version: 66.11
glider: 17
mission: 10
dive: 12
start: 1 31 114 1 39 20
data:
$ID,17
$MISSION,10
$DIVE,12
$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,-228965.44
$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,28
$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
$GPS1,310114,013356,2113.461,11956.594,38,3.2,59,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-44.4
$GPS2,310114,013851,2113.474,11956.633,14,2.3,34,-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,199.7,11005,-17.1,-11.111,-20.35,2019
$D_GRID,3385
$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,-146.0,1043,2030,407,565,0.0,0.0,0,106,0.00,0.00,-87.65,0.000,16386,0.000,0.000,1043,2030,2817,2815,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.00,-146.0,1043,2030,2815,2819,3.0,-6.6,14,137,8.82,2.55,-12.15,0.000,18948,0.155,0.044,2657,586,3381,3328,3435,0,0,0,0,0,0,24.69,24.82,25.10
$GC,285,-1.00,-146.0,2657,586,3329,3435,30.6,-13.9,47,292,0.00,2.35,0.00,0.000,1030,0.000,0.026,2657,1986,3382,3329,3435,0,0,0,0,0,0,28.83,24.89,28.83
$GC,596,-1.00,-146.0,1664,1984,3306,3433,77.0,-13.1,108,604,0.00,2.40,0.00,0.000,516,0.000,0.063,2657,593,3383,3330,3436,0,0,0,0,0,0,28.83,24.91,28.83
$GC,651,-1.00,-146.0,1696,593,3308,3433,84.0,-12.0,118,658,0.00,2.38,0.00,0.000,1030,0.000,0.056,2656,2001,3382,3329,3436,0,0,0,0,0,0,28.83,24.94,28.83
$GC,963,-1.03,-146.0,2657,2001,3331,3438,117.5,-10.2,179,970,0.00,2.40,0.00,0.000,516,0.000,0.034,2657,592,3384,3330,3438,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1019,-1.07,-146.0,2656,592,3331,3438,122.8,-9.2,189,1026,0.00,2.38,0.00,0.000,1030,0.000,0.027,2657,2009,3384,3331,3438,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1332,-1.11,-146.0,1664,2007,3309,3435,153.5,-9.4,250,1339,0.00,2.45,0.00,0.000,260,0.000,0.074,2657,3401,3385,3332,3438,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1398,-1.16,-146.0,2657,3401,3332,3439,160.5,-10.6,262,1406,0.15,2.38,0.00,0.000,5126,0.059,0.055,2620,1991,3385,3332,3439,0,0,0,0,0,0,24.98,24.99,28.83
$GC,1711,-1.16,-146.0,2619,1991,3332,3439,194.2,-11.0,323,1718,0.00,2.38,0.00,0.000,516,0.000,0.038,2619,600,3385,3332,3439,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1786,-1.16,-146.0,2619,600,3332,3439,202.0,-9.7,335,1795,0.00,2.35,0.00,0.000,1030,0.000,0.031,2619,1998,3385,3332,3439,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2096,-1.16,-146.0,2619,1997,3332,3438,229.0,-8.1,366,2105,0.00,2.38,0.00,0.000,516,0.000,0.044,2619,605,3385,3332,3438,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2158,-1.16,-146.0,2619,605,3332,3438,233.9,-7.8,372,2168,0.00,2.38,0.00,0.000,1030,0.000,0.031,2619,2006,3385,3332,3438,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2469,-1.16,-146.0,2619,2006,3329,3438,260.5,-9.1,403,2477,0.00,2.40,0.00,0.000,516,0.000,0.039,2619,607,3383,3329,3438,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2531,-1.19,-146.0,2619,607,3329,3438,266.5,-9.6,409,2541,0.00,2.35,0.00,0.000,1030,0.000,0.033,2619,1998,3383,3328,3438,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2840,-1.19,-146.0,2619,1998,3325,3438,294.6,-9.2,440,2850,0.00,2.42,0.00,0.000,516,0.000,0.041,2619,597,3381,3325,3438,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2883,-1.21,-146.0,2619,597,3325,3437,298.7,-9.9,444,2892,0.00,2.38,0.00,0.000,1030,0.000,0.037,2619,1995,3381,3325,3437,0,0,0,0,0,0,28.83,24.97,28.83
$STATE,2901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2901,begin apogee
