version: 66.12
glider: 17
mission: 16
dive: 13
start: 12 26 114 6 6 18
data:
$ID,17
$MISSION,16
$DIVE,13
$N_DIVES,18
$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,5
$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,13
$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
$GPS1,261214,060056,-6627.441,12022.318,96,2.1,117,-107.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.5
$GPS2,261214,060541,-6627.451,12022.255,17,1.5,33,-107.1
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,59.2,3307,-15.3,-10.000,-19.34,2862
$D_GRID,640
$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,-194.6,586,2377,1109,1046,0.0,0.0,0,158,0.00,0.00,-139.38,0.000,16386,0.000,0.000,586,2377,2965,2980,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,161,-0.96,-194.6,586,2377,2979,2950,3.6,-7.6,23,188,11.73,2.20,-9.30,0.000,19204,0.228,0.098,2363,3538,3316,3367,3265,0,0,0,0,0,0,24.30,24.38,24.78
$GC,417,-0.92,-194.6,2363,3538,3367,3266,39.3,-12.4,72,424,0.00,2.08,0.00,0.000,1030,0.000,0.073,2363,2380,3317,3368,3266,0,0,0,0,0,0,28.83,24.54,28.83
$GC,607,-0.88,-194.6,2363,2380,3368,3266,61.9,-11.3,109,615,0.12,2.12,0.00,0.000,2308,0.139,0.084,2386,3538,3317,3368,3266,0,0,0,0,0,0,24.56,24.51,28.83
$GC,709,-0.92,-194.6,2385,3537,3368,3266,72.5,-10.2,128,715,0.00,2.10,0.00,0.000,1030,0.000,0.076,2386,2376,3317,3368,3266,0,0,0,0,0,0,28.83,24.56,28.83
$GC,898,-0.92,-194.6,2385,2375,3368,3266,92.1,-10.1,165,904,0.00,2.12,0.00,0.000,516,0.000,0.091,2386,1207,3317,3368,3266,0,0,0,0,0,0,28.83,24.53,28.83
$GC,927,-0.92,-194.6,2386,1207,3368,3266,95.1,-10.4,170,934,0.00,2.03,0.00,0.000,1030,0.000,0.054,2386,2378,3317,3368,3266,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1119,-0.92,-194.6,2386,2378,3368,3266,114.8,-10.3,207,1125,0.00,2.10,0.00,0.000,260,0.000,0.086,2386,3542,3317,3368,3266,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1143,-0.92,-194.6,2385,3542,3368,3266,117.3,-10.2,211,1150,0.00,2.10,0.00,0.000,1030,0.000,0.078,2386,2379,3317,3368,3266,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1332,-0.92,-194.6,2386,2379,3368,3266,136.2,-9.6,248,1339,0.00,2.10,0.00,0.000,516,0.000,0.089,2386,1214,3317,3368,3266,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1352,-0.92,-194.6,2385,1214,3368,3266,138.2,-10.2,251,1358,0.00,2.03,0.00,0.000,1030,0.000,0.054,2386,2386,3317,3368,3266,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1541,-0.92,-194.6,2385,2386,3368,3266,157.3,-10.2,288,1547,0.00,2.10,0.00,0.000,260,0.000,0.089,2386,3543,3317,3368,3266,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1554,-0.92,-194.6,2386,3543,3368,3266,158.7,-9.9,290,1562,0.00,2.10,0.00,0.000,1030,0.000,0.079,2386,2380,3317,3368,3266,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1746,-0.92,-194.6,2385,2380,3368,3266,178.3,-10.3,327,1753,0.00,2.12,0.00,0.000,516,0.000,0.090,2386,1207,3317,3368,3266,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1765,-0.92,-194.6,2386,1206,3368,3266,180.3,-10.0,330,1772,0.00,2.03,0.00,0.000,1030,0.000,0.054,2386,2380,3317,3368,3266,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1957,-0.92,-194.6,2385,2380,3368,3266,199.5,-9.9,367,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2380,3317,3368,3266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-0.92,-194.6,2385,2380,3368,3266,217.9,-9.7,404,2153