version: 66.12
glider: 17
mission: 16
dive: 8
start: 12 25 114 21 5 19
data:
$ID,17
$MISSION,16
$DIVE,8
$N_DIVES,12
$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,2380
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$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
$GPS1,251214,210003,-6625.131,12022.236,60,2.5,80,-106.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-57.7
$GPS2,251214,210439,-6625.146,12022.207,10,2.8,30,-106.9
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_NE
$TGT_LATLONG,-6625.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,196.2,2087,-15.3,-10.000,-19.34,2862
$D_GRID,521
$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,-194.6,584,2379,1132,1035,0.0,0.0,0,163,0.00,0.00,-144.40,0.000,16386,0.000,0.000,583,2379,2977,2989,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-0.96,-194.6,583,2379,2990,2966,3.6,-7.3,25,191,11.90,0.00,-9.15,0.000,18438,0.232,0.000,2364,2377,3315,3360,3271,0,0,0,0,0,0,24.32,28.83,24.82
$GC,374,-0.90,-194.6,2364,2378,3363,3271,34.8,-12.4,65,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,564,-0.85,-194.6,2364,2378,3363,3271,58.0,-11.1,102,570,0.12,0.00,0.00,0.000,2054,0.151,0.000,2386,2378,3317,3363,3271,0,0,0,0,0,0,24.58,28.83,28.83
$GC,752,-0.85,-194.6,2386,2378,3363,3271,77.6,-10.1,139,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2378,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.85,-194.6,2386,2378,3363,3271,95.9,-10.0,176,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2378,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.85,-194.6,2386,2378,3363,3271,114.4,-9.5,213,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2378,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.85,-194.6,2386,2378,3363,3271,133.4,-10.2,250,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2378,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1509,-0.85,-194.6,2386,2378,3363,3271,152.7,-10.3,287,1515,0.00,2.12,0.00,0.000,516,0.000,0.096,2386,1220,3317,3363,3271,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1570,-0.88,-194.6,2386,1219,3363,3271,158.9,-10.3,298,1577,0.00,2.00,0.00,0.000,1030,0.000,0.054,2386,2380,3317,3363,3271,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1760,-0.88,-194.6,2386,2380,3363,3271,178.4,-10.5,335,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1950,-0.88,-194.6,2386,2380,3363,3271,198.1,-10.2,372,1956,0.00,2.10,0.00,0.000,260,0.000,0.090,2387,3541,3317,3363,3271,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1999,-0.93,-194.6,2386,3541,3363,3271,203.3,-10.5,381,2006,0.00,2.10,0.00,0.000,1030,0.000,0.081,2387,2382,3317,3363,3271,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2190,-0.93,-194.6,2386,2382,3363,3271,222.5,-10.2,418,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2382,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2378,-0.93,-194.6,2386,2382,3363,3271,241.9,-10.1,455,2385,0.00,2.12,0.00,0.000,516,0.000,0.095,2387,1216,3317,3363,3271,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2438,-0.96,-194.6,2386,1216,3363,3271,248.1,-10.5,466,2445,0.00,2.03,0.00,0.000,1030,0.000,0.057,2387,2386,3317,3363,3271,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2638,-0.96,-194.6,2386,2386,3363,3271,267.9,-9.7,478,2644,0.00,2.10,0.00,0.000,260,0.000,0.091,2386,3542,3317,3363,3271,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2680,-1.01,-194.6,2386,3541,3363,3271,272.5,-10.3,487,2685,0.12,2.12,0.00,0.000,5126,0.096,0.083,2361,2380,3317,3363,3271,0,0,0,0,0,0,24.70,24.63,28.83
$GC,2878,-0.98,-194.6,2361,2380,3363,3271,294.8,-11.5,499,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2380,3317,3363,3271,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2936,begin apogee
$GC,2942,-0.25,0.0,2361,2096,3363,3271,301.7,-11.5,502,3106,0.85,0.00,160.00,1.045,10246,0.124,0.000,2522,2096,2520,2596,2445,0,0,0,0,0,0,24.64,28.83,23.34
$STATE,3107,end apogee,CONTROL_FINISHED_OK
$STATE,3107,begin climb
$GC,3109,0.96,194.6,2522,2096,2596,2442,309.2,0.0,510,3281,1.33,0.00,162.10,1.073,10758,0.092,0.000,2784,2095,1726,1819,1633,0,0,0,0,0,0,24.08,28.83,23.26
$GC,3459,1.14,271.1,2784,2095,1814,1623,288.9,7.3,555,3529,0.17,0.00,66.07,1.036,10758,0.075,0.000,2824,2095,1414,1505,1324,0,0,0,0,0,0,24.53,28.83,23.32
