version: 66.11
glider: 17
mission: 10
dive: 4
start: 1 30 114 7 25 47
data:
$ID,17
$MISSION,10
$DIVE,4
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,65
$T_MISSION,80
$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,-228952.66
$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,2840
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,250
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2784
$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
$GPS1,300114,071948,2110.577,11957.870,49,0.9,67,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-51.8
$GPS2,300114,072521,2110.573,11957.684,31,1.4,33,-2.5
$SPEED_LIMITS,0.178,0.292
$TGT_NAME,r2n
$TGT_LATLONG,2213.500,11949.200
$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,55.4,117445,-15.9,-10.256,-19.36,2188
$D_GRID,3402
$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,-0.94,-146.0,1036,1980,418,556,0.0,0.0,0,111,0.00,0.00,-93.00,0.000,16386,0.000,0.000,1036,1980,2961,2957,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.94,-146.0,1036,1980,2957,2965,3.5,-8.3,15,141,8.62,2.53,-8.75,0.000,18692,0.155,0.065,2629,3411,3381,3337,3426,0,0,0,0,0,0,24.83,24.90,25.27
$GC,191,-0.76,-146.0,2628,3411,3337,3426,20.1,-17.4,28,198,0.22,2.35,0.00,0.000,3078,0.096,0.053,2673,2005,3381,3337,3426,0,0,0,0,0,0,24.96,25.05,28.83
$GC,502,-0.70,-146.0,2673,2005,3337,3427,62.2,-13.3,89,510,0.00,2.42,0.00,0.000,260,0.000,0.039,2673,3411,3382,3337,3428,0,0,0,0,0,0,28.83,25.06,28.83
$GC,528,-0.70,-146.0,2673,3411,3337,3428,65.7,-13.3,93,535,0.00,2.33,0.00,0.000,1030,0.000,0.024,2673,2002,3382,3337,3428,0,0,0,0,0,0,28.83,25.11,28.83
$GC,838,-0.70,-146.0,1696,2000,3315,3425,102.6,-11.0,154,846,0.00,2.40,0.00,0.000,516,0.000,0.067,2673,596,3383,3337,3429,0,0,0,0,0,0,28.83,25.09,28.83
$GC,884,-0.75,-146.0,1680,595,3314,3425,107.0,-9.1,162,891,0.00,2.38,0.00,0.000,1030,0.000,0.055,2673,2010,3383,3338,3428,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1196,-0.81,-146.0,2673,2010,3338,3429,137.4,-9.1,223,1203,0.00,2.40,0.00,0.000,260,0.000,0.043,2672,3401,3383,3338,3429,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1261,-0.93,-146.0,1680,3400,3316,3425,142.5,-7.6,235,1268,0.17,2.33,0.00,0.000,5126,0.056,0.024,2627,1995,3383,3338,3429,0,0,0,0,0,0,25.13,25.15,28.83
$GC,1573,-0.87,-146.0,1632,1992,3316,3425,174.9,-11.7,296,1581,0.12,2.38,0.00,0.000,2564,0.117,0.065,2654,600,3383,3338,3429,0,0,0,0,0,0,25.06,25.11,28.83
$GC,1625,-0.95,-146.0,2654,599,3338,3429,180.4,-10.0,305,1632,0.00,2.35,0.00,0.000,1030,0.000,0.029,2654,2004,3383,3338,3429,0,0,0,0,0,0,28.83,25.15,28.83
$STATE,1863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1863,begin apogee
$GC,1869,-0.25,0.0,2654,2104,3338,3429,200.1,-8.0,352,1986,0.60,0.00,111.05,0.741,10246,0.079,0.000,2783,2104,2783,2727,2840,0,0,0,0,0,0,25.08,28.83,24.02
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1989,begin climb
$GC,1991,0.94,146.0,2783,2104,2727,2840,202.9,0.0,364,2109,1.15,0.00,111.97,0.724,10502,0.057,0.000,3040,2104,2188,2127,2249,0,0,0,0,0,0,24.69,28.83,24.01
$GC,2413,1.25,287.0,2048,2102,2060,2237,186.6,3.6,438,2532,0.30,2.62,110.35,0.728,11012,0.065,0.052,3128,3497,1612,1552,1673,0,0,0,0,0,0,24.90,24.58,24.02
$GC,2671,1.35,287.0,3128,3497,1548,1668,156.8,13.9,484,2678,0.00,2.38,0.00,0.000,1030,0.000,0.059,3129,2105,1607,1547,1668,0,0,0,0,0,0,28.83,24.88,28.83
$GC,2983,1.44,316.6,3128,2105,1544,1668,120.7,8.9,545,3017,0.12,2.50,23.85,0.680,10756,0.058,0.043,3175,695,1492,1431,1553,0,0,0,0,0,0,25.06,24.68,24.09
$GC,3126,1.44,316.6,3174,695,1428,1551,99.7,15.8,571,3133,0.00,2.40,0.00,0.000,1030,0.000,0.031,3175,2093,1489,1428,1551,0,0,0,0,0,0,28.83,24.95,28.83
$GC,3435,1.44,316.6,2208,2091,1396,1546,60.4,11.8,632,3442,0.00,2.45,0.00,0.000,516,0.000,0.068,3175,695,1487,1424,1551,0,0,0,0,0,0,28.83,25.01,28.83
$GC,3545,1.44,316.6,3175,695,1424,1549,47.7,11.4,653,3553,0.00,2.40,0.00,0.000,1030,0.000,0.032,3175,2100,1486,1424,1549,0,0,0,0,0,0,28.83,25.05,28.83
$GC,3857,1.44,316.6,3175,2100,1424,1549,11.5,11.5,714,3864,0.00,2.45,0.00,0.000,516,0.000,0.067,3175,689,1486,1424,1549,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3913,1.44,316.6,3174,689,1423,1548,5.0,12.0,724,3920,0.00,2.42,0.00,0.000,1030,0.000,0.059,3175,2102,1485,1423,1548,0,0,0,0,0,0,28.83,25.08,28.83
$STATE,3940,end climb,SURFACE_DEPTH_REACHED
$STATE,3940,begin surface coast
$FINISH,0.1,1.021253
$STATE,3957,end surface coast,CONTROL_FINISHED_OK
$STATE,3957,begin surface
$SM_CCo,3975,110.10,0.080,0,0,492,562.23
$SM_GC,0.72,9.15,0.20,110.10,0.029,0.050,0.080,1039,1976,492,-8.20,0.71,562.23,0,0,0,0,0,0,25.11,25.14,24.87
$IRIDIUM_FIX,2101.76,12000.75,300114,060626
$TT8_MAMPS,0.020972,0.020972
$HUMID,48.77
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,23.80
$XPDR_PINGS,-1
$24V_AH,24.0,7.249
$10V_AH,10.0,6.499
$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,20.475,43.825,357.225,110.100,0.000,0.000,0.000,232.100,0.000,0.000,34.623,1692.196,602.657,527.872,1463.917,142.722,0.000,1380.854,0.000,1246.577,0.000,1.683,0.000
$DEVICE_MAMPS,154.530,68.085,741.285,80.325,0.000,0.000,0.000,118.575,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.450,744.056,629.008,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,43553,732
$CAP_FILE_SIZE,67590,0
$CFSIZE,256368640,252006400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.379,254.7,1
$GPS,300114,083537,2110.579,11957.245,67,1.9,67,-2.5