version: 66.12
glider: 17
mission: 16
dive: 6
start: 12 25 114 17 19 31
data:
$ID,17
$MISSION,16
$DIVE,6
$N_DIVES,9
$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,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,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,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,16
$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
$GPS1,251214,171325,-6625.285,12018.446,82,3.7,102,-106.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.4
$GPS2,251214,171853,-6625.303,12018.394,42,2.0,59,-106.8
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,196.4,4927,-15.3,-10.000,-19.34,2862
$D_GRID,632
$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,-0.96,-194.6,582,2438,1112,1043,0.0,0.0,0,162,0.00,0.00,-143.52,0.000,16386,0.000,0.000,582,2439,2960,2970,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,165,-0.96,-194.6,581,2439,2970,2951,3.5,-7.4,25,197,11.52,2.20,-9.73,0.000,18692,0.221,0.101,2363,3603,3317,3363,3271,0,0,0,0,0,0,24.36,24.46,24.88
$GC,282,-0.96,-194.6,2362,3603,3363,3271,23.7,-14.1,46,288,0.00,2.05,0.00,0.000,1030,0.000,0.074,2363,2457,3317,3363,3271,0,0,0,0,0,0,28.83,24.58,28.83
$GC,472,-0.92,-194.6,2362,2457,3363,3271,46.9,-11.8,83,478,0.00,2.15,0.00,0.000,516,0.000,0.093,2363,1280,3317,3363,3271,0,0,0,0,0,0,28.83,24.57,28.83
$GC,556,-0.89,-194.6,2363,1280,3363,3271,56.6,-11.3,99,563,0.12,2.03,0.00,0.000,3078,0.138,0.057,2383,2449,3317,3363,3271,0,0,0,0,0,0,24.62,24.64,28.83
$GC,746,-0.89,-194.6,2382,2449,3363,3271,77.4,-10.9,136,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2449,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,934,-0.89,-194.6,2383,2449,3363,3271,97.4,-10.4,173,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2449,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1123,-0.89,-194.6,2383,2449,3363,3271,117.3,-10.3,210,1129,0.00,2.12,0.00,0.000,516,0.000,0.089,2383,1282,3317,3363,3271,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1181,-0.89,-194.6,2382,1281,3363,3271,123.5,-10.0,221,1189,0.00,2.03,0.00,0.000,1030,0.000,0.057,2383,2452,3317,3363,3271,0,0,0,0,0,0,28.83,24.68,28.83
$GC,1372,-0.89,-194.6,2383,2452,3363,3272,143.2,-10.3,258,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2452,3317,3363,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.89,-194.6,2383,2452,3363,3271,162.5,-10.2,295,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2452,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1750,-0.89,-194.6,2383,2452,3363,3272,181.8,-10.3,332,1756,0.00,2.12,0.00,0.000,516,0.000,0.088,2383,1282,3317,3363,3272,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1814,-0.89,-194.6,2383,1281,3363,3272,188.2,-9.8,344,1821,0.00,2.03,0.00,0.000,1030,0.000,0.058,2383,2450,3317,3363,3272,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2004,-0.89,-194.6,2383,2450,3363,3271,207.8,-10.4,381,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2450,3317,3363,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,-0.89,-194.6,2383,2450,3363,3272,227.4,-9.9,418,2201,0.00,2.12,0.00,0.000,516,0.000,0.089,2383,1280,3317,3363,3272,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2249,-0.92,-194.6,2383,1279,3363,3272,232.9,-10.0,428,2255,0.00,2.03,0.00,0.000,1030,0.000,0.057,2383,2450,3317,3363,3272,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2444,-0.92,-194.6,2383,2450,3363,3272,252.2,-9.4,463,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2450,3317,3363,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-0.92,-194.6,2383,2450,3363,3272,269.4,-9.7,472,2630,0.00,2.12,0.00,0.000,516,0.000,0.089,2383,1279,3317,3363,3272,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2673,-0.95,-194.6,2382,1279,3363,3271,274.5,-9.9,482,2677,0.00,2.03,0.00,0.000,1030,0.000,0.057,2383,2451,3317,3363,3272,0,0,0,0,0,0,28.83,24.71,28.83
$GC,2864,-0.95,-194.6,2383,2451,3363,3272,293.0,-9.7,493,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2451,3317,3363,3272,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2942,begin apogee
$GC,2948,-0.25,0.0,2383,2090,3363,3272,300.8,-9.7,497,3111,0.73,0.00,159.43,1.050,10246,0.116,0.000,2522,2090,2520,2595,2445,0,0,0,0,0,0,24.69,28.83,23.40
$STATE,3112,end apogee,CONTROL_FINISHED_OK
$STATE,3112,begin climb
