version: 66.11
glider: 17
mission: 10
dive: 29
start: 2 1 114 10 33 54
data:
$ID,17
$MISSION,10
$DIVE,29
$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,-228987.44
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,010214,102859,2116.641,12002.763,60,1.6,60,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-51.2
$GPS2,010214,103325,2116.664,12002.706,15,1.5,15,-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,69.0,48815,-17.1,-11.111,-20.35,2019
$D_GRID,2910
$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,-146.0,1037,1944,695,806,0.0,0.0,0,105,0.00,0.00,-86.95,0.000,16386,0.000,0.000,1037,1943,3078,3059,3098,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.00,-146.0,1037,1943,3059,3098,3.8,-8.7,14,134,8.98,0.00,-10.73,0.000,18694,0.162,0.000,2656,1944,3648,3607,3689,0,0,0,0,0,0,24.68,28.83,25.09
$GC,438,-1.00,-146.0,1680,1942,3599,3688,56.8,-13.7,78,445,0.00,2.35,0.00,0.000,260,0.000,0.070,2656,3297,3648,3607,3690,0,0,0,0,0,0,28.83,24.88,28.83
$GC,483,-1.00,-146.0,1680,3295,3600,3688,63.1,-13.8,86,490,0.00,2.35,0.00,0.000,1030,0.000,0.054,2656,1904,3649,3608,3690,0,0,0,0,0,0,28.83,24.93,28.83
$GC,795,-1.00,-146.0,2655,1903,3608,3692,105.3,-10.0,147,801,0.00,2.38,0.00,0.000,516,0.000,0.037,2656,509,3650,3608,3692,0,0,0,0,0,0,28.83,24.92,28.83
$GC,849,-1.00,-146.0,2655,509,3609,3692,110.2,-8.4,157,857,0.00,2.35,0.00,0.000,1030,0.000,0.027,2656,1904,3650,3609,3692,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1162,-1.00,-146.0,1664,1902,3601,3691,134.0,-8.8,218,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1904,3651,3610,3693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1474,-1.00,-146.0,2655,1904,3610,3693,168.0,-9.0,279,1480,0.00,2.45,0.00,0.000,260,0.000,0.047,2656,3313,3651,3610,3693,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1510,-1.00,-146.0,1664,3311,3601,3691,171.2,-9.1,285,1518,0.00,2.30,0.00,0.000,1030,0.000,0.026,2656,1939,3651,3610,3693,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1822,-1.00,-146.0,1680,1937,3602,3691,195.5,-7.9,346,1829,0.00,2.47,0.00,0.000,516,0.000,0.069,2656,508,3651,3610,3693,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1871,-1.00,-146.0,2655,507,3610,3693,199.8,-8.6,355,1878,0.00,2.45,0.00,0.000,1030,0.000,0.030,2656,1951,3651,3610,3693,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2177,-1.00,-146.0,2655,1951,3610,3693,223.0,-6.2,386,2186,0.00,2.38,0.00,0.000,260,0.000,0.056,2655,3315,3651,3610,3693,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2209,-1.00,-146.0,2655,3315,3610,3693,225.1,-6.6,389,2219,0.00,2.30,0.00,0.000,1030,0.000,0.028,2655,1943,3651,3610,3693,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2519,-1.00,-146.0,2655,1943,3607,3693,247.8,-8.5,420,2529,0.00,2.45,0.00,0.000,516,0.000,0.042,2656,512,3650,3607,3693,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2572,-1.00,-146.0,2655,512,3607,3693,252.7,-9.7,425,2582,0.00,2.42,0.00,0.000,1030,0.000,0.033,2656,1938,3649,3607,3692,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2881,-1.00,-146.0,2655,1938,3604,3693,285.0,-9.8,456,2891,0.00,2.42,0.00,0.000,260,0.000,0.051,2656,3314,3648,3604,3692,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2927,-1.00,-146.0,2655,3313,3604,3692,289.2,-9.9,460,2934,0.00,2.33,0.00,0.000,1030,0.000,0.060,2656,1946,3647,3603,3692,0,0,0,0,0,0,28.83,25.02,28.83
$STATE,3041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3041,begin apogee
