version: 66.12
glider: 17
mission: 16
dive: 4
start: 12 25 114 13 39 54
data:
$ID,17
$MISSION,16
$DIVE,4
$N_DIVES,5
$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,130
$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,150
$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,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,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,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2520
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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
$GPS1,251214,133409,-6625.599,12014.782,87,3.7,108,-106.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.1
$GPS2,251214,133916,-6625.601,12014.742,17,3.6,37,-106.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,200.0,7681,-17.9,-10.000,-21.61,2170
$D_GRID,702
$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,-1.04,-145.9,586,2493,1244,1162,0.0,0.0,0,153,0.00,0.00,-134.18,0.000,16386,0.000,0.000,586,2492,2935,2952,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,156,-1.04,-145.9,586,2492,2952,2920,3.6,-7.4,23,182,11.32,2.17,-5.20,0.000,18948,0.221,0.106,2343,1343,3116,3156,3077,0,0,0,0,0,0,24.47,24.52,24.93
$GC,224,-1.00,-145.9,2343,1342,3156,3077,17.7,-15.1,35,231,0.00,2.03,0.00,0.000,1030,0.000,0.060,2343,2505,3116,3156,3077,0,0,0,0,0,0,28.83,24.63,28.83
$GC,414,-0.94,-145.9,2342,2505,3157,3078,39.9,-11.3,72,420,0.12,0.00,0.00,0.000,2054,0.144,0.000,2366,2505,3117,3157,3078,0,0,0,0,0,0,24.67,28.83,28.83
$GC,603,-0.94,-145.9,2366,2505,3157,3077,61.5,-11.5,109,610,0.00,2.12,0.00,0.000,516,0.000,0.089,2366,1341,3117,3157,3077,0,0,0,0,0,0,28.83,24.65,28.83
$GC,653,-0.94,-145.9,2365,1341,3157,3078,66.9,-10.7,118,659,0.00,2.03,0.00,0.000,1030,0.000,0.058,2366,2509,3117,3157,3077,0,0,0,0,0,0,28.83,24.71,28.83
$GC,841,-0.94,-145.9,2365,2509,3157,3077,87.2,-11.2,155,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2509,3117,3157,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1030,-0.94,-145.9,2366,2509,3157,3077,107.8,-10.7,192,1037,0.00,2.12,0.00,0.000,516,0.000,0.085,2366,1334,3117,3158,3077,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1089,-0.94,-145.9,2365,1333,3158,3077,114.3,-11.2,203,1096,0.00,2.03,0.00,0.000,1030,0.000,0.059,2366,2500,3118,3158,3078,0,0,0,0,0,0,28.83,24.73,28.83
$GC,1279,-0.94,-145.9,2366,2500,3158,3077,135.0,-11.2,240,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2500,3117,3158,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1466,-0.94,-145.9,2366,2500,3158,3077,155.2,-10.8,277,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2500,3117,3158,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-0.94,-145.9,2365,2500,3158,3077,175.2,-10.5,314,1662,0.00,2.10,0.00,0.000,516,0.000,0.085,2366,1339,3117,3158,3077,0,0,0,0,0,0,28.83,24.70,28.83
$GC,1716,-0.94,-145.9,2365,1338,3158,3077,181.5,-10.4,325,1723,0.00,2.03,0.00,0.000,1030,0.000,0.059,2366,2505,3117,3158,3077,0,0,0,0,0,0,28.83,24.76,28.83
$GC,1907,-0.94,-145.9,2365,2505,3158,3077,201.2,-10.3,362,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2505,3117,3158,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-0.94,-145.9,2366,2505,3158,3078,220.5,-10.1,399,2102,0.00,2.10,0.00,0.000,516,0.000,0.083,2366,1341,3117,3158,3077,0,0,0,0,0,0,28.83,24.72,28.83
