version: 66.11
glider: 17
mission: 10
dive: 30
start: 2 1 114 12 25 5
data:
$ID,17
$MISSION,10
$DIVE,30
$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,-228988.69
$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,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
$GPS1,010214,121918,2117.546,12003.024,31,1.4,45,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-46.0
$GPS2,010214,122437,2117.632,12002.927,12,1.7,12,-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,87.0,47396,-17.1,-11.111,-20.35,2019
$D_GRID,2864
$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,-146.0,1039,1936,695,805,0.0,0.0,0,104,0.00,0.00,-86.10,0.000,16386,0.000,0.000,1040,1936,3028,3018,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.00,-146.0,1039,1936,3018,3039,3.5,-8.6,14,135,8.95,2.55,-12.07,0.000,18948,0.160,0.047,2656,502,3648,3610,3687,0,0,0,0,0,0,24.67,24.79,25.08
$GC,162,-1.00,-146.0,1672,502,3602,3685,17.9,-17.1,23,169,0.00,2.35,0.00,0.000,1030,0.000,0.027,2656,1894,3649,3611,3687,0,0,0,0,0,0,28.83,24.84,28.83
$GC,472,-1.00,-146.0,1696,1894,3603,3685,62.3,-14.1,84,479,0.00,2.47,0.00,0.000,260,0.000,0.070,2655,3315,3649,3612,3687,0,0,0,0,0,0,28.83,24.87,28.83
$GC,522,-1.00,-146.0,2655,3315,3612,3687,69.0,-12.9,93,529,0.00,2.38,0.00,0.000,1030,0.000,0.024,2656,1901,3649,3612,3687,0,0,0,0,0,0,28.83,24.91,28.83
$GC,833,-1.00,-146.0,1680,1899,3604,3687,109.0,-13.6,154,840,0.00,2.47,0.00,0.000,260,0.000,0.070,2655,3315,3650,3612,3689,0,0,0,0,0,0,28.83,24.91,28.83
$GC,882,-1.00,-146.0,1672,3313,3604,3687,115.7,-13.1,163,889,0.00,2.33,0.00,0.000,1030,0.000,0.024,2656,1914,3651,3613,3689,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1192,-1.00,-146.0,1696,1912,3606,3687,143.9,-6.0,224,1199,0.00,2.42,0.00,0.000,516,0.000,0.067,2656,511,3651,3614,3689,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1222,-1.00,-146.0,2655,511,3614,3690,146.0,-7.1,229,1230,0.00,2.40,0.00,0.000,1030,0.000,0.028,2656,1927,3651,3614,3689,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1535,-1.00,-146.0,2655,1927,3614,3690,174.9,-12.0,290,1542,0.00,2.45,0.00,0.000,260,0.000,0.076,2656,3320,3651,3614,3689,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1620,-1.00,-146.0,2656,3321,3614,3689,185.6,-12.3,306,1627,0.00,2.33,0.00,0.000,1030,0.000,0.056,2656,1945,3652,3614,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1931,-1.00,-146.0,2655,1945,3614,3690,210.5,-3.8,350,1940,0.00,2.45,0.00,0.000,516,0.000,0.048,2656,511,3651,3614,3689,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1974,-1.00,-146.0,2655,511,3614,3689,212.3,-4.2,354,1983,0.00,2.42,0.00,0.000,1030,0.000,0.037,2656,1945,3651,3614,3689,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2283,-1.00,-146.0,2655,1945,3613,3689,243.2,-12.6,385,2293,0.00,2.38,0.00,0.000,260,0.000,0.050,2656,3309,3651,3613,3689,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2328,-1.00,-146.0,2655,3309,3613,3689,248.1,-11.6,389,2336,0.00,2.30,0.00,0.000,1030,0.000,0.028,2656,1934,3651,3613,3689,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2636,-1.00,-146.0,2655,1934,3611,3689,262.4,-4.5,420,2645,0.00,2.45,0.00,0.000,516,0.000,0.041,2656,514,3650,3611,3689,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2669,-1.00,-146.0,2656,514,3611,3689,264.3,-5.6,423,2677,0.00,2.42,0.00,0.000,1030,0.000,0.033,2656,1942,3650,3611,3689,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2979,-1.00,-146.0,2656,1942,3609,3689,289.4,-8.4,454,2988,0.00,2.40,0.00,0.000,260,0.000,0.060,2656,3315,3649,3609,3689,0,0,0,0,0,0,28.83,24.93,28.83
