version: 66.12
glider: 17
mission: 16
dive: 14
start: 12 26 114 7 59 19
data:
$ID,17
$MISSION,16
$DIVE,14
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,261214,075259,-6627.490,12020.853,79,1.7,83,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.6
$GPS2,261214,075831,-6627.504,12020.817,38,1.7,38,-107.0
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,358.4,2277,-21.2,-10.000,-24.58,1581
$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,14,begin dive
$GC,16,-1.17,-105.3,584,2379,1121,1040,0.0,0.0,0,162,0.00,0.00,-142.25,0.000,16390,0.000,0.000,584,2379,2950,2963,2938,0,0,0,0,0,0,28.83,28.83,24.88
$GC,165,-1.20,-135.5,584,2379,2963,2939,3.7,-8.0,24,186,11.60,2.22,-3.50,0.000,18948,0.233,0.102,2313,1213,3074,3105,3044,0,0,0,0,0,0,24.33,24.40,24.76
$GC,335,-1.17,-135.5,2312,1212,3107,3044,31.1,-12.6,56,341,0.00,2.03,0.00,0.000,1030,0.000,0.054,2313,2382,3075,3107,3044,0,0,0,0,0,0,28.83,24.53,28.83
$GC,525,-1.12,-135.5,2312,2382,3107,3044,57.4,-14.2,93,533,0.12,2.10,0.00,0.000,2308,0.171,0.083,2333,3540,3075,3107,3044,0,0,0,0,0,0,24.53,24.51,28.83
$GC,611,-1.12,-135.5,2332,3540,3107,3044,68.6,-12.9,109,619,0.00,2.08,0.00,0.000,1030,0.000,0.075,2333,2381,3075,3107,3044,0,0,0,0,0,0,28.83,24.56,28.83
$GC,802,-1.12,-135.5,2333,2381,3107,3044,93.4,-12.8,146,808,0.00,2.10,0.00,0.000,260,0.000,0.083,2333,3540,3076,3107,3045,0,0,0,0,0,0,28.83,24.53,28.83
$GC,836,-1.12,-135.5,2333,3540,3107,3044,98.0,-13.9,152,842,0.00,2.10,0.00,0.000,1030,0.000,0.076,2333,2375,3076,3107,3045,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1025,-1.12,-135.5,2333,2376,3107,3045,121.9,-12.5,189,1032,0.00,2.12,0.00,0.000,260,0.000,0.085,2333,3543,3075,3107,3044,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1059,-1.12,-135.5,2332,3543,3107,3044,126.3,-13.1,195,1066,0.00,2.10,0.00,0.000,1030,0.000,0.079,2333,2380,3075,3107,3044,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1248,-1.12,-135.5,2333,2380,3107,3044,149.9,-12.5,232,1255,0.00,2.12,0.00,0.000,260,0.000,0.086,2333,3544,3076,3108,3044,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1262,-1.12,-135.5,2333,3544,3107,3044,151.6,-12.7,234,1269,0.00,2.12,0.00,0.000,1030,0.000,0.080,2333,2373,3076,3108,3044,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1452,-1.12,-135.5,2333,2374,3107,3044,175.4,-12.4,271,1458,0.00,2.12,0.00,0.000,260,0.000,0.088,2333,3540,3076,3108,3044,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1471,-1.12,-135.5,2333,3540,3107,3044,177.8,-12.7,274,1478,0.00,2.12,0.00,0.000,1030,0.000,0.082,2333,2374,3075,3107,3044,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1661,-1.12,-135.5,2333,2374,3107,3044,201.2,-12.1,311,1668,0.00,2.15,0.00,0.000,260,0.000,0.089,2333,3540,3076,3108,3044,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1695,-1.12,-135.5,2333,3540,3107,3044,205.6,-12.6,317,1703,0.00,2.12,0.00,0.000,1030,0.000,0.083,2333,2377,3076,3108,3045,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1886,-1.12,-135.5,2332,2377,3107,3044,228.7,-12.3,354,1893,0.00,2.15,0.00,0.000,260,0.000,0.091,2333,3545,3075,3107,3044,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1905,-1.12,-135.5,2333,3545,3107,3044,231.1,-12.1,357,1913,0.00,2.12,0.00,0.