version: 66.11
glider: 17
mission: 10
dive: 23
start: 1 31 114 23 32 24
data:
$ID,17
$MISSION,10
$DIVE,23
$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,-228979.56
$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,1910
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,22
$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
$GPS1,310114,232635,2113.751,12000.014,31,1.3,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-46.5
$GPS2,310114,233155,2113.801,12000.108,34,1.8,41,-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,60.9,55651,-17.1,-11.111,-20.35,2019
$D_GRID,3044
$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,-146.0,1037,1903,690,809,0.0,0.0,0,105,0.00,0.00,-86.95,0.000,16386,0.000,0.000,1037,1903,3069,3055,3083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.00,-146.0,1036,1903,3055,3083,3.7,-7.9,14,136,8.98,2.53,-11.10,0.000,18692,0.160,0.051,2658,3323,3648,3611,3686,0,0,0,0,0,0,24.67,24.79,25.08
$GC,208,-1.00,-146.0,2658,3323,3611,3686,24.3,-12.6,32,216,0.00,2.38,0.00,0.000,1030,0.000,0.054,2658,1917,3649,3612,3686,0,0,0,0,0,0,28.83,24.87,28.83
$GC,519,-1.00,-146.0,2658,1917,3612,3687,76.4,-12.6,93,527,0.00,2.40,0.00,0.000,516,0.000,0.036,2658,510,3649,3611,3687,0,0,0,0,0,0,28.83,24.88,28.83
$GC,574,-1.00,-146.0,1696,509,3603,3685,83.2,-12.3,103,581,0.00,2.38,0.00,0.000,1030,0.000,0.026,2658,1914,3649,3612,3687,0,0,0,0,0,0,28.83,24.91,28.83
$GC,885,-1.00,-146.0,2658,1914,3612,3690,123.5,-13.8,164,892,0.00,2.45,0.00,0.000,260,0.000,0.073,2658,3312,3651,3612,3690,0,0,0,0,0,0,28.83,24.90,28.83
$GC,955,-1.00,-146.0,2658,3312,3613,3689,133.0,-13.4,177,962,0.00,2.33,0.00,0.000,1030,0.000,0.025,2658,1920,3651,3613,3690,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1267,-1.00,-146.0,1680,1918,3605,3688,164.9,-6.3,238,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1920,3651,3613,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1576,-1.00,-146.0,1680,1918,3605,3688,180.6,-6.3,299,1583,0.00,2.42,0.00,0.000,516,0.000,0.041,2658,511,3652,3614,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1638,-1.00,-146.0,2659,511,3613,3690,185.1,-7.8,310,1645,0.00,2.42,0.00,0.000,1030,0.000,0.059,2658,1929,3652,3614,3690,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1949,-1.00,-146.0,2658,1929,3614,3690,216.0,-11.3,357,1958,0.00,2.42,0.00,0.000,260,0.000,0.050,2658,3312,3652,3614,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2011,-1.00,-146.0,2658,3312,3614,3690,223.3,-11.8,363,2020,0.00,2.33,0.00,0.000,1030,0.000,0.028,2658,1935,3652,3614,3690,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2321,-1.00,-146.0,2658,1935,3611,3690,249.3,-5.7,394,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1935,3650,3611,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2623,-1.00,-146.0,2658,1935,3610,3690,262.5,-5.8,424,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1935,3650,3610,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2934,-1.00,-146.0,2658,1935,3609,3690,284.1,-6.9,455,2943,0.00,2.45,0.00,0.000,516,0.000,0.043,2658,513,3649,3609,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2986,-1.00,-146.0,2658,513,3608,3690,287.8,-7.0,460,2995,0.00,2.47,0.00,0.000,1030,0.000,0.034,2658,1948,3648,3608,3689,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3164,begin apogee
$GC,3169,-0.25,0.0,2658,1828,3606,3690,300.8,-7.8,478,3288,0.77,0.00,114.28,0.865,10244,0.080,0.000,2824,1828,3049,2985,3114,0,0,0,0,0,0,24.96,28.83,23.80
