version: 66.12
glider: 17
mission: 16
dive: 12
start: 12 26 114 4 40 3
data:
$ID,17
$MISSION,16
$DIVE,12
$N_DIVES,15
$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,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
$GPS1,261214,024222,-6626.494,12024.339,181,99.0,181,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.8
$GPS2,261214,024222,-6626.494,12024.339,181,99.0,181,-107.0
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_SE
$TGT_LATLONG,-6628.000,12025.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,337.1,2833,-27.2,-10.000,-30.00,985
$D_GRID,559
$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,-1.42,-65.0,586,2387,1127,1037,0.0,0.0,0,153,0.00,0.00,-133.23,0.000,16390,0.000,0.000,586,2387,2785,2798,2772,0,0,0,0,0,0,28.83,28.83,24.91
$GC,156,-1.48,-122.4,585,2387,2798,2772,2.6,-4.0,22,182,11.18,2.25,-8.45,0.000,18948,0.235,0.107,2250,1215,3020,3062,2979,0,0,0,0,0,0,24.37,24.44,24.82
$GC,315,-1.48,-122.4,2250,1215,3063,2980,31.2,-18.0,52,322,0.00,2.00,0.00,0.000,1030,0.000,0.053,2251,2377,3021,3063,2980,0,0,0,0,0,0,28.83,24.56,28.83
$GC,505,-1.45,-122.4,2250,2377,3063,2980,64.5,-17.7,89,512,0.00,2.10,0.00,0.000,260,0.000,0.081,2250,3547,3021,3063,2980,0,0,0,0,0,0,28.83,24.52,28.83
$GC,555,-1.45,-122.4,2250,3547,3063,2980,73.6,-18.4,98,562,0.00,2.10,0.00,0.000,1030,0.000,0.073,2251,2375,3021,3063,2980,0,0,0,0,0,0,28.83,24.57,28.83
$GC,746,-1.41,-122.4,2250,2376,3063,2980,106.0,-15.6,135,753,0.12,2.12,0.00,0.000,2308,0.167,0.080,2271,3543,3021,3063,2980,0,0,0,0,0,0,24.56,24.53,28.83
$GC,841,-1.41,-122.4,2271,3543,3063,2980,121.3,-15.4,153,848,0.00,2.10,0.00,0.000,1030,0.000,0.076,2271,2376,3021,3063,2980,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1032,-1.41,-122.4,2271,2376,3063,2980,150.0,-15.5,190,1038,0.00,2.12,0.00,0.000,260,0.000,0.084,2271,3547,3021,3063,2980,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1106,-1.44,-122.4,2271,3546,3063,2980,162.5,-16.4,204,1113,0.00,2.10,0.00,0.000,1030,0.000,0.078,2271,2381,3021,3063,2980,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1297,-1.44,-122.4,2271,2381,3063,2980,192.8,-15.6,241,1304,0.00,2.12,0.00,0.000,260,0.000,0.085,2271,3542,3021,3063,2980,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1367,-1.48,-122.4,2271,3542,3063,2980,203.9,-15.5,254,1374,0.00,2.10,0.00,0.000,1030,0.000,0.080,2271,2381,3021,3063,2980,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1557,-1.48,-122.4,2271,2381,3063,2980,233.3,-15.4,291,1564,0.00,2.10,0.00,0.000,260,0.000,0.085,2271,3542,3021,3063,2980,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1627,-1.52,-122.4,2271,3541,3063,2980,244.1,-15.0,304,1634,0.00,2.10,0.00,0.000,1030,0.000,0.080,2271,2380,3021,3063,2980,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1831,-1.52,-122.4,2271,2380,3064,2980,274.1,-14.4,320,1835,0.00,2.12,0.00,0.000,260,0.000,0.086,2271,3540,3021,3063,2980,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1913,-1.55,-122.4,2271,3541,3063,2979,286.4,-15.0,336,1921,0.15,2.12,0.00,0.000,5126,0.097,0.083,2243,2378,3022,3064,2980,0,0,0,0,0,0,24.65,24.59,28.83
$STATE,2011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2011,begin apogee
$GC,2017,-0.25,0.0,2242,2082,3064,2980,302.3,-16.0,344,2123,1.58,0.00,101.90,1.040,10246,0.158,0.000,2521,2083,2520,2581,2460,0,0,0,0,0,0,24.56,28.83,23.32
$STATE,2124,end apogee,CONTROL_FINISHED_OK
$STATE,2124,begin climb
$GC,2126,1.48,122.4,2521,2082,2581,2459,306.9,0.0,349,2239,1.88,2.22,102.32,0.988,10756,0.091,0.104,2901,939,2018,2089,1948,0,0,0,0,0,0,24.06,23.84,23.28