$GC,3697,1.14,271.1,2824,2095,1497,1316,264.8,10.6,576,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2095,1406,1497,1316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3877,1.14,271.1,2824,2095,1494,1314,245.9,10.6,588,3885,0.00,2.22,0.00,0.000,516,0.000,0.114,2824,935,1404,1494,1314,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3907,1.14,271.1,2823,935,1494,1314,242.6,11.0,593,3915,0.00,2.00,0.00,0.000,1030,0.000,0.045,2824,2110,1404,1494,1314,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4098,1.14,271.1,2824,2109,1493,1313,222.4,10.5,630,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2110,1403,1493,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4286,1.14,273.7,2824,2110,1492,1313,203.5,9.9,667,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2110,1402,1492,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4475,1.14,273.7,2823,2110,1491,1313,184.1,10.3,704,4481,0.00,2.20,0.00,0.000,516,0.000,0.105,2824,940,1402,1491,1313,0,0,0,0,0,0,28.83,24.52,28.83
$GC,4499,1.14,273.7,2824,940,1491,1313,181.5,11.0,708,4506,0.00,1.98,0.00,0.000,1030,0.000,0.044,2824,2105,1402,1491,1313,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4687,1.14,273.7,2823,2105,1491,1313,161.6,10.3,745,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2105,1402,1491,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4877,1.14,273.7,2824,2105,1491,1313,141.6,10.6,782,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2105,1402,1491,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,1.14,273.7,2824,2105,1490,1313,121.7,10.5,819,5072,0.00,2.17,0.00,0.000,516,0.000,0.103,2824,940,1401,1490,1313,0,0,0,0,0,0,28.83,24.54,28.83
$GC,5099,1.14,273.7,2823,939,1490,1313,117.9,11.1,825,5107,0.00,1.98,0.00,0.000,1030,0.000,0.044,2824,2107,1401,1490,1312,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5290,1.14,273.7,2823,2107,1490,1312,97.8,10.7,862,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2107,1401,1490,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5478,1.14,273.7,2823,2107,1490,1312,78.2,10.3,899,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2107,1401,1490,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5666,1.14,273.7,2823,2107,1490,1312,58.4,10.5,936,5673,0.00,2.17,0.00,0.000,516,0.000,0.102,2824,939,1401,1490,1312,0,0,0,0,0,0,28.83,24.56,28.83
$GC,5690,1.14,273.7,2823,939,1490,1312,55.8,11.2,940,5696,0.00,1.98,0.00,0.000,1030,0.000,0.044,2824,2106,1401,1490,1312,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5880,1.14,274.8,2824,2106,1490,1312,36.0,10.0,977,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2105,1401,1490,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6070,1.17,274.8,2824,2106,1489,1312,16.5,10.6,1014,6076,0.00,2.17,0.00,0.000,516,0.000,0.096,2824,934,1400,1489,1312,0,0,0,0,0,0,28.83,24.58,28.83
$GC,6118,1.18,275.6,2824,933,1489,1312,11.7,10.0,1023,6125,0.00,1.98,0.00,0.000,1030,0.000,0.045,2824,2100,1400,1489,1312,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,6220,end climb,SURFACE_DEPTH_REACHED
$STATE,6220,begin surface coast
$FINISH,0.4,1.027394
$STATE,6238,end surface coast,CONTROL_FINISHED_OK
$STATE,6238,begin surface
$SM_CCo,6258,64.85,0.777,1,0,1092,350.04
$SM_GC,1.24,10.18,0.50,64.85,0.047,0.078,0.777,578,2377,1092,-9.14,-0.71,350.04,0,0,0,0,1,0,24.70,24.65,23.51
$RAFOS_CLK,360
$RAFOS,1,1419545154,22.100000,22.098333,54,51,51,0,0,0,180,204,225,0,0,0
$RAFOS,0,1419544874,22.033333,22.020555,91,72,62,0,0,0,619,204,186,0,0,0
$RAFOS_FIX,-6622.826660,12004.204102,251214,181848,2,97,4.17
$IRIDIUM_FIX,-6553.70,12012.68,251214,171457
$TT8_MAMPS,0.020972,0.020972
$HUMID,69.17
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.26,2.916
$10V_AH,10.04,2.167
$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,24.675,38.725,388.175,64.850,0.000,0.000,0.000,168.025,0.000,0.000,30.944,2412.186,1717.306,642.835,1707.948,144.268,0.000,1626.651,0.000,1491.853,480.000,0.533,0.000
$DEVICE_MAMPS,231.795,113.985,1072.530,777.240,0.000,0.000,0.000,132.345,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298512
$DATA_FILE_SIZE,50084,1046
$CAP_FILE_SIZE,96681,0
$CFSIZE,256368640,251678720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.037,235.69,1
$GPS,251214,225420,-6625.254,12024.351,149,2.2,169,-106.9