version: 66.11
glider: 17
mission: 10
dive: 11
start: 1 30 114 23 53 53
data:
$ID,17
$MISSION,10
$DIVE,11
$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,-228962.89
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,300114,234803,2113.757,11956.292,12,2.5,33,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-46.3
$GPS2,300114,235324,2113.788,11956.317,32,1.6,43,-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,200.2,11672,-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,-146.0,1035,1993,411,562,0.0,0.0,0,111,0.00,0.00,-92.75,0.000,16386,0.000,0.000,1035,1993,2965,2961,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-1.00,-146.0,1035,1993,2961,2970,3.8,-9.5,15,142,8.93,2.47,-8.18,0.000,18948,0.158,0.055,2656,587,3382,3336,3428,0,0,0,0,0,0,24.67,24.74,25.09
$GC,306,-1.00,-146.0,2655,587,3336,3429,37.5,-13.0,51,313,0.00,2.38,0.00,0.000,1030,0.000,0.027,2656,2004,3382,3336,3429,0,0,0,0,0,0,28.83,24.89,28.83
$GC,616,-1.00,-146.0,2655,2004,3336,3430,77.3,-11.6,112,623,0.00,2.45,0.00,0.000,516,0.000,0.062,2655,579,3383,3336,3430,0,0,0,0,0,0,28.83,24.90,28.83
$GC,748,-1.03,-146.0,1664,579,3312,3426,92.4,-10.6,137,755,0.00,2.38,0.00,0.000,1030,0.000,0.026,2656,2002,3383,3337,3430,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1060,-1.06,-146.0,1664,2000,3313,3428,122.0,-8.5,198,1067,0.00,2.47,0.00,0.000,260,0.000,0.073,2656,3408,3384,3337,3432,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1145,-1.09,-146.0,1664,3406,3314,3428,129.5,-8.7,214,1153,0.00,2.40,0.00,0.000,1030,0.000,0.054,2656,1981,3384,3337,3432,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1457,-1.13,-146.0,1648,1979,3314,3428,154.2,-7.9,275,1464,0.00,2.35,0.00,0.000,516,0.000,0.038,2655,601,3384,3337,3432,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1523,-1.18,-146.0,2655,601,3337,3432,159.8,-8.3,287,1530,0.15,2.35,0.00,0.000,5126,0.050,0.029,2605,1998,3384,3337,3432,0,0,0,0,0,0,25.01,24.98,28.83
$GC,1834,-1.18,-146.0,1632,1996,3315,3429,195.9,-12.3,348,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1998,3384,3337,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2149,-1.18,-146.0,2605,1998,3336,3432,230.1,-10.8,382,2158,0.00,2.40,0.00,0.000,516,0.000,0.044,2605,596,3384,3336,3432,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2234,-1.18,-146.0,1704,596,3316,3429,239.1,-10.5,390,2241,0.00,2.40,0.00,0.000,1030,0.000,0.061,2605,2001,3384,3336,3432,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2542,-1.18,-146.0,2605,2001,3334,3432,271.4,-10.8,421,2551,0.00,2.47,0.00,0.000,260,0.000,0.052,2605,3401,3383,3334,3432,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2586,-1.18,-146.0,1712,3399,3314,3428,276.2,-11.3,425,2594,0.00,2.35,0.00,0.000,1030,0.000,0.031,2605,2006,3383,3334,3432,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,2843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2843,begin apogee
$GC,2849,-0.25,0.0,2605,1777,3330,3432,300.1,-7.9,451,2967,1.02,0.00,113.45,0.845,10246,0.089,0.000,2820,1777,2784,2727,2841,0,0,0,0,0,0,24.97,28.83,23.82
$STATE,2970,end apogee,CONTROL_FINISHED_OK
$STATE,2970,begin climb
$GC,2972,1.00,146.0,2820,1777,2727,2840,301.3,0.0,463,3101,1.25,2.67,114.78,0.821,10500,0.052,0.050,3099,3197,2188,2124,2252,0,0,0,0,0,0,24.53,24.40,23.82
