version: 66.12
glider: 17
mission: 14
dive: 4
start: 11 7 114 19 46 54
data:
$ID,17
$MISSION,14
$DIVE,4
$N_DIVES,4
$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,2550
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2600
$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
$GPS1,071114,194224,4743.595,-12224.477,26,1.0,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.1
$GPS2,071114,194618,4743.598,-12224.450,15,0.9,32,18.2
$SPEED_LIMITS,0.173,0.220
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,242.6,709,-20.3,-10.000,-24.48,2206
$D_GRID,174
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.16,-146.6,577,2310,497,400,0.0,0.0,0,133,0.00,0.00,-115.03,0.000,16386,0.000,0.000,577,2310,3048,3040,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.16,-146.6,577,2310,3040,3058,3.6,-8.5,19,157,10.55,2.15,-3.08,0.000,18948,0.199,0.087,2291,1126,3199,3212,3186,0,0,0,0,0,0,24.64,24.75,25.07
$GC,164,0.66,-146.6,2290,1126,3212,3186,13.9,-32.6,23,172,2.10,1.92,0.00,0.000,3078,0.127,0.040,2686,2303,3199,3213,3186,0,0,0,0,0,0,24.71,24.81,28.83
$GC,357,-0.49,-146.6,2687,2303,3214,3186,26.7,-7.3,60,364,1.08,2.05,0.00,0.000,4356,0.054,0.076,2444,3461,3200,3214,3186,0,0,0,0,0,0,24.90,24.79,28.83
$GC,470,-0.98,-146.6,2444,3461,3214,3186,34.6,-7.2,81,478,0.47,2.00,0.00,0.000,5126,0.043,0.064,2334,2296,3200,3214,3186,0,0,0,0,0,0,24.95,24.87,28.83
$GC,675,-0.98,-146.6,2333,2296,3214,3186,60.4,-12.9,109,680,0.00,2.00,0.00,0.000,516,0.000,0.074,2334,1137,3200,3214,3186,0,0,0,0,0,0,28.83,24.90,28.83
$GC,758,-1.06,-146.6,2334,1136,3214,3186,71.1,-12.8,125,762,0.00,1.92,0.00,0.000,1030,0.000,0.044,2334,2306,3200,3214,3186,0,0,0,0,0,0,28.83,24.94,28.83
$GC,960,-1.06,-146.6,2333,2306,3214,3186,99.7,-14.0,138,964,0.00,2.00,0.00,0.000,260,0.000,0.073,2334,3458,3200,3214,3187,0,0,0,0,0,0,28.83,24.88,28.83
$GC,1045,-1.14,-146.6,2334,3458,3214,3186,110.7,-12.7,155,1050,0.15,2.05,0.00,0.000,5126,0.074,0.076,2300,2294,3200,3214,3186,0,0,0,0,0,0,24.99,24.93,28.83
$GC,1238,-0.99,-146.6,2300,2294,3214,3186,142.7,-17.3,166,1245,0.15,2.05,0.00,0.000,2308,0.132,0.071,2328,3472,3200,3214,3186,0,0,0,0,0,0,24.94,24.90,28.83
$STATE,1283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1284,begin apogee
$GC,1291,-0.25,0.0,2328,2292,3214,3186,150.7,-15.3,176,1408,0.82,0.00,112.72,0.798,10246,0.107,0.000,2490,2292,2600,2643,2557,0,0,0,0,0,0,24.93,28.83,23.84
$STATE,1409,end apogee,CONTROL_FINISHED_OK
$STATE,1409,begin climb
$GC,1411,1.16,146.6,2490,2292,2643,2557,156.1,0.0,182,1532,1.50,0.00,115.25,0.771,10246,0.074,0.000,2800,2292,2002,2058,1947,0,0,0,0,0,0,24.49,28.83,23.86
