version: 66.12
glider: 17
mission: 17
dive: 3
start: 12 28 114 13 16 10
data:
$ID,17
$MISSION,17
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$D_NO_BLEED,100
$D_BOOST,2
$T_BOOST,0
$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,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02775
$MASS,52210
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.8e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$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,584
$PITCH_MAX,3731
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,130
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,233
$ROLL_MAX,3877
$ROLL_DEG,33
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3735
$C_VBD,2520
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,1
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,78
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-4.7807236
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,37
$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,0.004332595
$SEABIRD_T_H,0.00063243619
$SEABIRD_T_I,2.4193625e-05
$SEABIRD_T_J,2.5746874e-06
$SEABIRD_C_G,-9.8293695
$SEABIRD_C_H,1.1005322
$SEABIRD_C_I,-0.0015286342
$SEABIRD_C_J,0.0002052265
$GPS1,281214,131024,-6624.228,11959.393,145,1.9,145,-106.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.2
$GPS2,281214,131536,-6624.234,11959.370,74,1.2,74,-106.4
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,CENTRAL
$TGT_LATLONG,-6625.000,12007.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,211.9,5829,-15.3,-10.000,-19.34,2862
$D_GRID,680
$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,16,-0.96,-194.6,584,2388,857,1076,0.0,0.0,0,171,0.00,0.00,-152.52,0.000,16386,0.000,0.000,585,2389,3010,1027,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,174,-0.96,-194.6,585,2389,947,3010,3.9,-8.1,25,201,12.15,0.00,-8.88,0.000,18950,0.239,0.000,2363,2388,3316,1155,3316,0,0,0,0,0,0,24.31,28.83,24.83
$GC,385,-0.92,-194.6,2362,2388,540,3316,36.3,-12.6,65,391,0.00,2.12,0.00,0.000,516,0.000,0.083,2363,1217,3316,644,3316,0,0,0,0,0,0,28.83,24.54,28.83
$GC,440,-0.92,-194.6,2363,1216,556,3316,42.9,-11.6,75,446,0.00,2.00,0.00,0.000,1030,0.000,0.050,2363,2383,3316,659,3316,0,0,0,0,0,0,28.83,24.59,28.83
$GC,630,-0.88,-194.6,2362,2384,534,3316,65.9,-12.1,112,636,0.12,0.00,0.00,0.000,2054,0.135,0.000,2386,2384,3316,637,3316,0,0,0,0,0,0,24.59,28.83,28.83
$GC,819,-0.88,-194.6,2386,2384,550,3316,86.0,-10.5,149,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2384,3316,652,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1008,-0.88,-194.6,2386,2384,547,3316,105.5,-9.7,186,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2384,3316,667,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1199,-0.88,-194.6,2386,2384,529,3316,125.2,-10.5,223,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2384,3316,634,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1387,-0.88,-194.6,2386,2384,522,3316,144.5,-10.1,260,1393,0.00,2.12,0.00,0.000,516,0.000,0.085,2386,1214,3316,629,3316,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1436,-0.92,-194.6,2386,1213,575,3316,149.5,-10.1,269,1443,0.00,2.00,0.00,0.000,1030,0.000,0.050,2386,2381,3316,679,3316,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1626,-0.92,-194.6,2386,2381,549,3316,168.9,-10.3,306,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2381,3316,667,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-0.92,-194.6,2386,2381,553,3316,188.9,-10.5,343,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2381,3316,655,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2004,-0.92,-194.6,2386,2381,526,3316,208.4,-10.1,380,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2381,3316,632,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-0.95,-194.6,2386,2381,527,3316,227.0,-9.7,417,2200,0.00,2.10,0.00,0.000,516,0.000,0.084,2386,1221,3316,633,3316,0,0,0,0,0,0,28.83,24.64,28.83
$GC,2238,-1.00,-194.6,2386,1221,605,3316,231.5,-9.8,425,2246,0.12,1.98,0.00,0.000,5126,0.075,0.050,2358,2381,3316,704,3316,0,0,0,0,0,0,24.73,24.68,28.83
$GC,2445,-0.97,-194.6,2358,2381,336,3316,255.0,-11.5,459,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2381,3316,344,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-0.93,-194.6,2358,2381,314,3316,275.8,-11.5,468,2628,0.00,2.10,0.00,0.000,260,0.000,0.087,2358,3542,3316,371,3316,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2669,-0.93,-194.6,2358,3542,369,3316,281.3,-12.0,477,2673,0.00,2.08,0.00,0.000,1030,0.000,0.076,2359,2384,3316,425,3316,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,2844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2844,begin apogee
