version: 66.11
glider: 17
mission: 10
dive: 17
start: 1 31 114 12 15 0
data:
$ID,17
$MISSION,10
$DIVE,17
$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,-228971.88
$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,1920
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,57
$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
$GPS1,310114,120806,2108.396,11956.831,34,1.4,34,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-47.0
$GPS2,310114,121431,2108.400,11956.777,44,1.7,51,-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,56.6,66636,-17.1,-11.111,-20.35,2019
$D_GRID,3452
$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,-146.0,1046,1871,687,813,0.0,0.0,0,98,0.00,0.00,-80.35,0.000,16386,0.000,0.000,1046,1871,2870,2854,2887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.00,-146.0,1046,1870,2855,2887,3.2,-8.1,13,135,8.88,2.47,-15.73,0.000,18692,0.155,0.048,2657,3303,3648,3609,3688,0,0,0,0,0,0,24.63,24.77,25.06
$GC,198,-1.00,-146.0,1680,3301,3601,3686,23.5,-16.4,30,205,0.00,2.28,0.00,0.000,1030,0.000,0.055,2657,1953,3649,3610,3688,0,0,0,0,0,0,28.83,24.84,28.83
$GC,511,-1.00,-146.0,2657,1953,3611,3688,75.2,-16.9,91,518,0.00,2.45,0.00,0.000,516,0.000,0.036,2657,520,3649,3611,3688,0,0,0,0,0,0,28.83,24.86,28.83
$GC,605,-1.00,-146.0,2657,520,3611,3689,87.4,-11.5,109,613,0.00,2.28,0.00,0.000,1030,0.000,0.026,2657,1871,3649,3611,3688,0,0,0,0,0,0,28.83,24.89,28.83
$GC,917,-1.00,-146.0,1680,1869,3606,3686,124.0,-12.5,170,924,0.00,2.55,0.00,0.000,260,0.000,0.072,2657,3325,3651,3614,3689,0,0,0,0,0,0,28.83,24.88,28.83
$GC,951,-1.00,-146.0,2657,3325,3614,3689,128.5,-12.6,176,958,0.00,2.42,0.00,0.000,1030,0.000,0.054,2657,1886,3651,3614,3689,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1263,-1.00,-146.0,2656,1886,3615,3689,160.9,-5.9,237,1271,0.00,2.53,0.00,0.000,260,0.000,0.044,2656,3328,3652,3615,3689,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1289,-1.00,-146.0,2656,3328,3615,3689,162.3,-5.5,241,1297,0.00,2.40,0.00,0.000,1030,0.000,0.027,2657,1895,3652,3615,3689,0,0,0,0,0,0,28.83,24.95,28.83
$GC,1601,-1.00,-146.0,1680,1893,3607,3687,182.3,-8.2,302,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1895,3652,3615,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-1.00,-146.0,2657,1895,3615,3689,209.5,-6.8,351,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1895,3652,3615,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2213,-1.00,-146.0,2657,1895,3613,3689,231.5,-7.6,381,2222,0.00,2.35,0.00,0.000,516,0.000,0.042,2657,526,3651,3613,3689,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2268,-1.00,-146.0,2657,526,3613,3689,235.6,-7.5,386,2276,0.00,2.38,0.00,0.000,1030,0.000,0.060,2657,1911,3651,3613,3689,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2576,-1.00,-146.0,2657,1911,3611,3689,257.7,-8.5,417,2586,0.00,2.47,0.00,0.000,260,0.000,0.052,2657,3318,3650,3611,3689,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2622,-1.00,-146.0,2657,3318,3611,3689,261.4,-8.9,421,2630,0.00,2.38,0.00,0.000,1030,0.000,0.029,2657,1908,3649,3610,3689,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2930,-1.00,-146.0,2657,1908,3608,3689,287.9,-8.9,452,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1908,3648,3608,3689,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3057,begin apogee
$GC,3063,-0.25,0.0,2657,1839,3606,3689,300.2,-9.6,465,3182,0.77,0.00,114.32,0.851,10244,0.080,0.000,2823,1839,3050,2988,3112,0,0,0,0,0,0,24.96,28.83,23.78
