version: 66.11
glider: 17
mission: 10
dive: 35
start: 2 1 114 21 45 16
data:
$ID,17
$MISSION,10
$DIVE,35
$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,-228995.12
$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,44
$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
$GPS1,010214,213953,2122.056,12003.787,25,1.8,43,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-48.5
$GPS2,010214,214449,2122.166,12003.775,12,1.6,12,-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,97.1,41467,-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,-146.0,1043,1924,700,801,0.0,0.0,0,99,0.00,0.00,-80.53,0.000,16386,0.000,0.000,1043,1925,2864,2851,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.00,-146.0,1043,1926,2851,2879,3.0,-6.5,13,136,8.93,2.47,-16.70,0.000,18948,0.159,0.047,2654,496,3647,3607,3687,0,0,0,0,0,0,24.66,24.79,25.08
$GC,184,-1.00,-146.0,2653,496,3609,3687,18.5,-14.5,27,191,0.00,2.38,0.00,0.000,1030,0.000,0.027,2654,1899,3648,3609,3687,0,0,0,0,0,0,28.83,24.84,28.83
$GC,494,-1.00,-146.0,1696,1898,3601,3685,71.0,-15.8,88,501,0.00,2.47,0.00,0.000,260,0.000,0.070,2654,3318,3648,3609,3688,0,0,0,0,0,0,28.83,24.87,28.83
$GC,538,-1.00,-146.0,1696,3317,3602,3686,77.0,-12.2,96,545,0.00,2.38,0.00,0.000,1030,0.000,0.054,2654,1906,3648,3610,3687,0,0,0,0,0,0,28.83,24.91,28.83
$GC,849,-1.00,-146.0,2654,1906,3610,3688,109.2,-12.1,157,857,0.00,2.40,0.00,0.000,516,0.000,0.037,2653,504,3649,3611,3688,0,0,0,0,0,0,28.83,24.91,28.83
$GC,941,-1.00,-146.0,1664,504,3602,3685,119.2,-10.6,174,948,0.00,2.38,0.00,0.000,1030,0.000,0.057,2654,1900,3649,3611,3688,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1251,-1.00,-146.0,1664,1898,3602,3686,160.3,-12.6,235,1258,0.00,2.45,0.00,0.000,260,0.000,0.046,2653,3312,3650,3611,3689,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1311,-1.00,-146.0,2653,3312,3611,3689,167.3,-11.1,246,1318,0.00,2.38,0.00,0.000,1030,0.000,0.055,2654,1902,3650,3611,3689,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1623,-1.00,-146.0,2653,1902,3611,3689,189.8,-5.6,307,1630,0.00,2.40,0.00,0.000,516,0.000,0.040,2654,505,3650,3611,3689,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1693,-1.00,-146.0,2653,505,3612,3689,194.3,-6.6,320,1700,0.00,2.38,0.00,0.000,1030,0.000,0.059,2654,1895,3650,3612,3689,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2008,-1.00,-146.0,2653,1895,3612,3689,218.9,-8.8,359,2016,0.00,2.45,0.00,0.000,260,0.000,0.048,2654,3310,3650,3612,3689,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2030,-1.00,-146.0,2653,3310,3612,3689,220.8,-8.9,361,2040,0.00,2.40,0.00,0.000,1030,0.000,0.028,2654,1881,3650,3612,3689,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2339,-1.00,-146.0,2653,1881,3611,3689,244.7,-7.0,392,2349,0.00,2.50,0.00,0.000,260,0.000,0.047,2654,3314,3650,3611,3689,0,0,0,0,0,0,28.83,24.92,28.83
$GC,2404,-1.00,-146.0,1744,3312,3603,3687,249.0,-6.9,398,2411,0.00,2.42,0.00,0.000,1030,0.000,0.057,2654,1881,3650,3611,3689,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2712,-1.00,-146.0,2653,1881,3610,3689,266.2,-5.5,429,2722,0.00,2.50,0.00,0.000,260,0.000,0.048,2654,3309,3649,3610,3689,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2775,-1.00,-146.0,2653,3309,3609,3689,270.4,-6.9,435,2784,0.00,2.35,0.00,0.000,1030,0.000,0.029,2654,1908,3649,3609,3689,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3085,-1.00,-146.0,2653,1908,3606,3689,294.6,-8.2,466,3094,0.00,2.40,0.00,0.000,516,0.000,0.052,2654,511,3647,3606,3689,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3147,-1.00,-146.0,2653,511,3605,3689,299.7,-8.0,472,3157,0.00,2.38,0.00,0.000,1030,0.000,0.034,2653,1895,3647,3605,3689,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3165,begin apogee
