version: 66.12
glider: 17
mission: 14
dive: 2
start: 11 7 114 17 45 48
data:
$ID,17
$MISSION,14
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,67
$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,52005
$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,565.96442
$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,2500
$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,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,16
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2800
$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,-5.4530129
$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
$GPS1,071114,174137,4743.786,-12224.094,14,1.8,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-64.0
$GPS2,071114,174513,4743.810,-12224.040,13,1.3,13,18.2
$SPEED_LIMITS,0.173,0.220
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,221.8,1326,-20.3,-10.000,-24.48,2206
$D_GRID,173
$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,-1.16,-146.6,579,2021,541,431,0.0,0.0,0,134,0.00,0.00,-115.68,0.000,16386,0.000,0.000,579,2021,3022,3012,3033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.16,-146.6,579,2021,3012,3033,3.1,-6.5,19,163,10.10,2.00,-8.30,0.000,18692,0.194,0.077,2242,3189,3398,3430,3366,0,0,0,0,0,0,24.68,24.83,25.16
$GC,206,-0.85,-146.6,2242,3189,3431,3366,20.1,-21.5,31,213,0.38,2.03,0.00,0.000,3078,0.137,0.073,2309,2023,3398,3431,3366,0,0,0,0,0,0,24.79,24.85,28.83
$GC,402,-0.77,-146.6,2309,2023,3431,3366,58.0,-18.3,63,406,0.12,1.98,0.00,0.000,2308,0.142,0.060,2331,3185,3398,3431,3366,0,0,0,0,0,0,24.87,24.91,28.83
$GC,564,-0.89,-146.6,2331,3185,3431,3366,81.6,-12.9,95,568,0.12,2.03,0.00,0.000,5126,0.083,0.076,2305,2025,3399,3432,3366,0,0,0,0,0,0,24.96,24.93,28.83
$GC,766,-0.81,-146.6,2305,2025,3431,3366,114.1,-16.8,108,770,0.00,1.98,0.00,0.000,260,0.000,0.064,2305,3185,3398,3431,3366,0,0,0,0,0,0,28.83,24.96,28.83
$GC,881,-0.81,-146.6,2305,3185,3431,3366,133.0,-15.4,131,888,0.00,2.05,0.00,0.000,1030,0.000,0.081,2305,2023,3398,3431,3366,0,0,0,0,0,0,28.83,24.96,28.83
$STATE,986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,986,begin apogee
$GC,991,-0.25,0.0,2305,2023,3431,3366,150.2,-16.6,137,1109,0.70,0.00,111.93,0.804,10246,0.118,0.000,2439,2022,2800,2859,2742,0,0,0,0,0,0,24.91,28.83,23.87
$STATE,1110,end apogee,CONTROL_FINISHED_OK
$STATE,1111,begin climb
$GC,1113,1.16,146.6,2439,2022,2859,2742,159.6,0.0,143,1237,1.52,2.12,113.10,0.776,10756,0.090,0.070,2750,849,2200,2267,2134,0,0,0,0,0,0,24.50,24.40,23.86
$GC,1330,1.31,238.5,2750,849,2262,2131,154.6,5.7,187,1411,0.15,1.95,73.20,0.760,11270,0.071,0.041,2784,2025,1826,1899,1754,0,0,0,0,0,0,24.70,24.68,23.88
$GC,1590,1.37,247.2,2784,2025,1896,1744,130.7,9.6,212,1602,0.00,2.03,7.50,0.627,8452,0.000,0.068,2784,3186,1791,1868,1715,0,0,0,0,0,0,28.83,24.57,24.06
$GC,1754,1.46,247.2,2784,3187,1868,1714,112.2,10.5,245,1759,0.15,2.05,0.00,0.000,3078,0.080,0.076,2816,2025,1790,1868,1713,0,0,0,0,0,0,24.77,24.74,28.83
$GC,1947,1.39,247.2,2816,2024,1867,1713,88.3,12.9,256,1951,0.00,2.00,0.00,0.000,260,0.000,0.069,2816,3185,1790,1867,1713,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2032,1.39,247.2,2816,3185,1867,1713,76.7,13.4,273,2036,0.00,2.05,0.00,0.000,1030,0.000,0.077,2816,2025,1790,1867,1713,0,0,0,0,0,0,28.83,24.81,28.83
$GC,2231,1.34,247.2,2815,2024,1867,1713,52.1,12.3,285,2232,0.12,0.00,0.00,0.000,4102,0.146,0.000,2797,2025,1790,1867,1713,0,0,0,0,0,0,24.82,28.83,28.83
$GC,2411,1.34,247.2,2797,2024,1867,1712,32.3,10.4,318,2417,0.00,2.03,0.00,0.000,260,0.000,0.067,2797,3193,1789,1867,1712,0,0,0,0,0,0,28.83,24.87,28.83
$GC,2465,1.42,247.2,2796,3194,1867,1712,26.3,11.1,328,2472,0.00,2.05,0.00,0.000,1030,0.000,0.073,2797,2020,1789,1866,1712,0,0,0,0,0,0,28.83,24.89,28.83
$GC,2655,1.48,247.2,2797,2019,1866,1711,5.9,11.6,365,2663,0.12,2.00,0.00,0.000,2308,0.096,0.065,2826,3186,1788,1866,1711,0,0,0,0,0,0,24.96,24.91,28.83
$STATE,2693,end climb,SURFACE_DEPTH_REACHED
$STATE,2693,begin surface coast
$FINISH,0.2,1.021262
$STATE,2709,end surface coast,CONTROL_FINISHED_OK
$STATE,2709,begin surface
$SM_CCo,2730,155.82,0.106,0,0,492,566.15
$SM_GC,1.06,10.10,2.10,155.82,0.050,0.073,0.106,581,2017,492,-8.78,0.42,566.15,0,0,0,0,0,0,24.94,24.92,24.67
$RAFOS_CLK,129
$RAFOS,0,1415383454,18.083334,18.070555,99,57,56,0,0,0,545,199,180,0,0,0
$RAFOS,1,1415381043,17.416666,17.400833,131,58,58,0,0,0,597,191,173,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12224.09,071114,173715
$TT8_MAMPS,0.023968,0.023968
$HUMID,66.73
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.86,1.074
$10V_AH,10.15,1.249
$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,23.600,32.425,305.725,155.825,0.000,0.000,0.000,0.000,0.000,0.000,14.304,711.064,1112.531,547.639,576.247,56.638,0.000,897.463,0.000,547.140,780.000,0.539,0.000
$DEVICE_MAMPS,194.310,81.090,804.015,105.570,0.000,0.000,0.000,0.000,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.570,159.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318360
$DATA_FILE_SIZE,20215,375
$CAP_FILE_SIZE,56117,0
$CFSIZE,256368640,252133376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2752.34,0x23769e,7,5
$INTR,1,988.00,0x23769e,2,5
$SOUNDSPEED,1465.0
$CURRENT,0.084,24.69,1
$GPS,071114,183536,4743.807,-12224.365,25,2.0,30,18.2