$STATE,3184,end apogee,CONTROL_FINISHED_OK
$STATE,3184,begin climb
$GC,3186,1.00,146.0,2823,1839,2987,3112,307.2,0.0,477,3306,1.23,0.00,113.88,0.834,11270,0.050,0.000,3097,1839,2454,2389,2519,0,0,0,0,0,0,24.49,28.83,23.77
$GC,3614,1.04,185.9,3096,1839,2385,2516,285.9,9.1,520,3654,0.00,2.45,32.28,0.816,8708,0.000,0.047,3097,478,2289,2229,2350,0,0,0,0,0,0,28.83,24.42,23.82
$GC,3700,1.06,200.6,3097,478,2229,2347,277.8,10.4,528,3719,0.00,2.42,12.95,0.742,9222,0.000,0.063,3097,1861,2232,2170,2294,0,0,0,0,0,0,28.83,24.69,23.87
$GC,4028,1.10,245.4,3096,1860,2165,2292,249.0,8.8,561,4068,0.10,0.00,36.88,0.812,10758,0.079,0.000,3128,1861,2049,1993,2105,0,0,0,0,0,0,24.84,28.83,23.82
$GC,4368,1.12,269.1,3128,1861,1987,2100,212.1,9.9,595,4397,0.00,2.55,20.12,0.771,8708,0.000,0.047,3128,482,1950,1894,2007,0,0,0,0,0,0,28.83,24.47,23.87
$GC,4453,1.13,279.0,3128,482,1893,2003,203.9,10.6,603,4471,0.00,2.42,9.40,0.697,9222,0.000,0.036,3128,1863,1912,1854,1970,0,0,0,0,0,0,28.83,24.74,23.93
$GC,4778,1.15,298.4,3128,1863,1849,1966,171.5,10.1,663,4803,0.00,2.58,16.92,0.746,8452,0.000,0.082,3128,3261,1832,1773,1892,0,0,0,0,0,0,28.83,24.49,23.90
$GC,4877,1.15,298.4,3128,3261,1773,1890,158.8,13.2,681,4884,0.00,2.35,0.00,0.000,1030,0.000,0.034,3128,1899,1830,1771,1890,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5190,1.15,298.4,2176,1898,1724,1881,113.5,14.5,742,5198,0.00,2.45,0.00,0.000,260,0.000,0.078,3128,3263,1829,1770,1889,0,0,0,0,0,0,28.83,24.81,28.83
$GC,5336,1.18,320.9,3128,3263,1770,1889,96.8,10.0,769,5362,0.00,2.33,19.20,0.708,9222,0.000,0.032,3128,1905,1741,1681,1801,0,0,0,0,0,0,28.83,24.87,23.94
$GC,5672,1.23,373.8,3128,1905,1676,1799,65.2,8.4,833,5722,0.00,2.67,43.65,0.697,8708,0.000,0.044,3128,449,1525,1465,1586,0,0,0,0,0,0,28.83,24.46,23.91
$GC,5740,1.27,416.1,3128,448,1464,1582,59.3,9.0,844,5785,0.15,2.47,35.42,0.672,11270,0.079,0.059,3159,1876,1352,1291,1413,0,0,0,0,0,0,24.63,24.66,23.91
$GC,6093,1.28,428.1,3159,1876,1282,1408,19.3,10.5,911,6112,0.00,2.58,10.20,0.567,8708,0.000,0.041,3159,458,1303,1239,1367,0,0,0,0,0,0,28.83,24.61,24.12
$GC,6164,1.28,428.1,3159,458,1237,1366,9.5,13.5,924,6171,0.00,2.45,0.00,0.000,1030,0.000,0.060,3159,1863,1301,1237,1366,0,0,0,0,0,0,28.83,24.77,28.83
$STATE,6232,end climb,SURFACE_DEPTH_REACHED
$STATE,6232,begin surface coast
$FINISH,0.2,1.018981
$STATE,6248,end surface coast,CONTROL_FINISHED_OK
$STATE,6248,begin surface
$SM_CCo,6267,62.42,0.092,0,0,758,562.23
$SM_GC,0.71,9.32,0.10,62.42,0.036,0.083,0.092,1038,1940,758,-8.39,-0.76,562.23,0,0,0,0,0,0,24.85,24.88,24.65
$IRIDIUM_FIX,2101.76,11957.59,310114,090952
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.27
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,23.10
$XPDR_PINGS,-1
$24V_AH,23.8,8.662
$10V_AH,9.9,7.640
$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,20.450,58.925,465.225,62.425,0.000,0.000,0.000,243.850,0.000,0.000,52.223,2190.546,1875.767,581.253,1914.558,147.480,0.000,1635.605,0.000,1630.851,0.000,1.680,0.000
$DEVICE_MAMPS,155.295,98.685,851.445,91.800,0.000,0.000,0.000,132.345,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.875,935.345,772.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324328
$DATA_FILE_SIZE,56954,940
$CAP_FILE_SIZE,89667,0
$CFSIZE,256368640,251084800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221,264.8,1
$GPS,310114,140136,2108.842,11956.670,11,1.5,29,-2.5