version: 66.12
glider: 17
mission: 16
dive: 9
start: 12 25 114 22 59 12
data:
$ID,17
$MISSION,16
$DIVE,9
$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,15
$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
$GPS1,251214,225420,-6625.254,12024.351,149,2.2,169,-106.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.4
$GPS2,251214,225837,-6625.263,12024.326,12,1.8,12,-106.9
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_SE
$TGT_LATLONG,-6628.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,274.7,5094,-15.3,-10.000,-19.34,2862
$D_GRID,522
$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,-194.6,577,2378,1126,1036,0.0,0.0,0,157,0.00,0.00,-137.77,0.000,16386,0.000,0.000,577,2378,2894,2906,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,160,-0.96,-194.6,577,2378,2906,2884,3.5,-7.5,24,191,11.77,2.12,-11.80,0.000,18948,0.226,0.097,2364,1217,3315,3368,3263,0,0,0,0,0,0,24.32,24.44,24.82
$GC,321,-0.90,-194.6,2364,1217,3368,3265,27.5,-12.7,54,327,0.00,2.00,0.00,0.000,1030,0.000,0.052,2364,2378,3316,3368,3264,0,0,0,0,0,0,28.83,24.55,28.83
$GC,511,-0.85,-194.6,2364,2378,3368,3265,50.7,-11.8,91,518,0.12,2.10,0.00,0.000,2308,0.142,0.082,2387,3542,3316,3368,3265,0,0,0,0,0,0,24.57,24.52,28.83
$GC,546,-0.89,-194.6,2387,3542,3368,3265,54.6,-10.8,97,553,0.00,2.08,0.00,0.000,1030,0.000,0.073,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,24.58,28.83
$GC,738,-0.89,-194.6,2387,2380,3369,3265,74.2,-10.1,134,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.89,-194.6,2387,2380,3368,3265,93.7,-10.0,171,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-0.89,-194.6,2386,2380,3368,3265,113.1,-10.1,208,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.89,-194.6,2387,2380,3368,3265,132.1,-10.0,245,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1493,-0.89,-194.6,2387,2380,3368,3265,151.1,-9.6,282,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1682,-0.89,-194.6,2387,2380,3368,3265,169.4,-9.2,319,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3317,3369,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.89,-194.6,2386,2380,3368,3265,188.1,-9.9,356,1878,0.00,2.12,0.00,0.000,516,0.000,0.092,2387,1209,3317,3369,3265,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1891,-0.89,-194.6,2387,1209,3368,3265,190.0,-10.0,359,1897,0.00,2.03,0.00,0.000,1030,0.000,0.054,2387,2383,3317,3369,3265,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2081,-0.89,-194.6,2387,2383,3368,3265,208.2,-9.6,396,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2382,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-0.89,-194.6,2387,2382,3368,3265,226.0,-9.6,433,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2382,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.89,-194.6,2387,2382,3368,3265,245.3,-10.3,470,2465,0.00,2.12,0.00,0.000,516,0.000,0.090,2387,1216,3316,3368,3265,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2479,-0.89,-194.6,2387,1216,3368,3265,247.4,-10.6,473,2486,0.00,2.00,0.00,0.000,1030,0.000,0.054,2387,2379,3316,3368,3265,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2684,-0.89,-194.6,2387,2380,3368,3265,268.5,-10.1,486,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2379,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2864,-0.89,-194.6,2387,2380,3368,3265,285.8,-9.6,495,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2380,3316,3368,3265,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3022,begin apogee
$GC,3027,-0.25,0.0,2387,2096,3368,3265,301.5,-9.7,503,3191,0.70,0.00,159.43,1.037,10246,0.120,0.000,2520,2096,2520,2598,2442,0,0,0,0,0,0,24.65,28.83,23.33
$STATE,3192,end apogee,CONTROL_FINISHED_OK
$STATE,3192,begin climb
$GC,3194,0.96,194.6,2519,2096,2597,2441,308.0,0.0,511,3366,1.33,2.28,161.95,1.052,11012,0.090,0.082,2782,3269,1725,1819,1632,0,0,0,0,0,0,24.06,23.89,23.29
$GC,3390,1.08,267.0,2782,3268,1816,1628,298.4,7.4,551,3462,0.15,2.17,62.72,1.012,11270,0.085,0.085,2812,2098,1430,1522,1338,0,0,0,0,0,0,24.23,24.19,23.26