000,1030,0.000,0.085,2333,2381,3076,3108,3045,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2101,-1.12,-135.5,2333,2381,3107,3044,255.1,-12.2,389,2106,0.00,2.15,0.00,0.000,260,0.000,0.091,2333,3542,3075,3107,3044,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2128,-1.12,-135.5,2333,3542,3108,3044,258.5,-12.8,394,2132,0.00,2.12,0.00,0.000,1030,0.000,0.085,2333,2381,3076,3108,3044,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2325,-1.12,-135.5,2333,2381,3108,3044,282.6,-12.2,406,2329,0.00,2.17,0.00,0.000,260,0.000,0.092,2333,3545,3076,3108,3045,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2340,-1.12,-135.5,2332,3545,3107,3044,284.6,-12.2,409,2348,0.00,2.15,0.00,0.000,1030,0.000,0.086,2333,2374,3075,3107,3044,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,2484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2484,begin apogee
$GC,2490,-0.25,0.0,2332,2095,3107,3044,302.0,-11.8,417,2607,1.02,0.00,112.40,1.042,10246,0.138,0.000,2521,2095,2520,2577,2464,0,0,0,0,0,0,24.58,28.83,23.30
$STATE,2608,end apogee,CONTROL_FINISHED_OK
$STATE,2608,begin climb
$GC,2610,1.20,135.5,2521,2095,2576,2462,306.9,0.0,423,2736,1.60,2.33,113.68,1.003,10756,0.093,0.105,2835,941,1965,2040,1890,0,0,0,0,0,0,24.02,23.83,23.27
$GC,2772,1.23,135.5,2835,941,2038,1884,296.8,10.2,456,2776,0.00,2.00,0.00,0.000,1030,0.000,0.045,2835,2101,1960,2038,1883,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2969,1.28,139.8,2835,2101,2037,1876,277.7,9.7,468,2977,0.12,2.12,0.00,0.000,2308,0.096,0.086,2863,3264,1956,2037,1876,0,0,0,0,0,0,24.53,24.45,28.83
$GC,3060,1.25,139.8,2863,3264,2037,1875,267.5,11.5,486,3068,0.00,2.15,0.00,0.000,1030,0.000,0.091,2862,2105,1955,2037,1874,0,0,0,0,0,0,28.83,24.50,28.83
$GC,3249,1.25,139.8,2862,2105,2037,1873,246.8,10.9,500,3256,0.00,2.17,0.00,0.000,516,0.000,0.103,2863,936,1954,2035,1873,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3284,1.21,139.8,2862,936,2034,1873,242.9,11.2,506,3291,0.00,2.00,0.00,0.000,1030,0.000,0.045,2863,2111,1953,2034,1873,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3475,1.21,139.8,2862,2110,2034,1873,222.1,11.0,543,3482,0.00,2.08,0.00,0.000,260,0.000,0.087,2863,3261,1953,2034,1873,0,0,0,0,0,0,28.83,24.53,28.83
$GC,3555,1.21,139.8,2862,3261,2034,1873,213.3,11.1,558,3561,0.00,2.15,0.00,0.000,1030,0.000,0.090,2863,2096,1953,2034,1873,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3744,1.21,139.8,2863,2096,2034,1871,192.9,10.7,595,3750,0.00,2.12,0.00,0.000,260,0.000,0.085,2863,3264,1952,2034,1871,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3773,1.21,139.8,2862,3264,2034,1871,189.7,10.5,600,3780,0.00,2.15,0.00,0.000,1030,0.000,0.090,2863,2098,1952,2034,1871,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3963,1.21,139.8,2862,2098,2034,1870,169.7,10.3,637,3970,0.00,2.10,0.00,0.000,260,0.000,0.084,2863,3261,1952,2034,1871,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4013,1.21,139.8,2862,3261,2034,1870,164.3,10.8,646,4020,0.00,2.12,0.00,0.000,1030,0.000,0.087,2863,2100,1952,2034,1870,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4202,1.21,139.8,2862,2100,2034,1870,144.3,10.4,683,4208,0.00,2.10,0.00,0.000,260,0.000,0.084,2863,3261,1952,2034,1870,0,0,0,0,0,0,28.83,24.57,28.83
