version: 66.11
glider: 17
mission: 10
dive: 21
start: 1 31 114 19 35 3
data:
$ID,17
$MISSION,10
$DIVE,21
$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,-228976.97
$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,29
$R_STBD_OVSHOOT,53
$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
$GPS1,310114,192915,2111.388,11957.019,11,2.4,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-48.2
$GPS2,310114,193435,2111.456,11957.040,36,1.4,41,-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,93.4,62490,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.00,-146.0,1041,1946,691,808,0.0,0.0,0,98,0.00,0.00,-80.45,0.000,16386,0.000,0.000,1042,1945,2868,2850,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.00,-146.0,1041,1945,2850,2887,3.1,-7.2,13,135,8.93,2.50,-16.65,0.000,18948,0.158,0.046,2656,507,3646,3603,3690,0,0,0,0,0,0,24.63,24.79,25.08
$GC,167,-1.00,-146.0,1696,506,3597,3688,14.7,-11.4,24,174,0.00,2.38,0.00,0.000,1030,0.000,0.055,2657,1900,3647,3604,3690,0,0,0,0,0,0,28.83,24.84,28.83
$GC,478,-1.00,-146.0,2657,1902,3605,3690,60.4,-14.5,85,485,0.00,2.47,0.00,0.000,260,0.000,0.044,2657,3326,3647,3605,3690,0,0,0,0,0,0,28.83,24.86,28.83
$GC,508,-1.00,-146.0,1672,3325,3597,3688,64.6,-13.7,90,515,0.00,2.38,0.00,0.000,1030,0.000,0.054,2656,1914,3648,3606,3690,0,0,0,0,0,0,28.83,24.91,28.83
$GC,819,-1.00,-146.0,2656,1914,3607,3690,108.8,-13.8,151,826,0.00,2.38,0.00,0.000,516,0.000,0.036,2657,520,3648,3607,3690,0,0,0,0,0,0,28.83,24.91,28.83
$GC,914,-1.00,-146.0,1680,520,3600,3688,118.3,-7.8,169,922,0.00,2.30,0.00,0.000,1030,0.000,0.026,2657,1894,3649,3609,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1226,-1.00,-146.0,1680,1892,3601,3688,139.9,-6.7,230,1233,0.00,2.50,0.00,0.000,260,0.000,0.073,2657,3323,3650,3610,3690,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1316,-1.00,-146.0,2656,3323,3610,3690,146.6,-7.9,247,1323,0.00,2.38,0.00,0.000,1030,0.000,0.025,2657,1896,3650,3611,3690,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1627,-1.00,-146.0,1680,1894,3601,3689,173.3,-7.4,308,1634,0.00,2.38,0.00,0.000,516,0.000,0.069,2657,522,3651,3611,3691,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1691,-1.00,-146.0,2656,522,3610,3691,177.8,-6.5,320,1699,0.00,2.35,0.00,0.000,1030,0.000,0.058,2657,1893,3650,3610,3691,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2002,-1.00,-146.0,2656,1894,3610,3691,199.5,-8.4,381,2010,0.00,2.50,0.00,0.000,260,0.000,0.048,2657,3323,3651,3611,3691,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2088,-1.00,-146.0,2656,3323,3610,3691,207.2,-9.0,390,2098,0.00,2.35,0.00,0.000,1030,0.000,0.033,2657,1918,3650,3610,3690,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2398,-1.00,-146.0,2656,1918,3609,3691,230.6,-5.8,421,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1918,3650,3610,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2700,-1.00,-146.0,2656,1918,3607,3690,251.1,-7.7,451,2708,0.00,2.40,0.00,0.000,516,0.000,0.041,2657,515,3648,3607,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2734,-1.00,-146.0,1760,515,3600,3688,253.5,-7.5,454,2741,0.00,2.42,0.00,0.000,1030,0.000,0.060,2656,1935,3648,3607,3690,0,0,0,0,0,0,28.83,25.01,28.83
