version: 66.12
glider: 17
mission: 16
dive: 17
start: 12 26 114 12 33 40
data:
$ID,17
$MISSION,16
$DIVE,17
$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
$GPS1,261214,122629,-6627.689,12018.564,59,1.6,70,-107.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.9
$GPS2,261214,123303,-6627.689,12018.576,69,6.5,89,-107.0
$SPEED_LIMITS,0.173,0.285
$TGT_NAME,TARGET_NW
$TGT_LATLONG,-6625.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,115.2,4998,-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,-194.6,582,2381,1102,1053,0.0,0.0,0,161,0.00,0.00,-142.30,0.000,16386,0.000,0.000,582,2383,3013,3032,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,165,-0.96,-194.6,582,2383,3033,2996,3.8,-9.2,24,191,11.95,2.28,-7.62,0.000,18948,0.233,0.109,2363,1210,3315,3363,3268,0,0,0,0,0,0,24.30,24.39,24.77
$GC,265,-0.92,-194.6,2362,1208,3364,3269,23.3,-12.1,42,272,0.00,2.03,0.00,0.000,1030,0.000,0.053,2363,2378,3316,3364,3269,0,0,0,0,0,0,28.83,24.51,28.83
$GC,456,-0.86,-194.6,2363,2378,3365,3269,47.0,-12.1,79,464,0.12,2.12,0.00,0.000,2308,0.138,0.086,2386,3542,3317,3365,3269,0,0,0,0,0,0,24.54,24.49,28.83
$GC,512,-0.90,-194.6,2386,3542,3365,3269,52.6,-9.4,89,519,0.00,2.12,0.00,0.000,1030,0.000,0.080,2386,2376,3317,3365,3269,0,0,0,0,0,0,28.83,24.54,28.83
$GC,702,-0.90,-194.6,2386,2375,3365,3269,71.8,-10.4,126,708,0.00,2.10,0.00,0.000,516,0.000,0.089,2386,1214,3317,3365,3269,0,0,0,0,0,0,28.83,24.53,28.83
$GC,751,-0.90,-194.6,2386,1214,3364,3269,76.9,-10.4,135,758,0.00,2.03,0.00,0.000,1030,0.000,0.055,2386,2381,3317,3365,3269,0,0,0,0,0,0,28.83,24.57,28.83
$GC,941,-0.90,-194.6,2386,2381,3365,3269,97.2,-10.9,172,948,0.00,2.12,0.00,0.000,260,0.000,0.090,2386,3543,3317,3365,3269,0,0,0,0,0,0,28.83,24.52,28.83
$GC,1001,-0.93,-194.6,2386,3543,3365,3269,103.9,-11.3,183,1008,0.00,2.12,0.00,0.000,1030,0.000,0.080,2386,2375,3317,3365,3269,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1193,-0.93,-194.6,2385,2375,3365,3269,124.1,-10.1,220,1199,0.00,2.10,0.00,0.000,516,0.000,0.089,2386,1214,3317,3365,3269,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1263,-0.93,-194.6,2385,1214,3365,3269,130.9,-10.1,233,1269,0.00,2.03,0.00,0.000,1030,0.000,0.055,2386,2382,3317,3365,3269,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1453,-0.93,-194.6,2386,2382,3365,3269,150.6,-10.4,270,1460,0.00,2.12,0.00,0.000,260,0.000,0.092,2386,3542,3317,3365,3269,0,0,0,0,0,0,28.83,24.54,28.83
$GC,1518,-0.96,-194.6,2386,3542,3365,3269,157.7,-10.9,282,1524,0.00,2.12,0.00,0.000,1030,0.000,0.082,2386,2378,3317,3365,3269,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1707,-0.96,-194.6,2386,2378,3365,3269,177.6,-10.3,319,1714,0.00,2.12,0.00,0.000,516,0.000,0.090,2386,1207,3317,3365,3269,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1752,-0.99,-194.6,2386,1207,3365,3269,182.3,-10.4,327,1760,0.12,2.05,0.00,0.000,5126,0.083,0.057,2359,2388,3317,3365,3269,0,0,0,0,0,0,24.65,24.60,28.83
$GC,1944,-0.94,-194.6,2359,2388,3365,3269,204.8,-12.2,364,1951,0.00,2.10,0.00,0.000,260,0.000,0.093,2359,3540,3317,3365,3269,0,0,0,0,0,0,28.83,24.55,28.83
