version: 66.11
glider: 17
mission: 10
dive: 36
start: 2 1 114 23 39 42
data:
$ID,17
$MISSION,10
$DIVE,36
$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,-228996.38
$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,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
$GPS1,010214,233351,2122.856,12005.123,10,2.6,31,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-51.9
$GPS2,010214,233915,2122.958,12005.154,14,2.5,34,-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,90.6,38676,-17.1,-11.111,-20.35,2019
$D_GRID,2790
$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,-146.0,1037,1935,703,798,0.0,0.0,0,99,0.00,0.00,-80.85,0.000,16386,0.000,0.000,1037,1935,2872,2854,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.00,-146.0,1037,1935,2855,2890,3.1,-7.4,13,136,9.00,2.47,-16.23,0.000,18948,0.162,0.047,2659,503,3647,3602,3692,0,0,0,0,0,0,24.68,24.80,25.08
$GC,174,-1.00,-146.0,2658,503,3603,3692,17.5,-14.4,25,182,0.00,2.35,0.00,0.000,1030,0.000,0.027,2659,1895,3647,3603,3692,0,0,0,0,0,0,28.83,24.85,28.83
$GC,485,-1.00,-146.0,1696,1894,3596,3689,69.3,-15.1,86,492,0.00,2.47,0.00,0.000,260,0.000,0.070,2659,3315,3648,3604,3692,0,0,0,0,0,0,28.83,24.87,28.83
$GC,515,-1.00,-146.0,1680,3313,3596,3690,73.6,-14.2,91,521,0.00,2.35,0.00,0.000,1030,0.000,0.025,2659,1904,3648,3605,3692,0,0,0,0,0,0,28.83,24.92,28.83
$GC,824,-1.00,-146.0,1696,1902,3598,3690,111.1,-11.9,152,831,0.00,2.40,0.00,0.000,516,0.000,0.066,2658,510,3649,3606,3692,0,0,0,0,0,0,28.83,24.91,28.83
$GC,909,-1.00,-146.0,1696,509,3598,3690,119.9,-9.0,168,916,0.00,2.35,0.00,0.000,1030,0.000,0.057,2659,1898,3649,3606,3692,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1222,-1.00,-146.0,2658,1898,3609,3692,146.7,-10.0,229,1229,0.00,2.45,0.00,0.000,260,0.000,0.046,2659,3312,3650,3609,3692,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1261,-1.00,-146.0,1696,3310,3601,3690,151.3,-11.6,236,1268,0.00,2.40,0.00,0.000,1030,0.000,0.054,2659,1877,3650,3609,3692,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1573,-1.00,-146.0,2658,1877,3609,3692,182.0,-5.0,297,1581,0.00,2.35,0.00,0.000,516,0.000,0.040,2659,508,3650,3609,3692,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1599,-1.00,-146.0,2658,508,3610,3692,183.2,-4.7,301,1607,0.00,2.35,0.00,0.000,1030,0.000,0.031,2659,1891,3650,3609,3692,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1912,-1.00,-146.0,2658,1891,3609,3692,199.8,-10.1,362,1919,0.00,2.50,0.00,0.000,260,0.000,0.076,2659,3316,3650,3609,3692,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1947,-1.00,-146.0,2658,3315,3609,3692,203.9,-11.2,366,1957,0.00,2.45,0.00,0.000,1030,0.000,0.028,2659,1862,3650,3609,3692,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2258,-1.00,-146.0,2658,1862,3608,3692,231.6,-6.0,397,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1862,3650,3608,3692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-1.00,-146.0,2658,1862,3605,3692,251.0,-6.5,427,2567,0.00,2.53,0.00,0.000,260,0.000,0.047,2658,3312,3648,3605,3692,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2643,-1.00,-146.0,1744,3310,3597,3690,256.7,-6.8,435,2650,0.00,2.42,0.00,0.000,1030,0.000,0.030,2659,1881,3648,3605,3692,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2952,-1.00,-146.0,2658,1881,3601,3692,280.2,-8.0,466,2961,0.00,2.38,0.00,0.000,516,0.000,0.052,2659,504,3646,3601,3692,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2974,-1.00,-146.0,2658,504,3601,3692,282.0,-7.9,468,2984,0.00,2.40,0.00,0.000,1030,0.000,0.033,2659,1895,3646,3601,3692,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3245,begin apogee