$GC,1708,1.07,146.6,2800,2292,2056,1939,131.8,10.8,197,1713,0.00,2.10,0.00,0.000,260,0.000,0.081,2800,3463,1997,2056,1939,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1805,1.01,146.6,2800,3463,2056,1940,120.7,11.6,216,1812,0.15,2.08,0.00,0.000,5126,0.139,0.079,2774,2300,1997,2056,1939,0,0,0,0,0,0,24.68,24.70,28.83
$GC,1991,1.03,166.4,2774,2300,2056,1937,102.7,9.1,226,2014,0.00,2.15,16.48,0.702,8708,0.000,0.074,2774,1127,1920,1981,1859,0,0,0,0,0,0,28.83,24.50,23.99
$GC,2040,1.11,166.4,2774,1127,1977,1858,97.1,11.9,236,2044,0.00,1.98,0.00,0.000,1030,0.000,0.045,2774,2307,1917,1977,1858,0,0,0,0,0,0,28.83,24.69,28.83
$GC,2235,1.19,166.4,2774,2307,1977,1857,72.1,12.7,247,2241,0.12,2.05,0.00,0.000,2308,0.077,0.076,2806,3460,1917,1977,1857,0,0,0,0,0,0,24.85,24.72,28.83
$GC,2309,1.19,166.4,2806,3460,1978,1857,61.3,16.2,262,2315,0.00,2.08,0.00,0.000,1030,0.000,0.078,2806,2294,1917,1978,1857,0,0,0,0,0,0,28.83,24.78,28.83
$GC,2496,1.13,167.5,2806,2294,1978,1856,40.1,9.9,284,2502,0.00,2.00,0.00,0.000,516,0.000,0.070,2806,1129,1916,1977,1855,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2565,1.14,171.1,2806,1129,1976,1854,32.8,9.8,297,2578,0.00,1.95,4.82,0.511,9222,0.000,0.044,2806,2306,1902,1965,1839,0,0,0,0,0,0,28.83,24.86,24.26
$GC,2762,1.17,200.2,2806,2306,1965,1839,16.2,8.7,335,2793,0.00,2.12,24.98,0.684,8452,0.000,0.075,2806,3457,1782,1846,1719,0,0,0,0,0,0,28.83,24.45,23.99
$STATE,2895,end climb,SURFACE_DEPTH_REACHED
$STATE,2895,begin surface coast
$FINISH,0.1,1.011402
$STATE,2910,end surface coast,CONTROL_FINISHED_OK
$STATE,2910,begin surface
$SM_CCo,2931,159.75,0.106,0,0,452,526.90
$SM_CCo,3096,-0.08,0.000,0,0,453,526.90
$SM_CCo,3099,0.00,0.000,0,0,452,526.90
$SM_GC,1.04,9.98,2.08,0.00,0.046,0.066,0.000,582,2297,452,-9.00,0.57,526.90,0,0,0,0,0,0,24.82,24.79,28.83
$RAFOS_CLK,141
$RAFOS,1,1415391844,20.416666,20.401112,60,59,55,0,0,0,212,199,187,0,0,0
$RAFOS,0,1415390643,20.083334,20.067499,72,58,51,0,0,0,184,213,88,0,0,0
$RAFOS_FIX,4859.173828,-12203.760742,071114,181832,2,95,0.00
$IRIDIUM_FIX,4726.11,-12301.43,071114,184646
$TT8_MAMPS,0.020223,0.020223
$HUMID,66.77
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.84,1.219
$10V_AH,10.17,1.307
$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,27.075,40.875,274.250,159.750,0.000,0.000,0.000,135.550,0.000,0.000,32.803,788.742,1214.795,572.216,699.647,85.044,0.000,1034.286,0.000,532.600,780.000,0.539,0.000
$DEVICE_MAMPS,198.900,87.210,797.895,105.570,0.000,0.000,0.000,117.045,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.527,179.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318232
$DATA_FILE_SIZE,16905,363
$CAP_FILE_SIZE,52073,0
$CFSIZE,256368640,252071936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3402.90,0x23769e,7,5
$INTR,1,3101.86,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.072,196.95,1
$GPS,071114,204000,4743.449,-12224.981,32,1.3,43,18.2