$GC,2009,-0.94,-194.6,2359,3540,3365,3269,212.9,-12.2,376,2015,0.00,2.12,0.00,0.000,1030,0.000,0.085,2359,2380,3317,3365,3269,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2198,-0.90,-194.6,2359,2380,3365,3269,235.7,-11.9,413,2205,0.12,2.15,0.00,0.000,2564,0.141,0.090,2381,1207,3317,3365,3269,0,0,0,0,0,0,24.61,24.58,28.83
$GC,2242,-0.90,-194.6,2381,1207,3365,3269,240.7,-10.9,421,2248,0.00,2.05,0.00,0.000,1030,0.000,0.057,2381,2387,3317,3365,3269,0,0,0,0,0,0,28.83,24.61,28.83
$GC,2437,-0.90,-194.6,2381,2387,3365,3269,260.4,-10.1,444,2440,0.00,2.12,0.00,0.000,260,0.000,0.096,2381,3542,3317,3365,3269,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2491,-0.93,-194.6,2381,3542,3365,3269,266.3,-10.4,455,2499,0.00,2.12,0.00,0.000,1030,0.000,0.085,2381,2381,3317,3365,3269,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2678,-0.93,-194.6,2381,2381,3365,3269,285.0,-10.0,465,2684,0.00,2.12,0.00,0.000,516,0.000,0.091,2381,1213,3317,3365,3269,0,0,0,0,0,0,28.83,24.59,28.83
$GC,2726,-0.93,-194.6,2381,1213,3365,3269,290.1,-10.2,475,2730,0.00,2.03,0.00,0.000,1030,0.000,0.057,2381,2378,3317,3365,3269,0,0,0,0,0,0,28.83,24.62,28.83
$STATE,2836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2836,begin apogee
$GC,2842,-0.25,0.0,2381,2101,3365,3269,300.9,-9.8,482,3006,0.73,0.00,160.88,1.025,10246,0.114,0.000,2520,2101,2520,2599,2441,0,0,0,0,0,0,24.60,28.83,23.28
$STATE,3007,end apogee,CONTROL_FINISHED_OK
$STATE,3007,begin climb
$GC,3010,0.96,194.6,2520,2101,2599,2440,307.9,0.0,490,3183,1.33,2.33,162.20,0.973,10756,0.087,0.105,2784,936,1726,1819,1633,0,0,0,0,0,0,23.99,23.80,23.24
$GC,3210,1.05,248.9,2784,936,1812,1632,297.9,8.1,532,3264,0.12,2.03,47.95,1.002,11270,0.088,0.044,2808,2105,1505,1595,1416,0,0,0,0,0,0,24.20,24.18,23.22
$GC,3462,1.05,250.8,2808,2105,1588,1403,273.5,9.9,555,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2105,1495,1588,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3643,1.05,253.5,2808,2105,1587,1401,255.6,9.9,564,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2105,1494,1587,1401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,1.05,253.5,2808,2105,1586,1400,237.7,10.2,591,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2105,1493,1586,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,1.07,266.4,2807,2106,1585,1400,218.8,9.5,628,4032,0.00,0.00,14.57,0.960,8710,0.000,0.000,2808,2105,1434,1526,1342,0,0,0,0,0,0,28.83,28.83,23.52
$GC,4215,1.11,266.4,2808,2105,1524,1338,199.4,10.1,667,4222,0.00,2.20,0.00,0.000,516,0.000,0.103,2808,935,1430,1523,1338,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4255,1.14,266.4,2808,934,1523,1338,195.1,10.9,674,4261,0.00,1.98,0.00,0.000,1030,0.000,0.043,2808,2100,1430,1523,1338,0,0,0,0,0,0,28.83,24.53,28.83
$GC,4445,1.18,266.4,2808,2100,1522,1337,176.2,10.0,711,4452,0.12,0.00,0.00,0.000,2054,0.089,0.000,2837,2100,1429,1522,1337,0,0,0,0,0,0,24.62,28.83,28.83
