version: 66.12
glider: 17
mission: 16
dive: 16
start: 12 26 114 11 10 23
data:
$ID,17
$MISSION,16
$DIVE,16
$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,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
$GPS1,261214,110420,-6627.670,12019.145,81,2.2,102,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-61.2
$GPS2,261214,110948,-6627.686,12019.171,46,1.5,58,-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,338.6,1043,-27.2,-10.000,-30.00,985
$D_GRID,704
$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,-65.0,586,2380,1102,1054,0.0,0.0,0,150,0.00,0.00,-130.10,0.000,16390,0.000,0.000,586,2381,2785,2805,2766,0,0,0,0,0,0,28.83,28.83,24.87
$GC,153,-1.49,-130.3,586,2380,2805,2767,2.5,-3.2,22,180,11.20,2.20,-9.57,0.000,18948,0.234,0.102,2251,1216,3053,3101,3005,0,0,0,0,0,0,24.33,24.41,24.79
$GC,365,-1.49,-130.3,2251,1216,3102,3005,38.7,-17.7,62,371,0.00,2.03,0.00,0.000,1030,0.000,0.053,2251,2387,3053,3102,3005,0,0,0,0,0,0,28.83,24.54,28.83
$GC,555,-1.46,-130.3,2251,2387,3102,3006,73.0,-18.0,99,561,0.00,2.08,0.00,0.000,260,0.000,0.084,2251,3541,3054,3102,3006,0,0,0,0,0,0,28.83,24.51,28.83
$GC,648,-1.46,-130.3,2251,3541,3102,3006,90.3,-18.1,117,656,0.00,2.10,0.00,0.000,1030,0.000,0.080,2251,2381,3054,3102,3006,0,0,0,0,0,0,28.83,24.56,28.83
$GC,840,-1.46,-130.3,2251,2381,3102,3006,124.7,-18.0,154,846,0.00,2.12,0.00,0.000,260,0.000,0.085,2251,3546,3054,3102,3006,0,0,0,0,0,0,28.83,24.53,28.83
$GC,919,-1.46,-130.3,2251,3546,3102,3006,139.3,-18.0,169,926,0.00,2.12,0.00,0.000,1030,0.000,0.083,2251,2381,3054,3102,3006,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1109,-1.46,-130.3,2251,2381,3102,3006,172.5,-17.8,206,1116,0.00,2.12,0.00,0.000,260,0.000,0.086,2251,3543,3054,3102,3006,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1214,-1.46,-130.3,2250,3543,3102,3006,190.9,-17.4,226,1220,0.00,2.12,0.00,0.000,1030,0.000,0.084,2251,2381,3054,3102,3006,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1403,-1.46,-130.3,2251,2381,3102,3006,223.6,-16.9,263,1409,0.00,2.12,0.00,0.000,260,0.000,0.088,2251,3542,3054,3102,3006,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1518,-1.46,-130.3,2251,3542,3102,3006,243.6,-17.5,285,1525,0.00,2.12,0.00,0.000,1030,0.000,0.085,2251,2382,3054,3102,3006,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1718,-1.46,-130.3,2251,2381,3102,3006,277.4,-16.7,300,1722,0.00,2.15,0.00,0.000,260,0.000,0.090,2251,3543,3054,3102,3006,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1812,-1.46,-130.3,2251,3543,3102,3006,293.7,-17.0,319,1819,0.00,2.15,0.00,0.000,1030,0.000,0.086,2251,2377,3054,3102,3006,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,1857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1858,begin apogee
$GC,1863,-0.25,0.0,2251,2094,3102,3006,301.1,-16.5,322,1979,1.52,0.00,108.47,1.034,10246,0.161,0.000,2518,2094,2519,2587,2452,0,0,0,0,0,0,24.54,28.83,23.29
$STATE,1980,end apogee,CONTROL_FINISHED_OK
$STATE,1980,begin climb
$GC,1982,1.49,130.3,2518,2094,2587,2451,306.6,0.0,328,2100,1.90,2.30,109.60,1.020,11012,0.093,0.087,2902,3261,1987,2064,1910,0,0,0,0,0,0,24.06,23.85,23.26
$GC,2114,1.52,130.3,2902,3261,2061,1908,297.4,12.0,354,2118,0.00,2.20,0.00,0.000,1030,0.000,0.093,2902,2105,1984,2061,1907,0,0,0,0,0,0,28.83,24.08,28.83
$GC,2300,1.58,130.3,2902,2105,2059,1898,272.9,13.3,364,2304,0.00,2.15,0.00,0.000,260,0.000,0.086,2902,3270,1978,2059,1898,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2344,1.64,130.3,2903,3270,2058,1898,266.7,13.4,373,2350,0.17,2.20,0.00,0.000,3078,0.095,0.092,2936,2091,1978,2058,1898,0,0,0,0,0,0,24.49,24.46,28.83