$GC,3171,-0.25,0.0,2653,1829,3605,3689,301.2,-7.8,474,3291,0.80,0.00,114.28,0.851,10244,0.081,0.000,2823,1829,3050,2986,3114,0,0,0,0,0,0,24.95,28.83,23.82
$STATE,3292,end apogee,CONTROL_FINISHED_OK
$STATE,3292,begin climb
$GC,3295,1.00,146.0,2822,1829,2985,3114,305.9,0.0,486,3417,1.17,2.47,113.72,0.835,10756,0.044,0.046,3099,470,2454,2384,2524,0,0,0,0,0,0,24.56,24.53,23.82
$GC,3546,1.01,150.7,2176,470,2322,2515,295.7,10.9,509,3557,0.00,2.42,5.25,0.584,9222,0.000,0.037,3099,1853,2435,2362,2509,0,0,0,0,0,0,28.83,24.70,24.03
$GC,3866,1.06,204.1,3099,1853,2358,2508,262.5,8.4,541,3916,0.00,2.58,42.83,0.816,8708,0.000,0.047,3099,468,2216,2143,2289,0,0,0,0,0,0,28.83,24.44,23.84
$GC,3962,1.11,254.5,2192,468,2087,2277,254.8,8.5,550,4011,0.10,2.42,41.62,0.804,11270,0.087,0.067,3118,1843,2012,1944,2080,0,0,0,0,0,0,24.69,24.70,23.84
$GC,4310,1.14,282.1,3118,1843,1936,2077,224.5,9.7,585,4340,0.00,2.67,23.25,0.777,8452,0.000,0.060,3119,3254,1898,1827,1970,0,0,0,0,0,0,28.83,24.45,23.88
$GC,4426,1.14,282.1,2176,3253,1776,1961,210.7,12.9,596,4433,0.00,2.38,0.00,0.000,1030,0.000,0.065,3119,1886,1896,1823,1970,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4733,1.14,282.1,2144,1885,1769,1959,165.5,13.8,650,4740,0.00,2.45,0.00,0.000,260,0.000,0.079,3119,3257,1893,1819,1967,0,0,0,0,0,0,28.83,24.80,28.83
$GC,4753,1.14,282.1,3119,3257,1820,1967,162.5,14.7,653,4761,0.00,2.40,0.00,0.000,1030,0.000,0.035,3119,1868,1893,1819,1967,0,0,0,0,0,0,28.83,24.84,28.83
$GC,5064,1.18,325.7,2128,1866,1767,1957,132.6,8.9,714,5108,0.00,2.58,35.45,0.754,8708,0.000,0.073,3119,437,1720,1647,1793,0,0,0,0,0,0,28.83,24.47,23.91
$GC,5212,1.21,354.4,3119,437,1645,1788,117.7,9.7,741,5245,0.12,2.50,24.30,0.716,11270,0.080,0.034,3143,1876,1604,1529,1679,0,0,0,0,0,0,24.77,24.79,23.93
$GC,5550,1.24,379.6,3143,1876,1523,1676,82.7,9.8,806,5576,0.00,0.00,21.52,0.682,8454,0.000,0.000,3143,1876,1501,1426,1577,0,0,0,0,0,0,28.83,28.83,23.98
$GC,5880,1.24,384.2,2176,1874,1391,1568,49.7,10.9,870,5893,0.00,2.58,4.80,0.485,8708,0.000,0.042,3144,447,1482,1406,1558,0,0,0,0,0,0,28.83,24.75,24.25
$GC,5942,1.24,384.2,3144,447,1406,1556,42.7,11.4,881,5949,0.00,2.45,0.00,0.000,1030,0.000,0.031,3144,1870,1481,1406,1556,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6253,1.25,396.1,2176,1869,1378,1551,9.4,10.5,942,6273,0.00,2.47,11.07,0.568,8452,0.000,0.077,3144,3252,1435,1359,1511,0,0,0,0,0,0,28.83,24.65,24.20
$GC,6322,1.26,400.8,2144,3250,1331,1506,2.5,10.9,954,6330,0.00,2.38,2.45,0.094,9222,0.000,0.060,3144,1868,1416,1339,1494,0,0,0,0,0,0,28.83,24.84,24.75
$STATE,6335,end climb,SURFACE_DEPTH_REACHED
$STATE,6335,begin surface coast
$FINISH,0.1,1.023101
$STATE,6352,end surface coast,CONTROL_FINISHED_OK
$STATE,6352,begin surface
$SM_CCo,6371,75.20,0.090,0,0,758,562.23
$SM_GC,0.79,9.15,0.08,75.20,0.031,0.093,0.090,1038,1935,758,-8.38,-0.99,562.23,0,0,0,0,0,0,24.89,24.91,24.69
$IRIDIUM_FIX,2113.32,12001.06,010214,191920
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.52
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.80
$XPDR_PINGS,-1
$24V_AH,23.8,10.662
$10V_AH,9.9,9.056
$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,20.275,78.375,440.550,75.200,0.000,0.000,0.000,206.775,0.000,0.000,14.211,2265.854,1792.118,557.492,1973.852,157.953,0.000,1658.447,0.000,1764.264,0.000,1.681,0.000
$DEVICE_MAMPS,159.120,94.095,851.445,89.505,0.000,0.000,0.000,128.520,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.914,957.721,796.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324268
$DATA_FILE_SIZE,56846,959
$CAP_FILE_SIZE,104412,0
$CFSIZE,256368640,250036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,48
$CURRENT,0.276, 29.4,1
$GPS,010214,233351,2122.856,12005.123,10,2.6,31,-2.5