$GC,4231,1.21,139.8,2862,3261,2034,1870,141.1,11.1,688,4237,0.00,2.15,0.00,0.000,1030,0.000,0.090,2863,2095,1952,2034,1870,0,0,0,0,0,0,28.83,24.55,28.83
$GC,4421,1.21,139.8,2862,2095,2034,1870,120.6,10.5,725,4428,0.00,2.17,0.00,0.000,516,0.000,0.102,2863,932,1951,2033,1869,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4451,1.21,139.8,2862,932,2031,1869,117.2,11.2,730,4457,0.00,2.00,0.00,0.000,1030,0.000,0.046,2863,2108,1950,2031,1870,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4640,1.21,139.8,2863,2108,2031,1870,96.8,10.7,767,4646,0.00,2.08,0.00,0.000,260,0.000,0.084,2863,3264,1951,2032,1870,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4740,1.21,139.8,2862,3265,2032,1870,86.2,11.0,786,4747,0.00,2.15,0.00,0.000,1030,0.000,0.089,2863,2093,1951,2032,1870,0,0,0,0,0,0,28.83,24.57,28.83
$GC,4929,1.21,139.8,2862,2093,2031,1870,65.8,10.8,823,4936,0.00,2.15,0.00,0.000,516,0.000,0.102,2863,935,1950,2031,1869,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4959,1.21,139.8,2862,935,2030,1869,62.6,11.6,828,4965,0.00,1.98,0.00,0.000,1030,0.000,0.045,2863,2101,1949,2030,1869,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5149,1.21,139.8,2863,2101,2030,1869,42.4,10.5,865,5156,0.00,2.08,0.00,0.000,260,0.000,0.082,2863,3264,1949,2030,1869,0,0,0,0,0,0,28.83,24.60,28.83
$GC,5229,1.21,139.8,2862,3264,2031,1869,33.5,11.3,880,5236,0.00,2.12,0.00,0.000,1030,0.000,0.085,2863,2095,1950,2031,1869,0,0,0,0,0,0,28.83,24.59,28.83
$GC,5418,1.21,139.8,2862,2095,2031,1869,12.2,11.1,917,5426,0.00,2.10,0.00,0.000,260,0.000,0.080,2863,3266,1949,2030,1869,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5484,1.23,158.8,2862,3266,2031,1869,5.9,8.8,929,5509,0.00,2.10,18.17,0.898,9222,0.000,0.082,2863,2103,1872,1955,1790,0,0,0,0,0,0,28.83,24.60,23.57
$STATE,5528,end climb,SURFACE_DEPTH_REACHED
$STATE,5528,begin surface coast
$FINISH,0.2,1.014963
$STATE,5550,end surface coast,CONTROL_FINISHED_OK
$STATE,5550,begin surface
$SM_CCo,5569,126.07,0.795,1,0,1091,350.04
$SM_GC,1.23,10.65,0.52,126.07,0.057,0.072,0.795,584,2380,1091,-9.15,-0.57,350.04,0,0,0,0,1,0,24.43,24.41,23.44
$RAFOS_CLK,326
$RAFOS,2,1419581375,8.166670,8.159722,139,63,60,0,0,0,412,153,204,0,0,0
$RAFOS,1,1419581120,8.100000,8.088889,115,72,61,0,0,0,466,220,207,0,0,0
$RAFOS,0,1419580867,8.033333,8.018611,120,64,60,0,0,0,685,205,220,0,0,0
$RAFOS_FIX,-6626.318359,11957.290039,261214,080849,3,125,31.63
$IRIDIUM_FIX,-6558.99,12013.45,261214,060222
$TT8_MAMPS,0.020972,0.020972
$HUMID,68.07
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,23.27,3.662
$10V_AH,9.83,2.454
$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,25.125,94.225,244.250,126.075,0.000,0.000,0.000,213.975,0.000,0.000,39.141,2251.798,1469.514,617.503,1603.636,157.734,0.000,1583.933,0.000,1344.178,720.000,0.531,0.000
$DEVICE_MAMPS,233.325,104.805,1041.930,794.835,0.000,0.000,0.000,128.520,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298528
$DATA_FILE_SIZE,43517,941
$CAP_FILE_SIZE,100586,0
$CFSIZE,256368640,251342848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6780.38,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.098,235.31,1
$GPS,261214,093725,-6627.643,12019.773,80,3.4,101,-107.0