$GC,2296,1.48,122.4,2900,939,2085,1942,292.3,13.9,385,2300,0.00,2.00,0.00,0.000,1030,0.000,0.045,2901,2103,2013,2085,1941,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2493,1.53,122.4,2901,2103,2085,1936,266.1,13.4,397,2497,0.00,2.10,0.00,0.000,260,0.000,0.085,2901,3263,2010,2085,1935,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2583,1.57,122.4,2901,3263,2084,1935,253.6,13.4,415,2588,0.00,2.15,0.00,0.000,1030,0.000,0.088,2901,2095,2009,2084,1935,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2769,1.62,122.4,2901,2095,2084,1932,230.1,12.2,446,2777,0.12,2.12,0.00,0.000,2308,0.102,0.081,2927,3261,2008,2084,1932,0,0,0,0,0,0,24.59,24.53,28.83
$GC,2826,1.62,122.4,2927,3261,2084,1932,222.6,13.7,456,2832,0.00,2.12,0.00,0.000,1030,0.000,0.087,2927,2101,2008,2084,1932,0,0,0,0,0,0,28.83,24.54,28.83
$GC,3015,1.62,122.4,2927,2100,2083,1931,196.3,13.4,493,3022,0.00,2.10,0.00,0.000,260,0.000,0.081,2927,3261,2007,2083,1931,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3044,1.62,122.4,2927,3261,2083,1931,192.2,14.0,498,3052,0.00,2.12,0.00,0.000,1030,0.000,0.086,2927,2099,2007,2083,1931,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3236,1.62,122.4,2927,2099,2082,1930,166.7,13.0,535,3242,0.00,2.10,0.00,0.000,260,0.000,0.080,2927,3261,2006,2083,1930,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3290,1.62,122.4,2927,3261,2083,1930,159.6,12.9,545,3297,0.00,2.12,0.00,0.000,1030,0.000,0.085,2927,2097,2006,2083,1930,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3479,1.62,122.4,2927,2097,2082,1929,135.3,13.0,582,3486,0.00,2.10,0.00,0.000,260,0.000,0.080,2927,3261,2005,2082,1929,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3529,1.62,122.4,2927,3261,2082,1930,128.5,14.0,591,3536,0.00,2.12,0.00,0.000,1030,0.000,0.085,2927,2101,2005,2082,1929,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3720,1.62,122.4,2927,2101,2081,1929,102.8,13.3,628,3727,0.00,2.10,0.00,0.000,260,0.000,0.079,2927,3264,2005,2082,1929,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3796,1.62,122.4,2927,3264,2082,1929,92.6,13.7,642,3803,0.00,2.12,0.00,0.000,1030,0.000,0.084,2927,2096,2005,2082,1929,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3987,1.62,122.4,2927,2096,2081,1928,67.5,13.2,679,3993,0.00,2.10,0.00,0.000,260,0.000,0.078,2927,3261,2005,2082,1928,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4021,1.62,122.4,2927,3261,2082,1928,63.0,12.9,685,4028,0.00,2.12,0.00,0.000,1030,0.000,0.083,2927,2092,2004,2081,1928,0,0,0,0,0,0,28.83,24.57,28.83
$GC,4212,1.62,122.4,2927,2092,2081,1928,39.1,13.1,722,4219,0.00,2.10,0.00,0.000,260,0.000,0.077,2927,3262,2004,2081,1928,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4272,1.62,122.4,2927,3262,2081,1928,31.2,12.8,733,4279,0.00,2.10,0.00,0.000,1030,0.000,0.081,2927,2104,2004,2081,1928,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4463,1.62,122.4,2927,2104,2081,1928,6.4,11.6,770,4470,0.00,2.10,0.00,0.000,260,0.000,0.079,2927,3268,2004,2081,1928,0,0,0,0,0,0,28.83,24.60,28.83
$STATE,4501,end climb,SURFACE_DEPTH_REACHED
$STATE,4501,begin surface coast
$FINISH,0.5,1.027503
$STATE,4513,end surface coast,CONTROL_FINISHED_OK
$STATE,4513,begin surface
$SM_CCo,4534,151.12,0.809,1,0,1092,350.04
$SM_GC,1.19,11.00,1.67,151.12,0.066,0.085,0.809,586,2381,1092,-9.13,0.51,350.04,0,0,0,0,1,0,24.62,24.60,23.44
$RAFOS_CLK,293
$RAFOS_FIX,-6622.774414,11946.541992,261214,040428,2,135,5.66
$IRIDIUM_FIX,-6558.99,12023.55,261214,023918
$TT8_MAMPS,0.021721,0.021721
$HUMID,68.86
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.28,3.421
$10V_AH,10.02,2.358
$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,26.025,71.950,204.225,151.125,0.000,0.000,0.000,152.875,0.000,0.000,182.658,1818.604,1151.944,567.291,1452.783,123.316,0.000,1340.927,0.000,1116.001,0.000,0.531,0.000
$DEVICE_MAMPS,234.855,107.100,1039.635,809.370,0.000,0.000,0.000,133.875,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298504
$DATA_FILE_SIZE,36804,779
$CAP_FILE_SIZE,82499,0
$CFSIZE,256368640,251478016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,7021.66,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.415,212.12,1
$GPS,261214,060056,-6627.441,12022.318,96,2.1,117,-107.1