version: 66.11
glider: 17
mission: 10
dive: 39
start: 2 2 114 5 3 36
data:
$ID,17
$MISSION,10
$DIVE,39
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,320
$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,80
$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,250
$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,-229001.53
$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,27
$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
$GPS1,020214,045800,2124.936,12006.690,40,1.4,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-53.7
$GPS2,020214,050306,2124.976,12006.688,15,1.4,32,-2.5
$SPEED_LIMITS,0.231,0.400
$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,124.8,34574,-15.3,-13.333,-18.45,2803
$D_GRID,2834
$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,-1.01,-243.3,1036,1882,589,711,0.0,0.0,0,105,0.00,0.00,-87.38,0.000,16386,0.000,0.000,1036,1882,2947,2945,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.01,-243.3,1036,1882,2945,2950,3.3,-7.6,14,142,9.00,2.45,-17.42,0.000,18948,0.162,0.047,2656,503,3838,3835,3842,0,0,0,0,0,0,24.68,24.80,24.94
$GC,256,-1.01,-243.3,1680,502,3832,3841,31.3,-14.4,41,264,0.00,2.40,0.00,0.000,1030,0.000,0.028,2656,1924,3839,3835,3844,0,0,0,0,0,0,28.83,24.87,28.83
$GC,567,-1.01,-243.3,1680,1922,3833,3842,79.8,-14.8,102,574,0.00,2.42,0.00,0.000,260,0.000,0.072,2656,3314,3840,3836,3844,0,0,0,0,0,0,28.83,24.87,28.83
$GC,607,-1.01,-243.3,2656,3314,3836,3844,85.3,-12.4,109,615,0.00,2.38,0.00,0.000,1030,0.000,0.024,2656,1894,3840,3836,3844,0,0,0,0,0,0,28.83,24.93,28.83
$GC,919,-1.01,-243.3,1680,1892,3835,3842,129.9,-14.8,170,926,0.00,2.40,0.00,0.000,516,0.000,0.066,2656,503,3841,3838,3844,0,0,0,0,0,0,28.83,24.91,28.83
$GC,944,-1.01,-243.3,1680,503,3835,3842,133.2,-13.0,174,951,0.00,2.38,0.00,0.000,1030,0.000,0.058,2656,1891,3840,3838,3843,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1255,-1.01,-243.3,2656,1891,3840,3843,164.3,-9.1,235,1262,0.00,2.47,0.00,0.000,260,0.000,0.045,2656,3317,3841,3840,3843,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1295,-1.01,-243.3,1672,3315,3837,3841,167.9,-9.1,242,1303,0.00,2.40,0.00,0.000,1030,0.000,0.055,2657,1887,3841,3840,3843,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1607,-1.01,-243.3,1664,1885,3838,3841,196.1,-7.6,303,1613,0.00,2.50,0.00,0.000,260,0.000,0.045,2656,3315,3842,3842,3843,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1636,-1.01,-243.3,2656,3316,3842,3843,198.5,-7.9,308,1643,0.00,2.40,0.00,0.000,1030,0.000,0.055,2656,1893,3842,3842,3843,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1946,-1.01,-243.3,2656,1892,3842,3843,217.4,-6.8,340,1956,0.00,2.35,0.00,0.000,516,0.000,0.041,2657,513,3842,3842,3843,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1981,-1.01,-243.3,1744,512,3839,3841,219.6,-6.8,343,1988,0.00,2.35,0.00,0.000,1030,0.000,0.031,2656,1897,3842,3842,3843,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2290,-1.01,-243.3,2656,1897,3841,3842,246.3,-8.2,374,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1897,3841,3841,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-1.01,-243.3,2656,1897,3839,3842,270.1,-7.8,404,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1897,3840,3839,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-1.01,-243.3,2656,1897,3837,3842,283.3,-6.2,434,2901,0.00,2.47,0.00,0.000,260,0.000,0.060,2657,3315,3839,3837,3842,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2924,-1.01,-243.3,2656,3315,3837,3842,286.4,-9.0,437,2934,0.00,2.38,0.00,0.000,1030,0.000,0.029,2656,1906,3839,3837,3842,0,0,0,0,0,0,28.83,25.02,28.83