$GC,3114,0.96,194.6,2522,2090,2595,2443,308.0,0.0,505,3286,1.33,0.00,162.25,1.063,10758,0.092,0.000,2786,2090,1725,1816,1635,0,0,0,0,0,0,24.14,28.83,23.33
$GC,3465,1.12,264.8,2786,2090,1810,1626,287.8,7.5,550,3532,0.15,2.30,60.22,1.037,10756,0.082,0.112,2820,944,1439,1530,1349,0,0,0,0,0,0,24.58,23.96,23.39
$GC,3568,1.12,264.8,2820,944,1525,1348,277.5,11.0,571,3572,0.00,2.00,0.00,0.000,1030,0.000,0.045,2820,2108,1436,1525,1348,0,0,0,0,0,0,28.83,24.37,28.83
$GC,3766,1.12,269.9,2820,2108,1521,1341,257.6,9.8,583,3772,0.00,0.00,4.57,0.727,8198,0.000,0.000,2820,2108,1419,1509,1330,0,0,0,0,0,0,28.83,28.83,23.79
$GC,3947,1.12,272.7,2820,2108,1508,1328,239.8,9.9,607,3954,0.00,0.00,4.07,0.694,8198,0.000,0.000,2820,2108,1408,1498,1319,0,0,0,0,0,0,28.83,28.83,23.82
$GC,4137,1.12,272.7,2820,2108,1496,1316,220.0,10.1,644,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2108,1406,1496,1316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,1.12,272.7,2820,2108,1496,1316,200.6,10.2,681,4332,0.00,2.22,0.00,0.000,516,0.000,0.111,2820,938,1405,1495,1316,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4360,1.12,272.7,2820,939,1494,1316,196.9,10.7,687,4367,0.00,1.98,0.00,0.000,1030,0.000,0.044,2820,2105,1405,1494,1316,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4549,1.12,272.7,2820,2105,1494,1315,177.3,10.4,724,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2105,1404,1494,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4738,1.16,272.7,2820,2105,1494,1315,157.6,10.5,761,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2104,1404,1494,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,1.16,272.7,2820,2105,1493,1315,137.9,10.1,798,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2105,1404,1493,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5118,1.19,272.7,2820,2105,1493,1315,118.8,10.1,835,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2105,1404,1493,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,1.22,272.7,2820,2105,1492,1315,99.6,10.3,872,5314,0.12,2.22,0.00,0.000,2564,0.091,0.106,2850,936,1404,1493,1315,0,0,0,0,0,0,24.71,24.57,28.83
$GC,5331,1.22,272.7,2850,936,1492,1315,96.8,11.4,876,5338,0.00,1.98,0.00,0.000,1030,0.000,0.044,2850,2105,1403,1492,1315,0,0,0,0,0,0,28.83,24.66,28.83
$GC,5522,1.19,272.7,2850,2105,1492,1314,74.5,11.5,913,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2105,1403,1492,1314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,1.19,272.7,2850,2105,1491,1315,52.0,12.2,950,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2105,1403,1492,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,1.15,272.7,2850,2105,1492,1315,29.7,11.7,987,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2105,1403,1491,1315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,1.10,272.7,2850,2105,1491,1315,6.8,12.6,1024,6097,0.12,2.22,0.00,0.000,4612,0.140,0.109,2826,939,1403,1491,1315,0,0,0,0,0,0,24.65,24.59,28.83
$GC,6124,1.10,272.7,2826,939,1491,1314,2.1,12.7,1030,6132,0.00,1.95,0.00,0.000,1030,0.000,0.041,2826,2102,1403,1491,1315,0,0,0,0,0,0,28.83,24.69,28.83
$STATE,6137,end climb,SURFACE_DEPTH_REACHED
$STATE,6137,begin surface coast
$FINISH,0.4,1.024677
$STATE,6154,end surface coast,CONTROL_FINISHED_OK
$STATE,6154,begin surface
$SM_CCo,6174,61.65,0.791,1,0,1093,350.04
$SM_GC,1.17,10.35,0.62,61.65,0.056,0.073,0.791,583,2446,1093,-9.14,-0.68,350.04,0,0,0,0,1,0,24.68,24.68,23.54
$RAFOS_CLK,354
$RAFOS,1,1419530753,18.100000,18.098055,106,60,54,0,0,0,288,188,206,0,0,0
$RAFOS,0,1419530472,18.033333,18.020000,88,58,57,0,0,0,627,188,110,0,0,0
$RAFOS_FIX,-6622.826660,12004.204102,251214,181848,2,97,4.17
$IRIDIUM_FIX,-6553.70,12015.39,251214,152531
$TT8_MAMPS,0.020972,0.020972
$HUMID,69.25
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.33,2.643
$10V_AH,10.03,2.069
$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,24.450,43.325,390.550,61.650,0.000,0.000,0.000,189.375,0.000,0.000,61.407,2390.743,1682.317,635.109,1742.177,146.041,0.000,1634.540,0.000,1477.265,480.000,0.532,0.000
$DEVICE_MAMPS,221.085,111.690,1063.350,791.010,0.000,0.000,0.000,130.050,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298544
$DATA_FILE_SIZE,50151,1035
$CAP_FILE_SIZE,97842,0
$CFSIZE,256368640,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.059,247.61,1
$GPS,251214,190621,-6625.396,12020.336,96,6.0,116,-106.9