version: 66.11
glider: 17
mission: 10
dive: 34
start: 2 1 114 19 49 30
data:
$ID,17
$MISSION,10
$DIVE,34
$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,-228993.88
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,010214,194348,2121.317,12002.601,38,1.4,51,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-53.1
$GPS2,010214,194903,2121.424,12002.590,11,2.9,31,-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,122.2,43922,-17.1,-11.111,-20.35,2019
$D_GRID,2807
$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,16,-1.00,-146.0,1040,1889,698,803,0.0,0.0,0,99,0.00,0.00,-80.75,0.000,16386,0.000,0.000,1040,1888,2856,2843,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.00,-146.0,1040,1888,2844,2870,3.2,-8.4,13,136,8.93,2.40,-16.40,0.000,18948,0.159,0.047,2661,500,3646,3603,3690,0,0,0,0,0,0,24.68,24.81,25.09
$GC,220,-1.00,-146.0,1664,500,3596,3688,25.5,-14.6,34,227,0.00,2.42,0.00,0.000,1030,0.000,0.055,2661,1925,3647,3604,3690,0,0,0,0,0,0,28.83,24.88,28.83
$GC,530,-1.00,-146.0,1680,1923,3597,3688,71.6,-16.6,95,537,0.00,2.40,0.00,0.000,260,0.000,0.042,2661,3317,3647,3605,3690,0,0,0,0,0,0,28.83,24.89,28.83
$GC,565,-1.00,-146.0,2661,3317,3606,3690,78.1,-19.0,101,573,0.00,2.35,0.00,0.000,1030,0.000,0.023,2661,1907,3648,3606,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,876,-1.00,-146.0,1680,1905,3599,3688,117.1,-12.9,162,883,0.00,2.40,0.00,0.000,516,0.000,0.066,2661,514,3648,3607,3690,0,0,0,0,0,0,28.83,24.92,28.83
$GC,926,-1.00,-146.0,1672,514,3599,3687,122.9,-10.9,171,933,0.00,2.38,0.00,0.000,1030,0.000,0.028,2661,1929,3649,3608,3690,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1236,-1.00,-146.0,1696,1927,3601,3688,149.9,-5.2,232,1243,0.00,2.42,0.00,0.000,260,0.000,0.074,2661,3315,3650,3610,3690,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1281,-1.00,-146.0,2661,3315,3610,3690,152.6,-6.6,240,1288,0.00,2.33,0.00,0.000,1030,0.000,0.056,2661,1931,3650,3610,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1593,-1.00,-146.0,2661,1931,3610,3689,177.1,-6.7,301,1601,0.00,2.42,0.00,0.000,516,0.000,0.038,2661,515,3650,3611,3690,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1686,-1.00,-146.0,2661,515,3611,3689,183.4,-7.0,318,1693,0.00,2.40,0.00,0.000,1030,0.000,0.059,2661,1919,3650,3611,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2002,-1.00,-146.0,2661,1919,3611,3690,211.7,-12.0,370,2011,0.00,2.40,0.00,0.000,260,0.000,0.050,2661,3307,3650,3611,3690,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2054,-1.00,-146.0,2661,3307,3611,3690,218.0,-12.0,375,2063,0.00,2.30,0.00,0.000,1030,0.000,0.027,2661,1927,3650,3611,3690,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2364,-1.00,-146.0,2661,1927,3610,3690,241.0,-4.2,406,2373,0.00,2.42,0.00,0.000,516,0.000,0.049,2661,511,3650,3610,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2429,-1.00,-146.0,2661,510,3610,3690,243.5,-3.8,412,2436,0.00,2.38,0.00,0.000,1030,0.000,0.060,2662,1910,3650,3610,3690,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2737,-1.00,-146.0,2661,1910,3607,3690,259.4,-6.6,443,2745,0.00,2.42,0.00,0.000,260,0.000,0.050,2661,3309,3648,3607,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2828,-1.00,-146.0,2661,3309,3606,3690,266.0,-7.1,452,2837,0.00,2.33,0.00,0.000,1030,0.000,0.029,2661,1930,3648,3606,3690,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3139,-1.00,-146.0,2661,1929,3604,3690,288.5,-8.9,483,3147,0.00,2.40,0.00,0.000,260,0.000,0.047,2661,3308,3647,3604,3690,0,0,0,0,0,0,28.83,24.99,28.83
