version: 66.11
glider: 17
mission: 10
dive: 31
start: 2 1 114 14 13 38
data:
$ID,17
$MISSION,10
$DIVE,31
$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,-228990.03
$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,25
$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
$GPS1,010214,140806,2118.342,12003.029,29,1.8,30,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-51.5
$GPS2,010214,141309,2118.448,12002.946,13,2.5,33,-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,115.9,46453,-17.1,-11.111,-20.35,2019
$D_GRID,2856
$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,-146.0,1043,1901,693,806,0.0,0.0,0,105,0.00,0.00,-86.97,0.000,16386,0.000,0.000,1043,1900,3051,3041,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.00,-146.0,1043,1901,3041,3062,3.3,-6.9,14,135,8.95,2.47,-11.68,0.000,18948,0.161,0.046,2658,503,3647,3611,3684,0,0,0,0,0,0,24.67,24.80,25.08
$GC,208,-1.00,-146.0,1672,503,3602,3682,24.0,-14.3,32,215,0.00,2.40,0.00,0.000,1030,0.000,0.055,2658,1919,3647,3611,3684,0,0,0,0,0,0,28.83,24.87,28.83
$GC,519,-1.00,-146.0,2658,1919,3612,3684,69.9,-17.6,93,527,0.00,2.40,0.00,0.000,260,0.000,0.041,2658,3311,3648,3612,3684,0,0,0,0,0,0,28.83,24.88,28.83
$GC,564,-1.00,-146.0,2658,3311,3613,3684,77.5,-15.0,101,572,0.00,2.35,0.00,0.000,1030,0.000,0.024,2658,1902,3648,3612,3684,0,0,0,0,0,0,28.83,24.93,28.83
$GC,877,-1.00,-146.0,1672,1900,3604,3685,119.3,-12.5,162,884,0.00,2.47,0.00,0.000,260,0.000,0.070,2658,3316,3649,3612,3687,0,0,0,0,0,0,28.83,24.91,28.83
$GC,921,-1.00,-146.0,1696,3314,3605,3685,124.5,-11.6,170,928,0.00,2.40,0.00,0.000,1030,0.000,0.054,2658,1890,3650,3613,3687,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1232,-1.00,-146.0,1680,1888,3606,3685,152.4,-7.5,231,1239,0.00,2.38,0.00,0.000,516,0.000,0.038,2658,502,3650,3614,3687,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1262,-1.00,-146.0,2658,503,3614,3687,154.7,-7.8,236,1269,0.00,2.38,0.00,0.000,1030,0.000,0.057,2658,1893,3651,3614,3688,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1573,-1.00,-146.0,2658,1894,3614,3687,176.1,-9.5,297,1581,0.00,2.47,0.00,0.000,260,0.000,0.046,2658,3316,3650,3614,3687,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1679,-1.00,-146.0,2658,3316,3614,3687,187.5,-10.8,317,1686,0.00,2.35,0.00,0.000,1030,0.000,0.027,2658,1910,3650,3614,3687,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1989,-1.00,-146.0,2658,1910,3614,3687,213.4,-7.2,360,1999,0.00,2.40,0.00,0.000,516,0.000,0.038,2658,511,3650,3614,3687,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2031,-1.00,-146.0,2658,511,3614,3687,216.8,-8.3,364,2041,0.00,2.40,0.00,0.000,1030,0.000,0.031,2658,1921,3651,3614,3688,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2342,-1.00,-146.0,2658,1921,3613,3687,244.6,-8.2,395,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1921,3650,3613,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-1.00,-146.0,2658,1921,3611,3687,265.5,-7.0,425,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1921,3649,3611,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2953,-1.00,-146.0,2658,1921,3610,3687,291.4,-10.3,456,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1921,3648,3610,3687,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3029,begin apogee
$GC,3035,-0.25,0.0,2658,1829,3609,3687,300.3,-11.3,464,3154,0.75,0.00,114.07,0.848,10244,0.076,0.000,2819,1830,3049,2984,3114,0,0,0,0,0,0,24.97,28.83,23.83
