version: 66.11
glider: 17
mission: 10
dive: 22
start: 1 31 114 21 36 33
data:
$ID,17
$MISSION,10
$DIVE,22
$N_DIVES,0
$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,90
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,180
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52130
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,562.03961
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-228978.22
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1050
$PITCH_MAX,3900
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,250
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,1910
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,3050
$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,85
$AH0_10V,56
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-5.3696866
$PRESSURE_SLOPE,9.1642258e-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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,38
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043326267
$SEABIRD_T_H,0.00063240388
$SEABIRD_T_I,2.4142833e-05
$SEABIRD_T_J,2.5545187e-06
$SEABIRD_C_G,-9.8342714
$SEABIRD_C_H,1.1014049
$SEABIRD_C_I,-0.0017558541
$SEABIRD_C_J,0.00021975346
$GPS1,310114,212826,2112.740,11958.435,42,2.7,63,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-44.1
$GPS2,310114,213606,2112.878,11958.504,17,1.7,34,-2.5
$SPEED_LIMITS,0.192,0.300
$TGT_NAME,r4n
$TGT_LATLONG,2133.400,12024.600
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,82.3,58864,-17.1,-11.111,-20.35,2019
$D_GRID,3203
$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,-1.00,-146.0,1044,1945,690,808,0.0,0.0,0,104,0.00,0.00,-86.30,0.000,16386,0.000,0.000,1044,1945,3053,3047,3060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.00,-146.0,1044,1945,3047,3061,3.5,-7.4,14,134,8.90,0.00,-11.40,0.000,18950,0.159,0.000,2658,1946,3648,3614,3683,0,0,0,0,0,0,24.66,28.83,25.08
$GC,436,-1.00,-146.0,1680,1944,3607,3682,61.3,-13.9,78,444,0.00,2.50,0.00,0.000,516,0.000,0.063,2658,503,3649,3615,3684,0,0,0,0,0,0,28.83,24.87,28.83
$GC,477,-1.00,-146.0,2658,502,3615,3684,66.6,-12.4,85,485,0.00,2.33,0.00,0.000,1030,0.000,0.027,2658,1888,3649,3615,3684,0,0,0,0,0,0,28.83,24.90,28.83
$GC,788,-1.00,-146.0,1680,1887,3607,3682,107.4,-11.8,146,795,0.00,2.40,0.00,0.000,516,0.000,0.064,2658,502,3650,3616,3685,0,0,0,0,0,0,28.83,24.91,28.83
$GC,818,-1.00,-146.0,2658,502,3616,3685,110.8,-11.2,151,824,0.00,2.38,0.00,0.000,1030,0.000,0.027,2658,1913,3650,3616,3685,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1129,-1.00,-146.0,2658,1914,3617,3686,137.1,-6.9,212,1136,0.00,2.45,0.00,0.000,260,0.000,0.073,2658,3312,3651,3617,3686,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1289,-1.00,-146.0,1680,3310,3609,3684,151.0,-8.9,243,1296,0.00,2.33,0.00,0.000,1030,0.000,0.026,2658,1923,3652,3618,3686,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1599,-1.00,-146.0,2658,1923,3617,3686,173.8,-6.0,304,1607,0.00,2.45,0.00,0.000,516,0.000,0.067,2658,508,3652,3617,3687,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1641,-1.00,-146.0,1664,507,3609,3684,176.0,-5.6,311,1647,0.00,2.42,0.00,0.000,1030,0.000,0.029,2658,1933,3651,3617,3686,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1950,-1.00,-146.0,1680,1931,3609,3684,198.9,-8.1,372,1957,0.00,2.42,0.00,0.000,260,0.000,0.076,2658,3314,3651,3617,3686,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2045,-1.00,-146.0,2658,3314,3617,3686,206.8,-8.0,382,2055,0.00,2.28,0.00,0.000,1030,0.000,0.030,2658,1953,3651,3617,3686,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2356,-1.00,-146.0,2658,1953,3615,3686,227.9,-5.8,413,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1953,3650,3615,3686,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2658,-1.00,-146.0,2658,1953,3613,3686,244.3,-6.9,443,2667,0.00,2.45,0.00,0.000,516,0.000,0.041,2658,514,3649,3613,3686,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2690,-1.00,-146.0,2658,514,3612,3686,247.1,-8.0,446,2699,0.00,2.45,0.00,0.000,1030,0.000,0.041,2658,1950,3649,3612,3686,0,0,0,0,0,0,28.83,24.95,28.83