$GC,3233,-1.00,-146.0,2661,3308,3603,3690,297.9,-10.5,492,3240,0.00,2.28,0.00,0.000,1030,0.000,0.060,2661,1960,3646,3603,3689,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,3248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3248,begin apogee
$GC,3254,-0.25,0.0,2661,1832,3602,3690,300.0,-10.7,494,3374,0.75,0.00,113.85,0.854,10244,0.080,0.000,2821,1832,3050,2984,3116,0,0,0,0,0,0,24.96,28.83,23.82
$STATE,3375,end apogee,CONTROL_FINISHED_OK
$STATE,3375,begin climb
$GC,3377,1.00,146.0,2821,1832,2983,3116,308.9,0.0,506,3498,1.23,0.00,114.15,0.835,11270,0.049,0.000,3098,1832,2453,2386,2521,0,0,0,0,0,0,24.54,28.83,23.82
$GC,3806,1.11,249.5,3098,1832,2381,2518,294.5,5.8,548,3896,0.10,0.00,82.28,0.835,10502,0.070,0.000,3131,1832,2031,1972,2090,0,0,0,0,0,0,24.85,28.83,23.81
$GC,4196,1.11,249.5,3130,1832,1964,2086,240.2,14.2,587,4205,0.00,2.53,0.00,0.000,260,0.000,0.052,3131,3242,2025,1964,2086,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4318,1.11,249.5,3131,3242,1964,2086,223.1,13.8,599,4327,0.00,2.35,0.00,0.000,1030,0.000,0.034,3131,1885,2024,1964,2085,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4629,1.11,249.5,3131,1885,1962,2083,183.9,13.7,641,4636,0.00,2.55,0.00,0.000,516,0.000,0.048,3131,443,2021,1962,2081,0,0,0,0,0,0,28.83,24.84,28.83
$GC,4749,1.11,249.5,3131,443,1962,2079,166.9,13.2,664,4756,0.00,2.42,0.00,0.000,1030,0.000,0.063,3131,1835,2020,1962,2079,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5060,1.13,276.7,3131,1835,1962,2079,135.4,9.7,725,5092,0.00,2.55,21.52,0.744,8708,0.000,0.044,3131,444,1918,1861,1976,0,0,0,0,0,0,28.83,24.53,23.95
$GC,5150,1.13,276.7,3131,444,1858,1976,125.8,11.9,741,5158,0.00,2.42,0.00,0.000,1030,0.000,0.036,3131,1841,1917,1859,1976,0,0,0,0,0,0,28.83,24.79,28.83
$GC,5462,1.13,276.9,2144,1839,1805,1967,92.4,11.1,802,5469,0.00,2.53,0.00,0.000,260,0.000,0.081,3131,3256,1916,1857,1976,0,0,0,0,0,0,28.83,24.84,28.83
$GC,5613,1.19,331.2,2128,3254,1804,1967,78.4,8.3,831,5664,0.00,2.42,44.67,0.708,9222,0.000,0.031,3131,1838,1698,1637,1760,0,0,0,0,0,0,28.83,24.91,23.95
$GC,5969,1.25,397.0,3131,1838,1630,1757,53.3,7.8,899,6031,0.00,2.50,53.80,0.667,8708,0.000,0.065,3131,440,1429,1365,1493,0,0,0,0,0,0,28.83,24.48,23.94
$GC,6130,1.30,443.7,3131,440,1361,1490,38.9,8.7,928,6176,0.15,2.40,38.22,0.636,11270,0.080,0.059,3161,1826,1240,1174,1307,0,0,0,0,0,0,24.73,24.77,23.98
$STATE,6453,end climb,SURFACE_DEPTH_REACHED
$STATE,6453,begin surface coast
$FINISH,0.1,1.023200
$STATE,6469,end surface coast,CONTROL_FINISHED_OK
$STATE,6469,begin surface
$SM_CCo,6488,54.75,0.089,0,0,758,562.23
$SM_GC,0.57,9.27,0.12,54.75,0.034,0.065,0.089,1044,1923,758,-8.37,-1.05,562.23,0,0,0,0,0,0,24.84,24.89,24.68
$IRIDIUM_FIX,2113.32,12003.06,010214,171724
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.35
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,22.70
$XPDR_PINGS,-1
$24V_AH,23.8,10.554
$10V_AH,9.9,8.976
$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,20.425,67.825,468.500,54.750,0.000,0.000,0.000,207.350,0.000,0.000,33.785,2320.484,1788.820,551.827,2045.175,157.703,0.000,1667.289,0.000,1816.691,0.000,1.682,0.000
$DEVICE_MAMPS,159.120,81.090,853.740,88.740,0.000,0.000,0.000,125.460,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.589,987.377,813.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324208
$DATA_FILE_SIZE,60136,993
$CAP_FILE_SIZE,102665,0
$CFSIZE,256368640,250089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,55
$CURRENT,0.306, 26.1,1
$GPS,010214,213953,2122.056,12003.787,25,1.8,43,-2.5