version: 66.11
glider: 17
mission: 10
dive: 24
start: 2 1 114 1 24 17
data:
$ID,17
$MISSION,10
$DIVE,24
$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,-228980.81
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,010214,011906,2114.785,12001.395,31,1.4,32,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-50.6
$GPS2,010214,012349,2114.809,12001.438,15,2.0,15,-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,55.2,52699,-17.1,-11.111,-20.35,2019
$D_GRID,2966
$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,-146.0,1037,1932,690,811,0.0,0.0,0,105,0.00,0.00,-87.12,0.000,16386,0.000,0.000,1037,1932,3074,3062,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.00,-146.0,1037,1932,3062,3086,3.8,-8.4,14,136,8.95,2.45,-10.90,0.000,18692,0.159,0.052,2656,3304,3647,3612,3683,0,0,0,0,0,0,24.65,24.77,25.06
$GC,154,-1.00,-146.0,2656,3304,3613,3684,17.5,-23.2,21,162,0.00,2.35,0.00,0.000,1030,0.000,0.025,2656,1906,3648,3613,3683,0,0,0,0,0,0,28.83,24.83,28.83
$GC,465,-1.00,-146.0,1680,1904,3604,3682,64.5,-16.0,82,472,0.00,2.42,0.00,0.000,516,0.000,0.065,2656,504,3648,3613,3684,0,0,0,0,0,0,28.83,24.87,28.83
$GC,490,-1.00,-146.0,2655,504,3613,3684,68.6,-15.9,86,497,0.00,2.38,0.00,0.000,1030,0.000,0.057,2656,1897,3649,3613,3685,0,0,0,0,0,0,28.83,24.89,28.83
$GC,801,-1.00,-146.0,2656,1898,3613,3687,112.7,-13.9,147,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1897,3650,3613,3687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1110,-1.00,-146.0,1664,1896,3607,3686,150.1,-6.2,208,1117,0.00,2.42,0.00,0.000,516,0.000,0.065,2656,502,3651,3615,3688,0,0,0,0,0,0,28.83,24.91,28.83
$GC,1215,-1.00,-146.0,2656,502,3616,3688,156.3,-4.8,228,1222,0.00,2.42,0.00,0.000,1030,0.000,0.058,2656,1913,3652,3616,3688,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1526,-1.00,-146.0,2656,1913,3617,3688,185.1,-8.7,289,1534,0.00,2.45,0.00,0.000,260,0.000,0.048,2656,3312,3652,3617,3688,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1582,-1.00,-146.0,2656,3312,3617,3688,189.3,-7.2,299,1589,0.00,2.35,0.00,0.000,1030,0.000,0.027,2656,1908,3652,3617,3688,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1899,-1.00,-146.0,2656,1908,3617,3688,215.4,-10.2,345,1908,0.00,2.38,0.00,0.000,516,0.000,0.040,2656,515,3652,3617,3688,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1992,-1.00,-146.0,2655,515,3617,3688,225.1,-10.1,354,2001,0.00,2.35,0.00,0.000,1030,0.000,0.037,2656,1898,3652,3617,3688,0,0,0,0,0,0,28.83,24.92,28.83
$GC,2301,-1.00,-146.0,2655,1898,3616,3688,252.7,-8.6,385,2311,0.00,2.47,0.00,0.000,260,0.000,0.049,2656,3314,3652,3616,3688,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2364,-1.00,-146.0,2656,3314,3616,3688,258.3,-9.0,391,2373,0.00,2.35,0.00,0.000,1030,0.000,0.028,2656,1915,3652,3616,3688,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2675,-1.00,-146.0,2656,1915,3613,3688,278.9,-4.2,422,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1915,3650,3613,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-1.00,-146.0,2656,1915,3611,3688,292.8,-7.5,452,2984,0.00,2.42,0.00,0.000,516,0.000,0.051,2656,509,3649,3611,3688,0,0,0,0,0,0,28.83,24.93,28.83
$GC,3020,-1.00,-146.0,2656,509,3611,3688,296.6,-8.8,456,3027,0.00,2.42,0.00,0.000,1030,0.000,0.061,2656,1928,3649,3611,3688,0,0,0,0,0,0,28.83,25.00,28.83