$GC,2906,-0.25,0.0,2619,1790,3325,3437,300.7,-9.9,446,3025,0.95,0.00,113.68,0.842,10246,0.086,0.000,2820,1789,2783,2725,2842,0,0,0,0,0,0,24.98,28.83,23.83
$STATE,3027,end apogee,CONTROL_FINISHED_OK
$STATE,3027,begin climb
$GC,3029,1.00,146.0,2820,1789,2725,2842,305.3,0.0,458,3153,1.25,2.58,114.45,0.822,10756,0.053,0.050,3097,407,2187,2124,2250,0,0,0,0,0,0,24.53,24.41,23.82
$GC,3181,1.03,212.5,3097,407,2123,2246,299.8,7.7,473,3241,0.00,2.45,53.72,0.801,9222,0.000,0.036,3097,1801,1917,1856,1979,0,0,0,0,0,0,28.83,24.63,23.82
$GC,3548,1.06,239.1,3097,1802,1848,1975,262.7,9.8,510,3579,0.00,2.62,22.12,0.780,8452,0.000,0.083,3097,3207,1809,1744,1874,0,0,0,0,0,0,28.83,24.46,23.88
$GC,3602,1.08,257.4,3097,3207,1744,1873,257.3,10.2,515,3625,0.00,2.40,16.42,0.751,9222,0.000,0.037,3097,1825,1734,1667,1801,0,0,0,0,0,0,28.83,24.70,23.88
$GC,3933,1.10,257.4,3097,1825,1661,1798,221.8,11.4,548,3943,0.10,2.53,0.00,0.000,2564,0.073,0.057,3127,393,1728,1661,1795,0,0,0,0,0,0,24.90,24.73,28.83
$GC,3986,1.10,257.4,3127,393,1661,1792,214.1,15.0,553,3995,0.00,2.47,0.00,0.000,1030,0.000,0.038,3127,1808,1726,1661,1792,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4296,1.10,257.4,2128,1806,1617,1785,169.6,15.1,605,4303,0.00,2.55,0.00,0.000,260,0.000,0.058,3127,3205,1726,1660,1793,0,0,0,0,0,0,28.83,24.83,28.83
$GC,4428,1.10,257.4,2112,3203,1616,1786,151.5,13.0,630,4435,0.00,2.45,0.00,0.000,1030,0.000,0.064,3127,1789,1726,1660,1793,0,0,0,0,0,0,28.83,24.89,28.83
$GC,4738,1.10,263.2,3127,1789,1659,1791,119.8,10.8,691,4753,0.00,2.60,4.88,0.534,8452,0.000,0.057,3127,3204,1711,1643,1779,0,0,0,0,0,0,28.83,24.74,24.23
$GC,4827,1.12,263.2,3127,3204,1643,1778,109.8,11.8,707,4835,0.00,2.40,0.00,0.000,1030,0.000,0.034,3127,1798,1710,1643,1778,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5139,1.22,328.4,2128,1796,1602,1769,79.6,7.8,768,5201,0.00,2.53,54.00,0.704,8708,0.000,0.046,3127,391,1444,1379,1510,0,0,0,0,0,0,28.83,24.49,23.95
$GC,5272,1.27,328.4,3127,390,1377,1505,65.3,13.1,791,5280,0.15,2.45,0.00,0.000,3078,0.076,0.031,3158,1816,1441,1377,1505,0,0,0,0,0,0,24.74,24.78,28.83
$GC,5586,1.30,339.5,3158,1816,1374,1505,28.1,10.5,852,5606,0.00,2.53,9.93,0.567,8452,0.000,0.062,3158,3200,1398,1331,1465,0,0,0,0,0,0,28.83,24.61,24.18
$GC,5711,1.34,339.5,3158,3200,1331,1463,12.9,12.1,875,5718,0.00,2.38,0.00,0.000,1030,0.000,0.030,3159,1797,1397,1331,1463,0,0,0,0,0,0,28.83,24.87,28.83
$STATE,5804,end climb,SURFACE_DEPTH_REACHED
$STATE,5804,begin surface coast
$FINISH,0.4,1.023151
$STATE,5827,end surface coast,CONTROL_FINISHED_OK
$STATE,5827,begin surface
$SM_CCo,5845,102.70,0.089,0,0,492,562.23
$SM_GC,0.72,9.12,0.38,102.70,0.026,0.035,0.089,1042,2019,492,-8.39,-0.62,562.23,0,0,0,0,0,0,24.90,24.92,24.70
$IRIDIUM_FIX,2106.38,11958.74,300114,232333
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.13
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.90
$XPDR_PINGS,-1
$24V_AH,23.8,8.086
$10V_AH,9.9,7.200
$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,20.550,73.925,389.200,102.700,0.000,0.000,0.000,187.175,0.000,0.000,36.770,2129.474,1601.394,585.616,1790.985,144.782,0.000,1562.670,0.000,1576.847,0.000,1.682,0.000
$DEVICE_MAMPS,154.530,82.620,841.500,88.740,0.000,0.000,0.000,128.520,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.253,898.791,746.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53578,897
$CAP_FILE_SIZE,90401,0
$CFSIZE,256368640,251441152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,132.0,1
$GPS,310114,031957,2112.577,11956.773,30,2.5,51,-2.5