$GC,3042,-1.00,-146.0,2656,1935,3604,3690,273.3,-7.3,485,3051,0.00,2.42,0.00,0.000,260,0.000,0.051,2657,3316,3647,3604,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3084,-1.00,-146.0,2656,3316,3604,3690,276.6,-7.6,489,3094,0.00,2.30,0.00,0.000,1030,0.000,0.029,2657,1949,3647,3604,3690,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3394,-1.00,-146.0,2657,1949,3601,3690,297.0,-6.9,520,3403,0.00,2.40,0.00,0.000,260,0.000,0.050,2657,3313,3645,3601,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3427,-1.00,-146.0,2656,3313,3601,3690,299.4,-7.4,523,3435,0.00,2.33,0.00,0.000,1030,0.000,0.031,2656,1936,3645,3601,3690,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3449,-0.25,0.0,2656,1836,3601,3690,300.9,-7.6,525,3568,0.77,0.00,113.68,0.864,10244,0.080,0.000,2823,1836,3050,2982,3118,0,0,0,0,0,0,24.96,28.83,23.80
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3573,1.00,146.0,2822,1836,2982,3118,306.5,0.0,537,3698,1.25,2.60,114.10,0.842,10500,0.047,0.049,3098,3263,2453,2387,2520,0,0,0,0,0,0,24.55,24.51,23.78
$GC,3862,1.08,225.4,3098,3263,2381,2519,301.5,7.1,566,3933,0.00,2.40,63.05,0.832,9222,0.000,0.035,3098,1882,2131,2065,2197,0,0,0,0,0,0,28.83,24.73,23.80
$GC,4234,1.15,296.6,3098,1882,2059,2192,271.1,7.5,603,4302,0.12,2.58,57.85,0.829,10500,0.064,0.052,3135,3250,1839,1776,1903,0,0,0,0,0,0,24.82,24.40,23.81
$GC,4385,1.15,296.6,3135,3250,1774,1900,250.3,15.9,618,4396,0.00,2.50,0.00,0.000,1030,0.000,0.036,3135,1823,1836,1772,1900,0,0,0,0,0,0,28.83,24.72,28.83
$GC,4696,1.15,296.6,3135,1823,1768,1897,203.9,14.9,649,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1823,1832,1768,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4999,1.15,296.6,2176,1821,1719,1887,158.9,16.2,706,5007,0.00,2.60,0.00,0.000,260,0.000,0.078,3135,3261,1831,1767,1896,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5104,1.15,296.6,2176,3259,1720,1888,142.7,14.3,726,5112,0.00,2.47,0.00,0.000,1030,0.000,0.062,3135,1837,1831,1767,1895,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5419,1.16,303.8,3135,1838,1766,1895,112.7,10.7,787,5433,0.00,2.55,5.85,0.581,8452,0.000,0.069,3135,3257,1811,1746,1876,0,0,0,0,0,0,28.83,24.74,24.16
$GC,5507,1.17,319.0,3135,3257,1746,1876,103.3,10.3,803,5527,0.00,2.42,13.95,0.692,9222,0.000,0.032,3135,1845,1749,1684,1814,0,0,0,0,0,0,28.83,24.87,24.01
$GC,5837,1.19,336.0,2112,1843,1636,1803,76.8,10.2,866,5858,0.00,2.55,14.98,0.670,8708,0.000,0.044,3135,446,1678,1614,1743,0,0,0,0,0,0,28.83,24.58,24.03
$GC,5946,1.19,336.0,3135,446,1614,1741,63.3,12.0,886,5954,0.00,2.42,0.00,0.000,1030,0.000,0.060,3135,1842,1677,1614,1741,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6263,1.24,382.6,3135,1842,1613,1741,34.7,8.7,947,6306,0.00,0.00,38.80,0.650,8454,0.000,0.000,3135,1843,1489,1424,1554,0,0,0,0,0,0,28.83,28.83,23.99
$STATE,6581,end climb,SURFACE_DEPTH_REACHED
$STATE,6581,begin surface coast
$FINISH,0.1,1.023335
$STATE,6601,end surface coast,CONTROL_FINISHED_OK
$STATE,6601,begin surface
$SM_CCo,6619,82.93,0.090,0,0,758,562.23
$SM_GC,0.62,9.12,0.12,82.93,0.032,0.063,0.090,1045,1945,758,-8.37,-0.88,562.23,0,0,0,0,0,0,24.87,24.92,24.68
$IRIDIUM_FIX,2101.76,11957.59,310114,171752
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.25
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.80
$XPDR_PINGS,-1
$24V_AH,23.8,9.114
$10V_AH,9.9,7.954
$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,20.200,68.475,422.250,82.925,0.000,0.000,0.000,201.900,0.000,0.000,43.870,2384.104,1894.916,585.825,2012.856,151.159,0.000,1656.170,0.000,1778.501,0.000,1.681,0.000
$DEVICE_MAMPS,157.590,78.030,863.685,89.505,0.000,0.000,0.000,127.755,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.209,1005.490,829.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324232
$DATA_FILE_SIZE,60322,1011
$CAP_FILE_SIZE,95355,0
$CFSIZE,256368640,250843136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.355, 24.9,1
$GPS,310114,212826,2112.740,11958.435,42,2.7,63,-2.5