version: 66.12
glider: 17
mission: 16
dive: 10
start: 12 26 114 0 50 12
data:
$ID,17
$MISSION,16
$DIVE,10
$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,12
$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
$GPS1,261214,004456,-6625.763,12022.721,80,5.4,101,-106.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-61.8
$GPS2,261214,004933,-6625.771,12022.712,16,4.4,36,-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,222.9,4462,-15.3,-10.000,-19.34,2862
$D_GRID,548
$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,-194.6,586,2382,1127,1036,0.0,0.0,0,162,0.00,0.00,-143.88,0.000,16386,0.000,0.000,586,2382,2968,2982,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,166,-0.96,-194.6,586,2382,2982,2956,3.6,-7.4,24,191,11.85,0.00,-9.48,0.000,18694,0.230,0.000,2363,2382,3316,3365,3267,0,0,0,0,0,0,24.32,28.83,24.81
$GC,374,-0.89,-194.6,2363,2382,3366,3268,33.9,-12.5,64,381,0.12,0.00,0.00,0.000,2054,0.148,0.000,2385,2382,3316,3366,3267,0,0,0,0,0,0,24.54,28.83,28.83
$GC,564,-0.89,-194.6,2385,2382,3367,3267,55.4,-10.8,101,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2382,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,755,-0.89,-194.6,2385,2382,3367,3268,75.4,-10.7,138,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2382,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,943,-0.89,-194.6,2385,2382,3367,3268,95.0,-10.1,175,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2382,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1132,-0.89,-194.6,2386,2382,3367,3268,114.6,-11.0,212,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2382,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.89,-194.6,2385,2382,3367,3267,134.3,-10.3,249,1328,0.00,2.12,0.00,0.000,516,0.000,0.089,2386,1213,3317,3367,3267,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1365,-0.89,-194.6,2385,1213,3367,3268,139.0,-10.3,257,1373,0.00,2.00,0.00,0.000,1030,0.000,0.054,2385,2377,3317,3367,3268,0,0,0,0,0,0,28.83,24.62,28.83
$GC,1557,-0.89,-194.6,2385,2377,3367,3268,158.9,-10.7,294,1563,0.00,2.10,0.00,0.000,260,0.000,0.087,2385,3542,3317,3367,3268,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1596,-0.92,-194.6,2385,3542,3367,3268,163.1,-10.8,301,1603,0.00,2.10,0.00,0.000,1030,0.000,0.076,2386,2373,3317,3367,3268,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1787,-0.92,-194.6,2385,2373,3367,3267,182.4,-9.8,338,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2373,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1975,-0.92,-194.6,2385,2373,3367,3268,201.4,-10.1,375,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2373,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-0.92,-194.6,2385,2373,3367,3268,220.3,-9.9,412,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2373,3317,3367,3267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-0.92,-194.6,2385,2373,3367,3268,238.9,-10.2,449,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2373,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2547,-0.92,-194.6,2385,2373,3367,3268,258.7,-10.2,475,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2373,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2727,-0.92,-194.6,2385,2373,3367,3268,277.0,-10.2,484,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2373,3317,3367,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2909,-0.92,-194.6,2385,2373,3367,3268,294.7,-9.6,493,2914,0.00,2.12,0.00,0.000,516,0.000,0.096,2385,1211,3317,3367,3268,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2952,-0.96,-194.6,2385,1211,3367,3267,299.0,-10.1,501,2956,0.00,2.03,0.00,0.000,1030,0.000,0.055,2385,2383,3317,3367,3268,0,0,0,0,0,0,28.83,24.65,28.83
$STATE,2959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2959,begin apogee
$GC,2965,-0.25,0.0,2385,2101,3367,3268,300.2,-9.7,503,3129,0.70,0.00,159.88,1.034,10246,0.115,0.000,2519,2101,2520,2596,2444,0,0,0,0,0,0,24.63,28.83,23.32
$STATE,3130,end apogee,CONTROL_FINISHED_OK
$STATE,3130,begin climb
$GC,3132,0.96,194.6,2519,2101,2596,2441,307.1,0.0,511,3306,1.33,2.30,162.40,1.056,11012,0.086,0.104,2784,932,1725,1819,1632,0,0,0,0,0,0,24.05,23.83,23.22
$GC,3318,1.08,252.7,2783,932,1814,1632,298.0,7.9,549,3377,0.15,2.05,50.45,1.010,11270,0.084,0.044,2812,2112,1489,1581,1397,0,0,0,0,0,0,24.15,24.13,23.25
