version: 66.11
glider: 17
mission: 10
dive: 8
start: 1 30 114 15 5 34
data:
$ID,17
$MISSION,10
$DIVE,8
$N_DIVES,13
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,240
$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,-228957.75
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,250
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2784
$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
$GPS1,300114,145856,2111.486,11954.804,39,2.3,59,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-48.5
$GPS2,300114,150505,2111.613,11954.636,16,1.3,32,-2.5
$SPEED_LIMITS,0.173,0.289
$TGT_NAME,r4s
$TGT_LATLONG,2107.600,11957.600
$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,96.4,9025,-15.5,-10.000,-19.07,2242
$D_GRID,3449
$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,-0.92,-146.0,1042,2028,414,560,0.0,0.0,0,112,0.00,0.00,-93.82,0.000,16386,0.000,0.000,1042,2028,2984,2979,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.92,-146.0,1041,2028,2978,2989,3.8,-9.3,15,136,9.00,0.00,-8.00,0.000,18438,0.158,0.000,2676,2028,3381,3337,3425,0,0,0,0,0,0,24.68,28.83,25.12
$GC,440,-0.89,-146.0,1696,2026,3316,3422,54.5,-13.6,78,447,0.00,2.50,0.00,0.000,516,0.000,0.062,2676,582,3382,3338,3426,0,0,0,0,0,0,28.83,24.90,28.83
$GC,535,-0.89,-146.0,2675,582,3338,3426,66.7,-12.3,96,542,0.00,2.38,0.00,0.000,1030,0.000,0.055,2676,1984,3382,3338,3426,0,0,0,0,0,0,28.83,24.95,28.83
$GC,846,-0.89,-146.0,2675,1985,3338,3428,99.2,-10.3,157,853,0.00,2.38,0.00,0.000,516,0.000,0.035,2676,592,3383,3338,3428,0,0,0,0,0,0,28.83,24.95,28.83
$GC,901,-0.93,-146.0,1680,592,3317,3425,104.8,-10.2,167,908,0.00,2.35,0.00,0.000,1030,0.000,0.027,2676,2000,3383,3339,3428,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1212,-0.95,-146.0,1696,1998,3317,3426,132.0,-7.5,228,1219,0.00,2.45,0.00,0.000,260,0.000,0.073,2676,3400,3384,3339,3429,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1293,-0.98,-146.0,2675,3400,3339,3429,139.1,-9.2,243,1300,0.00,2.35,0.00,0.000,1030,0.000,0.025,2676,1989,3384,3339,3430,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1604,-1.01,-146.0,1672,1987,3316,3426,163.9,-7.5,304,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1989,3384,3339,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1915,-1.05,-146.0,2675,1989,3339,3430,183.0,-5.6,365,1924,0.12,2.38,0.00,0.000,4612,0.067,0.037,2638,598,3384,3339,3430,0,0,0,0,0,0,25.06,25.01,28.83
$GC,1971,-1.05,-146.0,1664,598,3316,3426,187.2,-8.1,375,1978,0.00,2.35,0.00,0.000,1030,0.000,0.028,2638,2000,3384,3339,3429,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2287,-1.05,-146.0,2638,2000,3339,3429,215.2,-9.3,421,2296,0.00,2.38,0.00,0.000,516,0.000,0.038,2637,604,3384,3339,3430,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2329,-1.05,-146.0,2637,604,3339,3429,219.6,-10.6,425,2339,0.00,2.35,0.00,0.000,1030,0.000,0.031,2637,1997,3384,3339,3429,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2639,-1.05,-146.0,2637,1997,3337,3429,252.1,-10.0,456,2648,0.00,2.40,0.00,0.000,516,0.000,0.039,2637,601,3383,3337,3429,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2693,-1.05,-146.0,1752,601,3318,3426,257.5,-10.1,461,2702,0.00,2.38,0.00,0.000,1030,0.000,0.031,2638,2001,3383,3336,3430,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3001,-1.05,-146.0,2637,2002,3335,3429,287.6,-9.0,492,3011,0.00,2.47,0.00,0.000,260,0.000,0.050,2637,3401,3382,3335,3429,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3037,-1.07,-146.0,2637,3401,3335,3430,290.5,-9.1,495,3044,0.00,2.38,0.00,0.000,1030,0.000,0.030,2637,1995,3382,3335,3430,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3345,-1.09,-146.0,2637,1995,3331,3429,314.7,-7.8,526,3353,0.00,2.38,0.00,0.000,516,0.000,0.044,2637,601,3380,3331,3429,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3451,-1.11,-146.0,2637,601,3329,3429,322.3,-7.3,536,3458,0.00,2.40,0.00,0.000,1030,0.000,0.034,2638,2005,3379,3329,3429,0,0,0,0,0,0,28.83,25.10,28.83
