version: 66.11
glider: 17
mission: 10
dive: 19
start: 1 31 114 15 55 44
data:
$ID,17
$MISSION,10
$DIVE,19
$N_DIVES,0
$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,-228974.47
$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,24
$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
$GPS1,310114,155029,2109.549,11955.937,35,1.8,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-48.3
$GPS2,310114,155515,2109.648,11955.893,13,2.4,33,-2.5
$SPEED_LIMITS,0.192,0.300
$TGT_NAME,r4n
$TGT_LATLONG,2133.400,12024.600
$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,110.8,66181,-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,15,-1.00,-146.0,1039,1949,686,817,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,16386,0.000,0.000,1039,1949,3019,2997,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.00,-146.0,1039,1949,2997,3041,3.5,-8.9,14,135,8.93,2.58,-12.40,0.000,18948,0.158,0.047,2658,504,3648,3607,3690,0,0,0,0,0,0,24.65,24.78,25.06
$GC,187,-1.00,-146.0,2657,504,3608,3690,20.1,-12.8,28,195,0.00,2.38,0.00,0.000,1030,0.000,0.056,2658,1896,3649,3608,3690,0,0,0,0,0,0,28.83,24.84,28.83
$GC,499,-1.00,-146.0,2657,1898,3609,3691,62.7,-15.2,89,506,0.00,2.47,0.00,0.000,260,0.000,0.041,2658,3326,3650,3609,3691,0,0,0,0,0,0,28.83,24.85,28.83
$GC,554,-1.00,-146.0,2658,3326,3609,3691,71.3,-13.7,99,561,0.00,2.38,0.00,0.000,1030,0.000,0.024,2658,1910,3650,3609,3691,0,0,0,0,0,0,28.83,24.91,28.83
$GC,865,-1.00,-146.0,2657,1910,3610,3695,113.8,-11.5,160,872,0.00,2.40,0.00,0.000,516,0.000,0.066,2658,518,3652,3610,3695,0,0,0,0,0,0,28.83,24.90,28.83
$GC,900,-1.00,-146.0,1680,518,3601,3692,117.6,-10.7,166,907,0.00,2.42,0.00,0.000,1030,0.000,0.056,2658,1943,3652,3610,3695,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1210,-1.00,-146.0,1680,1941,3602,3693,145.5,-7.5,227,1217,0.00,2.40,0.00,0.000,260,0.000,0.046,2657,3323,3653,3611,3695,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1247,-1.00,-146.0,2657,3323,3611,3695,148.2,-7.7,233,1255,0.00,2.33,0.00,0.000,1030,0.000,0.025,2658,1927,3653,3611,3695,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1558,-1.00,-146.0,1680,1925,3602,3693,178.8,-10.3,294,1565,0.00,2.47,0.00,0.000,260,0.000,0.073,2658,3326,3653,3611,3695,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1618,-1.00,-146.0,1680,3325,3602,3693,185.2,-10.4,305,1626,0.00,2.33,0.00,0.000,1030,0.000,0.027,2658,1936,3653,3611,3695,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1930,-1.00,-146.0,2657,1936,3611,3695,212.2,-7.5,351,1938,0.00,2.42,0.00,0.000,260,0.000,0.048,2658,3323,3652,3611,3694,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1951,-1.00,-146.0,2657,3323,3611,3695,213.7,-7.0,353,1961,0.00,2.28,0.00,0.000,1030,0.000,0.028,2658,1958,3653,3611,3695,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2261,-1.00,-146.0,2657,1958,3610,3694,239.1,-8.2,384,2271,0.00,2.47,0.00,0.000,516,0.000,0.041,2658,518,3652,3610,3694,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2326,-1.00,-146.0,2657,518,3610,3695,244.1,-7.9,390,2333,0.00,2.42,0.00,0.000,1030,0.000,0.060,2658,1935,3652,3610,3695,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2634,-1.00,-146.0,2658,1935,3608,3694,270.4,-9.0,421,2644,0.00,2.45,0.00,0.000,516,0.000,0.041,2658,519,3651,3608,3695,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2678,-1.00,-146.0,2657,519,3608,3695,274.4,-9.5,425,2688,0.00,2.38,0.00,0.000,1030,0.000,0.032,2658,1914,3650,3607,3694,0,0,0,0,0,0,28.83,25.00,28.83