$GC,2533,1.64,130.3,2935,2091,2057,1897,240.0,14.5,392,2540,0.00,2.15,0.00,0.000,260,0.000,0.084,2936,3262,1977,2057,1897,0,0,0,0,0,0,28.83,24.51,28.83
$GC,2572,1.64,130.3,2936,3262,2057,1897,234.1,14.5,399,2579,0.00,2.15,0.00,0.000,1030,0.000,0.090,2936,2101,1977,2057,1897,0,0,0,0,0,0,28.83,24.52,28.83
$GC,2764,1.64,130.3,2935,2101,2056,1895,207.0,14.5,436,2770,0.00,2.12,0.00,0.000,260,0.000,0.083,2936,3262,1975,2056,1895,0,0,0,0,0,0,28.83,24.53,28.83
$GC,2828,1.64,130.3,2935,3262,2056,1895,197.5,14.3,448,2834,0.00,2.15,0.00,0.000,1030,0.000,0.089,2936,2096,1975,2056,1895,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3017,1.64,130.3,2935,2096,2055,1894,171.0,13.7,485,3025,0.00,2.12,0.00,0.000,260,0.000,0.083,2936,3262,1974,2055,1894,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3072,1.64,130.3,2936,3262,2055,1894,163.3,14.3,495,3078,0.00,2.15,0.00,0.000,1030,0.000,0.087,2936,2095,1974,2055,1894,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3262,1.64,130.3,2936,2095,2054,1894,137.1,13.9,532,3268,0.00,2.12,0.00,0.000,260,0.000,0.082,2936,3263,1974,2054,1894,0,0,0,0,0,0,28.83,24.56,28.83
$GC,3307,1.64,130.3,2935,3263,2055,1894,130.7,14.3,540,3314,0.00,2.12,0.00,0.000,1030,0.000,0.086,2936,2105,1974,2055,1894,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3498,1.64,130.3,2936,2105,2054,1894,105.0,13.8,577,3505,0.00,2.10,0.00,0.000,260,0.000,0.082,2936,3262,1974,2054,1894,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3528,1.64,130.3,2936,3263,2054,1894,100.6,14.5,582,3535,0.00,2.15,0.00,0.000,1030,0.000,0.089,2936,2095,1974,2054,1894,0,0,0,0,0,0,28.83,24.55,28.83
$GC,3718,1.64,130.3,2936,2095,2054,1893,74.6,13.6,619,3725,0.00,2.12,0.00,0.000,260,0.000,0.081,2936,3264,1974,2054,1894,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3782,1.64,130.3,2935,3264,2054,1894,65.2,14.7,631,3789,0.00,2.12,0.00,0.000,1030,0.000,0.086,2936,2102,1974,2054,1894,0,0,0,0,0,0,28.83,24.57,28.83
$GC,3972,1.64,130.3,2936,2101,2054,1894,38.2,14.1,668,3979,0.00,2.10,0.00,0.000,260,0.000,0.080,2936,3263,1974,2054,1894,0,0,0,0,0,0,28.83,24.58,28.83
$GC,4061,1.64,130.3,2935,3263,2054,1894,25.7,14.5,685,4069,0.00,2.12,0.00,0.000,1030,0.000,0.085,2936,2099,1974,2054,1894,0,0,0,0,0,0,28.83,24.58,28.83
$STATE,4224,end climb,SURFACE_DEPTH_REACHED
$STATE,4224,begin surface coast
$FINISH,0.2,1.027526
$STATE,4241,end surface coast,CONTROL_FINISHED_OK
$STATE,4241,begin surface
$SM_CCo,4261,145.48,0.809,1,0,1092,350.04
$SM_GC,1.14,11.05,0.55,145.48,0.066,0.086,0.809,583,2381,1092,-9.15,-0.42,350.04,0,0,0,0,1,0,24.62,24.61,23.42
$RAFOS_CLK,253
$RAFOS,2,1419595773,12.166670,12.159166,131,60,57,0,0,0,418,207,160,0,0,0
$RAFOS,1,1419595517,12.100000,12.088056,115,62,61,0,0,0,479,201,138,0,0,0
$RAFOS,0,1419595262,12.033333,12.017222,115,54,53,0,0,0,701,191,180,0,0,0
$RAFOS_FIX,-6626.992676,12005.559570,261214,121228,3,120,2.94
$IRIDIUM_FIX,-6558.99,12035.60,261214,093902
$TT8_MAMPS,0.020972,0.020972
$HUMID,68.15
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.26,3.866
$10V_AH,9.96,2.532
$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,25.850,65.200,218.075,145.475,0.000,0.000,0.000,195.000,0.000,0.000,59.156,1718.768,1107.610,561.445,1284.916,126.578,0.000,1334.348,0.000,1033.077,720.000,0.531,0.000
$DEVICE_MAMPS,234.090,101.745,1034.280,808.605,0.000,0.000,0.000,125.460,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298552
$DATA_FILE_SIZE,33484,720
$CAP_FILE_SIZE,76665,0
$CFSIZE,256368640,251277312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,5233.56,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.065,256.72,1
$GPS,261214,122629,-6627.689,12018.564,59,1.6,70,-107.0