version: 66.11
glider: 17
mission: 10
dive: 33
start: 2 1 114 17 58 5
data:
$ID,17
$MISSION,10
$DIVE,33
$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,-228992.62
$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,26
$R_STBD_OVSHOOT,54
$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
$GPS1,010214,175113,2120.137,12002.057,46,1.5,66,-2.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-47.6
$GPS2,010214,175738,2120.239,12001.979,14,2.0,33,-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,120.5,45959,-17.1,-11.111,-20.35,2019
$D_GRID,2856
$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,-146.0,1040,1942,692,805,0.0,0.0,0,106,0.00,0.00,-87.60,0.000,16386,0.000,0.000,1040,1941,3093,3080,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.00,-146.0,1040,1941,3081,3107,3.7,-7.7,14,137,8.98,2.55,-10.50,0.000,18948,0.161,0.046,2657,501,3648,3612,3684,0,0,0,0,0,0,24.69,24.82,25.10
$GC,230,-1.00,-146.0,2657,501,3613,3684,28.9,-13.6,36,238,0.00,2.35,0.00,0.000,1030,0.000,0.056,2657,1888,3648,3613,3684,0,0,0,0,0,0,28.83,24.89,28.83
$GC,541,-1.00,-146.0,2657,1889,3613,3684,75.5,-14.0,97,549,0.00,2.45,0.00,0.000,260,0.000,0.042,2657,3311,3649,3614,3684,0,0,0,0,0,0,28.83,24.89,28.83
$GC,586,-1.00,-146.0,2657,3311,3614,3684,81.4,-12.1,105,594,0.00,2.33,0.00,0.000,1030,0.000,0.024,2657,1908,3649,3614,3684,0,0,0,0,0,0,28.83,24.94,28.83
$GC,899,-1.00,-146.0,2657,1908,3614,3685,119.4,-9.9,166,906,0.00,2.42,0.00,0.000,516,0.000,0.066,2657,502,3649,3614,3685,0,0,0,0,0,0,28.83,24.93,28.83
$GC,973,-1.00,-146.0,1696,501,3607,3683,126.0,-8.7,180,980,0.00,2.35,0.00,0.000,1030,0.000,0.056,2657,1891,3650,3615,3685,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1284,-1.00,-146.0,1672,1890,3607,3685,156.0,-5.1,241,1292,0.00,2.47,0.00,0.000,260,0.000,0.045,2657,3322,3651,3615,3687,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1335,-1.00,-146.0,1680,3320,3607,3685,157.7,-2.4,250,1342,0.00,2.40,0.00,0.000,1030,0.000,0.054,2657,1890,3651,3615,3687,0,0,0,0,0,0,28.83,24.99,28.83
$GC,1647,-1.00,-146.0,2657,1890,3615,3687,190.6,-13.6,311,1653,0.00,2.38,0.00,0.000,516,0.000,0.039,2657,504,3651,3615,3687,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1726,-1.00,-146.0,1680,504,3608,3685,200.2,-10.8,326,1733,0.00,2.33,0.00,0.000,1030,0.000,0.059,2657,1865,3651,3616,3687,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2032,-1.00,-146.0,2657,1865,3616,3687,213.7,-4.5,357,2041,0.00,2.50,0.00,0.000,260,0.000,0.049,2657,3305,3651,3616,3687,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2076,-1.00,-146.0,2657,3305,3616,3687,216.9,-7.5,361,2085,0.00,2.40,0.00,0.000,1030,0.000,0.028,2657,1869,3651,3616,3687,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2384,-1.00,-146.0,2657,1869,3614,3687,253.1,-10.5,392,2393,0.00,2.35,0.00,0.000,516,0.000,0.041,2657,508,3650,3614,3687,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2426,-1.00,-146.0,2657,508,3614,3687,257.2,-9.6,396,2436,0.00,2.33,0.00,0.000,1030,0.000,0.031,2657,1880,3650,3614,3687,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2737,-1.00,-146.0,2657,1880,3611,3687,275.1,-5.1,427,2745,0.00,2.50,0.00,0.000,260,0.000,0.050,2657,3311,3649,3611,3687,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2781,-1.00,-146.0,1736,3309,3603,3684,277.6,-6.1,431,2788,0.00,2.40,0.00,0.000,1030,0.000,0.029,2657,1884,3649,3611,3687,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3090,-1.00,-146.0,2657,1884,3610,3687,297.7,-5.7,462,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1884,3648,3610,3687,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3128,begin apogee
