version: 66.11
glider: 17
mission: 10
dive: 32
start: 2 1 114 16 8 30
data:
$ID,17
$MISSION,10
$DIVE,32
$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,-228991.38
$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,51
$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
$GPS1,010214,160233,2119.029,12002.354,34,9.8,55,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-45.7
$GPS2,010214,160801,2119.149,12002.302,32,1.9,32,-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,118.0,46602,-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,-146.0,1035,1940,690,810,0.0,0.0,0,98,0.00,0.00,-80.50,0.000,16386,0.000,0.000,1035,1941,2866,2855,2877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.00,-146.0,1035,1941,2855,2877,3.1,-7.1,13,135,8.98,2.47,-16.60,0.000,18948,0.161,0.046,2656,504,3647,3606,3688,0,0,0,0,0,0,24.68,24.80,25.08
$GC,219,-1.00,-146.0,1664,504,3598,3686,22.8,-13.6,34,226,0.00,2.35,0.00,0.000,1030,0.000,0.056,2656,1894,3647,3607,3688,0,0,0,0,0,0,28.83,24.87,28.83
$GC,530,-1.00,-146.0,2655,1895,3608,3688,67.9,-17.3,95,536,0.00,2.45,0.00,0.000,260,0.000,0.042,2656,3312,3648,3608,3688,0,0,0,0,0,0,28.83,24.88,28.83
$GC,629,-1.00,-146.0,2656,3312,3609,3688,82.1,-13.2,114,636,0.00,2.35,0.00,0.000,1030,0.000,0.054,2655,1914,3648,3609,3688,0,0,0,0,0,0,28.83,24.94,28.83
$GC,941,-1.00,-146.0,1664,1912,3601,3686,115.1,-10.7,175,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1914,3649,3610,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-1.00,-146.0,1664,1912,3601,3687,143.9,-8.1,236,1256,0.00,2.45,0.00,0.000,260,0.000,0.072,2656,3310,3650,3611,3689,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1269,-1.00,-146.0,2655,3310,3611,3689,145.6,-8.2,239,1276,0.00,2.33,0.00,0.000,1030,0.000,0.025,2656,1921,3649,3610,3689,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1578,-1.00,-146.0,1696,1919,3602,3687,183.2,-11.9,300,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1921,3650,3611,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,-1.00,-146.0,2655,1921,3611,3689,213.8,-9.5,347,1896,0.00,2.40,0.00,0.000,516,0.000,0.040,2656,515,3650,3611,3689,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1930,-1.00,-146.0,2655,515,3611,3689,217.7,-9.5,351,1938,0.00,2.40,0.00,0.000,1030,0.000,0.030,2656,1934,3649,3610,3689,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2240,-1.00,-146.0,2655,1934,3610,3689,242.2,-6.5,382,2249,0.00,2.40,0.00,0.000,260,0.000,0.058,2656,3311,3649,3610,3689,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2282,-1.00,-146.0,2655,3311,3610,3689,245.3,-7.3,386,2291,0.00,2.30,0.00,0.000,1030,0.000,0.032,2656,1927,3649,3610,3689,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2594,-1.00,-146.0,2655,1927,3609,3689,274.1,-7.9,417,2603,0.00,2.42,0.00,0.000,516,0.000,0.041,2656,508,3649,3609,3689,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2696,-1.00,-146.0,2655,508,3608,3689,282.4,-7.9,427,2705,0.00,2.35,0.00,0.000,1030,0.000,0.032,2656,1896,3648,3607,3689,0,0,0,0,0,0,28.83,25.02,28.83
$STATE,2893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2894,begin apogee
