version: 66.11
glider: 17
mission: 10
dive: 14
start: 1 31 114 5 18 59
data:
$ID,17
$MISSION,10
$DIVE,14
$N_DIVES,20
$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,-228968.12
$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,1900
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,310114,051326,2111.127,11956.186,54,2.6,75,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-45.6
$GPS2,310114,051830,2111.072,11956.123,33,2.0,50,-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,117.7,6916,-17.1,-11.111,-20.35,2019
$D_GRID,3452
$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,-146.0,1031,1865,686,812,0.0,0.0,0,105,0.00,0.00,-86.28,0.000,16386,0.000,0.000,1031,1864,3090,3075,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.00,-146.0,1031,1864,3075,3106,3.9,-8.2,14,135,8.98,2.38,-10.40,0.000,18948,0.160,0.048,2658,525,3648,3614,3683,0,0,0,0,0,0,24.70,24.82,25.10
$GC,163,-1.00,-146.0,1672,525,3607,3681,19.2,-17.1,23,169,0.00,2.28,0.00,0.000,1030,0.000,0.025,2658,1880,3649,3615,3683,0,0,0,0,0,0,28.83,24.87,28.83
$GC,472,-1.00,-146.0,1696,1878,3607,3682,66.2,-13.8,84,479,0.00,2.47,0.00,0.000,260,0.000,0.070,2658,3302,3649,3615,3684,0,0,0,0,0,0,28.83,24.89,28.83
$GC,508,-1.00,-146.0,2657,3302,3616,3684,70.7,-11.9,90,515,0.00,2.30,0.00,0.000,1030,0.000,0.054,2658,1934,3650,3616,3684,0,0,0,0,0,0,28.83,24.95,28.83
$GC,818,-1.00,-146.0,2657,1933,3616,3687,108.4,-12.3,151,825,0.00,2.45,0.00,0.000,516,0.000,0.037,2657,500,3651,3616,3686,0,0,0,0,0,0,28.83,24.94,28.83
$GC,858,-1.00,-146.0,1680,499,3608,3684,112.9,-10.8,158,865,0.00,2.40,0.00,0.000,1030,0.000,0.056,2657,1913,3651,3616,3687,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1170,-1.00,-146.0,2657,1913,3617,3687,145.5,-9.3,219,1177,0.00,2.42,0.00,0.000,516,0.000,0.036,2658,501,3652,3617,3687,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1259,-1.00,-146.0,1664,501,3609,3685,153.9,-9.2,236,1266,0.00,2.38,0.00,0.000,1030,0.000,0.057,2657,1893,3652,3618,3687,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1571,-1.00,-146.0,2657,1894,3618,3687,184.9,-9.2,297,1578,0.00,2.40,0.00,0.000,516,0.000,0.037,2657,500,3652,3618,3686,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1636,-1.00,-146.0,2657,499,3618,3687,189.9,-7.1,309,1644,0.00,2.33,0.00,0.000,1030,0.000,0.029,2657,1878,3652,3618,3687,0,0,0,0,0,0,28.83,24.99,28.83
$GC,1947,-1.00,-146.0,2657,1878,3618,3686,215.6,-8.2,352,1956,0.00,2.47,0.00,0.000,260,0.000,0.051,2658,3301,3652,3618,3687,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2020,-1.00,-146.0,2657,3301,3616,3686,221.5,-8.1,359,2028,0.00,2.35,0.00,0.000,1030,0.000,0.027,2658,1888,3651,3617,3686,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2330,-1.00,-146.0,2657,1888,3616,3686,244.5,-5.7,390,2339,0.00,2.38,0.00,0.000,516,0.000,0.049,2657,498,3650,3615,3686,0,0,0,0,0,0,28.83,24.95,28.83
$GC,2374,-1.00,-146.0,2657,498,3615,3686,246.9,-5.7,394,2381,0.00,2.35,0.00,0.000,1030,0.000,0.060,2657,1881,3650,3615,3686,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2684,-1.00,-146.0,2657,1880,3613,3686,266.6,-7.1,425,2693,0.00,2.47,0.00,0.000,260,0.000,0.050,2657,3297,3649,3612,3686,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2726,-1.00,-146.0,2657,3297,3612,3686,270.2,-8.4,429,2736,0.00,2.38,0.00,0.000,1030,0.000,0.028,2658,1882,3649,3612,3687,0,0,0,0,0,0,28.83,25.05,28.83
$GC,3036,-1.00,-146.0,2657,1882,3610,3686,296.2,-7.4,460,3045,0.00,2.40,0.00,0.000,516,0.000,0.044,2657,495,3648,3610,3686,0,0,0,0,0,0,28.83,25.01,28.83
