version: 66.11
glider: 17
mission: 10
dive: 28
start: 2 1 114 8 55 36
data:
$ID,17
$MISSION,10
$DIVE,28
$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,-228986.09
$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,69
$R_STBD_OVSHOOT,56
$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
$GPS1,010214,085005,2116.273,12002.251,32,1.4,49,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-49.0
$GPS2,010214,085506,2116.254,12002.191,16,1.4,33,-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,74.7,49981,-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,15,-1.00,-146.0,1041,1861,692,808,0.0,0.0,0,98,0.00,0.00,-79.97,0.000,16386,0.000,0.000,1041,1860,2833,2813,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.00,-146.0,1041,1860,2813,2854,3.0,-7.8,13,134,8.93,0.00,-17.75,0.000,18438,0.158,0.000,2655,1860,3648,3601,3695,0,0,0,0,0,0,24.65,28.83,25.10
$GC,438,-1.00,-146.0,1680,1859,3594,3693,58.5,-16.6,78,445,0.00,2.50,0.00,0.000,260,0.000,0.068,2656,3296,3648,3602,3695,0,0,0,0,0,0,28.83,24.87,28.83
$GC,468,-1.00,-146.0,2655,3296,3603,3695,63.5,-16.4,83,475,0.00,2.25,0.00,0.000,1030,0.000,0.024,2655,1944,3649,3603,3695,0,0,0,0,0,0,28.83,24.92,28.83
$GC,778,-1.00,-146.0,1680,1942,3596,3693,109.6,-10.8,144,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1944,3649,3604,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1088,-1.00,-146.0,2655,1944,3605,3696,133.2,-7.2,205,1096,0.00,2.45,0.00,0.000,516,0.000,0.037,2655,509,3650,3605,3696,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1154,-1.00,-146.0,2655,509,3606,3696,138.8,-9.0,217,1163,0.00,2.35,0.00,0.000,1030,0.000,0.027,2655,1908,3651,3606,3696,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1466,-1.00,-146.0,1672,1907,3599,3694,168.8,-10.7,278,1473,0.00,2.47,0.00,0.000,260,0.000,0.074,2656,3317,3651,3607,3695,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1541,-1.00,-146.0,1696,3315,3599,3694,176.9,-10.2,292,1548,0.00,2.30,0.00,0.000,1030,0.000,0.057,2655,1952,3651,3607,3696,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1852,-1.00,-146.0,2655,1952,3607,3696,198.8,-5.8,353,1860,0.00,2.47,0.00,0.000,516,0.000,0.039,2655,511,3651,3607,3696,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1908,-1.00,-146.0,2655,511,3607,3696,202.5,-7.0,360,1917,0.00,2.47,0.00,0.000,1030,0.000,0.030,2655,1964,3651,3607,3696,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2219,-1.00,-146.0,2655,1964,3606,3696,227.0,-8.4,391,2228,0.00,2.33,0.00,0.000,260,0.000,0.048,2656,3307,3651,3606,3696,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2273,-1.00,-146.0,1732,3305,3598,3694,232.0,-9.6,396,2280,0.00,2.28,0.00,0.000,1030,0.000,0.058,2655,1957,3651,3606,3696,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2582,-1.00,-146.0,2655,1956,3603,3696,264.2,-9.8,427,2591,0.00,2.47,0.00,0.000,516,0.000,0.042,2655,515,3649,3604,3695,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2626,-1.00,-146.0,1744,515,3595,3693,268.5,-10.1,431,2633,0.00,2.45,0.00,0.000,1030,0.000,0.032,2655,1950,3649,3603,3695,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2934,-1.00,-146.0,2655,1950,3601,3696,293.4,-6.8,462,2943,0.00,2.38,0.00,0.000,260,0.000,0.059,2655,3307,3648,3601,3696,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2979,-1.00,-146.0,1760,3305,3593,3693,296.5,-7.3,466,2986,0.00,2.30,0.00,0.000,1030,0.000,0.060,2655,1949,3648,3601,3696,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,3034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3034,begin apogee
