version: 66.12
glider: 123
mission: 17
dive: 1
start: 12 28 114 11 2 33
data:
$ID,123
$MISSION,17
$DIVE,1
$N_DIVES,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,100
$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,15
$T_MISSION,28
$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,527.39502
$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,21
$R_STBD_OVSHOOT,22
$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,-2.1347077
$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
$GPS1,281214,105556,-6624.234,11956.711,10,1.8,10,-106.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-34.2
$GPS2,281214,110151,-6624.279,11956.654,14,1.9,34,-106.4
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,CENTRAL
$TGT_LATLONG,-6625.000,12007.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,206.3,7781,-15.4,-10.000,-19.61,2885
$D_GRID,677
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.80,-194.6,397,2444,503,293,0.0,0.0,0,286,0.00,0.00,-266.08,0.000,16386,0.000,0.000,397,2446,3211,3160,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,288,-1.80,-194.6,396,2446,3161,3261,3.1,-5.4,46,314,10.20,2.65,-4.88,0.000,18948,0.176,0.086,2163,1042,3345,3313,3377,0,0,0,0,0,0,24.37,24.46,24.87
$GC,472,-1.80,-194.6,2163,1042,3322,3368,24.4,-7.3,81,480,0.00,2.47,0.00,0.000,1030,0.000,0.049,2163,2460,3345,3322,3368,0,0,0,0,0,0,28.83,24.61,28.83
$GC,663,-1.80,-194.6,2162,2460,3325,3366,44.4,-19.1,118,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2460,3345,3325,3366,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,673,begin apogee
$GC,679,-0.50,0.0,2162,1601,3324,3366,46.0,-14.8,120,1046,1.45,0.00,355.85,0.607,10246,0.122,0.000,2446,1601,2547,2646,2448,0,0,0,0,0,0,24.49,28.83,23.67
$STATE,1047,end apogee,CONTROL_FINISHED_OK
$STATE,1048,begin climb
$GC,1049,1.80,194.6,2446,1601,2645,2446,55.2,0.0,185,1425,2.35,2.62,362.58,0.534,11012,0.080,0.097,2950,310,1751,1936,1566,0,0,0,0,0,0,24.18,24.01,23.70
$STATE,1572,end climb,SURFACE_DEPTH_REACHED
$STATE,1572,begin surface coast
$FINISH,1.4,1.026508
$STATE,1583,end surface coast,CONTROL_FINISHED_OK
$STATE,1584,begin surface
$SM_CCo,1607,157.95,0.071,0,0,399,527.40
$SM_GC,0.93,11.75,3.92,157.95,0.065,0.056,0.071,403,2454,399,-9.89,-0.68,527.40,0,0,0,0,0,0,24.39,24.46,24.35
$RAFOS_CLK,91
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,11954.05,281214,105639
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.64
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,15.40
$XPDR_PINGS,42
$24V_AH,23.67,5.986
$10V_AH,9.89,6.915
$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,25.750,13.250,718.425,157.950,0.000,0.000,0.000,0.000,10.500,0.000,34.785,336.479,108.534,947.137,453.797,35.379,0.000,1305.690,0.000,412.201,0.000,0.542,0.000
$DEVICE_MAMPS,175.950,97.155,606.645,71.145,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,302096
$DATA_FILE_SIZE,10147,281
$CAP_FILE_SIZE,63731,0
$CFSIZE,260034560,254275584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4220.77,0x23769e,7,5
$SOUNDSPEED,1441.4
$CURRENT,0.136,279.16,1
$GPS,281214,113252,-6624.379,11956.680,12,1.8,12,-106.4