version: 66.12
glider: 123
mission: 16
dive: 17
start: 12 26 114 15 12 37
data:
$ID,123
$MISSION,16
$DIVE,17
$N_DIVES,18
$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,17
$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,2
$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
$GPS1,261214,150735,-6626.387,12018.745,11,7.5,31,-106.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-46.5
$GPS2,261214,151205,-6626.380,12018.731,17,1.8,31,-106.9
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_NW
$TGT_LATLONG,-6625.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,109.0,2613,-15.4,-10.000,-19.61,2885
$D_GRID,664
$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,-194.6,402,2450,1314,907,0.0,0.0,0,204,0.00,0.00,-184.88,0.000,16386,0.000,0.000,403,2450,2877,2825,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,207,-1.80,-194.6,402,2449,2826,2929,3.0,-5.5,31,244,10.40,1.50,-19.35,0.000,18692,0.187,0.083,2164,3296,3344,3314,3374,0,0,0,0,0,0,24.30,24.41,24.73
$GC,472,-1.80,-194.6,2163,3296,3318,3374,31.7,-10.6,82,479,0.00,1.50,0.00,0.000,1030,0.000,0.044,2164,2403,3345,3317,3374,0,0,0,0,0,0,28.83,24.55,28.83
$GC,661,-1.80,-194.6,2163,2403,3318,3375,50.7,-10.6,119,667,0.00,1.58,0.00,0.000,260,0.000,0.063,2164,3302,3345,3317,3374,0,0,0,0,0,0,28.83,24.51,28.83
$GC,784,-1.80,-194.6,2163,3302,3318,3374,63.7,-10.0,143,790,0.00,1.48,0.00,0.000,1030,0.000,0.044,2164,2449,3346,3318,3374,0,0,0,0,0,0,28.83,24.58,28.83
$GC,973,-1.80,-194.6,2163,2449,3319,3374,83.0,-10.3,180,979,0.00,2.53,0.00,0.000,516,0.000,0.067,2164,1055,3346,3318,3374,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1007,-1.80,-194.6,2163,1055,3318,3374,86.5,-10.6,186,1014,0.00,2.45,0.00,0.000,1030,0.000,0.047,2164,2458,3346,3318,3375,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1197,-1.80,-194.6,2163,2458,3318,3374,105.9,-10.5,223,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2458,3346,3318,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1385,-1.80,-194.6,2163,2458,3318,3374,125.0,-9.8,260,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2458,3346,3318,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-1.80,-194.6,2163,2458,3318,3374,143.2,-10.0,297,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2458,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-1.80,-194.6,2163,2458,3319,3374,161.5,-9.9,334,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2458,3346,3319,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1951,-1.80,-194.6,2163,2458,3319,3373,179.1,-10.0,371,1957,0.00,1.48,0.00,0.000,260,0.000,0.064,2164,3304,3346,3319,3374,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1990,-1.80,-194.6,2163,3305,3318,3374,183.0,-10.3,378,1996,0.00,1.48,0.00,0.000,1030,0.000,0.046,2164,2450,3346,3319,3374,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2179,-1.80,-194.6,2163,2450,3319,3373,201.0,-9.2,415,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2450,3346,3319,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-1.80,-194.6,2163,2450,3319,3373,218.6,-9.3,452,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2450,3346,3319,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2556,-1.80,-194.6,2163,2450,3319,3373,236.2,-9.0,489,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2450,3346,3320,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2750,-1.80,-194.6,2163,2450,3319,3373,254.0,-9.3,521,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2450,3346,3320,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2930,-1.80,-194.6,2163,2450,3319,3373,270.6,-9.2,530,2934,0.00,1.48,0.00,0.000,260,0.000,0.063,2164,3292,3346,3319,3373,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2979,-1.80,-194.6,2163,3292,3319,3372,275.5,-9.7,540,2983,0.00,1.45,0.00,0.000,1030,0.000,0.046,2164,2457,3345,3319,3372,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3172,-1.80,-194.6,2163,2454,3320,3373,292.8,-9.0,551,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2454,3345,3319,3372,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3249,begin apogee
$GC,3255,-0.50,0.0,2163,1612,3319,3373,300.1,-9.1,555,3585,1.48,0.00,324.12,0.682,10246,0.124,0.000,2447,1611,2550,2656,2444,0,0,0,0,0,0,24.53,28.83,23.47
$STATE,3585,end apogee,CONTROL_FINISHED_OK
$STATE,3586,begin climb
$GC,3587,1.80,194.6,2446,1612,2650,2437,313.7,0.0,571,3921,2.38,2.62,319.83,0.650,11012,0.083,0.103,2948,311,1749,1935,1563,0,0,0,0,0,0,24.00,23.84,23.49