$STATE,3156,end apogee,CONTROL_FINISHED_OK
$STATE,3156,begin climb
$GC,3158,1.00,146.0,2819,1829,2984,3114,310.8,0.0,476,3281,1.23,0.00,113.57,0.828,11270,0.048,0.000,3096,1829,2453,2386,2521,0,0,0,0,0,0,24.54,28.83,23.82
$GC,3582,1.05,196.6,3095,1829,2381,2519,309.3,8.5,519,3631,0.00,2.65,40.50,0.817,8452,0.000,0.052,3096,3246,2247,2182,2313,0,0,0,0,0,0,28.83,24.44,23.84
$GC,3724,1.05,196.6,3095,3246,2182,2311,293.0,12.4,533,3734,0.00,2.35,0.00,0.000,1030,0.000,0.034,3095,1891,2245,2180,2311,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4034,1.10,246.6,3095,1891,2176,2310,263.5,8.6,564,4085,0.12,2.65,40.62,0.812,10756,0.065,0.067,3136,449,2042,1984,2100,0,0,0,0,0,0,24.88,24.41,23.85
$GC,4099,1.13,270.9,3136,449,1983,2097,257.4,9.9,570,4129,0.00,2.45,20.85,0.767,9222,0.000,0.044,3136,1847,1944,1885,2003,0,0,0,0,0,0,28.83,24.60,23.84
$GC,4429,1.13,270.9,3136,1848,1879,2000,218.4,11.2,603,4437,0.00,2.50,0.00,0.000,516,0.000,0.048,3136,442,1939,1879,1999,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4580,1.13,270.9,3136,442,1879,1996,199.8,12.4,618,4588,0.00,2.40,0.00,0.000,1030,0.000,0.063,3136,1821,1937,1879,1996,0,0,0,0,0,0,28.83,24.84,28.83
$GC,4892,1.15,292.5,2144,1820,1823,1987,165.0,10.0,679,4918,0.00,2.62,17.83,0.733,8452,0.000,0.080,3136,3259,1857,1796,1918,0,0,0,0,0,0,28.83,24.53,23.97
$GC,4961,1.17,312.2,3136,3259,1796,1918,157.9,10.1,691,4987,0.00,2.50,17.48,0.720,9222,0.000,0.033,3136,1814,1776,1714,1838,0,0,0,0,0,0,28.83,24.79,23.94
$GC,5293,1.17,312.2,3136,1814,1710,1836,110.1,15.0,755,5299,0.00,2.42,0.00,0.000,516,0.000,0.047,3136,440,1772,1710,1835,0,0,0,0,0,0,28.83,24.83,28.83
$GC,5383,1.17,312.2,2120,440,1664,1824,96.5,13.9,772,5390,0.00,2.38,0.00,0.000,1030,0.000,0.061,3136,1814,1771,1710,1832,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5694,1.18,323.1,3136,1814,1709,1832,66.2,10.6,833,5708,0.00,0.00,9.65,0.614,8198,0.000,0.000,3137,1814,1732,1668,1796,0,0,0,0,0,0,28.83,28.83,24.17
$GC,6013,1.22,360.3,3136,1815,1666,1794,32.8,9.2,895,6051,0.00,2.58,31.35,0.649,8452,0.000,0.047,3137,3250,1580,1516,1645,0,0,0,0,0,0,28.83,24.51,23.98
$GC,6114,1.25,398.0,3136,3250,1515,1642,23.4,9.2,913,6153,0.00,2.50,31.40,0.629,9222,0.000,0.029,3137,1789,1426,1363,1490,0,0,0,0,0,0,28.83,24.80,24.01
$STATE,6331,end climb,SURFACE_DEPTH_REACHED
$STATE,6331,begin surface coast
$FINISH,-0.0,1.023300
$STATE,6347,end surface coast,CONTROL_FINISHED_OK
$STATE,6347,begin surface
$SM_CCo,6366,75.50,0.086,0,0,757,562.23
$SM_GC,0.69,9.18,0.22,75.50,0.034,0.041,0.086,1037,1940,757,-8.39,-0.71,562.23,0,0,0,0,0,0,24.87,24.89,24.68
$IRIDIUM_FIX,2108.69,12005.06,010214,121252
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.37
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,22.80
$XPDR_PINGS,-1
$24V_AH,23.8,10.224
$10V_AH,10.0,8.736
$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,20.225,59.225,437.325,75.500,0.000,0.000,0.000,195.725,0.000,0.000,33.940,2245.040,1893.440,583.646,1885.602,146.962,0.000,1601.404,0.000,1665.948,0.000,1.681,0.000
$DEVICE_MAMPS,160.650,80.325,848.385,86.445,0.000,0.000,0.000,126.990,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.625,940.599,767.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324240
$DATA_FILE_SIZE,56905,957
$CAP_FILE_SIZE,90377,0
$CFSIZE,256368640,250277888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.478,306.9,1
$GPS,010214,160233,2119.029,12002.354,34,9.8,55,-2.5