version: 66.11
glider: 17
mission: 10
dive: 10
start: 1 30 114 22 3 43
data:
$ID,17
$MISSION,10
$DIVE,10
$N_DIVES,15
$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,-228960.34
$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,28
$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
$GPS1,300114,215724,2113.827,11955.590,39,1.7,57,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-48.8
$GPS2,300114,220315,2113.875,11955.610,13,2.5,33,-2.5
$SPEED_LIMITS,0.192,0.300
$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,174.3,12117,-17.1,-11.111,-20.35,2019
$D_GRID,3440
$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,-146.0,1037,1987,409,563,0.0,0.0,0,112,0.00,0.00,-93.78,0.000,16386,0.000,0.000,1037,1988,2975,2975,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.00,-146.0,1037,1987,2975,2975,3.3,-5.9,15,142,8.98,2.45,-8.40,0.000,18948,0.160,0.060,2658,593,3381,3336,3427,0,0,0,0,0,0,24.65,24.72,25.07
$GC,237,-1.00,-146.0,2658,593,3337,3428,25.9,-14.6,37,245,0.00,2.38,0.00,0.000,1030,0.000,0.027,2658,2004,3382,3337,3428,0,0,0,0,0,0,28.83,24.85,28.83
$GC,547,-1.00,-146.0,1696,2002,3315,3426,72.4,-13.0,98,555,0.00,2.45,0.00,0.000,516,0.000,0.063,2658,586,3383,3337,3429,0,0,0,0,0,0,28.83,24.87,28.83
$GC,612,-1.00,-146.0,1664,586,3314,3426,80.8,-11.9,110,619,0.00,2.40,0.00,0.000,1030,0.000,0.056,2658,2002,3383,3337,3429,0,0,0,0,0,0,28.83,24.90,28.83
$GC,923,-1.03,-146.0,2658,2001,3337,3430,112.8,-10.3,171,930,0.00,2.42,0.00,0.000,516,0.000,0.034,2658,580,3383,3337,3430,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1040,-1.08,-146.0,2657,580,3338,3430,124.5,-9.7,193,1047,0.00,2.40,0.00,0.000,1030,0.000,0.028,2658,2006,3384,3338,3431,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1354,-1.12,-146.0,2658,2006,3338,3431,151.4,-8.0,254,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2006,3385,3338,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1665,-1.17,-146.0,2658,2006,3338,3432,176.4,-8.0,315,1673,0.12,2.45,0.00,0.000,4612,0.063,0.037,2615,584,3385,3338,3432,0,0,0,0,0,0,25.01,24.94,28.83
$GC,1755,-1.17,-146.0,1664,584,3316,3428,185.5,-10.2,332,1762,0.00,2.40,0.00,0.000,1030,0.000,0.059,2615,1998,3385,3338,3432,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2070,-1.17,-146.0,2615,1998,3338,3431,217.4,-10.2,377,2080,0.00,2.40,0.00,0.000,516,0.000,0.038,2615,593,3384,3337,3431,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2123,-1.17,-146.0,2615,593,3337,3431,222.8,-10.3,382,2133,0.00,2.38,0.00,0.000,1030,0.000,0.039,2615,1998,3384,3337,3431,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2433,-1.17,-146.0,2615,1998,3336,3431,253.4,-9.8,413,2443,0.00,2.42,0.00,0.000,516,0.000,0.040,2615,587,3384,3336,3432,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2517,-1.19,-146.0,2615,587,3336,3431,261.7,-10.1,421,2526,0.00,2.40,0.00,0.000,1030,0.000,0.034,2615,2000,3383,3336,3431,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2825,-1.19,-146.0,2615,2000,3333,3431,293.1,-10.4,452,2835,0.00,2.42,0.00,0.000,516,0.000,0.041,2615,592,3382,3333,3431,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2868,-1.19,-146.0,2615,592,3333,3431,297.6,-10.8,456,2877,0.00,2.42,0.00,0.000,1030,0.000,0.034,2615,2003,3381,3332,3431,0,0,0,0,0,0,28.83,25.02,28.83
$STATE,2896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2896,begin apogee
$GC,2901,-0.25,0.0,2615,1777,3332,3431,300.7,-10.6,459,3020,0.98,0.00,113.82,0.843,10246,0.085,0.000,2821,1777,2783,2729,2838,0,0,0,0,0,0,24.96,28.83,23.80