$GC,3757,-1.13,-146.0,2637,2005,3327,3429,345.6,-7.9,567,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2005,3378,3327,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4058,-1.15,-146.0,2637,2005,3325,3427,371.0,-8.3,597,4067,0.00,2.42,0.00,0.000,516,0.000,0.044,2637,598,3376,3325,3428,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4090,-1.17,-146.0,2638,598,3325,3427,373.8,-8.3,600,4099,0.00,2.38,0.00,0.000,1030,0.000,0.035,2637,2000,3376,3325,3427,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4403,-1.19,-146.0,2637,2000,3324,3424,393.4,-5.9,631,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2000,3374,3324,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4712,-1.22,-146.0,2637,2000,3322,3422,411.3,-6.1,662,4720,0.12,0.00,0.00,0.000,4102,0.073,0.000,2610,2000,3372,3322,3422,0,0,0,0,0,0,25.20,28.83,28.83
$GC,5022,-1.24,-146.0,2609,2000,3321,3420,436.8,-8.7,693,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2000,3370,3321,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5332,-1.27,-146.0,2609,2000,3319,3417,464.2,-8.1,724,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2000,3368,3319,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-1.29,-146.0,2609,2000,3319,3415,488.0,-7.8,755,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2000,3366,3318,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,-1.32,-146.0,2609,2000,3318,3414,513.5,-8.2,778,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2000,3366,3318,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6253,-1.34,-146.0,2609,2000,3316,3412,536.1,-7.4,793,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2000,3364,3316,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,-1.36,-146.0,2609,2000,3315,3409,557.6,-6.8,808,6556,0.12,0.00,0.00,0.000,4102,0.080,0.000,2580,2000,3362,3315,3409,0,0,0,0,0,0,25.23,28.83,28.83
$GC,6853,-1.39,-146.0,2579,2000,3315,3408,583.9,-9.5,823,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2000,3361,3315,3408,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7029,begin apogee
$GC,7035,-0.25,0.0,2579,1792,3314,3407,601.4,-9.7,832,7153,1.15,0.00,113.68,1.164,10246,0.093,0.000,2819,1792,2784,2736,2833,0,0,0,0,0,0,25.10,28.83,23.61
$STATE,7154,end apogee,CONTROL_FINISHED_OK
$STATE,7154,begin climb
$GC,7158,0.92,146.0,2819,1792,2735,2833,605.2,0.0,838,7282,1.20,0.00,120.57,1.131,10246,0.054,0.000,3080,1792,2188,2124,2253,0,0,0,0,0,0,24.50,28.83,23.60
$GC,7573,1.36,146.0,3080,1792,2115,2249,569.6,10.9,859,7575,0.43,0.00,0.00,0.000,2054,0.044,0.000,3180,1792,2182,2115,2249,0,0,0,0,0,0,24.79,28.83,28.83
$GC,7874,1.80,146.0,3180,1792,2115,2246,519.5,16.9,874,7877,0.43,0.00,0.00,0.000,2054,0.050,0.000,3277,1792,2180,2114,2246,0,0,0,0,0,0,24.85,28.83,28.83
$GC,8174,2.24,146.0,3277,1792,2114,2242,455.4,22.8,899,8182,0.40,0.00,0.00,0.000,2054,0.054,0.000,3369,1792,2178,2114,2242,0,0,0,0,0,0,24.89,28.83,28.83
$GC,8482,1.90,146.0,3369,1792,2114,2240,381.5,22.6,930,8491,0.38,2.60,0.00,0.000,4356,0.136,0.051,3300,3194,2177,2115,2240,0,0,0,0,0,0,24.81,24.88,28.83
