version: 66.11
glider: 17
mission: 10
dive: 13
start: 1 31 114 3 25 31
data:
$ID,17
$MISSION,10
$DIVE,13
$N_DIVES,15
$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,-228966.78
$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,1900
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$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
$GPS1,310114,031957,2112.577,11956.773,30,2.5,51,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-42.6
$GPS2,310114,032501,2112.550,11956.766,14,2.5,34,-2.5
$SPEED_LIMITS,0.192,0.300
$TGT_NAME,r4s
$TGT_LATLONG,2107.600,11957.600
$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,182.0,9279,-17.1,-11.111,-20.35,2019
$D_GRID,3385
$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,-1.00,-146.0,1041,1873,407,565,0.0,0.0,0,110,0.00,0.00,-92.45,0.000,16386,0.000,0.000,1041,1872,2951,2941,2961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.00,-146.0,1041,1872,2942,2961,3.3,-7.0,15,146,8.90,2.38,-14.65,0.000,18948,0.158,0.048,2659,525,3648,3611,3685,0,0,0,0,0,0,24.70,24.82,25.08
$GC,245,-1.00,-146.0,1696,525,3602,3683,25.8,-14.0,39,252,0.00,2.30,0.00,0.000,1030,0.000,0.026,2659,1894,3648,3611,3685,0,0,0,0,0,0,28.83,24.89,28.83
$GC,554,-1.00,-146.0,1696,1892,3602,3684,70.6,-13.0,100,561,0.00,2.47,0.00,0.000,260,0.000,0.071,2658,3310,3649,3612,3686,0,0,0,0,0,0,28.83,24.89,28.83
$GC,594,-1.00,-146.0,2658,3310,3612,3686,75.7,-12.8,107,601,0.00,2.33,0.00,0.000,1030,0.000,0.024,2659,1910,3649,3612,3686,0,0,0,0,0,0,28.83,24.95,28.83
$GC,904,-1.00,-146.0,1696,1908,3606,3684,115.9,-13.8,168,911,0.00,2.45,0.00,0.000,516,0.000,0.066,2658,491,3650,3614,3686,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1036,-1.00,-146.0,2658,491,3615,3686,129.7,-9.8,193,1044,0.00,2.38,0.00,0.000,1030,0.000,0.027,2658,1896,3650,3615,3686,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1347,-1.00,-146.0,1672,1894,3608,3684,156.8,-8.9,254,1354,0.00,2.47,0.00,0.000,260,0.000,0.073,2658,3304,3651,3616,3686,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1528,-1.00,-146.0,2658,3304,3616,3686,174.7,-10.8,289,1536,0.00,2.33,0.00,0.000,1030,0.000,0.026,2658,1911,3651,3616,3686,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1840,-1.00,-146.0,2658,1911,3616,3686,206.3,-9.8,344,1849,0.00,2.40,0.00,0.000,516,0.000,0.040,2658,501,3651,3616,3686,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1882,-1.00,-146.0,2658,501,3616,3686,210.3,-9.7,348,1892,0.00,2.38,0.00,0.000,1030,0.000,0.029,2658,1904,3651,3616,3686,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2193,-1.00,-146.0,2658,1904,3615,3686,234.8,-6.2,379,2201,0.00,2.42,0.00,0.000,260,0.000,0.049,2658,3296,3650,3615,3686,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2266,-1.00,-146.0,2658,3296,3614,3686,239.1,-5.7,386,2275,0.00,2.30,0.00,0.000,1030,0.000,0.034,2658,1917,3650,3614,3686,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2576,-1.00,-146.0,2658,1917,3612,3686,256.9,-7.0,417,2586,0.00,2.42,0.00,0.000,516,0.000,0.041,2658,502,3648,3612,3685,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2622,-1.00,-146.0,2658,503,3611,3686,260.2,-7.7,421,2630,0.00,2.40,0.00,0.000,1030,0.000,0.031,2658,1914,3648,3611,3686,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2929,-1.00,-146.0,2658,1914,3610,3686,284.9,-8.0,452,2938,0.00,2.45,0.00,0.000,516,0.000,0.042,2659,494,3648,3610,3686,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2953,-1.00,-146.0,1760,493,3602,3684,286.7,-8.2,454,2961,0.00,2.40,0.00,0.000,1030,0.000,0.061,2658,1897,3648,3610,3686,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,3119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3119,begin apogee