$GC,2145,-0.98,-145.9,2365,1340,3158,3077,225.5,-10.2,408,2152,0.00,2.03,0.00,0.000,1030,0.000,0.060,2366,2508,3117,3158,3077,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2335,-0.98,-145.9,2366,2508,3158,3077,244.8,-10.4,445,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2508,3117,3158,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.98,-145.9,2365,2508,3158,3077,265.1,-10.5,462,2532,0.00,2.10,0.00,0.000,516,0.000,0.084,2366,1341,3117,3158,3077,0,0,0,0,0,0,28.83,24.72,28.83
$GC,2584,-1.01,-145.9,2365,1341,3158,3077,271.1,-10.7,473,2591,0.00,2.03,0.00,0.000,1030,0.000,0.060,2366,2506,3117,3158,3077,0,0,0,0,0,0,28.83,24.78,28.83
$GC,2770,-1.01,-145.9,2365,2506,3158,3077,290.3,-10.3,483,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2506,3117,3158,3077,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2868,begin apogee
$GC,2874,-0.25,0.0,2365,1990,3158,3077,300.6,-10.3,488,2997,0.82,0.00,119.15,1.045,10246,0.128,0.000,2521,1990,2520,2584,2456,0,0,0,0,0,0,24.75,28.83,23.49
$STATE,2998,end apogee,CONTROL_FINISHED_OK
$STATE,2998,begin climb
$GC,3001,1.04,145.9,2521,1990,2583,2454,305.4,0.0,494,3130,1.42,0.00,121.65,1.033,10246,0.091,0.000,2803,1990,1923,2007,1840,0,0,0,0,0,0,24.22,28.83,23.49
$GC,3312,1.11,173.4,2802,1990,2002,1829,284.4,8.7,510,3342,0.00,2.22,23.35,1.010,8452,0.000,0.080,2803,3165,1812,1901,1723,0,0,0,0,0,0,28.83,24.18,23.53
$GC,3425,1.19,183.9,2802,3165,1897,1719,273.8,9.5,533,3443,0.17,2.12,9.85,0.919,11270,0.082,0.088,2839,2005,1770,1860,1680,0,0,0,0,0,0,24.57,24.53,23.65
$GC,3630,1.19,183.9,2838,2005,1857,1676,251.0,11.5,547,3634,0.00,2.08,0.00,0.000,260,0.000,0.080,2839,3166,1766,1856,1676,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3677,1.19,183.9,2838,3166,1857,1676,245.6,11.8,556,3683,0.00,2.12,0.00,0.000,1030,0.000,0.088,2839,2000,1766,1857,1676,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3866,1.19,183.9,2838,2000,1856,1674,223.9,11.4,593,3873,0.00,2.10,0.00,0.000,260,0.000,0.080,2838,3174,1765,1856,1674,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3916,1.19,183.9,2838,3174,1856,1674,218.1,11.8,602,3923,0.00,2.15,0.00,0.000,1030,0.000,0.087,2839,1996,1764,1855,1674,0,0,0,0,0,0,28.83,24.63,28.83
$GC,4106,1.19,183.9,2838,1997,1855,1673,197.0,10.9,639,4112,0.00,2.10,0.00,0.000,260,0.000,0.079,2839,3172,1764,1855,1673,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4149,1.19,183.9,2838,3172,1854,1673,192.2,11.2,647,4156,0.00,2.15,0.00,0.000,1030,0.000,0.087,2839,1994,1764,1855,1673,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4339,1.19,183.9,2838,1993,1854,1673,171.6,10.8,684,4346,0.00,2.10,0.00,0.000,260,0.000,0.078,2839,3173,1763,1854,1673,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4388,1.19,183.9,2838,3173,1854,1673,166.2,11.1,693,4396,0.00,2.12,0.00,0.000,1030,0.000,0.086,2838,2000,1763,1854,1672,0,0,0,0,0,0,28.83,24.65,28.83
$GC,4580,1.19,183.9,2838,2000,1854,1672,145.9,10.8,730,4586,0.00,2.08,0.00,0.000,260,0.000,0.078,2838,3167,1763,1854,1672,0,0,0,0,0,0,28.83,24.67,28.83