$GC,8717,1.61,146.0,2432,3192,2058,2230,332.4,20.7,953,8725,0.35,2.42,0.00,0.000,5126,0.129,0.040,3235,1811,2177,2115,2240,0,0,0,0,0,0,24.84,24.95,28.83
$GC,9024,1.40,146.0,3235,1811,2114,2239,282.7,15.1,984,9034,0.22,2.58,0.00,0.000,4356,0.130,0.055,3192,3199,2176,2114,2239,0,0,0,0,0,0,24.87,24.86,28.83
$GC,9068,1.22,146.0,3192,3199,2114,2239,276.4,14.6,988,9078,0.20,2.45,0.00,0.000,5126,0.147,0.041,3150,1789,2177,2114,2240,0,0,0,0,0,0,24.82,24.91,28.83
$GC,9378,1.11,146.0,3150,1789,2113,2239,240.4,11.9,1019,9387,0.12,2.45,0.00,0.000,4612,0.132,0.050,3125,401,2175,2112,2238,0,0,0,0,0,0,24.91,24.94,28.83
$GC,9411,1.01,146.0,3125,401,2112,2237,236.8,11.1,1022,9421,0.10,2.40,0.00,0.000,5126,0.146,0.044,3104,1794,2174,2112,2237,0,0,0,0,0,0,24.84,24.91,28.83
$GC,9721,1.05,229.9,3104,1794,2112,2237,211.7,6.2,1053,9794,0.00,2.65,67.03,0.894,8452,0.000,0.053,3104,3207,1845,1785,1905,0,0,0,0,0,0,28.83,24.42,23.77
$GC,9977,1.05,229.9,2128,3205,1733,1895,187.8,10.1,1090,9984,0.00,2.47,0.00,0.000,1030,0.000,0.064,3104,1790,1841,1778,1904,0,0,0,0,0,0,28.83,24.80,28.83
$GC,10288,1.05,229.9,2112,1789,1727,1895,155.7,11.5,1151,10295,0.00,2.50,0.00,0.000,516,0.000,0.050,3104,389,1838,1775,1902,0,0,0,0,0,0,28.83,24.82,28.83
$GC,10348,1.05,229.9,3103,388,1775,1899,148.5,11.5,1162,10355,0.00,2.45,0.00,0.000,1030,0.000,0.063,3104,1800,1837,1775,1899,0,0,0,0,0,0,28.83,24.87,28.83
$GC,10659,1.08,262.2,2112,1798,1727,1892,120.2,8.5,1223,10691,0.00,2.67,26.50,0.766,8452,0.000,0.052,3104,3210,1714,1650,1779,0,0,0,0,0,0,28.83,24.49,23.87
$GC,10782,1.08,262.2,3103,3210,1648,1778,108.7,10.0,1245,10789,0.00,2.42,0.00,0.000,1030,0.000,0.033,3104,1797,1712,1647,1778,0,0,0,0,0,0,28.83,24.82,28.83
$GC,11095,1.12,281.8,2080,1796,1602,1770,77.0,9.1,1306,11121,0.00,2.50,17.12,0.693,8708,0.000,0.047,3104,397,1633,1566,1701,0,0,0,0,0,0,28.83,24.56,23.96
$GC,11231,1.19,291.8,3103,397,1565,1697,63.4,9.5,1331,11251,0.17,2.42,9.40,0.623,11270,0.052,0.031,3142,1808,1593,1526,1661,0,0,0,0,0,0,24.86,24.84,24.06
$GC,11556,1.21,307.2,3143,1808,1522,1661,35.5,9.3,1394,11576,0.00,2.58,14.20,0.630,8708,0.000,0.042,3143,397,1531,1462,1600,0,0,0,0,0,0,28.83,24.60,24.05
$GC,11599,1.22,313.3,3143,397,1461,1598,31.3,9.7,1401,11613,0.00,2.42,6.57,0.539,9222,0.000,0.030,3143,1811,1506,1436,1576,0,0,0,0,0,0,28.83,24.77,24.09
$STATE,11857,end climb,SURFACE_DEPTH_REACHED
$STATE,11857,begin surface coast
$FINISH,0.5,1.023309
$STATE,11873,end surface coast,CONTROL_FINISHED_OK
$STATE,11874,begin surface
$SM_CCo,11892,115.97,0.094,0,0,492,562.23
$SM_GC,0.71,9.15,0.32,115.97,0.032,0.042,0.094,1041,2016,492,-8.38,-0.88,562.23,0,0,0,0,0,0,24.91,24.91,24.66
$IRIDIUM_FIX,2101.76,11957.59,300114,111114
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.27
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,23.40
$XPDR_PINGS,-1
$24V_AH,23.6,7.663
$10V_AH,9.8,6.849
$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,23.675,83.725,375.075,115.975,0.000,0.000,0.000,248.075,0.000,0.000,32.974,3515.013,4887.286,630.077,3095.272,245.717,0.000,2083.563,0.000,2824.330,0.000,1.684,0.000
$DEVICE_MAMPS,157.590,72.675,1163.565,94.095,0.000,0.000,0.000,133.875,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.511,1294.770,848.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324308
$DATA_FILE_SIZE,86831,1454
$CAP_FILE_SIZE,190739,0
$CFSIZE,256368640,251613184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,301
$CURRENT,0.366,318.6,1
$GPS,300114,182659,2113.473,11954.583,38,1.6,38,-2.5