version: 66.11
glider: 17
mission: 10
dive: 15
start: 1 31 114 7 13 56
data:
$ID,17
$MISSION,10
$DIVE,15
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,120
$T_MISSION,160
$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,-228969.38
$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,1920
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$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
$GPS1,310114,070800,2110.154,11956.159,91,1.5,92,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-47.7
$GPS2,310114,071330,2110.109,11956.106,33,1.8,44,-2.5
$SPEED_LIMITS,0.217,0.311
$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,100.5,5314,-19.0,-12.500,-21.90,1796
$D_GRID,3458
$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,-1.10,-146.0,1039,1930,685,813,0.0,0.0,0,106,0.00,0.00,-87.72,0.000,16386,0.000,0.000,1039,1930,3111,3093,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.10,-146.0,1039,1930,3093,3130,3.7,-7.8,14,135,8.80,0.00,-10.10,0.000,18950,0.159,0.000,2634,1931,3647,3611,3683,0,0,0,0,0,0,24.68,28.83,25.09
$GC,439,-1.10,-146.0,1664,1929,3604,3682,75.2,-15.1,78,446,0.00,2.45,0.00,0.000,516,0.000,0.063,2634,512,3648,3612,3684,0,0,0,0,0,0,28.83,24.89,28.83
$GC,468,-1.10,-146.0,1672,512,3604,3682,79.3,-13.2,83,475,0.00,2.33,0.00,0.000,1030,0.000,0.026,2634,1896,3648,3612,3685,0,0,0,0,0,0,28.83,24.92,28.83
$GC,778,-1.10,-146.0,1672,1895,3604,3685,121.7,-15.0,144,785,0.00,2.50,0.00,0.000,260,0.000,0.071,2634,3327,3649,3612,3687,0,0,0,0,0,0,28.83,24.91,28.83
$GC,802,-1.10,-146.0,1680,3325,3604,3685,125.3,-14.8,148,809,0.00,2.40,0.00,0.000,1030,0.000,0.054,2634,1900,3649,3612,3687,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1114,-1.10,-146.0,2634,1900,3612,3689,164.1,-10.6,209,1121,0.00,2.35,0.00,0.000,516,0.000,0.037,2634,520,3650,3612,3689,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1261,-1.10,-146.0,2634,520,3613,3689,179.6,-11.5,237,1269,0.00,2.28,0.00,0.000,1030,0.000,0.028,2634,1873,3650,3613,3688,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1572,-1.10,-146.0,1672,1871,3604,3687,216.2,-12.0,298,1580,0.00,2.55,0.00,0.000,260,0.000,0.047,2634,3322,3651,3613,3689,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1647,-1.10,-146.0,1680,3321,3605,3686,223.8,-9.5,312,1654,0.00,2.42,0.00,0.000,1030,0.000,0.055,2634,1882,3650,3612,3689,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1957,-1.10,-146.0,2634,1882,3612,3688,252.4,-10.1,373,1964,0.00,2.35,0.00,0.000,516,0.000,0.041,2634,516,3650,3612,3688,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2016,-1.10,-146.0,1680,516,3603,3686,258.2,-9.7,384,2023,0.00,2.35,0.00,0.000,1030,0.000,0.060,2634,1889,3650,3611,3689,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2327,-1.10,-146.0,2634,1889,3610,3688,288.1,-9.0,445,2333,0.00,2.55,0.00,0.000,260,0.000,0.052,2634,3330,3649,3610,3688,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2375,-1.10,-146.0,2634,3330,3610,3688,292.2,-7.9,454,2383,0.00,2.45,0.00,0.000,1030,0.000,0.029,2634,1884,3649,3610,3689,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2687,-1.10,-146.0,2634,1884,3607,3689,313.3,-7.5,515,2693,0.00,2.55,0.00,0.000,260,0.000,0.047,2634,3326,3647,3607,3688,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2732,-1.10,-146.0,2634,3326,3607,3688,317.0,-8.4,523,2738,0.00,2.45,0.00,0.000,1030,0.000,0.031,2634,1886,3647,3606,3688,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3053,-1.10,-146.0,2634,1886,3603,3688,347.4,-9.1,584,3061,0.00,2.42,0.00,0.000,516,0.000,0.047,2634,515,3645,3603,3688,0,0,0,0,0,0,28.83,25.05,28.83
$GC,3305,-1.10,-146.0,2634,515,3601,3686,370.3,-9.5,630,3314,0.00,2.42,0.00,0.000,1030,0.000,0.035,2634,1894,3643,3601,3686,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3640,-1.10,-146.0,1640,1892,3590,3682,399.0,-6.7,691,3647,0.00,2.45,0.00,0.000,516,0.000,0.047,2634,520,3641,3598,3684,0,0,0,0,0,0,28.83,25.07,28.83