$GC,3124,-0.25,0.0,2658,1897,3608,3686,300.1,-7.7,471,3243,0.75,0.00,113.75,0.842,10244,0.077,0.000,2821,1897,3050,2986,3114,0,0,0,0,0,0,25.00,28.83,23.82
$STATE,3245,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3248,1.00,146.0,2821,1897,2985,3113,305.5,0.0,483,3371,1.23,0.00,113.15,0.824,11270,0.047,0.000,3097,1897,2453,2390,2517,0,0,0,0,0,0,24.54,28.83,23.82
$GC,3672,1.11,251.2,3097,1897,2387,2515,294.7,5.8,526,3762,0.10,2.70,83.40,0.829,10756,0.075,0.049,3125,457,2025,1970,2081,0,0,0,0,0,0,24.86,24.41,23.82
$GC,3856,1.11,256.0,3125,457,1967,2074,277.3,10.9,544,3867,0.00,2.47,4.90,0.575,9222,0.000,0.036,3125,1862,2006,1951,2061,0,0,0,0,0,0,28.83,24.72,24.03
$GC,4166,1.11,256.0,3125,1863,1947,2060,242.5,11.6,575,4175,0.00,2.47,0.00,0.000,516,0.000,0.047,3125,459,2002,1947,2058,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4230,1.11,256.0,2224,459,1898,2048,234.1,13.9,581,4238,0.00,2.42,0.00,0.000,1030,0.000,0.036,3125,1847,2001,1947,2056,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4538,1.11,256.0,2128,1845,1890,2047,195.3,12.9,615,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1847,2001,1946,2056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,1.20,341.1,2128,1845,1889,2046,164.3,6.8,676,4922,0.00,2.70,69.07,0.777,8452,0.000,0.057,3126,3266,1658,1600,1716,0,0,0,0,0,0,28.83,24.44,23.88
$GC,4950,1.20,347.1,3125,3266,1599,1713,152.8,10.8,693,4965,0.00,2.47,5.95,0.576,9222,0.000,0.034,3126,1840,1634,1575,1694,0,0,0,0,0,0,28.83,24.69,24.03
$GC,5272,1.20,347.1,2112,1838,1531,1684,115.6,11.4,755,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1840,1630,1570,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5581,1.25,394.0,3125,1840,1568,1690,81.2,8.7,816,5627,0.12,2.47,38.55,0.695,10756,0.075,0.045,3167,449,1443,1384,1502,0,0,0,0,0,0,24.87,24.50,23.93
$GC,5701,1.25,394.0,3167,448,1380,1499,66.4,15.3,837,5709,0.00,2.38,0.00,0.000,1030,0.000,0.032,3167,1816,1439,1380,1499,0,0,0,0,0,0,28.83,24.78,28.83
$GC,6013,1.25,394.0,2176,1815,1350,1494,30.5,11.2,898,6020,0.00,2.60,0.00,0.000,260,0.000,0.076,3167,3266,1438,1377,1499,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6083,1.25,394.0,3167,3266,1377,1498,21.8,12.5,911,6090,0.00,2.47,0.00,0.000,1030,0.000,0.029,3167,1814,1437,1377,1498,0,0,0,0,0,0,28.83,24.89,28.83
$STATE,6250,end climb,SURFACE_DEPTH_REACHED
$STATE,6251,begin surface coast
$FINISH,0.1,1.023194
$STATE,6267,end surface coast,CONTROL_FINISHED_OK
$STATE,6267,begin surface
$SM_CCo,6285,77.07,0.088,0,0,758,562.23
$SM_GC,0.84,9.25,0.17,77.07,0.032,0.047,0.088,1032,1938,758,-8.38,-0.62,562.23,0,0,0,0,0,0,24.95,24.98,24.72
$IRIDIUM_FIX,2104.07,11958.74,310114,010120
$TT8_MAMPS,0.020972,0.020972
$HUMID,49.64
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,22.70
$XPDR_PINGS,-1
$24V_AH,23.8,8.192
$10V_AH,9.9,7.279
$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,20.350,63.825,428.775,77.075,0.000,0.000,0.000,196.125,0.000,0.000,35.263,2220.257,1840.980,592.058,1879.856,144.063,0.000,1609.888,0.000,1656.033,0.000,1.683,0.000
$DEVICE_MAMPS,158.355,76.500,841.500,87.975,0.000,0.000,0.000,126.990,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.683,939.513,774.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324208
$DATA_FILE_SIZE,57040,947
$CAP_FILE_SIZE,89721,0
$CFSIZE,256368640,251383808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230,221.4,1
$GPS,310114,051326,2111.127,11956.186,54,2.6,75,-2.5