version: 66.11
glider: 17
mission: 10
dive: 41
start: 2 2 114 8 29 35
data:
$ID,17
$MISSION,10
$DIVE,41
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$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,70
$T_MISSION,100
$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,-229004.03
$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,23
$R_STBD_OVSHOOT,54
$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
$GPS1,020214,082424,2125.508,12007.065,41,1.5,60,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-57.2
$GPS2,020214,082906,2125.527,12007.045,14,1.2,31,-2.5
$SPEED_LIMITS,0.223,0.395
$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,97.5,33570,-14.8,-12.857,-18.04,2906
$D_GRID,2840
$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,-0.98,-243.3,1032,1933,707,797,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,16386,0.000,0.000,1032,1933,2884,2861,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.98,-243.3,1032,1933,2862,2908,3.2,-7.2,13,137,9.07,2.55,-19.12,0.000,18948,0.162,0.047,2660,498,3838,3835,3842,0,0,0,0,0,0,24.68,24.81,25.10
$GC,240,-0.98,-243.3,2659,498,3835,3844,28.2,-13.9,38,247,0.00,2.35,0.00,0.000,1030,0.000,0.057,2660,1887,3839,3835,3844,0,0,0,0,0,0,28.83,24.88,28.83
$GC,550,-0.98,-243.3,2659,1887,3837,3844,74.0,-14.8,99,557,0.00,2.47,0.00,0.000,260,0.000,0.044,2660,3317,3840,3837,3844,0,0,0,0,0,0,28.83,24.89,28.83
$GC,590,-0.98,-243.3,1696,3315,3834,3842,80.0,-14.5,106,597,0.00,2.38,0.00,0.000,1030,0.000,0.054,2660,1901,3840,3837,3844,0,0,0,0,0,0,28.83,24.93,28.83
$GC,901,-0.98,-243.3,1672,1898,3836,3842,118.7,-9.6,167,907,0.00,2.38,0.00,0.000,516,0.000,0.037,2660,508,3841,3839,3844,0,0,0,0,0,0,28.83,24.92,28.83
$GC,950,-0.98,-243.3,2659,508,3839,3843,123.3,-8.7,176,957,0.00,2.35,0.00,0.000,1030,0.000,0.057,2660,1890,3841,3839,3843,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1261,-0.98,-243.3,2660,1890,3841,3843,151.1,-11.6,237,1269,0.00,2.47,0.00,0.000,260,0.000,0.046,2660,3316,3842,3841,3843,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1302,-0.98,-243.3,2659,3316,3842,3843,156.0,-11.6,244,1309,0.00,2.35,0.00,0.000,1030,0.000,0.054,2660,1912,3842,3842,3842,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1614,-0.98,-243.3,2659,1912,3843,3842,184.1,-6.2,305,1621,0.00,2.45,0.00,0.000,260,0.000,0.044,2660,3317,3842,3843,3842,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1649,-0.98,-243.3,2659,3317,3843,3842,186.4,-6.7,311,1656,0.00,2.30,0.00,0.000,1030,0.000,0.026,2660,1934,3842,3843,3842,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1960,-0.98,-243.3,2659,1934,3843,3842,212.7,-8.6,358,1969,0.00,2.42,0.00,0.000,516,0.000,0.047,2660,514,3842,3843,3842,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2002,-0.98,-243.3,2659,514,3843,3842,216.1,-8.1,362,2011,0.00,2.35,0.00,0.000,1030,0.000,0.037,2660,1907,3842,3843,3842,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2312,-0.98,-243.3,2659,1907,3842,3841,234.5,-7.0,393,2322,0.00,2.40,0.00,0.000,516,0.000,0.040,2659,513,3842,3842,3842,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2344,-0.98,-243.3,2659,513,3842,3841,237.1,-8.0,396,2354,0.00,2.38,0.00,0.000,1030,0.000,0.032,2660,1901,3841,3842,3841,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2656,-0.98,-243.3,2659,1901,3839,3841,267.1,-10.1,427,2665,0.00,2.45,0.00,0.000,260,0.000,0.051,2659,3307,3840,3839,3841,0,0,0,0,0,0,28.83,24.98,28.83