$GC,3047,-0.25,0.0,2655,1835,3602,3692,300.3,-8.7,472,3166,0.77,0.00,113.82,0.860,10244,0.079,0.000,2822,1835,3050,2981,3119,0,0,0,0,0,0,24.96,28.83,23.82
$STATE,3168,end apogee,CONTROL_FINISHED_OK
$STATE,3168,begin climb
$GC,3170,1.00,146.0,2821,1834,2981,3118,305.0,0.0,484,3294,1.25,2.58,113.72,0.839,10500,0.046,0.049,3101,3255,2454,2386,2522,0,0,0,0,0,0,24.56,24.52,23.82
$GC,3523,1.08,222.7,2176,3253,2321,2510,288.3,7.2,519,3591,0.00,2.40,60.45,0.825,9222,0.000,0.034,3101,1872,2142,2075,2209,0,0,0,0,0,0,28.83,24.76,23.83
$GC,3890,1.08,222.7,3100,1872,2070,2205,247.9,14.0,556,3899,0.00,2.47,0.00,0.000,260,0.000,0.052,3101,3250,2137,2070,2205,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4125,1.10,241.2,2184,3248,2016,2196,218.0,10.2,579,4145,0.00,2.42,15.52,0.762,9222,0.000,0.034,3101,1841,2066,2001,2131,0,0,0,0,0,0,28.83,24.84,23.93
$GC,4448,1.16,303.7,3101,1842,1999,2126,197.7,7.9,613,4506,0.12,2.65,51.30,0.806,10500,0.062,0.050,3138,3250,1810,1748,1873,0,0,0,0,0,0,24.91,24.44,23.86
$GC,4555,1.16,303.7,3138,3250,1747,1871,183.8,16.0,631,4562,0.00,2.42,0.00,0.000,1030,0.000,0.035,3138,1861,1808,1745,1871,0,0,0,0,0,0,28.83,24.72,28.83
$GC,4865,1.16,303.7,2176,1859,1696,1861,138.9,13.9,692,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1861,1804,1741,1868,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5175,1.16,303.7,3138,1861,1740,1867,95.7,11.8,753,5183,0.00,2.50,0.00,0.000,516,0.000,0.046,3139,433,1802,1740,1865,0,0,0,0,0,0,28.83,24.85,28.83
$GC,5206,1.16,307.7,3138,433,1739,1864,92.2,10.9,758,5214,0.00,2.42,0.00,0.000,1030,0.000,0.060,3138,1839,1801,1739,1864,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5519,1.20,348.8,3138,1839,1739,1864,64.5,9.0,819,5563,0.00,2.55,36.17,0.692,8452,0.000,0.048,3138,3257,1626,1562,1691,0,0,0,0,0,0,28.83,24.49,23.96
$GC,5586,1.26,404.2,3138,3257,1561,1690,58.7,8.3,830,5637,0.00,2.47,45.65,0.675,9222,0.000,0.059,3138,1830,1402,1336,1468,0,0,0,0,0,0,28.83,24.73,23.94
$GC,5942,1.26,404.2,3138,1830,1329,1463,24.0,11.7,898,5949,0.00,2.53,0.00,0.000,260,0.000,0.071,3139,3253,1396,1329,1463,0,0,0,0,0,0,28.83,24.79,28.83
$GC,5987,1.27,413.0,2144,3251,1304,1458,19.6,10.7,906,6001,0.00,2.38,7.88,0.533,9222,0.000,0.059,3139,1869,1365,1298,1433,0,0,0,0,0,0,28.83,24.84,24.19
$STATE,6136,end climb,SURFACE_DEPTH_REACHED
$STATE,6137,begin surface coast
$FINISH,0.0,1.023275
$STATE,6153,end surface coast,CONTROL_FINISHED_OK
$STATE,6153,begin surface
$SM_CCo,6172,69.10,0.088,0,0,758,562.23
$SM_GC,0.73,9.12,0.08,69.10,0.031,0.099,0.088,1040,1935,758,-8.38,-0.99,562.23,0,0,0,0,0,0,24.88,24.91,24.69
$IRIDIUM_FIX,2108.69,12001.90,010214,080838
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.92
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,-1
$24V_AH,23.8,10.008
$10V_AH,9.9,8.580
$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,20.250,63.425,444.525,69.100,0.000,0.000,0.000,178.050,0.000,0.000,16.389,2194.747,1729.276,585.860,1861.839,146.815,0.000,1594.175,0.000,1676.802,0.000,1.681,0.000
$DEVICE_MAMPS,162.180,98.685,859.860,87.975,0.000,0.000,0.000,126.225,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.923,937.479,776.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324324
$DATA_FILE_SIZE,56942,938
$CAP_FILE_SIZE,89961,0
$CFSIZE,256368640,250400768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,327.9,1
$GPS,010214,121918,2117.546,12003.024,31,1.4,45,-2.5