$GC,3236,-1.01,-243.3,2656,1906,3834,3842,308.3,-7.3,468,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1906,3837,3834,3841,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3442,begin apogee
$GC,3448,-0.25,0.0,2656,1823,3832,3842,320.3,-5.2,489,3606,0.77,0.00,150.85,0.858,10244,0.073,0.000,2824,1822,3050,2988,3112,0,0,0,0,0,0,24.99,28.83,23.82
$STATE,3607,end apogee,CONTROL_FINISHED_OK
$STATE,3607,begin climb
$GC,3610,1.01,243.3,2823,1823,2988,3112,325.1,0.0,503,3812,1.23,0.00,190.12,0.833,11270,0.046,0.000,3103,1822,2057,2000,2114,0,0,0,0,0,0,24.55,28.83,23.82
$GC,4110,1.20,436.3,3103,1822,1994,2110,283.9,6.3,552,4275,0.15,2.65,155.55,0.819,10500,0.059,0.051,3147,3253,1270,1205,1336,0,0,0,0,0,0,24.80,24.39,23.83
$GC,4369,1.20,436.3,3147,3254,1202,1329,247.2,17.9,577,4378,0.00,2.35,0.00,0.000,1030,0.000,0.035,3147,1906,1265,1201,1329,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4681,1.20,436.3,3147,1907,1196,1329,188.3,19.8,613,4687,0.00,2.58,0.00,0.000,516,0.000,0.048,3147,463,1262,1196,1328,0,0,0,0,0,0,28.83,24.76,28.83
$GC,4777,1.20,436.3,3147,463,1196,1325,168.9,18.4,631,4784,0.00,2.42,0.00,0.000,1030,0.000,0.034,3147,1858,1260,1196,1325,0,0,0,0,0,0,28.83,24.80,28.83
$GC,5091,1.20,436.3,3147,1859,1193,1324,126.4,14.7,692,5098,0.00,2.47,0.00,0.000,516,0.000,0.073,3147,464,1258,1193,1324,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5111,1.20,436.3,3147,464,1193,1324,123.2,15.4,695,5118,0.00,2.40,0.00,0.000,1030,0.000,0.033,3148,1851,1258,1193,1324,0,0,0,0,0,0,28.83,24.85,28.83
$GC,5426,1.21,444.4,3147,1851,1192,1323,78.0,13.0,756,5439,0.00,2.47,5.93,0.555,8708,0.000,0.044,3147,462,1237,1171,1304,0,0,0,0,0,0,28.83,24.75,24.24
$GC,5457,1.21,444.4,3147,461,1171,1303,73.7,14.1,761,5464,0.00,2.38,0.00,0.000,1030,0.000,0.031,3147,1838,1237,1171,1303,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5771,1.28,517.1,3147,1839,1171,1303,35.4,10.7,822,5840,0.00,2.55,60.25,0.654,8452,0.000,0.074,3148,3253,940,877,1004,0,0,0,0,0,0,28.83,24.48,24.00
$GC,5864,1.33,562.9,3147,3253,877,1001,25.1,11.7,837,5909,0.00,2.38,37.72,0.623,9222,0.000,0.028,3147,1863,754,692,817,0,0,0,0,0,0,28.83,24.71,24.01
$STATE,6072,end climb,SURFACE_DEPTH_REACHED
$STATE,6072,begin surface coast
$FINISH,0.3,1.023092
$STATE,6090,end surface coast,CONTROL_FINISHED_OK
$STATE,6090,begin surface
$SM_CCo,6169,0.00,0.000,0,0,750,564.19
$SM_GC,0.74,9.18,0.10,0.00,0.031,0.071,0.000,1042,1945,750,-8.38,-0.68,564.19,0,0,0,0,0,0,24.82,24.86,28.83
$IRIDIUM_FIX,2117.95,12007.38,020214,030352
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.92
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.70
$XPDR_PINGS,-1
$24V_AH,23.8,11.211
$10V_AH,9.9,9.353
$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,20.325,58.600,600.425,0.000,0.000,0.000,0.000,200.350,0.000,0.000,33.772,2017.950,1860.734,532.135,1920.816,151.945,0.000,1631.386,0.000,1698.128,0.000,1.682,0.000
$DEVICE_MAMPS,162.180,79.560,857.565,0.000,0.000,0.000,0.000,124.695,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.511,854.021,690.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324252
$DATA_FILE_SIZE,53658,879
$CAP_FILE_SIZE,104455,0
$CFSIZE,256368640,249810944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,120
$CURRENT,0.322,316.4,1
$GPS,020214,064735,2125.217,12006.784,29,2.0,35,-2.5