$GC,3250,-0.25,0.0,2658,1829,3598,3691,300.5,-7.1,495,3370,0.75,0.00,114.12,0.861,10244,0.080,0.000,2819,1829,3050,2983,3117,0,0,0,0,0,0,24.98,28.83,23.82
$STATE,3371,end apogee,CONTROL_FINISHED_OK
$STATE,3371,begin climb
$GC,3373,1.00,146.0,2818,1829,2982,3117,306.4,0.0,506,3494,1.23,0.00,114.20,0.840,11270,0.050,0.000,3096,1829,2454,2384,2524,0,0,0,0,0,0,24.53,28.83,23.81
$GC,3802,1.08,225.1,3096,1829,2380,2520,293.4,7.1,548,3873,0.00,2.62,63.05,0.835,8452,0.000,0.060,3096,3254,2132,2066,2198,0,0,0,0,0,0,28.83,24.41,23.80
$GC,3936,1.09,235.8,3096,3255,2065,2196,281.2,10.6,561,3956,0.00,2.38,10.18,0.712,9222,0.000,0.034,3096,1891,2086,2022,2151,0,0,0,0,0,0,28.83,24.70,23.91
$GC,4256,1.16,300.3,3096,1891,2019,2148,251.1,7.8,593,4317,0.12,2.50,52.80,0.820,10500,0.063,0.057,3136,3251,1824,1762,1886,0,0,0,0,0,0,24.85,24.41,23.82
$GC,4353,1.16,300.3,2192,3249,1716,1876,241.2,11.6,602,4361,0.00,2.38,0.00,0.000,1030,0.000,0.065,3137,1891,1822,1760,1884,0,0,0,0,0,0,28.83,24.68,28.83
$GC,4662,1.16,300.3,3136,1891,1755,1882,199.2,14.7,633,4669,0.00,2.58,0.00,0.000,516,0.000,0.048,3136,437,1817,1754,1880,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4731,1.16,300.3,2176,436,1707,1870,188.4,14.8,646,4739,0.00,2.47,0.00,0.000,1030,0.000,0.063,3137,1851,1816,1754,1878,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5043,1.16,300.3,3136,1851,1753,1878,148.7,16.2,707,5050,0.00,2.53,0.00,0.000,516,0.000,0.047,3137,435,1815,1753,1878,0,0,0,0,0,0,28.83,24.84,28.83
$GC,5139,1.16,300.3,2128,435,1703,1868,133.0,14.9,725,5147,0.00,2.42,0.00,0.000,1030,0.000,0.035,3137,1835,1814,1752,1876,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5451,1.22,368.0,2144,1833,1705,1868,99.4,7.7,786,5513,0.00,2.58,54.30,0.740,8452,0.000,0.052,3137,3254,1547,1483,1612,0,0,0,0,0,0,28.83,24.45,23.91
$GC,5526,1.29,434.8,3136,3254,1483,1611,93.5,7.7,798,5590,0.12,2.53,55.00,0.707,11270,0.058,0.060,3173,1807,1276,1211,1342,0,0,0,0,0,0,24.68,24.65,23.91
$GC,5894,1.29,434.8,2208,1805,1184,1334,44.1,12.9,868,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1807,1269,1202,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6204,1.29,434.8,3173,1807,1201,1336,2.8,14.0,929,6212,0.00,2.55,0.00,0.000,260,0.000,0.044,3173,3256,1268,1201,1335,0,0,0,0,0,0,28.83,24.83,28.83
$STATE,6217,end climb,SURFACE_DEPTH_REACHED
$STATE,6217,begin surface coast
$FINISH,0.1,1.023221
$STATE,6229,end surface coast,CONTROL_FINISHED_OK
$STATE,6229,begin surface
$SM_CCo,6249,58.85,0.091,0,0,757,562.23
$SM_GC,0.66,9.30,2.38,58.85,0.031,0.031,0.091,1042,1896,757,-8.39,0.59,562.23,0,0,0,0,0,0,24.87,24.87,24.69
$IRIDIUM_FIX,2115.63,12003.06,010214,212120
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.94
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,22.00
$XPDR_PINGS,-1
$24V_AH,23.8,10.777
$10V_AH,9.9,9.135
$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,20.525,68.600,463.650,58.850,0.000,0.000,0.000,212.400,0.000,0.000,36.361,2181.569,1809.353,531.334,1958.393,156.688,0.000,1621.232,0.000,1722.645,0.000,1.681,0.000
$DEVICE_MAMPS,162.180,93.330,861.390,91.035,0.000,0.000,0.000,129.285,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.036,926.182,765.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,56847,933
$CAP_FILE_SIZE,101584,0
$CFSIZE,256368640,249978880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,75
$CURRENT,0.215, 10.3,1
$GPS,020214,012606,2123.737,12006.217,37,1.4,38,-2.5