version: 66.11
glider: 17
mission: 10
dive: 26
start: 2 1 114 5 5 49
data:
$ID,17
$MISSION,10
$DIVE,26
$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,-228983.5
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,010214,045957,2115.682,12002.233,30,2.6,51,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-51.2
$GPS2,010214,050520,2115.674,12002.167,42,2.8,62,-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,66.9,50703,-17.1,-11.111,-20.35,2019
$D_GRID,2941
$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,-146.0,1044,1881,685,812,0.0,0.0,0,105,0.00,0.00,-86.40,0.000,16386,0.000,0.000,1044,1881,3061,3045,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-1.00,-146.0,1044,1881,3045,3077,3.7,-8.4,14,134,8.88,0.00,-11.07,0.000,18438,0.157,0.000,2657,1882,3648,3610,3687,0,0,0,0,0,0,24.68,28.83,25.09
$GC,438,-1.00,-146.0,2657,1882,3611,3688,61.8,-13.4,78,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1882,3649,3611,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,750,-1.00,-146.0,1664,1880,3601,3687,99.4,-10.4,139,756,0.00,2.47,0.00,0.000,260,0.000,0.042,2657,3317,3650,3611,3689,0,0,0,0,0,0,28.83,24.90,28.83
$GC,829,-1.00,-146.0,1680,3315,3602,3687,110.1,-14.3,154,836,0.00,2.38,0.00,0.000,1030,0.000,0.054,2657,1903,3650,3611,3689,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1141,-1.00,-146.0,2657,1902,3611,3689,151.3,-9.3,215,1148,0.00,2.40,0.00,0.000,516,0.000,0.037,2657,500,3650,3611,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1230,-1.00,-146.0,1696,500,3603,3687,157.8,-5.8,232,1238,0.00,2.40,0.00,0.000,1030,0.000,0.056,2657,1908,3650,3611,3690,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1542,-1.00,-146.0,2657,1908,3611,3690,180.5,-7.9,293,1549,0.00,2.45,0.00,0.000,260,0.000,0.046,2657,3314,3650,3611,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1582,-1.00,-146.0,1664,3313,3603,3687,183.6,-7.5,300,1589,0.00,2.35,0.00,0.000,1030,0.000,0.056,2657,1928,3650,3611,3690,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1898,-1.00,-146.0,2657,1928,3611,3690,206.5,-9.2,355,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1928,3650,3611,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2199,-1.00,-146.0,2656,1928,3611,3690,240.4,-10.6,385,2208,0.00,2.42,0.00,0.000,516,0.000,0.041,2657,512,3650,3611,3690,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2224,-1.00,-146.0,2657,512,3611,3690,243.0,-10.7,387,2231,0.00,2.40,0.00,0.000,1030,0.000,0.031,2657,1924,3650,3611,3690,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2532,-1.00,-146.0,2657,1924,3611,3689,271.5,-7.3,418,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1924,3650,3610,3690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-1.00,-146.0,2657,1924,3608,3690,288.5,-4.9,448,2842,0.00,2.42,0.00,0.000,516,0.000,0.050,2657,518,3649,3608,3690,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2869,-1.00,-146.0,1696,518,3600,3687,290.1,-4.8,451,2876,0.00,2.38,0.00,0.000,1030,0.000,0.033,2657,1910,3649,3608,3690,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3063,begin apogee
$GC,3068,-0.25,0.0,2657,1833,3606,3690,300.1,-6.0,471,3187,0.77,0.00,113.97,0.844,10244,0.077,0.000,2824,1833,3050,2984,3116,0,0,0,0,0,0,24.96,28.83,23.82
$STATE,3190,end apogee,CONTROL_FINISHED_OK
$STATE,3190,begin climb
$GC,3192,1.00,146.0,2823,1833,2983,3116,305.5,0.0,483,3315,1.23,2.45,113.18,0.824,10756,0.041,0.044,3100,458,2454,2382,2526,0,0,0,0,0,0,24.56,24.53,23.82