$GC,2899,-0.25,0.0,2655,1831,3606,3689,300.5,-9.5,447,3018,0.77,0.00,113.85,0.833,10244,0.080,0.000,2820,1831,3050,2985,3115,0,0,0,0,0,0,24.96,28.83,23.84
$STATE,3020,end apogee,CONTROL_FINISHED_OK
$STATE,3020,begin climb
$GC,3022,1.00,146.0,2820,1831,2984,3115,305.4,0.0,459,3145,1.25,0.00,113.43,0.815,11270,0.058,0.000,3096,1831,2453,2387,2520,0,0,0,0,0,0,24.51,28.83,23.83
$GC,3446,1.06,202.1,3095,1831,2381,2518,272.0,8.3,502,3497,0.00,2.53,44.38,0.801,8708,0.000,0.046,3095,464,2225,2161,2289,0,0,0,0,0,0,28.83,24.45,23.87
$GC,3723,1.07,217.1,3095,464,2158,2284,243.7,10.3,529,3742,0.00,2.35,13.00,0.726,9222,0.000,0.034,3096,1822,2165,2100,2230,0,0,0,0,0,0,28.83,24.79,23.96
$GC,4051,1.10,243.3,3095,1822,2096,2227,209.5,9.8,562,4080,0.10,0.00,22.05,0.757,10502,0.076,0.000,3126,1822,2057,1998,2117,0,0,0,0,0,0,24.91,28.83,23.89
$GC,4381,1.18,325.4,2144,1821,1938,2104,180.2,6.9,618,4454,0.00,0.00,66.57,0.770,8198,0.000,0.000,3126,1822,1721,1661,1782,0,0,0,0,0,0,28.83,28.83,23.89
$GC,4759,1.18,325.4,3126,1822,1653,1780,141.9,14.1,690,4766,0.00,2.55,0.00,0.000,260,0.000,0.076,3126,3253,1716,1653,1780,0,0,0,0,0,0,28.83,24.78,28.83
$GC,4930,1.18,325.4,3126,3253,1653,1779,117.5,11.9,723,4937,0.00,2.38,0.00,0.000,1030,0.000,0.031,3126,1864,1716,1653,1779,0,0,0,0,0,0,28.83,24.86,28.83
$GC,5240,1.27,412.9,3126,1864,1650,1779,100.4,6.7,784,5322,0.12,2.60,70.50,0.699,10756,0.067,0.053,3170,440,1364,1301,1428,0,0,0,0,0,0,24.89,24.42,23.94
$GC,5371,1.27,412.9,3170,440,1299,1426,83.4,15.7,806,5378,0.00,2.42,0.00,0.000,1030,0.000,0.060,3170,1831,1361,1298,1425,0,0,0,0,0,0,28.83,24.73,28.83
$GC,5681,1.27,412.9,3170,1831,1294,1423,39.0,13.8,867,5688,0.00,2.47,0.00,0.000,260,0.000,0.045,3170,3252,1358,1294,1423,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5736,1.27,412.9,3170,3252,1294,1422,32.0,12.5,877,5744,0.00,2.42,0.00,0.000,1030,0.000,0.029,3170,1832,1358,1294,1422,0,0,0,0,0,0,28.83,24.86,28.83
$STATE,5961,end climb,SURFACE_DEPTH_REACHED
$STATE,5961,begin surface coast
$FINISH,0.3,1.023291
$STATE,5973,end surface coast,CONTROL_FINISHED_OK
$STATE,5973,begin surface
$SM_CCo,5991,68.32,0.086,0,0,757,562.23
$SM_GC,0.67,9.23,0.15,68.32,0.029,0.058,0.086,1041,1938,757,-8.39,-0.85,562.23,0,0,0,0,0,0,24.91,24.94,24.72
$IRIDIUM_FIX,2111.01,11959.90,010214,141433
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.52
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,23.00
$XPDR_PINGS,-1
$24V_AH,23.8,10.331
$10V_AH,9.9,8.814
$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,20.450,48.625,443.775,68.325,0.000,0.000,0.000,220.700,0.000,0.000,33.166,2148.618,1668.373,568.516,1871.160,139.766,0.000,1588.622,0.000,1629.049,0.000,1.682,0.000
$DEVICE_MAMPS,161.415,91.800,833.085,86.445,0.000,0.000,0.000,126.990,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.672,923.320,769.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324300
$DATA_FILE_SIZE,56852,923
$CAP_FILE_SIZE,84446,0
$CFSIZE,256368640,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.492,327.3,1
$GPS,010214,175113,2120.137,12002.057,46,1.5,66,-2.5