$STATE,3055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3055,begin apogee
$GC,3060,-0.25,0.0,2655,1834,3611,3688,300.4,-9.4,460,3180,0.77,0.00,114.60,0.853,10244,0.079,0.000,2823,1834,3050,2987,3113,0,0,0,0,0,0,24.94,28.83,23.80
$STATE,3182,end apogee,CONTROL_FINISHED_OK
$STATE,3182,begin climb
$GC,3184,1.00,146.0,2822,1834,2986,3113,308.6,0.0,472,3307,1.23,2.42,113.35,0.842,10756,0.046,0.045,3108,470,2454,2381,2527,0,0,0,0,0,0,24.53,24.51,23.79
$GC,3492,1.06,207.5,3108,470,2378,2525,301.6,8.0,502,3550,0.00,2.38,49.35,0.825,9222,0.000,0.036,3108,1844,2203,2127,2280,0,0,0,0,0,0,28.83,24.72,23.80
$GC,3851,1.12,264.9,3108,1845,2121,2277,272.2,8.2,538,3903,0.00,2.50,46.95,0.825,8708,0.000,0.047,3108,467,1968,1895,2042,0,0,0,0,0,0,28.83,24.42,23.82
$GC,4078,1.12,264.9,3108,467,1891,2034,244.0,14.7,560,4087,0.00,2.45,0.00,0.000,1030,0.000,0.037,3108,1858,1962,1891,2034,0,0,0,0,0,0,28.83,24.76,28.83
$GC,4388,1.12,264.9,2112,1857,1837,2025,195.3,14.2,594,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1858,1962,1890,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,1.22,359.9,3108,1858,1888,2034,170.5,6.3,655,4784,0.15,2.53,76.65,0.787,10756,0.075,0.073,3145,467,1580,1505,1656,0,0,0,0,0,0,24.87,24.42,23.86
$GC,4809,1.22,359.9,3145,467,1504,1652,155.7,16.7,673,4816,0.00,2.42,0.00,0.000,1030,0.000,0.037,3145,1841,1577,1503,1652,0,0,0,0,0,0,28.83,24.65,28.83
$GC,5120,1.22,359.9,2176,1839,1463,1645,111.4,13.4,734,5127,0.00,2.45,0.00,0.000,516,0.000,0.073,3145,467,1573,1497,1650,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5170,1.22,359.9,3145,467,1497,1648,104.3,14.4,743,5177,0.00,2.38,0.00,0.000,1030,0.000,0.035,3146,1829,1572,1496,1648,0,0,0,0,0,0,28.83,24.81,28.83
$GC,5481,1.31,452.9,2176,1828,1463,1642,70.7,6.4,804,5562,0.00,2.65,74.82,0.696,8452,0.000,0.050,3146,3256,1201,1119,1284,0,0,0,0,0,0,28.83,24.44,23.91
$GC,5601,1.36,508.8,3146,3256,1118,1281,62.1,8.3,824,5653,0.15,2.42,45.70,0.660,11270,0.057,0.060,3188,1860,976,897,1056,0,0,0,0,0,0,24.71,24.70,23.94
$GC,5957,1.36,508.8,3188,1859,891,1047,7.0,16.3,892,5965,0.00,2.50,0.00,0.000,516,0.000,0.069,3188,435,969,891,1047,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,5991,end climb,SURFACE_DEPTH_REACHED
$STATE,5991,begin surface coast
$FINISH,0.1,1.016584
$STATE,6002,end surface coast,CONTROL_FINISHED_OK
$STATE,6002,begin surface
$SM_CCo,6023,24.38,0.089,0,0,757,562.23
$SM_GC,0.82,9.40,2.60,24.38,0.033,0.028,0.089,1034,1921,757,-8.38,-0.68,562.23,0,0,0,0,0,0,24.84,24.82,24.68
$IRIDIUM_FIX,2106.38,12001.90,310114,232310
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.47
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,22.90
$XPDR_PINGS,-1
$24V_AH,23.8,9.470
$10V_AH,9.9,8.189
$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,20.650,63.475,521.425,24.375,0.000,0.000,0.000,193.100,0.000,0.000,17.037,2077.218,1717.005,587.042,1813.100,144.020,0.000,1600.079,0.000,1613.775,0.000,1.680,0.000
$DEVICE_MAMPS,159.120,73.440,852.975,88.740,0.000,0.000,0.000,127.755,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.118,892.903,732.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324220
$DATA_FILE_SIZE,53531,900
$CAP_FILE_SIZE,86806,0
$CFSIZE,256368640,250683392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 60.3,1
$GPS,010214,030626,2115.387,12002.362,23,2.7,44,-2.5