$GC,3000,-1.00,-146.0,2658,1951,3611,3686,275.5,-6.6,477,3009,0.00,2.38,0.00,0.000,260,0.000,0.052,2658,3307,3648,3610,3686,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3032,-1.00,-146.0,2658,3307,3610,3685,277.5,-6.0,480,3042,0.00,2.30,0.00,0.000,1030,0.000,0.030,2658,1950,3648,3610,3686,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3343,-1.00,-146.0,2658,1950,3608,3685,293.7,-6.5,511,3351,0.00,2.47,0.00,0.000,516,0.000,0.044,2658,515,3646,3608,3685,0,0,0,0,0,0,28.83,24.99,28.83
$GC,3394,-1.00,-146.0,2658,515,3607,3685,297.6,-7.6,516,3404,0.00,2.47,0.00,0.000,1030,0.000,0.034,2658,1947,3646,3607,3685,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3432,begin apogee
$GC,3437,-0.25,0.0,2658,1829,3607,3685,300.6,-7.6,520,3556,0.75,0.00,113.82,0.867,10244,0.078,0.000,2820,1830,3049,2989,3110,0,0,0,0,0,0,24.96,28.83,23.80
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3561,1.00,146.0,2820,1829,2989,3110,307.6,0.0,532,3685,1.27,2.45,113.38,0.845,10756,0.048,0.047,3100,459,2453,2382,2524,0,0,0,0,0,0,24.53,24.52,23.80
$GC,3873,1.10,247.5,3100,459,2380,2523,304.6,5.9,563,3962,0.00,2.42,80.82,0.842,9222,0.000,0.035,3100,1847,2040,1970,2110,0,0,0,0,0,0,28.83,24.73,23.80
$GC,4270,1.10,247.5,3100,1847,1962,2105,263.2,13.7,603,4278,0.00,2.45,0.00,0.000,516,0.000,0.047,3100,463,2033,1962,2105,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4505,1.10,247.5,2144,464,1908,2090,227.6,14.7,626,4512,0.00,2.45,0.00,0.000,1030,0.000,0.064,3100,1863,2031,1962,2100,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4812,1.17,309.6,2112,1861,1902,2091,196.8,8.0,660,4868,0.12,0.00,49.78,0.823,10246,0.084,0.000,3130,1864,1787,1714,1860,0,0,0,0,0,0,24.83,28.83,23.83
$GC,5173,1.17,309.6,3130,1864,1708,1857,145.5,15.5,729,5181,0.00,2.53,0.00,0.000,260,0.000,0.057,3131,3257,1782,1708,1857,0,0,0,0,0,0,28.83,24.77,28.83
$GC,5284,1.17,309.6,3131,3257,1708,1857,129.9,13.1,750,5291,0.00,2.33,0.00,0.000,1030,0.000,0.063,3131,1912,1782,1707,1857,0,0,0,0,0,0,28.83,24.84,28.83
$GC,5594,1.20,341.0,2128,1909,1661,1847,94.9,9.5,811,5625,0.00,0.00,26.00,0.722,8198,0.000,0.000,3131,1911,1658,1582,1735,0,0,0,0,0,0,28.83,28.83,23.93
$GC,5929,1.26,405.7,2152,1909,1540,1725,65.3,7.8,876,5992,0.12,2.62,52.88,0.701,10756,0.089,0.043,3163,471,1395,1320,1470,0,0,0,0,0,0,24.82,24.46,23.91
$GC,6082,1.26,405.7,2144,471,1291,1461,46.9,14.3,903,6089,0.00,2.47,0.00,0.000,1030,0.000,0.031,3163,1900,1390,1315,1466,0,0,0,0,0,0,28.83,24.76,28.83
$GC,6392,1.26,405.7,2192,1899,1289,1461,4.7,14.7,964,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1901,1389,1313,1465,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6413,end climb,SURFACE_DEPTH_REACHED
$STATE,6413,begin surface coast
$FINISH,0.1,1.023338
$STATE,6432,end surface coast,CONTROL_FINISHED_OK
$STATE,6432,begin surface
$SM_CCo,6450,72.45,0.091,0,0,758,562.23
$SM_GC,0.76,9.25,0.00,72.45,0.032,0.000,0.091,1038,1903,758,-8.38,-0.20,562.23,0,0,0,0,0,0,24.89,28.83,24.68
$IRIDIUM_FIX,2106.38,11956.74,310114,212152
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.47
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,22.10
$XPDR_PINGS,-1
$24V_AH,23.8,9.227
$10V_AH,9.9,8.036
$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,20.425,58.375,436.675,72.450,0.000,0.000,0.000,289.575,0.000,0.000,35.144,2282.376,1922.508,580.592,2052.295,149.728,0.000,1721.934,0.000,1734.572,0.000,1.681,0.000
$DEVICE_MAMPS,159.120,76.500,866.745,91.035,0.000,0.000,0.000,126.225,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.931,961.863,789.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324204
$DATA_FILE_SIZE,60210,971
$CAP_FILE_SIZE,91674,0
$CFSIZE,256368640,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.302, 40.2,1
$GPS,310114,232635,2113.751,12000.014,31,1.3,42,-2.5