$GC,3483,1.10,248.2,3100,458,2380,2524,305.7,5.9,512,3570,0.00,2.42,81.25,0.817,9222,0.000,0.035,3100,1848,2038,1968,2108,0,0,0,0,0,0,28.83,24.73,23.82
$GC,3870,1.10,248.2,3100,1848,1960,2105,263.9,13.8,551,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1848,2032,1960,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,1.14,283.1,3100,1848,1959,2105,230.2,9.3,581,4211,0.12,2.60,28.80,0.787,10500,0.076,0.082,3135,3259,1894,1821,1968,0,0,0,0,0,0,24.86,24.45,23.87
$GC,4236,1.14,286.0,2216,3257,1774,1959,223.9,11.0,587,4247,0.00,2.45,3.55,0.446,9222,0.000,0.035,3135,1851,1884,1810,1958,0,0,0,0,0,0,28.83,24.72,24.08
$GC,4550,1.14,286.0,3135,1850,1805,1956,184.7,15.8,629,4558,0.00,2.47,0.00,0.000,516,0.000,0.046,3135,435,1880,1805,1955,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4610,1.14,286.0,2144,435,1756,1943,175.0,16.3,640,4617,0.00,2.42,0.00,0.000,1030,0.000,0.063,3134,1832,1878,1805,1952,0,0,0,0,0,0,28.83,24.84,28.83
$GC,4921,1.14,286.0,3135,1833,1804,1953,130.9,13.8,701,4929,0.00,2.45,0.00,0.000,516,0.000,0.044,3135,439,1878,1804,1952,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5021,1.14,286.0,3135,439,1804,1950,117.5,12.1,720,5028,0.00,2.35,0.00,0.000,1030,0.000,0.063,3135,1790,1877,1804,1950,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5333,1.17,311.1,3135,1790,1804,1951,89.7,9.8,781,5360,0.00,2.47,21.20,0.695,8708,0.000,0.043,3135,443,1779,1705,1854,0,0,0,0,0,0,28.83,24.55,24.00
$GC,5388,1.17,314.8,3135,443,1705,1849,83.9,10.9,790,5401,0.00,2.35,4.18,0.455,9222,0.000,0.062,3135,1792,1765,1691,1840,0,0,0,0,0,0,28.83,24.75,24.15
$GC,5705,1.27,414.0,2112,1791,1643,1832,60.7,6.1,852,5793,0.00,2.72,80.57,0.679,8452,0.000,0.050,3135,3261,1360,1284,1437,0,0,0,0,0,0,28.83,24.46,23.95
$GC,5837,1.27,414.0,2128,3259,1259,1431,48.3,11.5,874,5844,0.00,2.60,0.00,0.000,1030,0.000,0.057,3135,1764,1358,1282,1435,0,0,0,0,0,0,28.83,24.72,28.83
$GC,6147,1.29,430.5,2144,1762,1256,1431,16.3,10.3,935,6168,0.12,2.72,13.95,0.572,10500,0.078,0.044,3169,3256,1294,1215,1373,0,0,0,0,0,0,24.84,24.58,24.13
$GC,6196,1.29,430.5,2176,3254,1196,1368,10.3,12.6,943,6203,0.00,2.53,0.00,0.000,1030,0.000,0.031,3169,1781,1293,1214,1372,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,6255,end climb,SURFACE_DEPTH_REACHED
$STATE,6255,begin surface coast
$FINISH,0.1,1.023302
$STATE,6266,end surface coast,CONTROL_FINISHED_OK
$STATE,6266,begin surface
$SM_CCo,6285,61.88,0.087,0,0,758,562.23
$SM_GC,0.57,9.30,0.25,61.88,0.034,0.039,0.087,1044,1946,758,-8.38,-0.54,562.23,0,0,0,0,0,0,24.84,24.88,24.68
$IRIDIUM_FIX,2108.69,12005.06,010214,030357
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.13
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,23.40
$XPDR_PINGS,-1
$24V_AH,23.8,9.688
$10V_AH,9.9,8.349
$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,20.425,59.450,460.650,61.875,0.000,0.000,0.000,185.550,0.000,0.000,63.315,2239.969,1820.262,573.954,1899.182,145.145,0.000,1578.757,0.000,1660.244,0.000,1.681,0.000
$DEVICE_MAMPS,156.825,81.855,843.795,87.210,0.000,0.000,0.000,129.285,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.709,946.719,777.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324324
$DATA_FILE_SIZE,56816,956
$CAP_FILE_SIZE,89316,0
$CFSIZE,256368640,250572800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242,271.6,1
$GPS,010214,065305,2116.016,12002.093,40,1.2,52,-2.5