$GC,4146,1.80,194.6,2948,311,1922,1550,270.5,10.8,686,4153,0.00,2.30,0.00,0.000,1030,0.000,0.057,2948,1605,1735,1921,1550,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4333,1.81,207.6,2948,1605,1920,1550,252.8,9.5,696,4354,0.00,2.62,14.35,0.675,8708,0.000,0.097,2948,311,1697,1885,1510,0,0,0,0,0,0,28.83,24.09,23.74
$GC,4447,1.81,207.6,2947,311,1882,1507,241.0,10.8,718,4454,0.00,2.30,0.00,0.000,1030,0.000,0.057,2948,1602,1694,1882,1507,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4636,1.81,207.6,2948,1601,1881,1506,222.2,10.1,755,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1602,1693,1881,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,1.81,207.6,2948,1602,1880,1506,203.4,10.4,792,4831,0.00,2.50,0.00,0.000,516,0.000,0.097,2948,311,1693,1880,1507,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4854,1.81,207.6,2948,310,1880,1506,200.1,11.1,797,4860,0.00,2.30,0.00,0.000,1030,0.000,0.059,2948,1599,1692,1879,1506,0,0,0,0,0,0,28.83,24.53,28.83
$GC,5043,1.81,207.6,2948,1599,1880,1506,180.8,10.1,834,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1599,1692,1879,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5231,1.83,221.7,2948,1600,1879,1506,162.0,9.5,871,5262,0.00,2.62,24.75,0.650,8708,0.000,0.096,2948,311,1641,1833,1450,0,0,0,0,0,0,28.83,24.03,23.66
$GC,5284,1.83,221.7,2948,311,1830,1446,156.6,11.0,880,5292,0.00,2.33,0.00,0.000,1030,0.000,0.059,2948,1596,1638,1830,1446,0,0,0,0,0,0,28.83,24.32,28.83
$GC,5474,1.85,237.3,2948,1596,1828,1446,138.3,9.4,917,5509,0.00,0.00,29.08,0.636,8198,0.000,0.000,2948,1596,1578,1775,1381,0,0,0,0,0,0,28.83,28.83,23.63
$GC,5692,1.86,242.4,2948,1596,1769,1376,116.8,9.8,959,5706,0.00,2.53,6.70,0.586,8708,0.000,0.096,2948,308,1557,1754,1361,0,0,0,0,0,0,28.83,24.23,23.87
$GC,5729,1.86,242.4,2948,308,1753,1359,113.0,10.5,965,5735,0.00,2.33,0.00,0.000,1030,0.000,0.060,2948,1602,1556,1753,1359,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5918,1.88,257.4,2948,1602,1752,1358,95.0,9.5,1002,5960,0.00,2.60,31.45,0.617,8452,0.000,0.056,2948,3010,1496,1700,1292,0,0,0,0,0,0,28.83,24.06,23.63
$GC,5972,1.88,257.4,2948,3009,1698,1292,89.7,10.3,1011,5978,0.00,2.55,0.00,0.000,1030,0.000,0.057,2948,1601,1494,1698,1291,0,0,0,0,0,0,28.83,24.22,28.83
$GC,6160,1.88,257.4,2948,1601,1695,1288,70.3,10.3,1048,6168,0.00,2.50,0.00,0.000,516,0.000,0.099,2948,311,1492,1696,1288,0,0,0,0,0,0,28.83,24.37,28.83
$GC,6194,1.88,257.4,2948,311,1696,1287,66.4,11.2,1054,6201,0.00,2.33,0.00,0.000,1030,0.000,0.060,2948,1605,1491,1696,1287,0,0,0,0,0,0,28.83,24.50,28.83
$GC,6383,1.88,257.4,2948,1604,1695,1287,46.8,10.5,1091,6390,0.00,2.50,0.00,0.000,260,0.000,0.056,2948,3015,1491,1695,1287,0,0,0,0,0,0,28.83,24.49,28.83
$GC,6402,1.88,257.4,2948,3014,1695,1287,44.8,10.7,1094,6409,0.00,2.55,0.00,0.000,1030,0.000,0.059,2948,1597,1491,1695,1287,0,0,0,0,0,0,28.83,24.48,28.83
$GC,6591,1.88,257.4,2948,1596,1694,1287,25.3,10.4,1131,6598,0.00,2.50,0.00,0.000,516,0.000,0.100,2948,311,1490,1694,1287,0,0,0,0,0,0,28.83,24.42,28.83
$GC,6629,1.88,257.4,2948,311,1694,1286,20.9,11.5,1138,6636,0.00,2.33,0.00,0.000,1030,0.000,0.060,2948,1607,1490,1694,1286,0,0,0,0,0,0,28.83,24.54,28.83
$STATE,6797,end climb,SURFACE_DEPTH_REACHED
$STATE,6797,begin surface coast
$FINISH,0.7,1.026515
$STATE,6823,end surface coast,CONTROL_FINISHED_OK
$STATE,6823,begin surface
$SM_CCo,6844,55.38,0.073,0,0,1122,350.04
$SM_GC,1.08,11.70,1.52,55.38,0.064,0.050,0.073,400,2458,1122,-9.90,-0.57,350.04,0,0,0,0,0,0,24.49,24.55,24.39
$RAFOS_CLK,388
$RAFOS,1,1419609946,16.100000,16.096111,51,46,43,0,0,0,318,295,349,0,0,0
$RAFOS,0,1419609664,16.033333,16.017778,48,47,47,0,0,0,521,622,684,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,12025.47,261214,130542
$TT8_MAMPS,0.026215,0.026215
$HUMID,63.19
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,23.47,5.493
$10V_AH,9.66,6.624
$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,25.950,64.275,750.275,55.375,0.000,0.000,0.000,164.825,0.500,0.000,32.158,2512.632,1683.231,969.728,1895.510,121.330,0.000,2088.117,0.000,1676.581,480.000,0.539,0.000
$DEVICE_MAMPS,186.660,102.510,682.380,72.675,0.000,0.000,0.000,126.225,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297368
$DATA_FILE_SIZE,46608,1176
$CAP_FILE_SIZE,105680,0
$CFSIZE,260034560,253210624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7379.90,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.144,280.69,1
$GPS,261214,170935,-6625.584,12018.193,70,0.9,75,-106.9