$STATE,2954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2955,begin apogee
$GC,2960,-0.25,0.0,2657,1834,3605,3694,300.4,-8.6,453,3079,0.77,0.00,114.07,0.853,10244,0.077,0.000,2825,1834,3050,2980,3121,0,0,0,0,0,0,24.96,28.83,23.81
$STATE,3081,end apogee,CONTROL_FINISHED_OK
$STATE,3081,begin climb
$GC,3083,1.00,146.0,2825,1834,2979,3121,306.8,0.0,465,3207,1.23,2.42,113.45,0.834,10756,0.042,0.045,3101,475,2454,2379,2530,0,0,0,0,0,0,24.55,24.51,23.80
$GC,3375,1.02,168.4,3100,475,2377,2528,295.0,10.0,494,3402,0.00,2.42,18.92,0.776,9222,0.000,0.064,3101,1856,2363,2283,2443,0,0,0,0,0,0,28.83,24.72,23.84
$GC,3703,1.11,251.6,3100,1856,2279,2441,265.5,6.9,527,3775,0.00,2.50,66.47,0.828,8708,0.000,0.045,3101,473,2023,1950,2097,0,0,0,0,0,0,28.83,24.41,23.82
$GC,3912,1.18,325.6,3100,473,1947,2089,251.0,7.3,547,3981,0.17,2.47,60.35,0.809,11270,0.060,0.037,3138,1882,1722,1645,1799,0,0,0,0,0,0,24.73,24.73,23.82
$GC,4280,1.18,325.6,3137,1881,1634,1795,199.8,13.8,584,4287,0.00,2.53,0.00,0.000,516,0.000,0.074,3138,472,1714,1634,1794,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4362,1.18,325.6,3137,472,1634,1791,189.0,13.3,599,4369,0.00,2.45,0.00,0.000,1030,0.000,0.037,3138,1869,1712,1634,1791,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4673,1.18,325.6,3138,1869,1633,1791,136.8,15.1,660,4680,0.00,2.55,0.00,0.000,260,0.000,0.084,3138,3270,1712,1633,1791,0,0,0,0,0,0,28.83,24.80,28.83
$GC,4886,1.18,325.6,3137,3270,1633,1791,108.8,12.3,701,4894,0.00,2.30,0.00,0.000,1030,0.000,0.033,3138,1924,1712,1633,1791,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5200,1.29,432.5,2176,1921,1591,1784,80.5,5.7,762,5294,0.10,2.58,85.22,0.707,10756,0.076,0.062,3163,479,1286,1206,1367,0,0,0,0,0,0,24.96,24.45,23.90
$GC,5320,1.29,432.5,3163,479,1205,1364,70.6,11.7,781,5327,0.00,2.47,0.00,0.000,1030,0.000,0.031,3164,1904,1284,1204,1364,0,0,0,0,0,0,28.83,24.67,28.83
$GC,5633,1.29,432.5,2192,1902,1181,1357,30.3,14.2,842,5641,0.00,2.42,0.00,0.000,260,0.000,0.077,3163,3265,1279,1199,1360,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5674,1.29,432.5,3163,3266,1198,1359,24.8,12.5,849,5681,0.00,2.33,0.00,0.000,1030,0.000,0.030,3163,1905,1279,1198,1360,0,0,0,0,0,0,28.83,24.84,28.83
$STATE,5849,end climb,SURFACE_DEPTH_REACHED
$STATE,5849,begin surface coast
$FINISH,0.1,1.019272
$STATE,5866,end surface coast,CONTROL_FINISHED_OK
$STATE,5866,begin surface
$SM_CCo,5883,59.47,0.089,0,0,758,562.23
$SM_GC,0.71,9.20,0.00,59.47,0.029,0.000,0.089,1039,1905,758,-8.38,-0.42,562.23,0,0,0,0,0,0,24.90,28.83,24.70
$IRIDIUM_FIX,2059.45,11956.44,310114,141402
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.03
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.20
$XPDR_PINGS,-1
$24V_AH,23.8,8.896
$10V_AH,9.9,7.790
$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,20.400,68.125,458.500,59.475,0.000,0.000,0.000,178.950,0.000,0.000,34.459,2068.683,1664.377,582.911,1783.578,139.691,0.000,1556.173,0.000,1579.379,0.000,1.681,0.000
$DEVICE_MAMPS,158.355,84.150,852.975,88.740,0.000,0.000,0.000,130.815,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.231,881.436,729.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324244
$DATA_FILE_SIZE,53753,886
$CAP_FILE_SIZE,86622,0
$CFSIZE,256368640,250970112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.362,332.3,1
$GPS,310114,173624,2110.497,11956.016,39,1.4,59,-2.5