,0.00,2.10,0.00,0.000,260,0.000,0.090,2386,3540,3317,3368,3266,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2170,-0.92,-194.6,2385,3541,3368,3266,220.3,-9.9,408,2176,0.00,2.12,0.00,0.000,1030,0.000,0.083,2386,2372,3317,3368,3266,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2361,-0.92,-194.6,2385,2372,3368,3266,238.5,-9.8,445,2367,0.00,2.10,0.00,0.000,516,0.000,0.091,2386,1213,3317,3368,3266,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2385,-0.92,-194.6,2386,1213,3368,3266,241.0,-9.7,449,2391,0.00,2.03,0.00,0.000,1030,0.000,0.055,2386,2384,3317,3368,3266,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2580,-0.92,-194.6,2385,2384,3368,3266,260.1,-9.8,472,2584,0.00,2.12,0.00,0.000,260,0.000,0.091,2386,3545,3317,3368,3266,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2605,-0.95,-194.6,2386,3545,3368,3266,262.8,-10.0,477,2609,0.00,2.12,0.00,0.000,1030,0.000,0.083,2386,2380,3317,3368,3266,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2797,-0.95,-194.6,2385,2380,3368,3266,281.7,-9.8,488,2801,0.00,2.12,0.00,0.000,516,0.000,0.091,2386,1211,3317,3368,3266,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2822,-0.95,-194.6,2385,1210,3368,3266,284.3,-9.5,493,2826,0.00,2.03,0.00,0.000,1030,0.000,0.055,2385,2378,3317,3368,3266,0,0,0,0,0,0,28.83,24.63,28.83
$STATE,2996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2997,begin apogee
$GC,3002,-0.25,0.0,2386,2100,3368,3266,301.2,-9.6,504,3167,0.70,0.00,160.15,1.026,10246,0.114,0.000,2519,2099,2519,2596,2443,0,0,0,0,0,0,24.62,28.83,23.29
$STATE,3168,end apogee,CONTROL_FINISHED_OK
$STATE,3168,begin climb
$GC,3170,0.96,194.6,2519,2099,2596,2441,307.7,0.0,512,3343,1.33,2.33,161.70,1.008,10756,0.086,0.106,2784,938,1725,1817,1633,0,0,0,0,0,0,24.02,23.81,23.25
$GC,3370,1.05,247.4,2784,938,1811,1632,297.3,8.1,554,3422,0.12,2.03,46.20,1.007,11270,0.088,0.045,2808,2108,1511,1602,1421,0,0,0,0,0,0,24.22,24.20,23.25
$GC,3602,1.05,247.4,2808,2108,1592,1412,274.6,10.1,573,3606,0.00,2.10,0.00,0.000,260,0.000,0.084,2808,3265,1502,1593,1412,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3653,1.05,247.4,2808,3266,1591,1412,269.2,10.4,583,3657,0.00,2.17,0.00,0.000,1030,0.000,0.090,2808,2092,1501,1591,1411,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3839,1.05,253.4,2808,2092,1591,1409,250.9,9.8,593,3851,0.00,2.28,4.78,0.744,8708,0.000,0.108,2808,937,1486,1577,1395,0,0,0,0,0,0,28.83,24.34,23.75
$GC,3890,1.05,253.4,2808,937,1576,1395,245.8,10.3,603,3896,0.00,2.00,0.00,0.000,1030,0.000,0.046,2808,2108,1486,1577,1395,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4079,1.05,256.2,2808,2108,1576,1394,227.0,9.9,640,4092,0.00,2.12,4.10,0.695,8452,0.000,0.082,2808,3255,1474,1565,1384,0,0,0,0,0,0,28.83,24.41,23.78
$GC,4110,1.10,256.2,2808,3256,1565,1384,223.9,10.0,645,4116,0.00,2.15,0.00,0.000,1030,0.000,0.092,2808,2099,1474,1564,1384,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4300,1.13,259.8,2808,2099,1564,1384,205.3,9.9,682,4314,0.00,2.28,4.80,0.759,8708,0.000,0.109,2808,937,1460,1551,1370,0,0,0,0,0,0,28.83,24.36,23.75
$GC,4352,1.16,259.8,2808,936,1551,1369,200.1,10.2,691,4359,0.12,2.00,0.00,0.000,3078,0.093,0.044,2833,2109,1460,1551,1369,0,0,0,0,0,0,24.51,24.49,28.83