$STATE,2686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2694,-0.25,0.0,2659,1850,3839,3841,270.4,-10.1,430,2852,0.75,0.00,149.57,0.812,10244,0.076,0.000,2821,1849,3050,2984,3116,0,0,0,0,0,0,24.96,28.83,23.88
$STATE,2853,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2855,0.98,243.3,2820,1849,2983,3116,281.9,0.0,446,3053,1.23,2.50,187.62,0.793,10756,0.045,0.072,3096,441,2058,2001,2115,0,0,0,0,0,0,24.58,24.55,23.87
$GC,3096,0.98,243.3,3096,441,1998,2113,269.7,13.3,470,3106,0.00,2.45,0.00,0.000,1030,0.000,0.036,3096,1846,2055,1998,2113,0,0,0,0,0,0,28.83,24.65,28.83
$GC,3407,1.10,364.6,3096,1846,1994,2113,241.0,8.6,501,3517,0.12,2.58,97.62,0.781,10500,0.072,0.057,3132,3252,1562,1496,1628,0,0,0,0,0,0,24.81,24.41,23.89
$GC,3632,1.10,364.6,3132,3252,1490,1625,206.0,14.3,523,3642,0.00,2.53,0.00,0.000,1030,0.000,0.037,3132,1809,1557,1490,1625,0,0,0,0,0,0,28.83,24.74,28.83
$GC,3943,1.13,390.6,3132,1809,1486,1624,157.0,11.9,581,3969,0.00,0.00,21.33,0.719,8198,0.000,0.000,3132,1809,1457,1388,1527,0,0,0,0,0,0,28.83,28.83,23.98
$GC,4272,1.15,410.0,3132,1809,1382,1524,113.6,12.2,645,4299,0.00,2.65,16.70,0.677,8452,0.000,0.057,3132,3250,1376,1306,1446,0,0,0,0,0,0,28.83,24.50,24.03
$GC,4438,1.27,528.3,2144,3248,1280,1440,97.9,8.7,676,4543,0.10,2.42,96.18,0.692,11270,0.072,0.060,3164,1844,895,832,958,0,0,0,0,0,0,24.84,24.84,23.96
$GC,4848,1.27,528.3,3164,1844,827,951,37.6,14.6,753,4855,0.00,2.47,0.00,0.000,260,0.000,0.043,3164,3256,888,827,950,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4883,1.27,528.3,3164,3256,827,948,32.7,13.6,759,4890,0.00,2.42,0.00,0.000,1030,0.000,0.031,3164,1844,887,827,948,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,5111,end climb,SURFACE_DEPTH_REACHED
$STATE,5112,begin surface coast
$FINISH,-0.0,1.023060
$STATE,5128,end surface coast,CONTROL_FINISHED_OK
$STATE,5128,begin surface
$SM_CCo,5147,14.90,0.085,0,0,758,562.23
$SM_GC,0.43,9.23,0.12,14.90,0.031,0.061,0.085,1046,1940,758,-8.37,-0.85,562.23,0,0,0,0,0,0,24.88,24.93,24.76
$IRIDIUM_FIX,2117.95,12006.22,020214,060607
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.19
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,22.50
$XPDR_PINGS,-1
$24V_AH,23.9,11.471
$10V_AH,10.0,9.494
$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,20.500,58.725,569.025,14.900,0.000,0.000,0.000,178.600,0.000,0.000,32.892,1839.975,1236.384,598.741,1647.399,132.158,0.000,1542.748,0.000,1448.047,0.000,1.680,0.000
$DEVICE_MAMPS,162.180,71.910,811.665,84.915,0.000,0.000,0.000,126.990,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.698,820.657,693.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324280
$DATA_FILE_SIZE,46900,807
$CAP_FILE_SIZE,78027,0
$CFSIZE,256368640,249733120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,323.9,1
$GPS,020214,095700,2125.946,12007.415,33,1.5,45,-2.5