$GC,3068,-1.00,-146.0,2657,495,3610,3687,298.5,-7.4,463,3077,0.00,2.35,0.00,0.000,1030,0.000,0.034,2658,1872,3648,3610,3686,0,0,0,0,0,0,28.83,25.04,28.83
$STATE,3086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3086,begin apogee
$GC,3091,-0.25,0.0,2657,1872,3610,3687,300.0,-7.4,465,3210,0.77,0.00,113.88,0.842,10244,0.078,0.000,2825,1872,3050,2984,3116,0,0,0,0,0,0,24.99,28.83,23.82
$STATE,3213,end apogee,CONTROL_FINISHED_OK
$STATE,3213,begin climb
$GC,3215,1.00,146.0,2825,1872,2984,3116,305.2,0.0,477,3339,1.23,2.55,112.95,0.825,10756,0.045,0.044,3097,448,2454,2385,2524,0,0,0,0,0,0,24.56,24.54,23.82
$GC,3567,1.06,208.3,3097,447,2380,2522,292.5,7.9,512,3624,0.00,2.47,49.78,0.812,9222,0.000,0.064,3097,1859,2200,2127,2274,0,0,0,0,0,0,28.83,24.75,23.83
$GC,3924,1.07,218.7,3097,1859,2121,2270,257.3,10.6,548,3943,0.00,2.55,9.30,0.705,8708,0.000,0.047,3097,453,2156,2082,2231,0,0,0,0,0,0,28.83,24.59,24.00
$GC,4159,1.08,221.2,3097,453,2082,2227,230.5,11.0,571,4167,0.00,2.45,0.00,0.000,1030,0.000,0.037,3097,1857,2154,2082,2227,0,0,0,0,0,0,28.83,24.83,28.83
$GC,4468,1.14,283.3,3097,1857,2081,2228,206.7,7.9,602,4528,0.12,2.53,52.38,0.804,10756,0.075,0.046,3128,459,1893,1824,1963,0,0,0,0,0,0,24.91,24.46,23.85
$GC,4579,1.14,283.3,3128,459,1822,1958,194.6,13.2,616,4586,0.00,2.47,0.00,0.000,1030,0.000,0.066,3128,1854,1890,1822,1958,0,0,0,0,0,0,28.83,24.71,28.83
$GC,4893,1.15,291.1,3128,1854,1817,1958,158.0,10.7,677,4907,0.00,2.50,6.85,0.629,8708,0.000,0.052,3128,457,1862,1790,1934,0,0,0,0,0,0,28.83,24.68,24.08
$GC,4951,1.15,291.1,3128,457,1789,1931,151.7,11.5,687,4958,0.00,2.40,0.00,0.000,1030,0.000,0.037,3128,1825,1860,1790,1931,0,0,0,0,0,0,28.83,24.80,28.83
$GC,5265,1.17,312.8,3128,1825,1789,1932,117.4,10.0,748,5292,0.00,2.45,19.12,0.712,8708,0.000,0.044,3128,457,1772,1700,1845,0,0,0,0,0,0,28.83,24.55,23.98
$GC,5362,1.18,324.7,3128,456,1699,1841,107.2,10.5,765,5382,0.00,2.35,10.85,0.648,9222,0.000,0.034,3128,1811,1725,1652,1798,0,0,0,0,0,0,28.83,24.81,24.06
$GC,5690,1.23,371.3,3128,1810,1648,1797,76.6,8.7,828,5736,0.00,2.72,38.85,0.689,8452,0.000,0.052,3128,3262,1536,1462,1611,0,0,0,0,0,0,28.83,24.48,23.95
$GC,5862,1.26,401.6,3128,3263,1458,1607,59.5,9.6,859,5895,0.12,2.45,25.42,0.647,11270,0.060,0.031,3168,1837,1412,1336,1488,0,0,0,0,0,0,24.83,24.82,23.99
$GC,6203,1.29,433.7,3168,1837,1331,1485,17.2,9.5,924,6235,0.00,0.00,26.95,0.610,8198,0.000,0.000,3168,1837,1280,1203,1357,0,0,0,0,0,0,28.83,28.83,24.03
$STATE,6320,end climb,SURFACE_DEPTH_REACHED
$STATE,6321,begin surface coast
$FINISH,0.2,1.023162
$STATE,6333,end surface coast,CONTROL_FINISHED_OK
$STATE,6333,begin surface
$SM_CCo,6352,59.53,0.088,0,0,758,562.23
$SM_GC,0.71,9.20,0.12,59.53,0.027,0.062,0.088,1040,1930,758,-8.39,-0.79,562.23,0,0,0,0,0,0,24.83,24.88,24.68
$IRIDIUM_FIX,2104.07,11958.74,310114,030321
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.07
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,23.40
$XPDR_PINGS,-1
$24V_AH,23.8,8.302
$10V_AH,9.9,7.359
$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,20.425,73.025,466.325,59.525,0.000,0.000,0.000,179.900,0.000,0.000,51.010,2226.287,1816.184,598.540,1934.988,149.028,0.000,1633.566,0.000,1707.576,0.000,1.681,0.000
$DEVICE_MAMPS,159.885,118.575,842.265,87.975,0.000,0.000,0.000,129.285,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.905,944.574,781.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56982,948
$CAP_FILE_SIZE,94775,0
$CFSIZE,256368640,251318272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,223.7,1
$GPS,310114,070800,2110.154,11956.159,91,1.5,92,-2.5