$GC,4636,1.18,266.4,2836,2100,1521,1336,154.6,11.3,748,4643,0.00,2.22,0.00,0.000,516,0.000,0.111,2836,932,1429,1521,1337,0,0,0,0,0,0,28.83,24.51,28.83
$GC,4650,1.18,266.4,2836,932,1521,1337,153.0,11.4,750,4656,0.00,1.98,0.00,0.000,1030,0.000,0.041,2837,2102,1429,1521,1337,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4840,1.18,266.4,2836,2102,1521,1337,130.8,11.4,787,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2102,1429,1521,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,1.18,266.4,2837,2102,1520,1336,109.8,10.2,824,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2102,1428,1520,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,1.18,266.4,2837,2102,1520,1336,89.2,10.9,861,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2102,1428,1520,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5408,1.18,266.4,2836,2102,1520,1336,69.6,10.2,898,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2102,1428,1521,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5597,1.18,266.4,2836,2102,1520,1336,50.3,11.1,935,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2102,1428,1520,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5788,1.18,266.4,2836,2102,1519,1336,29.3,10.8,972,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2102,1428,1520,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5976,1.18,266.4,2836,2102,1519,1336,8.2,10.0,1009,5982,0.00,2.20,0.00,0.000,516,0.000,0.104,2837,930,1427,1519,1336,0,0,0,0,0,0,28.83,24.56,28.83
$GC,5989,1.15,266.4,2835,931,1519,1336,6.7,10.3,1011,5997,0.00,1.98,0.00,0.000,1030,0.000,0.041,2837,2103,1427,1519,1336,0,0,0,0,0,0,28.83,24.64,28.83
$STATE,6027,end climb,SURFACE_DEPTH_REACHED
$STATE,6027,begin surface coast
$FINISH,0.2,1.027508
$STATE,6043,end surface coast,CONTROL_FINISHED_OK
$STATE,6043,begin surface
$SM_CCo,6063,70.40,0.784,1,0,1093,350.04
$SM_GC,1.24,10.48,0.50,70.40,0.060,0.078,0.784,587,2377,1093,-9.13,-0.65,350.04,0,0,0,0,1,0,24.62,24.63,23.46
$RAFOS_CLK,352
$RAFOS,2,1419602975,14.166670,14.159722,153,56,55,0,0,0,409,171,198,0,0,0
$RAFOS,1,1419602718,14.100000,14.088333,139,63,60,0,0,0,466,203,213,0,0,0
$RAFOS,0,1419602464,14.033333,14.017777,139,65,63,0,0,0,684,220,119,0,0,0
$RAFOS_FIX,-6626.135254,11959.794922,261214,141456,3,144,2.52
$IRIDIUM_FIX,-6558.99,12013.45,261214,110550
$TT8_MAMPS,0.020972,0.020972
$HUMID,67.79
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.22,3.999
$10V_AH,9.80,2.582
$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,25.100,64.250,385.600,70.400,0.000,0.000,0.000,230.650,0.000,0.000,90.617,2382.562,1612.367,652.807,1788.771,157.900,0.000,1693.552,0.000,1457.313,720.000,0.531,0.000
$DEVICE_MAMPS,233.325,110.925,1025.100,784.125,0.000,0.000,0.000,131.580,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,298540
$DATA_FILE_SIZE,46860,1021
$CAP_FILE_SIZE,101314,0
$CFSIZE,256368640,251199488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,4995.89,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.183,232.13,1
$GPS,261214,141835,-6627.195,12017.802,62,1.9,72,-107.0