$GC,4542,1.16,259.8,2833,2109,1550,1369,179.3,10.8,728,4548,0.00,2.05,0.00,0.000,260,0.000,0.081,2833,3261,1459,1550,1369,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4581,1.16,259.8,2833,3261,1549,1369,174.9,11.0,735,4588,0.00,2.15,0.00,0.000,1030,0.000,0.088,2833,2092,1459,1549,1369,0,0,0,0,0,0,28.83,24.54,28.83
$GC,4771,1.16,259.8,2833,2091,1548,1369,154.2,10.6,772,4778,0.00,2.15,0.00,0.000,516,0.000,0.106,2833,937,1458,1548,1369,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4820,1.16,259.8,2833,937,1548,1369,148.7,11.1,781,4827,0.00,1.98,0.00,0.000,1030,0.000,0.044,2833,2104,1458,1548,1369,0,0,0,0,0,0,28.83,24.59,28.83
$GC,5010,1.16,259.8,2833,2104,1548,1369,128.5,10.9,818,5017,0.00,2.05,0.00,0.000,260,0.000,0.080,2833,3260,1458,1548,1369,0,0,0,0,0,0,28.83,24.56,28.83
$GC,5050,1.16,259.8,2833,3260,1547,1369,124.0,11.6,825,5056,0.00,2.12,0.00,0.000,1030,0.000,0.085,2833,2093,1458,1547,1369,0,0,0,0,0,0,28.83,24.57,28.83
$GC,5239,1.16,259.8,2833,2093,1547,1369,103.8,10.3,862,5247,0.00,2.15,0.00,0.000,516,0.000,0.106,2833,937,1458,1547,1369,0,0,0,0,0,0,28.83,24.52,28.83
$GC,5284,1.16,259.8,2833,937,1546,1369,98.9,11.0,870,5291,0.00,1.98,0.00,0.000,1030,0.000,0.044,2833,2104,1457,1546,1369,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5476,1.16,259.8,2833,2104,1546,1369,78.7,11.1,907,5483,0.00,2.05,0.00,0.000,260,0.000,0.079,2834,3261,1457,1546,1369,0,0,0,0,0,0,28.83,24.58,28.83
$GC,5515,1.16,259.8,2833,3261,1546,1369,74.1,11.4,914,5522,0.00,2.12,0.00,0.000,1030,0.000,0.084,2833,2094,1457,1546,1369,0,0,0,0,0,0,28.83,24.56,28.83
$GC,5706,1.18,272.7,2833,2094,1546,1368,54.1,9.5,951,5725,0.00,2.30,13.00,0.926,8708,0.000,0.107,2833,933,1408,1497,1319,0,0,0,0,0,0,28.83,24.18,23.63
$GC,5762,1.18,272.7,2833,933,1494,1319,48.1,11.0,961,5769,0.00,2.00,0.00,0.000,1030,0.000,0.045,2833,2103,1406,1494,1318,0,0,0,0,0,0,28.83,24.43,28.83
$GC,5953,1.18,272.7,2833,2103,1493,1316,26.6,11.4,998,5960,0.00,2.05,0.00,0.000,260,0.000,0.077,2833,3261,1404,1493,1316,0,0,0,0,0,0,28.83,24.54,28.83
$GC,6003,1.18,272.7,2834,3261,1491,1316,20.5,11.6,1007,6010,0.00,2.12,0.00,0.000,1030,0.000,0.086,2834,2100,1403,1491,1316,0,0,0,0,0,0,28.83,24.53,28.83
$STATE,6165,end climb,SURFACE_DEPTH_REACHED
$STATE,6165,begin surface coast
$FINISH,0.5,1.027501
$STATE,6181,end surface coast,CONTROL_FINISHED_OK
$STATE,6181,begin surface
$SM_CCo,6201,67.43,0.789,1,0,1093,350.04
$SM_GC,1.33,10.45,0.52,67.43,0.058,0.075,0.789,584,2377,1093,-9.14,-0.65,350.04,0,0,0,0,1,0,24.60,24.60,23.46
$RAFOS_CLK,356
$RAFOS,2,1419574144,6.166670,6.151111,139,61,56,0,0,0,586,217,205,0,0,0
$RAFOS_FIX,-6622.774414,11946.541992,261214,040428,2,135,5.66
$IRIDIUM_FIX,-6558.99,12018.10,261214,043411
$TT8_MAMPS,0.020972,0.020972
$HUMID,69.53
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.25,3.555
$10V_AH,9.84,2.408
$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,24.575,97.875,394.725,67.425,0.000,0.000,0.000,180.950,0.000,0.000,34.595,2426.115,1603.607,677.886,1709.344,166.981,0.000,1700.330,0.000,1487.003,240.000,0.531,0.000
$DEVICE_MAMPS,227.970,108.630,1025.865,788.715,0.000,0.000,0.000,126.225,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298484
$DATA_FILE_SIZE,50164,1042
$CAP_FILE_SIZE,109801,0
$CFSIZE,256368640,251387904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5173.59,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.162,239.40,1
$GPS,261214,075259,-6627.490,12020.853,79,1.7,83,-107.0