version: 66.12
glider: 17
mission: 13
dive: 4
start: 11 5 114 21 35 25
data:
$ID,17
$MISSION,13
$DIVE,4
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51882
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.014
$HD_C,1.8999999e-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,673.16046
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,7
$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,2050
$PITCH_DBAND,2
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,233
$ROLL_MAX,3877
$ROLL_DEG,33
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,3120
$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,-5.3209448
$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
$GPS1,051114,213014,4742.881,-12224.068,71,4.0,91,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-34.5
$GPS2,051114,213448,4742.824,-12224.061,37,1.1,48,18.2
$SPEED_LIMITS,0.173,0.220
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,352.4,1713,-20.3,-10.000,-24.48,2206
$D_GRID,163
$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,15,-1.16,-146.6,577,2021,524,378,0.0,0.0,0,145,0.00,0.00,-126.65,0.000,16386,0.000,0.000,577,2021,3503,3495,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-1.16,-146.6,577,2021,3494,3512,3.2,-7.2,21,169,7.35,2.03,-4.82,0.000,18948,0.195,0.080,1788,856,3719,3726,3712,0,0,0,0,0,0,24.69,24.83,25.15
$GC,226,-1.10,-146.6,1788,856,3726,3712,20.5,-16.0,35,233,0.00,1.95,0.00,0.000,1030,0.000,0.041,1788,2033,3719,3726,3712,0,0,0,0,0,0,28.83,24.91,28.83
$GC,417,-1.03,-146.6,1788,2033,3726,3713,49.9,-14.6,72,423,0.00,1.98,0.00,0.000,260,0.000,0.069,1788,3185,3719,3726,3712,0,0,0,0,0,0,28.83,24.92,28.83
$GC,523,-1.03,-146.6,1788,3185,3726,3712,65.0,-14.5,92,527,0.00,2.03,0.00,0.000,1030,0.000,0.067,1788,2017,3719,3726,3712,0,0,0,0,0,0,28.83,24.94,28.83
$GC,724,-1.03,-146.6,1788,2017,3726,3712,94.7,-14.6,105,728,0.00,2.03,0.00,0.000,260,0.000,0.070,1788,3187,3719,3726,3712,0,0,0,0,0,0,28.83,24.96,28.83
$GC,820,-1.03,-146.6,1788,3187,3726,3712,108.5,-15.5,124,827,0.00,2.03,0.00,0.000,1030,0.000,0.069,1788,2019,3719,3726,3712,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1007,-1.03,-146.6,1788,2018,3725,3712,134.7,-12.7,134,1011,0.00,2.03,0.00,0.000,260,0.000,0.072,1788,3187,3719,3726,3712,0,0,0,0,0,0,28.83,24.99,28.83
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1148,-0.25,0.0,1788,2020,3726,3712,150.1,-15.6,161,1263,0.00,0.00,112.40,0.813,8198,0.000,0.000,1788,2021,3120,3164,3076,0,0,0,0,0,0,28.83,28.83,23.90
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1266,1.16,146.6,1788,2020,3164,3076,164.9,0.0,167,1387,2.62,2.12,112.32,0.784,10500,0.108,0.075,2299,3191,2521,2587,2456,0,0,0,0,0,0,24.48,24.41,23.89
$GC,1509,1.00,146.6,2299,3191,2588,2454,142.2,15.6,204,1513,0.00,2.05,0.00,0.000,1030,0.000,0.068,2299,2025,2520,2587,2454,0,0,0,0,0,0,28.83,24.71,28.83
$GC,1706,0.86,182.4,2299,2025,2587,2452,121.7,8.3,216,1740,0.00,2.15,28.48,0.741,8452,0.000,0.073,2299,3189,2375,2443,2308,0,0,0,0,0,0,28.83,24.48,23.96
$GC,1965,0.78,182.4,2299,3189,2443,2307,88.8,13.1,268,1969,0.00,2.08,0.00,0.000,1030,0.000,0.074,2299,2019,2375,2443,2307,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2158,0.69,182.4,2299,2019,2443,2304,67.8,10.4,279,2161,0.00,2.05,0.00,0.000,260,0.000,0.073,2299,3189,2374,2443,2305,0,0,0,0,0,0,28.83,24.83,28.83
$GC,2239,0.61,182.4,2299,3189,2443,2305,59.1,11.2,295,2243,0.00,2.05,0.00,0.000,1030,0.000,0.072,2299,2021,2374,2443,2305,0,0,0,0,0,0,28.83,24.85,28.83
$GC,2427,0.56,182.4,2299,2021,2443,2304,37.9,11.7,323,2433,0.00,2.03,0.00,0.000,260,0.000,0.073,2299,3184,2373,2443,2304,0,0,0,0,0,0,28.83,24.88,28.83
$GC,2596,0.56,182.4,2299,3184,2443,2305,16.6,11.9,356,2603,0.00,2.03,0.00,0.000,1030,0.000,0.069,2299,2020,2373,2443,2304,0,0,0,0,0,0,28.83,24.92,28.83
$STATE,2740,end climb,SURFACE_DEPTH_REACHED
$STATE,2740,begin surface coast
$FINISH,0.0,1.003881
$STATE,2761,end surface coast,CONTROL_FINISHED_OK
$STATE,2761,begin surface
$SM_CCo,2777,266.98,0.109,0,0,452,654.46
$SM_CCo,3047,0.00,0.000,0,0,452,654.46
$SM_CCo,3050,-0.10,0.000,0,0,453,654.46
$SM_GC,0.50,7.70,0.00,-0.10,0.050,0.000,0.000,578,2020,453,-6.71,-0.14,654.46,0,0,0,0,0,0,25.00,28.83,24.69
$RAFOS_CLK,136
$RAFOS,0,1415225042,22.083334,22.067223,46,43,43,0,0,0,192,362,379,0,0,0
$RAFOS,2,1415223843,21.750000,21.734167,60,51,48,0,0,0,2505,2490,1155,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12229.50,051114,203032
$TT8_MAMPS,0.020223,0.020223
$HUMID,63.90
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.89,0.723
$10V_AH,10.18,1.073
$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,17.675,32.650,253.200,266.975,0.000,0.000,0.000,162.250,0.000,0.000,50.477,753.991,1136.403,637.934,782.198,80.825,0.000,1138.805,0.000,568.321,780.000,0.540,0.000
$DEVICE_MAMPS,195.075,80.325,813.195,108.630,0.000,0.000,0.000,115.515,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.981,162.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318300
$DATA_FILE_SIZE,20206,388
$CAP_FILE_SIZE,48641,0
$CFSIZE,256368640,252088320
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3681.71,0x23769e,7,5
$INTR,1,2765.57,0x23769e,7,5
$INTR,2,3049.42,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.165,203.28,1
$GPS,051114,222809,4742.897,-12224.168,14,2.3,34,18.2