$STATE,3023,end apogee,CONTROL_FINISHED_OK
$STATE,3023,begin climb
$GC,3025,1.00,146.0,2821,1777,2729,2838,306.9,0.0,471,3149,1.25,2.53,114.85,0.820,10756,0.054,0.049,3098,419,2187,2124,2251,0,0,0,0,0,0,24.51,24.40,23.80
$GC,3233,0.98,154.8,3098,418,2120,2246,296.4,10.7,492,3247,0.00,2.40,8.12,0.670,9222,0.000,0.037,3098,1801,2152,2088,2217,0,0,0,0,0,0,28.83,24.63,23.95
$GC,3555,0.97,159.4,3098,1801,2083,2214,262.5,10.9,524,3567,0.00,2.67,4.95,0.582,8452,0.000,0.057,3098,3206,2134,2069,2199,0,0,0,0,0,0,28.83,24.64,24.07
$GC,3600,0.95,159.4,3098,3206,2069,2199,257.4,11.1,528,3610,0.00,2.40,0.00,0.000,1030,0.000,0.037,3098,1825,2133,2068,2199,0,0,0,0,0,0,28.83,24.77,28.83
$GC,3910,0.96,169.2,3098,1825,2067,2197,224.5,10.6,559,3931,0.00,2.65,9.30,0.702,8708,0.000,0.050,3098,390,2092,2030,2154,0,0,0,0,0,0,28.83,24.61,24.01
$GC,3956,0.96,169.2,3098,390,2030,2152,219.4,11.5,563,3963,0.00,2.47,0.00,0.000,1030,0.000,0.037,3098,1801,2091,2030,2152,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4266,0.98,192.1,3098,1801,2030,2152,187.4,9.9,606,4292,0.00,2.60,19.45,0.773,8452,0.000,0.057,3098,3200,2000,1941,2060,0,0,0,0,0,0,28.83,24.50,23.91
$GC,4397,1.01,216.7,3098,3200,1940,2060,174.7,9.9,630,4423,0.00,2.45,21.35,0.758,9222,0.000,0.064,3098,1789,1900,1839,1962,0,0,0,0,0,0,28.83,24.82,23.89
$GC,4730,1.03,216.7,3098,1789,1831,1958,142.8,11.2,694,4737,0.00,2.47,0.00,0.000,516,0.000,0.076,3098,389,1894,1832,1957,0,0,0,0,0,0,28.83,24.81,28.83
$GC,4785,1.06,216.7,2112,389,1781,1946,136.1,12.2,704,4793,0.00,2.45,0.00,0.000,1030,0.000,0.063,3098,1801,1892,1831,1954,0,0,0,0,0,0,28.83,24.85,28.83
$GC,5102,1.16,288.0,3098,1801,1831,1955,108.4,7.5,765,5170,0.12,2.62,57.88,0.741,10500,0.063,0.053,3138,3201,1608,1545,1671,0,0,0,0,0,0,24.95,24.44,23.89
$GC,5235,1.17,293.4,2176,3199,1508,1663,95.4,10.8,788,5249,0.00,2.45,5.55,0.529,9222,0.000,0.063,3138,1792,1586,1521,1652,0,0,0,0,0,0,28.83,24.75,24.09
$GC,5558,1.24,332.1,3138,1793,1518,1650,63.3,9.1,850,5596,0.00,2.55,32.22,0.674,8708,0.000,0.044,3138,396,1429,1364,1495,0,0,0,0,0,0,28.83,24.49,23.95
$GC,5707,1.30,352.3,3138,395,1362,1490,48.8,10.1,877,5734,0.12,2.42,17.48,0.628,11270,0.058,0.030,3177,1813,1346,1280,1412,0,0,0,0,0,0,24.82,24.80,24.01
$GC,6044,1.30,352.3,3177,1813,1275,1410,4.0,14.5,941,6051,0.00,2.45,0.00,0.000,260,0.000,0.046,3178,3208,1342,1275,1410,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,6061,end climb,SURFACE_DEPTH_REACHED
$STATE,6061,begin surface coast
$FINISH,0.4,1.023234
$STATE,6072,end surface coast,CONTROL_FINISHED_OK
$STATE,6072,begin surface
$SM_CCo,6092,97.07,0.090,0,0,491,562.23
$SM_GC,0.77,9.32,2.12,97.07,0.033,0.034,0.090,1035,2002,491,-8.38,0.90,562.23,0,0,0,0,0,0,24.90,24.85,24.67
$IRIDIUM_FIX,2106.38,11953.58,300114,181840
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.72
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,23.20
$XPDR_PINGS,-1
$24V_AH,23.8,7.890
$10V_AH,9.9,7.047
$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,20.900,73.875,404.975,97.075,0.000,0.000,0.000,223.725,0.000,0.000,35.765,2220.023,1662.279,601.098,1896.005,151.733,0.000,1640.154,0.000,1648.125,0.000,1.683,0.000
$DEVICE_MAMPS,159.885,75.735,843.030,89.505,0.000,0.000,0.000,135.405,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.612,946.693,786.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324236
$DATA_FILE_SIZE,56820,946
$CAP_FILE_SIZE,93332,0
$CFSIZE,256368640,251564032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207, 33.1,1
$GPS,300114,234803,2113.757,11956.292,12,2.5,33,-2.5