version: 66.12
glider: 123
mission: 16
dive: 11
start: 12 26 114 3 36 56
data:
$ID,123
$MISSION,16
$DIVE,11
$N_DIVES,15
$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,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,261214,033051,-6627.896,12024.396,39,2.6,59,-107.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-49.7
$GPS2,261214,033619,-6627.901,12024.343,39,3.5,59,-107.1
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,25.4,4694,-15.4,-10.000,-19.61,2885
$D_GRID,502
$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,-194.6,402,2432,1313,914,0.0,0.0,0,199,0.00,0.00,-179.77,0.000,16386,0.000,0.000,402,2431,2839,2781,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,201,-1.80,-194.6,402,2431,2781,2896,3.1,-5.4,30,239,10.38,1.60,-19.17,0.000,18692,0.186,0.086,2163,3299,3345,3314,3377,0,0,0,0,0,0,24.30,24.41,24.74
$GC,466,-1.80,-194.6,2164,3299,3316,3377,33.9,-11.4,81,473,0.00,1.50,0.00,0.000,1030,0.000,0.046,2164,2413,3346,3316,3377,0,0,0,0,0,0,28.83,24.55,28.83
$GC,656,-1.80,-194.6,2164,2412,3317,3377,54.5,-11.1,118,663,0.00,1.55,0.00,0.000,260,0.000,0.063,2164,3294,3346,3316,3377,0,0,0,0,0,0,28.83,24.51,28.83
$GC,835,-1.80,-194.6,2164,3293,3317,3377,74.2,-11.1,153,842,0.00,1.48,0.00,0.000,1030,0.000,0.047,2164,2448,3347,3317,3377,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1024,-1.80,-194.6,2164,2447,3317,3377,94.5,-10.8,190,1031,0.00,2.53,0.00,0.000,516,0.000,0.070,2164,1058,3347,3317,3377,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1043,-1.80,-194.6,2164,1058,3317,3376,96.5,-10.7,193,1050,0.00,2.45,0.00,0.000,1030,0.000,0.049,2164,2458,3347,3317,3377,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1232,-1.80,-194.6,2164,2458,3318,3376,116.3,-10.6,230,1239,0.00,1.48,0.00,0.000,260,0.000,0.064,2164,3304,3346,3317,3376,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1276,-1.80,-194.6,2164,3304,3317,3376,120.9,-10.6,238,1283,0.00,1.50,0.00,0.000,1030,0.000,0.047,2164,2422,3346,3317,3376,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1466,-1.80,-194.6,2164,2421,3318,3376,140.6,-9.9,275,1472,0.00,1.52,0.00,0.000,260,0.000,0.063,2164,3290,3346,3317,3376,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1485,-1.80,-194.6,2164,3290,3318,3376,142.6,-10.4,278,1492,0.00,1.48,0.00,0.000,1030,0.000,0.048,2164,2450,3347,3318,3376,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1674,-1.80,-194.6,2164,2449,3319,3377,160.9,-9.4,315,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2449,3346,3317,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-1.80,-194.6,2164,2449,3318,3376,179.7,-10.3,352,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2449,3346,3318,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-1.80,-194.6,2164,2449,3318,3376,198.2,-10.0,389,2058,0.00,2.55,0.00,0.000,516,0.000,0.072,2164,1052,3347,3318,3376,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2065,-1.80,-194.6,2164,1052,3318,3376,199.6,-9.8,391,2072,0.00,2.45,0.00,0.000,1030,0.000,0.049,2164,2452,3346,3317,3375,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2253,-1.80,-194.6,2164,2