$GC,3650,1.11,267.0,2812,2098,1513,1331,272.5,10.0,576,3654,0.00,2.20,0.00,0.000,516,0.000,0.110,2812,939,1422,1513,1331,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3664,1.11,267.0,2812,939,1513,1330,270.7,10.0,579,3671,0.00,1.98,0.00,0.000,1030,0.000,0.043,2812,2103,1421,1512,1330,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3852,1.15,275.6,2812,2103,1511,1329,252.7,9.7,589,3864,0.00,2.22,7.30,0.858,8708,0.000,0.101,2812,938,1396,1487,1305,0,0,0,0,0,0,28.83,24.27,23.70
$GC,3898,1.19,275.6,2812,937,1486,1305,247.9,10.5,598,3905,0.12,2.00,0.00,0.000,3078,0.088,0.044,2838,2110,1395,1486,1305,0,0,0,0,0,0,24.46,24.44,28.83
$GC,4088,1.19,275.6,2837,2110,1484,1304,226.1,11.5,635,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2110,1394,1484,1304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,1.19,275.6,2837,2110,1483,1303,204.8,11.0,672,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2110,1393,1483,1303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4464,1.19,275.6,2837,2110,1482,1303,183.6,11.2,709,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2110,1392,1482,1303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4655,1.19,275.6,2837,2110,1481,1303,162.5,11.3,746,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2110,1392,1481,1303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4842,1.19,275.6,2838,2110,1481,1303,141.0,11.2,783,4849,0.00,2.20,0.00,0.000,516,0.000,0.103,2838,936,1392,1481,1303,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4866,1.19,275.6,2837,936,1481,1303,138.2,11.8,787,4873,0.00,1.98,0.00,0.000,1030,0.000,0.043,2838,2103,1391,1480,1303,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5056,1.19,275.6,2837,2102,1480,1303,116.9,11.0,824,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2103,1392,1481,1303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5244,1.19,275.6,2837,2103,1480,1303,95.8,11.4,861,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2103,1391,1480,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5434,1.19,275.6,2837,2103,1480,1303,74.6,10.9,898,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2103,1391,1480,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,1.19,275.6,2837,2103,1479,1302,53.4,11.4,935,5629,0.00,2.05,0.00,0.000,260,0.000,0.077,2838,3264,1391,1479,1303,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5636,1.19,275.6,2838,3264,1479,1302,51.9,11.1,937,5644,0.00,2.10,0.00,0.000,1030,0.000,0.080,2838,2103,1390,1479,1302,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5828,1.19,275.6,2838,2103,1479,1302,31.5,10.9,974,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2103,1390,1479,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6017,1.19,275.6,2838,2103,1479,1303,9.8,11.2,1011,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2103,1390,1479,1302,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6083,end climb,SURFACE_DEPTH_REACHED
$STATE,6083,begin surface coast
$FINISH,0.2,1.027513
$STATE,6099,end surface coast,CONTROL_FINISHED_OK
$STATE,6099,begin surface
$SM_CCo,6118,65.82,0.801,1,0,1093,350.04
$SM_GC,1.18,10.32,0.52,65.82,0.052,0.073,0.801,586,2381,1093,-9.14,-0.51,350.04,0,0,0,0,1,0,24.64,24.64,23.49
$RAFOS_CLK,351
$RAFOS,2,1419552570,0.166670,0.158333,139,66,60,0,0,0,449,215,142,0,0,0
$RAFOS,1,1419552317,0.100000,0.088056,131,58,57,0,0,0,484,194,226,0,0,0
$RAFOS,0,1419552061,0.033333,0.016944,147,60,59,0,0,0,696,213,190,0,0,0
$RAFOS_FIX,-6624.925293,12003.137695,261214,000024,3,139,3.87
$IRIDIUM_FIX,-6553.70,12015.39,251214,210136
$TT8_MAMPS,0.020972,0.020972
$HUMID,69.05
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.26,3.051
$10V_AH,9.81,2.216
$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,24.525,38.825,391.400,65.825,0.000,0.000,0.000,166.450,0.000,0.000,13.591,2377.251,1649.569,639.624,1661.477,144.024,0.000,1612.713,0.000,1465.695,720.000,0.531,0.000
$DEVICE_MAMPS,226.440,110.160,1051.875,800.955,0.000,0.000,0.000,131.580,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298568
$DATA_FILE_SIZE,46852,1027
$CAP_FILE_SIZE,95411,0
$CFSIZE,256368640,251625472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6832.51,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.264,291.78,1
$GPS,261214,004456,-6625.763,12022.721,80,5.4,101,-106.9