$STATE,3291,end apogee,CONTROL_FINISHED_OK
$STATE,3291,begin climb
$GC,3293,1.00,146.0,2824,1828,2985,3114,308.9,0.0,490,3415,1.20,0.00,113.95,0.847,11270,0.047,0.000,3094,1828,2453,2388,2519,0,0,0,0,0,0,24.52,28.83,23.79
$GC,3716,1.08,223.0,3094,1827,2382,2517,304.3,7.2,533,3786,0.00,2.65,61.33,0.842,8452,0.000,0.054,3094,3257,2140,2076,2204,0,0,0,0,0,0,28.83,24.39,23.79
$GC,3889,1.08,223.0,3094,3257,2074,2202,286.0,12.4,550,3898,0.00,2.38,0.00,0.000,1030,0.000,0.040,3094,1876,2138,2073,2203,0,0,0,0,0,0,28.83,24.67,28.83
$GC,4198,1.08,223.0,3094,1876,2071,2201,246.6,11.3,581,4208,0.00,2.55,0.00,0.000,516,0.000,0.047,3094,433,2134,2071,2198,0,0,0,0,0,0,28.83,24.78,28.83
$GC,4245,1.08,223.0,2144,433,2013,2188,241.7,11.5,585,4253,0.00,2.47,0.00,0.000,1030,0.000,0.036,3094,1854,2134,2070,2198,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4553,1.15,291.1,3094,1854,2070,2197,212.4,7.6,616,4615,0.15,2.62,54.85,0.823,10500,0.066,0.054,3139,3249,1862,1803,1922,0,0,0,0,0,0,24.89,24.41,23.83
$GC,4665,1.15,291.1,2240,3247,1759,1912,200.7,12.0,627,4673,0.00,2.42,0.00,0.000,1030,0.000,0.034,3138,1858,1860,1800,1920,0,0,0,0,0,0,28.83,24.72,28.83
$GC,4976,1.15,291.1,2176,1856,1747,1910,162.3,13.5,688,4983,0.00,2.50,0.00,0.000,516,0.000,0.073,3139,440,1856,1795,1918,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4999,1.15,291.1,2176,440,1746,1906,158.4,16.1,692,5007,0.00,2.47,0.00,0.000,1030,0.000,0.063,3139,1857,1854,1794,1915,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5311,1.20,346.9,3138,1857,1794,1915,116.6,8.3,753,5361,0.00,0.00,45.30,0.754,8710,0.000,0.000,3139,1857,1635,1574,1696,0,0,0,0,0,0,28.83,28.83,23.88
$GC,5667,1.32,459.6,3138,1858,1565,1693,87.4,5.4,821,5766,0.12,2.55,91.18,0.714,11012,0.070,0.049,3180,440,1175,1108,1243,0,0,0,0,0,0,24.86,24.43,23.87
$GC,5784,1.32,459.6,2192,440,1092,1238,76.0,13.1,840,5791,0.00,2.45,0.00,0.000,1030,0.000,0.061,3181,1834,1173,1105,1241,0,0,0,0,0,0,28.83,24.62,28.83
$GC,6095,1.32,459.6,3181,1834,1098,1238,27.5,17.2,901,6103,0.00,2.53,0.00,0.000,260,0.000,0.049,3181,3257,1168,1098,1238,0,0,0,0,0,0,28.83,24.76,28.83
$GC,6145,1.32,459.6,2208,3255,1083,1233,19.4,16.5,910,6152,0.00,2.50,0.00,0.000,1030,0.000,0.058,3181,1817,1167,1098,1236,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,6253,end climb,SURFACE_DEPTH_REACHED
$STATE,6253,begin surface coast
$FINISH,0.1,1.002782
$STATE,6266,end surface coast,CONTROL_FINISHED_OK
$STATE,6266,begin surface
$SM_CCo,6285,47.22,0.091,0,0,758,562.23
$SM_GC,0.80,9.27,0.17,47.22,0.028,0.054,0.091,1038,1929,758,-8.38,-0.88,562.23,0,0,0,0,0,0,24.87,24.88,24.68
$IRIDIUM_FIX,2104.07,12000.75,310114,212109
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.47
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,22.00
$XPDR_PINGS,-1
$24V_AH,23.8,9.345
$10V_AH,9.9,8.114
$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,20.500,59.425,480.875,47.225,0.000,0.000,0.000,204.550,0.000,0.000,41.932,2165.984,1896.791,586.009,1866.621,146.085,0.000,1610.672,0.000,1630.015,0.000,1.682,0.000
$DEVICE_MAMPS,159.885,73.440,865.215,91.035,0.000,0.000,0.000,127.755,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.069,918.391,748.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324320
$DATA_FILE_SIZE,56867,933
$CAP_FILE_SIZE,87009,0
$CFSIZE,256368640,250736640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.177, 43.3,1
$GPS,010214,011906,2114.785,12001.395,31,1.4,32,-2.5