452,3318,3374,219.5,-10.8,428,2260,0.00,1.48,0.00,0.000,260,0.000,0.067,2164,3293,3346,3318,3375,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2272,-1.80,-194.6,2164,3293,3317,3375,221.5,-10.9,431,2279,0.00,1.48,0.00,0.000,1030,0.000,0.048,2164,2447,3346,3317,3375,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2461,-1.80,-194.6,2164,2447,3318,3375,241.7,-10.3,468,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2447,3346,3318,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2664,-1.80,-194.6,2164,2446,3318,3375,262.3,-9.9,490,2669,0.00,2.55,0.00,0.000,516,0.000,0.073,2164,1052,3346,3318,3375,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2687,-1.80,-194.6,2163,1052,3318,3374,264.5,-9.4,494,2691,0.00,2.45,0.00,0.000,1030,0.000,0.050,2164,2451,3346,3318,3374,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2889,-1.80,-194.6,2164,2451,3318,3375,283.9,-9.4,507,2893,0.00,1.48,0.00,0.000,260,0.000,0.067,2164,3291,3346,3318,3374,0,0,0,0,0,0,28.83,24.57,28.83
$GC,2918,-1.80,-194.6,2164,3291,3318,3374,287.0,-10.1,513,2922,0.00,1.48,0.00,0.000,1030,0.000,0.047,2164,2452,3346,3318,3374,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,3068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3068,begin apogee
$GC,3074,-0.50,0.0,2164,1613,3318,3374,301.5,-9.7,522,3263,1.48,0.00,178.32,1.007,10246,0.129,0.000,2444,1613,2549,2656,2443,0,0,0,0,1,0,24.50,28.83,23.24
$STATE,3264,end apogee,CONTROL_FINISHED_OK
$STATE,3264,begin climb
$GC,3266,1.80,194.6,2444,1613,2655,2442,310.1,0.0,531,3463,2.42,2.72,180.70,0.970,11012,0.088,0.108,2948,308,1753,1945,1562,0,0,0,0,1,0,23.96,23.77,23.23
$GC,3639,1.80,194.6,2948,308,1936,1560,285.9,10.7,609,3643,0.00,2.33,0.00,0.000,1030,0.000,0.059,2948,1604,1748,1937,1560,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3831,1.83,218.8,2948,1605,1933,1560,268.3,9.1,620,3872,0.00,2.60,29.42,0.739,8452,0.000,0.054,2948,3001,1657,1852,1463,0,0,0,0,1,0,28.83,24.01,23.42
$GC,3887,1.85,233.9,2948,3001,1852,1462,262.9,9.5,628,3922,0.00,2.55,23.12,0.664,9222,0.000,0.060,2947,1602,1593,1792,1394,0,0,0,0,1,0,28.83,24.18,23.45
$GC,4104,1.86,240.1,2948,1601,1792,1394,241.2,9.8,656,4123,0.00,2.58,10.52,0.664,8708,0.000,0.104,2948,308,1566,1766,1367,0,0,0,0,0,0,28.83,24.10,23.75
$GC,4187,1.86,242.5,2948,308,1764,1366,232.8,9.9,671,4193,0.00,2.33,0.00,0.000,1030,0.000,0.059,2948,1603,1565,1764,1366,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4375,1.86,245.9,2948,1604,1763,1366,214.5,9.9,708,4388,0.00,0.00,9.02,0.643,8198,0.000,0.000,2949,1604,1546,1745,1348,0,0,0,0,0,0,28.83,28.83,23.82
$GC,4570,1.87,253.3,2948,1604,1741,1343,195.5,9.7,746,4588,0.00,0.00,12.62,0.696,8710,0.000,0.000,2948,1604,1513,1715,1312,0,0,0,0,0,0,28.83,28.83,23.75
$GC,4771,1.87,253.3,2948,1604,1714,1309,175.0,10.4,785,4777,0.00,2.53,0.00,0.000,516,0.000,0.101,2948,307,1511,1713,1309,0,0,0,0,0,0,28.83,24.36,28.83