$GC,4635,1.19,183.9,2838,3167,1854,1672,139.8,11.3,740,4642,0.00,2.12,0.00,0.000,1030,0.000,0.089,2839,2000,1763,1854,1672,0,0,0,0,0,0,28.83,24.66,28.83
$GC,4824,1.19,183.9,2838,2000,1853,1672,120.0,10.4,777,4831,0.00,2.10,0.00,0.000,260,0.000,0.078,2839,3172,1762,1853,1672,0,0,0,0,0,0,28.83,24.68,28.83
$GC,4864,1.19,183.9,2838,3172,1853,1672,115.7,11.0,784,4870,0.00,2.15,0.00,0.000,1030,0.000,0.088,2839,1993,1762,1853,1672,0,0,0,0,0,0,28.83,24.67,28.83
$GC,5053,1.19,183.9,2838,1994,1852,1672,95.5,10.4,821,5060,0.00,2.10,0.00,0.000,260,0.000,0.077,2838,3169,1762,1853,1672,0,0,0,0,0,0,28.83,24.69,28.83
$GC,5093,1.19,183.9,2838,3169,1853,1672,91.1,11.1,828,5100,0.00,2.12,0.00,0.000,1030,0.000,0.087,2838,1999,1762,1853,1672,0,0,0,0,0,0,28.83,24.68,28.83
$GC,5283,1.19,183.9,2838,1998,1853,1672,71.1,10.7,865,5290,0.00,2.10,0.00,0.000,260,0.000,0.077,2839,3175,1762,1853,1672,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5343,1.19,183.9,2838,3175,1853,1672,64.7,10.7,876,5350,0.00,2.15,0.00,0.000,1030,0.000,0.086,2839,1990,1762,1853,1672,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5533,1.19,183.9,2838,1990,1852,1672,44.5,10.6,913,5540,0.00,2.10,0.00,0.000,260,0.000,0.076,2839,3168,1762,1852,1672,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5573,1.19,184.8,2838,3168,1853,1672,40.5,10.0,920,5579,0.00,2.12,0.00,0.000,1030,0.000,0.086,2839,1999,1762,1853,1672,0,0,0,0,0,0,28.83,24.70,28.83
$GC,5763,1.19,184.8,2838,1998,1852,1672,20.6,11.6,957,5770,0.00,2.08,0.00,0.000,260,0.000,0.076,2839,3171,1762,1852,1672,0,0,0,0,0,0,28.83,24.71,28.83
$GC,5803,1.19,184.8,2838,3170,1852,1671,16.3,10.7,964,5809,0.00,2.12,0.00,0.000,1030,0.000,0.086,2839,1999,1762,1852,1672,0,0,0,0,0,0,28.83,24.70,28.83
$STATE,5935,end climb,SURFACE_DEPTH_REACHED
$STATE,5936,begin surface coast
$FINISH,0.4,1.027535
$STATE,5958,end surface coast,CONTROL_FINISHED_OK
$STATE,5959,begin surface
$SM_CCo,5979,108.43,0.815,1,0,1093,350.04
$SM_GC,1.16,10.40,0.95,108.43,0.058,0.077,0.815,586,2505,1093,-9.13,-0.34,350.04,0,0,0,0,1,0,24.72,24.72,23.59
$RAFOS_CLK,346
$RAFOS,2,1419516577,14.166670,14.160277,62,60,55,0,0,0,197,142,184,0,0,0
$RAFOS,1,1419516321,14.100000,14.089167,82,61,59,0,0,0,447,216,228,0,0,0
$RAFOS,0,1419516065,14.033333,14.018056,176,64,58,0,0,0,668,219,202,0,0,0
$RAFOS_FIX,-6622.438965,12002.483398,251214,141448,2,129,7.08
$IRIDIUM_FIX,-6553.70,12018.10,251214,120210
$TT8_MAMPS,0.020972,0.020972
$HUMID,69.88
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.49,2.392
$10V_AH,9.98,1.971
$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,24.275,73.975,274.000,108.425,0.000,0.000,0.000,193.850,0.000,0.000,38.230,2370.287,1608.304,639.590,1654.852,154.750,0.000,1593.396,0.000,1419.384,720.000,0.531,0.000
$DEVICE_MAMPS,221.085,105.570,1044.990,815.490,0.000,0.000,0.000,126.225,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298456
$DATA_FILE_SIZE,46846,994
$CAP_FILE_SIZE,99947,0
$CFSIZE,256368640,251904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.014,347.39,1
$GPS,251214,152355,-6625.529,12016.805,76,6.4,96,-106.8