.00,0.00,30.50,0.757,8198,0.000,0.000,2956,1501,1651,1846,1456,0,0,0,0,1,0,28.83,28.83,23.40
$GC,4045,1.87,227.8,2956,1501,1847,1456,245.1,9.7,629,4063,0.00,0.00,15.85,0.674,8198,0.000,0.000,2956,1501,1619,1816,1423,0,0,0,0,0,0,28.83,28.83,23.68
$GC,4246,1.87,230.8,2956,1501,1808,1417,226.0,9.9,668,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1501,1613,1808,1418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,1.88,236.9,2956,1501,1807,1417,207.4,9.8,705,4459,0.00,2.42,15.05,0.672,8708,0.000,0.103,2956,312,1579,1776,1382,0,0,0,0,0,0,28.83,24.08,23.72
$GC,4492,1.88,236.9,2956,312,1774,1380,201.5,10.3,715,4499,0.00,2.15,0.00,0.000,1030,0.000,0.063,2956,1503,1577,1774,1380,0,0,0,0,0,0,28.83,24.37,28.83
$GC,4680,1.89,243.6,2956,1503,1772,1379,183.0,9.8,752,4698,0.00,0.00,11.38,0.659,8198,0.000,0.000,2956,1503,1550,1749,1352,0,0,0,0,0,0,28.83,28.83,23.77
$GC,4882,1.90,257.3,2956,1503,1745,1350,162.9,9.5,791,4917,0.00,2.58,21.12,0.628,8452,0.000,0.055,2956,2908,1499,1702,1296,0,0,0,0,1,0,28.83,24.15,23.61
$GC,4954,1.90,257.3,2956,2907,1701,1295,155.5,10.6,804,4961,0.00,2.58,0.00,0.000,1030,0.000,0.062,2956,1495,1499,1702,1296,0,0,0,0,0,0,28.83,24.31,28.83
$GC,5144,1.90,257.3,2956,1494,1702,1296,135.6,10.2,841,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1495,1498,1700,1296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5331,1.90,257.3,2956,1494,1700,1296,115.7,10.3,878,5338,0.00,2.50,0.00,0.000,260,0.000,0.053,2956,2915,1498,1701,1296,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5375,1.90,257.3,2956,2915,1703,1296,111.1,10.7,886,5383,0.00,2.58,0.00,0.000,1030,0.000,0.062,2956,1493,1498,1700,1296,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5565,1.90,257.3,2956,1493,1700,1297,91.6,10.4,923,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1493,1498,1700,1296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5753,1.92,266.5,2956,1493,1699,1296,72.0,9.7,960,5783,0.00,2.55,17.33,0.626,8452,0.000,0.053,2956,2914,1462,1666,1258,0,0,0,0,1,0,28.83,24.23,23.75
$GC,5816,1.92,266.5,2956,2913,1666,1257,65.5,10.6,971,5823,0.00,2.58,0.00,0.000,1030,0.000,0.063,2957,1499,1461,1666,1257,0,0,0,0,0,0,28.83,24.34,28.83
$GC,6005,1.92,266.5,2956,1499,1665,1256,45.8,10.3,1008,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1499,1461,1666,1257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,1.93,277.6,2956,1499,1665,1257,26.6,9.6,1045,6219,0.12,0.00,17.40,0.627,10246,0.105,0.000,2985,1499,1417,1627,1207,0,0,0,0,1,0,24.54,28.83,23.75
$GC,6401,1.93,277.6,2985,1499,1626,1206,3.7,10.9,1085,6408,0.00,2.47,0.00,0.000,260,0.000,0.052,2985,2909,1415,1625,1206,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,6413,end climb,SURFACE_DEPTH_REACHED
$STATE,6414,begin surface coast
$FINISH,0.8,1.026513
$STATE,6425,end surface coast,CONTROL_FINISHED_OK
$STATE,6425,begin surface
$SM_CCo,6445,46.25,0.072,0,0,1122,350.04
$SM_GC,1.24,11.93,0.82,46.25,0.066,0.049,0.072,402,2437,1122,-9.89,0.57,350.04,0,0,0,0,0,0,24.44,24.52,24.37
$RAFOS_CLK,369
$RAFOS,2,1419559776,2.166670,2.160000,47,46,45,0,0,0,803,1100,1166,0,0,0
$RAFOS,1,1419559520,2.100000,2.088889,50,49,49,0,0,0,1279,6,43,0,0,0
$RAFOS,0,1419559265,2.033333,2.018055,63,49,49,0,0,0,249,1273,1285,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,12022.75,251214,234017
$TT8_MAMPS,0.026215,0.026215
$HUMID,63.54
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.23,4.496
$10V_AH,9.96,6.202
$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,26.350,43.650,487.625,46.250,0.000,0.000,0.000,192.925,1.000,0.000,40.144,2452.115,1690.672,757.244,1809.274,115.324,0.000,1812.030,0.000,1553.735,720.000,0.539,0.000
$DEVICE_MAMPS,187.425,108.630,1000.620,71.910,0.000,0.000,0.000,122.400,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297460
$DATA_FILE_SIZE,40076,1089
$CAP_FILE_SIZE,97890,0
$CFSIZE,260034560,253628416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$INTR,0,6987.80,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.084,230.54,1
$GPS,261214,033051,-6627.896,12024.396,39,2.6,59,-107.1