$GC,3132,-0.25,0.0,2657,1884,3609,3687,300.1,-5.9,466,3251,0.77,0.00,114.28,0.845,10244,0.079,0.000,2823,1884,3050,2985,3115,0,0,0,0,0,0,24.97,28.83,23.85
$STATE,3252,end apogee,CONTROL_FINISHED_OK
$STATE,3252,begin climb
$GC,3255,1.00,146.0,2823,1884,2985,3115,304.3,0.0,477,3376,1.20,0.00,113.90,0.824,11270,0.043,0.000,3099,1884,2453,2387,2520,0,0,0,0,0,0,24.55,28.83,23.83
$GC,3673,1.08,220.3,3099,1884,2381,2518,289.1,7.3,518,3744,0.00,2.58,58.90,0.825,8452,0.000,0.050,3099,3256,2150,2086,2215,0,0,0,0,0,0,28.83,24.43,23.84
$GC,3768,1.11,254.4,3099,3256,2086,2214,281.0,9.4,527,3808,0.00,2.40,28.33,0.786,9222,0.000,0.034,3099,1874,2012,1953,2072,0,0,0,0,0,0,28.83,24.67,23.84
$GC,4107,1.11,254.4,3099,1874,1946,2067,246.3,11.2,561,4116,0.10,2.53,0.00,0.000,2564,0.071,0.047,3131,442,2006,1946,2066,0,0,0,0,0,0,24.86,24.77,28.83
$GC,4211,1.11,254.4,3131,441,1946,2063,231.1,15.4,571,4219,0.00,2.45,0.00,0.000,1030,0.000,0.036,3131,1855,2005,1947,2063,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4521,1.12,264.6,3131,1855,1945,2063,190.8,10.6,609,4536,0.00,2.60,8.52,0.691,8708,0.000,0.046,3131,442,1970,1911,2029,0,0,0,0,0,0,28.83,24.65,24.08
$GC,4553,1.14,282.9,2176,441,1857,2019,187.4,10.2,614,4579,0.00,2.50,16.52,0.749,9222,0.000,0.064,3131,1863,1895,1835,1955,0,0,0,0,0,0,28.83,24.76,23.92
$GC,4887,1.14,282.9,2144,1861,1779,1945,151.2,15.3,678,4895,0.00,2.53,0.00,0.000,516,0.000,0.073,3131,439,1890,1830,1951,0,0,0,0,0,0,28.83,24.84,28.83
$GC,4930,1.14,282.9,3131,439,1830,1950,144.4,16.6,685,4936,0.00,2.47,0.00,0.000,1030,0.000,0.036,3131,1860,1890,1830,1950,0,0,0,0,0,0,28.83,24.86,28.83
$GC,5241,1.25,394.2,2176,1858,1780,1942,109.6,5.4,746,5341,0.00,2.60,90.00,0.741,8452,0.000,0.054,3131,3257,1440,1379,1502,0,0,0,0,0,0,28.83,24.44,23.91
$GC,5426,1.28,423.0,2176,3255,1350,1494,96.7,9.6,778,5459,0.12,2.38,23.98,0.677,11270,0.060,0.060,3169,1888,1324,1261,1387,0,0,0,0,0,0,24.76,24.74,23.95
$GC,5766,1.28,423.0,2176,1886,1233,1379,53.0,13.6,843,5773,0.00,2.53,0.00,0.000,516,0.000,0.043,3169,442,1318,1254,1383,0,0,0,0,0,0,28.83,24.79,28.83
$GC,5893,1.28,423.0,3169,443,1253,1381,34.9,13.8,867,5900,0.00,2.47,0.00,0.000,1030,0.000,0.031,3169,1886,1317,1253,1381,0,0,0,0,0,0,28.83,24.84,28.83
$STATE,6161,end climb,SURFACE_DEPTH_REACHED
$STATE,6161,begin surface coast
$FINISH,0.1,1.005463
$STATE,6173,end surface coast,CONTROL_FINISHED_OK
$STATE,6173,begin surface
$SM_CCo,6191,64.03,0.089,0,0,758,562.23
$SM_GC,0.68,9.23,0.00,64.03,0.030,0.000,0.089,1041,1889,758,-8.38,-0.59,562.23,0,0,0,0,0,0,24.91,28.83,24.71
$IRIDIUM_FIX,2111.01,11959.90,010214,161606
$TT8_MAMPS,0.020972,0.020972
$HUMID,50.07
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,22.50
$XPDR_PINGS,-1
$24V_AH,23.8,10.442
$10V_AH,9.9,8.892
$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,20.400,68.525,454.425,64.025,0.000,0.000,0.000,216.800,0.000,0.000,34.711,2147.096,1872.828,542.556,1929.431,154.996,0.000,1626.681,0.000,1691.581,0.000,1.681,0.000
$DEVICE_MAMPS,161.415,73.440,844.560,88.740,0.000,0.000,0.000,127.755,0.000,0.000,34.450,12.720,2.190,12.720,39.680,50.170,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.516,918.204,758.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324228
$DATA_FILE_SIZE,56866,921
$CAP_FILE_SIZE,100981,0
$CFSIZE,256368640,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,67
$CURRENT,0.407,357.8,1
$GPS,010214,194348,2121.317,12002.601,38,1.4,51,-2.5