$GC,2850,-0.25,0.0,2358,2094,337,3316,301.5,-11.6,488,3008,0.85,0.00,153.77,1.031,10246,0.123,0.000,2518,2094,2519,1621,2519,0,0,0,0,0,0,24.65,28.83,23.35
$STATE,3009,end apogee,CONTROL_FINISHED_OK
$STATE,3009,begin climb
$GC,3011,0.96,194.6,2518,2094,948,2517,309.0,0.0,496,3180,1.35,0.00,156.98,0.978,10758,0.090,0.000,2786,2094,1724,1736,1724,0,0,0,0,0,0,24.10,28.83,23.32
$GC,3368,1.06,260.9,2785,2094,314,1713,288.7,7.6,541,3431,0.12,2.22,55.58,1.038,10500,0.086,0.076,2814,3263,1455,1299,1455,0,0,0,0,0,0,24.53,23.97,23.33
$GC,3582,1.06,260.9,2814,3263,598,1447,267.0,10.3,584,3589,0.00,2.12,0.00,0.000,1030,0.000,0.083,2814,2104,1447,712,1447,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3769,1.06,264.6,2814,2104,314,1445,248.6,9.9,594,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2103,1445,468,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3959,1.06,264.6,2814,2103,461,1443,230.2,10.0,631,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2103,1443,583,1443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,1.07,276.0,2814,2103,524,1442,212.0,9.6,668,4167,0.00,2.33,12.65,0.944,8708,0.000,0.106,2814,933,1393,880,1393,0,0,0,0,0,0,28.83,24.16,23.59
$GC,4185,1.07,276.0,2814,933,566,1392,208.3,10.1,674,4193,0.00,2.00,0.00,0.000,1030,0.000,0.041,2814,2108,1392,701,1392,0,0,0,0,0,0,28.83,24.38,28.83
$GC,4379,1.12,286.7,2814,2107,540,1389,189.8,9.6,711,4392,0.00,0.00,10.23,0.921,8198,0.000,0.000,2814,2107,1351,778,1351,0,0,0,0,0,0,28.83,28.83,23.61
$GC,4575,1.16,289.6,2814,2107,528,1347,170.4,9.9,749,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2108,1347,645,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4765,1.20,293.3,2814,2108,559,1346,151.5,9.9,786,4780,0.12,2.22,6.82,0.838,10756,0.090,0.097,2843,935,1324,809,1324,0,0,0,0,0,0,24.63,24.32,23.72
$GC,4808,1.16,293.3,2843,934,797,1324,146.5,12.5,793,4815,0.00,1.98,0.00,0.000,1030,0.000,0.042,2843,2099,1324,891,1324,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4998,1.16,293.3,2843,2100,543,1323,124.3,11.6,830,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2100,1323,677,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5188,1.16,293.3,2843,2100,532,1322,102.5,11.4,867,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2099,1323,649,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5376,1.16,293.3,2843,2100,536,1322,81.5,11.1,904,5383,0.00,2.05,0.00,0.000,260,0.000,0.074,2844,3266,1322,655,1322,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5400,1.16,293.3,2843,3265,597,1322,78.9,11.7,908,5406,0.00,2.10,0.00,0.000,1030,0.000,0.080,2843,2099,1322,712,1322,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5589,1.16,293.3,2843,2099,531,1322,57.6,11.1,945,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2099,1322,648,1322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5779,1.16,293.3,2843,2099,570,1322,36.9,10.4,982,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2099,1322,702,1322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5969,1.16,293.3,2843,2099,558,1322,15.7,11.8,1019,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2099,1322,674,1322,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6091,end climb,SURFACE_DEPTH_REACHED
$STATE,6091,begin surface coast
$FINISH,0.3,1.027481
$STATE,6108,end surface coast,CONTROL_FINISHED_OK
$STATE,6108,begin surface
$SM_CCo,6128,42.60,0.741,1,0,1093,350.04
$SM_GC,1.27,10.48,0.52,42.60,0.057,0.060,0.741,579,2388,1093,-9.15,-0.45,350.04,0,0,0,0,1,0,24.66,24.68,23.52
$RAFOS_CLK,349
$RAFOS,1,1419775554,14.100000,14.098333,59,57,54,0,0,0,206,163,138,0,0,0
$RAFOS,0,1419775274,14.033333,14.020555,192,59,58,0,0,0,619,146,196,0,0,0
$RAFOS_FIX,-6623.178711,11958.005859,281214,121216,2,120,0.79
$IRIDIUM_FIX,-6558.99,12023.55,281214,111609
$TT8_MAMPS,0.020972,0.020972
$HUMID,71.18
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.32,5.042
$10V_AH,9.87,3.010
$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,25.325,34.575,396.025,42.600,0.000,0.000,0.000,159.175,0.000,0.000,75.430,2381.733,1606.690,625.573,1742.979,144.033,0.000,1600.181,0.000,1499.339,480.000,0.531,0.000
$DEVICE_MAMPS,239.445,106.335,1038.105,741.285,0.000,0.000,0.000,130.815,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.025,407.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,301052
$DATA_FILE_SIZE,50120,1046
$CAP_FILE_SIZE,95352,0
$CFSIZE,256368640,251432960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6980.16,0x23777a,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.078,207.88,1
$GPS,281214,150133,-6624.696,12001.337,84,9.7,104,-106.5