$GC,4805,1.87,253.3,2948,307,1714,1308,171.3,10.8,791,4811,0.00,2.33,0.00,0.000,1030,0.000,0.061,2948,1601,1511,1714,1308,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4994,1.88,256.2,2948,1602,1713,1308,152.5,9.9,828,5000,0.00,2.47,0.00,0.000,260,0.000,0.056,2948,3005,1511,1714,1308,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5017,1.88,259.5,2948,3004,1714,1309,150.1,9.9,832,5036,0.00,2.55,9.73,0.646,9222,0.000,0.060,2948,1590,1488,1692,1285,0,0,0,0,0,0,28.83,24.45,23.82
$GC,5219,1.88,259.5,2948,1591,1690,1284,129.9,10.0,871,5225,0.00,2.50,0.00,0.000,516,0.000,0.103,2948,306,1487,1690,1284,0,0,0,0,0,0,28.83,24.37,28.83
$GC,5252,1.88,259.5,2948,307,1690,1282,126.1,10.8,877,5259,0.00,2.33,0.00,0.000,1030,0.000,0.062,2948,1596,1487,1691,1283,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5441,1.89,267.8,2948,1596,1690,1283,107.8,9.7,914,5467,0.12,2.60,15.27,0.652,10500,0.104,0.056,2979,3010,1454,1662,1247,0,0,0,0,0,0,24.53,24.18,23.76
$GC,5484,1.89,267.8,2979,3010,1660,1247,103.2,11.1,921,5490,0.00,2.58,0.00,0.000,1030,0.000,0.061,2979,1595,1453,1660,1247,0,0,0,0,0,0,28.83,24.29,28.83
$GC,5673,1.89,267.8,2979,1595,1658,1246,82.4,10.9,958,5681,0.00,2.50,0.00,0.000,516,0.000,0.102,2979,308,1453,1659,1247,0,0,0,0,0,0,28.83,24.38,28.83
$GC,5733,1.89,267.8,2979,308,1658,1246,75.3,11.8,969,5739,0.00,2.33,0.00,0.000,1030,0.000,0.061,2979,1603,1452,1659,1246,0,0,0,0,0,0,28.83,24.52,28.83
$GC,5922,1.89,267.8,2979,1603,1659,1246,53.9,11.6,1006,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1603,1452,1659,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6111,1.89,267.8,2979,1603,1658,1246,33.3,10.7,1043,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1603,1452,1658,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,1.94,307.0,2979,1603,1659,1246,13.5,8.6,1080,6328,0.00,0.00,25.50,0.099,8198,0.000,0.000,2979,1603,1295,1521,1069,0,0,0,0,0,0,28.83,28.83,24.40
$STATE,6389,end climb,SURFACE_DEPTH_REACHED
$STATE,6389,begin surface coast
$FINISH,0.4,1.026479
$STATE,6411,end surface coast,CONTROL_FINISHED_OK
$STATE,6411,begin surface
$SM_CCo,6432,26.60,0.072,0,0,1122,350.04
$SM_GC,1.34,11.88,1.52,26.60,0.065,0.050,0.072,400,2450,1122,-9.90,-0.74,350.04,0,0,0,0,0,0,24.46,24.51,24.41
$RAFOS_CLK,363
$RAFOS,2,1419566968,4.166670,4.157778,41,38,38,0,0,0,100,783,817,0,0,0
$RAFOS,1,1419566716,4.100000,4.087778,60,53,53,0,0,0,1141,180,194,0,0,0
$RAFOS,0,1419566464,4.033333,4.017778,55,55,54,0,0,0,424,436,409,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6553.70,11648.35,261214,013656
$TT8_MAMPS,0.027713,0.027713
$HUMID,63.90
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.23,4.626
$10V_AH,9.84,6.261
$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,26.275,75.850,494.250,26.600,0.000,0.000,0.000,197.025,1.000,0.000,59.829,2441.070,1639.872,752.774,1848.838,122.314,0.000,1836.847,0.000,1570.230,720.000,0.538,0.000
$DEVICE_MAMPS,185.895,107.865,1006.740,71.910,0.000,0.000,0.000,122.400,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297396
$DATA_FILE_SIZE,43321,1101
$CAP_FILE_SIZE,105099,0
$CFSIZE,260034560,253558784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$INTR,0,6957.02,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.070,200.91,1
$GPS,261214,052608,-6627.808,12022.569,50,1.6,50,-107.1