$GC,3040,-0.25,0.0,2655,1834,3600,3696,300.7,-6.8,472,3158,0.77,0.00,113.78,0.851,10244,0.080,0.000,2821,1834,3049,2980,3119,0,0,0,0,0,0,24.96,28.83,23.83
$STATE,3161,end apogee,CONTROL_FINISHED_OK
$STATE,3161,begin climb
$GC,3163,1.00,146.0,2821,1834,2979,3119,305.8,0.0,484,3287,1.25,2.58,113.88,0.829,10500,0.044,0.048,3101,3256,2454,2385,2523,0,0,0,0,0,0,24.57,24.53,23.82
$GC,3294,1.22,368.4,3101,3256,2383,2522,310.3,-0.2,497,3483,0.20,2.42,175.93,0.817,11270,0.051,0.032,3151,1865,1547,1479,1615,0,0,0,0,0,0,24.58,24.57,23.82
$GC,3782,1.22,368.4,3151,1864,1471,1610,228.8,21.1,546,3791,0.00,2.47,0.00,0.000,260,0.000,0.054,3151,3251,1541,1471,1611,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3834,1.22,368.4,3151,3251,1471,1610,218.0,20.6,551,3843,0.00,2.40,0.00,0.000,1030,0.000,0.034,3152,1860,1540,1471,1610,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4144,1.22,368.4,2176,1858,1439,1603,161.5,16.0,604,4151,0.00,2.53,0.00,0.000,516,0.000,0.076,3152,441,1538,1470,1607,0,0,0,0,0,0,28.83,24.80,28.83
$GC,4189,1.22,368.4,3152,441,1469,1605,154.5,14.2,612,4196,0.00,2.42,0.00,0.000,1030,0.000,0.063,3152,1836,1537,1469,1605,0,0,0,0,0,0,28.83,24.83,28.83
$GC,4500,1.22,368.4,3151,1836,1469,1605,103.1,17.2,673,4507,0.00,2.47,0.00,0.000,516,0.000,0.046,3152,441,1536,1468,1605,0,0,0,0,0,0,28.83,24.85,28.83
$GC,4595,1.22,368.4,3151,441,1468,1603,86.3,15.2,691,4602,0.00,2.38,0.00,0.000,1030,0.000,0.034,3152,1814,1536,1468,1604,0,0,0,0,0,0,28.83,24.89,28.83
$GC,4906,1.22,368.4,3152,1815,1468,1603,55.5,11.1,752,4913,0.00,2.58,0.00,0.000,260,0.000,0.078,3152,3255,1535,1468,1603,0,0,0,0,0,0,28.83,24.87,28.83
$GC,4945,1.22,368.4,2176,3254,1437,1598,51.0,11.5,759,4952,0.00,2.45,0.00,0.000,1030,0.000,0.030,3152,1818,1536,1468,1604,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5255,1.22,368.4,3152,1818,1468,1604,16.0,12.5,820,5262,0.00,2.55,0.00,0.000,260,0.000,0.070,3152,3256,1536,1468,1604,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5335,1.22,368.4,3152,3256,1468,1604,6.9,11.2,835,5342,0.00,2.40,0.00,0.000,1030,0.000,0.028,3152,1836,1536,1468,1604,0,0,0,0,0,0,28.83,24.94,28.83
$STATE,5382,end climb,SURFACE_DEPTH_REACHED
$STATE,5382,begin surface coast
$FINISH,0.1,1.023294
$STATE,5399,end surface coast,CONTROL_FINISHED_OK
$STATE,5399,begin surface
$SM_CCo,5417,88.35,0.087,0,0,758,562.23
$SM_GC,0.78,9.10,0.15,88.35,0.028,0.053,0.087,1038,1944,758,-8.38,-0.65,562.23,0,0,0,0,0,0,24.97,25.00,24.72
$IRIDIUM_FIX,2108.69,11953.58,010214,060638
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.03
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,22.60
$XPDR_PINGS,-1
$24V_AH,23.8,9.899
$10V_AH,9.9,8.502
$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,20.250,63.500,403.575,88.350,0.000,0.000,0.000,192.350,0.000,0.000,34.356,1994.819,1405.022,574.114,1706.679,135.994,0.000,1517.862,0.000,1490.741,0.000,1.681,0.000
$DEVICE_MAMPS,157.590,84.915,851.445,87.210,0.000,0.000,0.000,126.225,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.450,841.893,695.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50198,847
$CAP_FILE_SIZE,82475,0
$CFSIZE,256368640,250462208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,303.8,1
$GPS,010214,102859,2116.641,12002.763,60,1.6,60,-2.5