$GC,3157,0.97,146.0,3099,3198,2122,2251,287.0,11.8,481,3164,0.00,2.40,0.00,0.000,1030,0.000,0.036,3099,1818,2185,2119,2251,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3464,0.98,170.7,3099,1818,2115,2249,253.7,9.9,512,3494,0.00,2.62,20.45,0.776,8708,0.000,0.067,3099,390,2085,2024,2147,0,0,0,0,0,0,28.83,24.44,23.89
$GC,3517,0.97,187.5,3098,390,2024,2145,248.3,10.3,517,3538,0.00,2.45,14.88,0.745,9222,0.000,0.036,3099,1798,2019,1960,2079,0,0,0,0,0,0,28.83,24.71,23.89
$GC,3837,1.00,215.3,3099,1797,1953,2075,216.4,9.7,549,3867,0.00,2.62,23.33,0.776,8452,0.000,0.055,3099,3201,1905,1844,1967,0,0,0,0,0,0,28.83,24.47,23.89
$GC,3920,1.04,251.9,3099,3201,1843,1966,208.4,9.2,557,3960,0.00,2.42,31.10,0.776,9222,0.000,0.037,3099,1795,1755,1691,1819,0,0,0,0,0,0,28.83,24.76,23.84
$GC,4262,1.07,258.7,2080,1793,1639,1808,171.5,10.8,616,4276,0.00,2.50,6.05,0.610,8708,0.000,0.048,3099,393,1728,1662,1794,0,0,0,0,0,0,28.83,24.67,24.10
$GC,4346,1.10,258.7,3099,393,1662,1791,161.6,11.7,631,4353,0.00,2.45,0.00,0.000,1030,0.000,0.034,3099,1804,1726,1662,1791,0,0,0,0,0,0,28.83,24.81,28.83
$GC,4655,1.16,287.1,2096,1803,1617,1784,128.8,9.7,692,4688,0.12,2.58,24.45,0.734,10500,0.070,0.068,3138,3210,1612,1547,1678,0,0,0,0,0,0,24.87,24.49,23.90
$GC,4811,1.16,287.1,3138,3210,1545,1674,110.8,11.3,721,4819,0.00,2.42,0.00,0.000,1030,0.000,0.034,3138,1796,1609,1545,1674,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5123,1.19,299.3,2144,1794,1505,1667,78.6,10.5,782,5143,0.00,2.53,10.55,0.632,8708,0.000,0.063,3138,400,1563,1497,1629,0,0,0,0,0,0,28.83,24.60,24.11
$GC,5177,1.21,299.3,3138,400,1497,1628,72.5,11.7,791,5183,0.00,2.42,0.00,0.000,1030,0.000,0.031,3138,1809,1562,1497,1628,0,0,0,0,0,0,28.83,24.81,28.83
$GC,5487,1.32,358.6,2144,1807,1462,1622,40.7,8.1,852,5545,0.12,2.53,49.25,0.657,10500,0.065,0.069,3183,3202,1320,1255,1385,0,0,0,0,0,0,24.91,24.49,23.95
$GC,5614,1.34,358.6,3182,3202,1253,1382,25.9,13.5,874,5621,0.00,2.42,0.00,0.000,1030,0.000,0.060,3183,1795,1317,1252,1382,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,5781,end climb,SURFACE_DEPTH_REACHED
$STATE,5781,begin surface coast
$FINISH,0.8,1.023149
$STATE,5793,end surface coast,CONTROL_FINISHED_OK
$STATE,5793,begin surface
$SM_CCo,5812,94.47,0.090,0,0,492,562.23
$SM_GC,0.68,9.27,0.38,94.47,0.028,0.033,0.090,1044,2031,492,-8.38,-0.65,562.23,0,0,0,0,0,0,24.87,24.90,24.68
$IRIDIUM_FIX,2106.38,11953.58,300114,212106
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.56
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.80
$XPDR_PINGS,-1
$24V_AH,23.8,7.990
$10V_AH,9.9,7.124
$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,20.875,64.650,408.275,94.475,0.000,0.000,0.000,203.125,0.000,0.000,45.525,2142.443,1542.028,580.135,1829.770,140.602,0.000,1569.560,0.000,1591.581,0.000,1.680,0.000
$DEVICE_MAMPS,158.355,73.440,844.560,89.505,0.000,0.000,0.000,128.520,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.831,915.064,765.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324260
$DATA_FILE_SIZE,53626,909
$CAP_FILE_SIZE,88270,0
$CFSIZE,256368640,251506688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165, 43.6,1
$GPS,310114,013356,2113.461,11956.594,38,3.2,59,-2.5