$GC,3570,1.08,252.7,2812,2112,1573,1388,272.2,10.5,572,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2112,1480,1573,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3750,1.08,252.7,2812,2112,1572,1386,253.8,10.1,581,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2112,1479,1571,1387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3931,1.08,252.7,2812,2112,1571,1386,235.6,10.1,611,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2112,1478,1571,1386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,1.08,252.7,2812,2112,1570,1386,216.3,10.0,648,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2112,1478,1570,1386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4310,1.08,252.7,2812,2112,1570,1386,196.8,10.2,685,4317,0.00,2.25,0.00,0.000,516,0.000,0.108,2813,933,1477,1570,1385,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4340,1.08,252.7,2812,932,1569,1385,193.4,11.7,690,4346,0.00,1.98,0.00,0.000,1030,0.000,0.043,2813,2101,1477,1569,1385,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4529,1.08,252.7,2812,2101,1569,1385,173.2,10.6,727,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2102,1477,1569,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4718,1.08,252.7,2812,2101,1569,1385,153.5,10.4,764,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2101,1477,1570,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4907,1.08,252.7,2812,2101,1569,1385,134.2,10.2,801,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2101,1477,1569,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,1.11,252.7,2812,2101,1569,1385,115.4,10.1,838,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2101,1477,1569,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,1.12,254.8,2812,2101,1569,1385,96.6,9.9,875,5293,0.00,2.20,0.00,0.000,516,0.000,0.109,2813,936,1477,1569,1385,0,0,0,0,0,0,28.83,24.54,28.83
$GC,5315,1.12,254.8,2812,936,1568,1385,93.5,10.7,880,5322,0.00,1.98,0.00,0.000,1030,0.000,0.044,2813,2103,1476,1568,1385,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5506,1.12,256.6,2812,2104,1568,1384,74.6,9.9,917,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2104,1476,1568,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,1.17,280.8,2812,2104,1568,1385,57.3,9.1,954,5726,0.10,0.00,23.85,0.916,10246,0.101,0.000,2833,2104,1374,1464,1285,0,0,0,0,0,0,24.71,28.83,23.54
$GC,5909,1.17,280.8,2833,2104,1459,1282,35.1,11.0,995,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2104,1370,1459,1282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6097,1.17,280.8,2833,2104,1458,1281,14.2,10.3,1032,6104,0.00,2.20,0.00,0.000,516,0.000,0.103,2833,932,1369,1458,1281,0,0,0,0,0,0,28.83,24.52,28.83
$GC,6122,1.17,280.8,2833,932,1458,1281,11.5,11.1,1036,6128,0.00,1.98,0.00,0.000,1030,0.000,0.044,2833,2102,1369,1458,1281,0,0,0,0,0,0,28.83,24.60,28.83
$STATE,6204,end climb,SURFACE_DEPTH_REACHED
$STATE,6204,begin surface coast
$FINISH,0.3,1.013426
$STATE,6221,end surface coast,CONTROL_FINISHED_OK
$STATE,6221,begin surface
$SM_CCo,6240,61.15,0.796,1,0,1093,350.04
$SM_GC,1.19,10.32,0.50,61.15,0.051,0.068,0.796,575,2382,1093,-9.15,-0.54,350.04,0,0,0,0,1,0,24.64,24.61,23.48
$RAFOS_CLK,357
$RAFOS,2,1419559770,2.166670,2.158333,160,65,62,0,0,0,448,192,182,0,0,0
$RAFOS,1,1419559518,2.100000,2.088333,115,58,55,0,0,0,488,212,128,0,0,0
$RAFOS,0,1419559263,2.033333,2.017500,107,63,62,0,0,0,697,183,170,0,0,0
$RAFOS_FIX,-6625.400391,12002.343750,261214,020200,3,127,3.21
$IRIDIUM_FIX,-6553.70,12036.64,251214,225552
$TT8_MAMPS,0.021721,0.021721
$HUMID,69.53
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.22,3.186
$10V_AH,9.98,2.266
$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,24.575,30.450,396.575,61.150,0.000,0.000,0.000,165.925,0.000,0.000,37.461,2462.233,1640.100,639.775,1726.624,146.769,0.000,1625.094,0.000,1505.048,720.000,0.532,0.000
$DEVICE_MAMPS,230.265,108.630,1055.700,795.600,0.000,0.000,0.000,130.050,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298432
$DATA_FILE_SIZE,50099,1055
$CAP_FILE_SIZE,95606,0
$CFSIZE,256368640,251564032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6658.75,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.099,211.07,1
$GPS,261214,023749,-6626.491,12024.357,97,1.8,97,-107.0