$GC,3041,-1.00,-146.0,2655,3315,3609,3689,294.5,-8.1,460,3050,0.00,2.30,0.00,0.000,1030,0.000,0.029,2655,1953,3648,3608,3689,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,3118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3118,begin apogee
$GC,3124,-0.25,0.0,2655,1827,3607,3689,300.3,-7.0,468,3243,0.77,0.00,114.18,0.850,10244,0.077,0.000,2822,1827,3050,2984,3116,0,0,0,0,0,0,24.96,28.83,23.82
$STATE,3245,end apogee,CONTROL_FINISHED_OK
$STATE,3245,begin climb
$GC,3247,1.00,146.0,2822,1827,2983,3116,305.1,0.0,480,3372,1.25,2.58,113.47,0.842,10500,0.045,0.048,3102,3252,2454,2389,2519,0,0,0,0,0,0,24.56,24.53,23.81
$GC,3399,1.13,278.9,3102,3252,2388,2518,306.7,4.3,495,3516,0.12,2.40,105.25,0.817,11270,0.065,0.032,3134,1868,1910,1849,1972,0,0,0,0,0,0,24.64,24.64,23.82
$GC,3816,1.13,278.9,3134,1868,1843,1968,249.2,14.9,537,3826,0.00,2.47,0.00,0.000,260,0.000,0.051,3134,3252,1905,1843,1968,0,0,0,0,0,0,28.83,24.73,28.83
$GC,3862,1.13,278.9,3134,3252,1842,1969,242.8,15.1,541,3870,0.00,2.42,0.00,0.000,1030,0.000,0.035,3134,1856,1905,1842,1969,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4170,1.14,281.5,3134,1856,1840,1966,202.8,11.0,572,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1857,1903,1840,1966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,1.14,281.5,3134,1856,1840,1964,165.1,11.7,629,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1857,1901,1839,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4780,1.16,306.1,2144,1854,1789,1954,133.0,9.9,690,4812,0.00,2.60,21.45,0.742,8708,0.000,0.046,3134,440,1800,1740,1860,0,0,0,0,0,0,28.83,24.53,23.95
$GC,4855,1.16,306.1,2144,440,1691,1851,124.3,12.0,703,4862,0.00,2.45,0.00,0.000,1030,0.000,0.034,3134,1847,1798,1738,1858,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5167,1.21,355.8,3134,1847,1737,1858,87.5,8.6,764,5217,0.00,2.60,41.00,0.715,8452,0.000,0.049,3134,3257,1597,1535,1659,0,0,0,0,0,0,28.83,24.48,23.94
$GC,5270,1.22,366.5,2176,3255,1500,1652,77.5,10.6,782,5289,0.00,2.50,10.23,0.615,9222,0.000,0.058,3134,1810,1554,1490,1618,0,0,0,0,0,0,28.83,24.76,24.03
$GC,5594,1.25,392.3,3134,1810,1486,1616,44.4,9.8,845,5620,0.00,0.00,21.85,0.638,8198,0.000,0.000,3134,1810,1449,1385,1513,0,0,0,0,0,0,28.83,28.83,24.02
$GC,5924,1.27,416.1,3134,1810,1381,1511,14.3,9.9,909,5951,0.10,2.65,20.25,0.604,10500,0.067,0.043,3169,3256,1352,1287,1418,0,0,0,0,0,0,24.93,24.56,24.06
$STATE,6012,end climb,SURFACE_DEPTH_REACHED
$STATE,6012,begin surface coast
$FINISH,-0.0,1.000689
$STATE,6025,end surface coast,CONTROL_FINISHED_OK
$STATE,6025,begin surface
$SM_CCo,6045,67.90,0.088,0,0,758,562.23
$SM_GC,0.75,9.30,2.35,67.90,0.033,0.028,0.088,1044,1908,758,-8.38,0.88,562.23,0,0,0,0,0,0,24.82,24.82,24.68
$IRIDIUM_FIX,2108.69,11959.90,010214,101021
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.27
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,22.80
$XPDR_PINGS,-1
$24V_AH,23.8,10.118
$10V_AH,9.9,8.658
$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,20.500,68.475,447.675,67.900,0.000,0.000,0.000,231.325,0.000,0.000,14.260,2161.158,1685.695,598.879,1848.597,145.366,0.000,1640.233,0.000,1615.873,0.000,1.681,0.000
$DEVICE_MAMPS,159.885,76.500,849.915,87.975,0.000,0.000,0.000,126.225,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.821,925.216,765.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324244
$DATA_FILE_SIZE,56937,927
$CAP_FILE_SIZE,88678,0
$CFSIZE,256368640,250339328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.294,314.3,1
$GPS,010214,140806,2118.342,12003.029,29,1.8,30,-2.5