$GC,3891,-1.10,-146.0,1632,520,3589,3680,415.9,-7.0,737,3898,0.00,2.42,0.00,0.000,1030,0.000,0.036,2634,1897,3640,3598,3682,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4220,-1.10,-146.0,1632,1895,3585,3678,443.3,-9.6,798,4228,0.00,2.47,0.00,0.000,516,0.000,0.048,2634,516,3637,3595,3680,0,0,0,0,0,0,28.83,25.08,28.83
$STATE,4293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4293,begin apogee
$GC,4301,-0.25,0.0,2634,1860,3594,3680,450.2,-9.0,811,4425,0.88,0.00,114.65,1.007,10244,0.083,0.000,2821,1861,3050,2984,3116,0,0,0,0,0,0,25.06,28.83,23.70
$STATE,4426,end apogee,CONTROL_FINISHED_OK
$STATE,4426,begin climb
$GC,4428,1.10,146.0,2821,1861,2984,3116,457.3,0.0,829,4556,1.27,2.65,116.62,0.974,10500,0.044,0.058,3121,3264,2454,2390,2519,0,0,0,0,0,0,24.56,24.52,23.70
$GC,4797,1.14,193.4,2112,3262,2317,2506,438.6,9.8,892,4847,0.00,2.50,38.70,0.939,9222,0.000,0.040,3121,1867,2261,2197,2325,0,0,0,0,0,0,28.83,24.75,23.72
$GC,5166,1.18,226.6,2096,1865,2125,2310,398.5,10.6,959,5201,0.00,2.60,27.88,0.921,8452,0.000,0.053,3121,3261,2126,2062,2190,0,0,0,0,0,0,28.83,24.42,23.74
$GC,5436,1.19,241.3,3121,3262,2061,2187,366.2,11.7,1009,5460,0.00,2.45,13.27,0.855,9222,0.000,0.038,3121,1859,2065,2005,2126,0,0,0,0,0,0,28.83,24.80,23.82
$GC,5765,1.19,241.3,3121,1859,2002,2121,319.4,14.7,1073,5771,0.00,2.53,0.00,0.000,516,0.000,0.053,3121,444,2061,2002,2120,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5853,1.19,241.3,2176,443,1946,2108,305.6,15.4,1090,5860,0.00,2.47,0.00,0.000,1030,0.000,0.037,3121,1851,2059,2001,2117,0,0,0,0,0,0,28.83,24.86,28.83
$GC,6166,1.23,284.7,3121,1851,2001,2118,267.0,10.0,1151,6209,0.12,2.70,36.05,0.884,10500,0.068,0.057,3157,3261,1889,1830,1948,0,0,0,0,0,0,24.94,24.42,23.78
$GC,6339,1.23,284.7,3157,3261,1830,1946,245.2,13.7,1183,6345,0.00,2.47,0.00,0.000,1030,0.000,0.036,3157,1858,1887,1828,1946,0,0,0,0,0,0,28.83,24.79,28.83
$GC,6652,1.23,284.7,3157,1857,1824,1944,194.6,17.8,1244,6660,0.00,2.50,0.00,0.000,516,0.000,0.075,3157,443,1883,1824,1943,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6727,1.23,284.7,3157,443,1824,1941,180.9,17.7,1258,6734,0.00,2.45,0.00,0.000,1030,0.000,0.063,3157,1848,1882,1824,1941,0,0,0,0,0,0,28.83,24.87,28.83
$GC,7042,1.25,303.3,3157,1848,1824,1942,140.4,11.4,1319,7068,0.00,2.58,16.10,0.748,8708,0.000,0.054,3157,446,1811,1753,1870,0,0,0,0,0,0,28.83,24.50,23.94
$GC,7259,1.25,303.3,3157,446,1750,1866,111.6,13.4,1360,7267,0.00,2.38,0.00,0.000,1030,0.000,0.064,3157,1805,1808,1750,1866,0,0,0,0,0,0,28.83,24.85,28.83
$GC,7576,1.30,349.7,3157,1805,1750,1867,76.6,9.8,1421,7620,0.00,2.75,38.40,0.715,8452,0.000,0.052,3157,3273,1624,1562,1686,0,0,0,0,0,0,28.83,24.46,23.91
$GC,7823,1.33,378.0,3157,3273,1559,1683,49.2,10.9,1467,7855,0.00,2.50,24.20,0.659,9222,0.000,0.031,3157,1813,1508,1445,1571,0,0,0,0,0,0,28.83,24.84,23.96
$GC,8163,1.35,397.3,2176,1811,1409,1564,13.1,11.4,1532,8183,0.00,0.00,16.70,0.602,8198,0.000,0.000,3157,1813,1429,1364,1495,0,0,0,0,0,0,28.83,28.83,24.06
$STATE,8248,end climb,SURFACE_DEPTH_REACHED
$STATE,8248,begin surface coast
$FINISH,0.3,1.023189
$STATE,8267,end surface coast,CONTROL_FINISHED_OK
$STATE,8267,begin surface
$SM_CCo,8285,80.43,0.094,0,0,757,562.47
$SM_GC,0.87,9.27,0.20,80.43,0.034,0.044,0.094,1044,1955,757,-8.39,-0.82,562.47,0,0,0,0,0,0,24.82,24.87,24.65
$IRIDIUM_FIX,2101.76,11957.59,310114,050555
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.78
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.50
$XPDR_PINGS,-1
$24V_AH,23.7,8.424
$10V_AH,9.9,7.458
$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,20.350,84.275,442.575,80.425,0.000,0.000,0.000,209.550,0.000,0.000,45.090,3373.060,1306.186,580.147,3211.209,230.347,0.000,2000.030,0.000,2957.400,0.000,1.682,0.000
$DEVICE_MAMPS,159.120,74.970,1006.740,94.095,0.000,0.000,0.000,125.460,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.445,927.146,650.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324264
$DATA_FILE_SIZE,93637,1551
$CAP_FILE_SIZE,197020,0
$CFSIZE,256368640,251117568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,440
$CURRENT,0.155,233.9,1
$GPS,310114,093503,2109.634,11956.717,42,3.1,63,-2.5