version: 66.12
glider: 17
mission: 17
dive: 4
start: 12 28 114 15 16 15
data:
$ID,17
$MISSION,17
$DIVE,4
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,700
$D_NO_BLEED,100
$D_BOOST,2
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,300
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,150
$T_MISSION,175
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.090000004
$D_OFFGRID,300
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02775
$MASS,52210
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.8e-05
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,-6625
$TGT_DEFAULT_LON,12015
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,584
$PITCH_MAX,3731
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,130
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,233
$ROLL_MAX,3877
$ROLL_DEG,33
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3735
$C_VBD,2520
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,1
$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,90
$AH0_10V,78
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-4.7807236
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,37
$DEVICE3,-1
$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,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004332595
$SEABIRD_T_H,0.00063243619
$SEABIRD_T_I,2.4193625e-05
$SEABIRD_T_J,2.5746874e-06
$SEABIRD_C_G,-9.8293695
$SEABIRD_C_H,1.1005322
$SEABIRD_C_I,-0.0015286342
$SEABIRD_C_J,0.0002052265
$GPS1,281214,151124,-6624.710,12001.276,12,1.9,29,-106.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-64.6
$GPS2,281214,151542,-6624.718,12001.254,15,1.9,32,-106.5
$SPEED_LIMITS,0.192,0.298
$TGT_NAME,IN_N1
$TGT_LATLONG,-6620.000,11930.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,52.1,24823,-16.8,-11.111,-20.48,2606
$D_GRID,698
$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,-1.04,-194.6,579,2389,308,1076,0.0,0.0,0,167,0.00,0.00,-147.93,0.000,16386,0.000,0.000,579,2389,2942,989,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,170,-1.04,-194.6,579,2389,943,2942,3.4,-6.3,24,202,12.00,2.12,-11.50,0.000,19204,0.238,0.094,2347,3533,3316,1196,3316,0,0,0,0,0,0,24.35,24.43,24.83
$GC,432,-1.04,-194.6,2347,3533,533,3317,43.2,-13.6,74,438,0.00,2.05,0.00,0.000,1030,0.000,0.070,2347,2381,3317,637,3317,0,0,0,0,0,0,28.83,24.58,28.83
$GC,622,-1.00,-194.6,2347,2380,527,3317,68.1,-12.7,111,628,0.00,2.08,0.00,0.000,260,0.000,0.080,2347,3535,3317,631,3317,0,0,0,0,0,0,28.83,24.54,28.83
$GC,736,-1.00,-194.6,2347,3535,560,3317,83.1,-12.8,133,743,0.00,2.05,0.00,0.000,1030,0.000,0.070,2347,2381,3317,676,3317,0,0,0,0,0,0,28.83,24.60,28.83
$GC,927,-1.00,-194.6,2347,2381,561,3317,107.5,-12.4,170,934,0.00,2.10,0.00,0.000,516,0.000,0.086,2347,1218,3317,662,3317,0,0,0,0,0,0,28.83,24.56,28.83
$GC,942,-0.97,-194.6,2347,1218,661,3317,109.3,-12.6,172,950,0.10,1.98,0.00,0.000,3078,0.135,0.050,2364,2374,3317,754,3317,0,0,0,0,0,0,24.59,24.62,28.83
$GC,1133,-0.97,-194.6,2363,2374,534,3317,131.8,-11.3,209,1140,0.00,2.10,0.00,0.000,260,0.000,0.083,2363,3540,3317,653,3317,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1153,-0.97,-194.6,2363,3540,653,3317,134.1,-11.7,212,1160,0.00,2.08,0.00,0.000,1030,0.000,0.073,2363,2380,3317,747,3317,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1343,-0.97,-194.6,2363,2379,536,3317,155.7,-11.3,249,1350,0.00,2.10,0.00,0.000,516,0.000,0.086,2363,1215,3317,654,3317,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1357,-0.97,-194.6,2363,1215,653,3317,157.4,-11.5,251,1363,0.00,2.00,0.00,0.000,1030,0.000,0.050,2364,2381,3317,746,3317,0,0,0,0,0,0,28.83,24.63,28.83
$GC,1547,-0.97,-194.6,2363,2382,536,3317,179.1,-11.6,288,1553,0.00,2.10,0.00,0.000,260,0.000,0.086,2363,3540,3317,641,3317,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1566,-0.97,-194.6,2363,3540,639,3317,181.3,-11.5,291,1572,0.00,2.10,0.00,0.000,1030,0.000,0.076,2363,2372,3317,734,3317,0,0,0,0,0,0,28.83,24.61,28.83
$GC,1756,-0.97,-194.6,2363,2372,536,3317,202.8,-11.3,328,1762,0.00,2.10,0.00,0.000,516,0.000,0.086,2363,1209,3317,640,3317,0,0,0,0,0,0,28.83,24.59,28.83
$GC,1775,-0.97,-194.6,2363,1210,640,3317,204.9,-11.3,331,1782,0.00,2.00,0.00,0.000,1030,0.000,0.050,2363,2380,3317,734,3317,0,0,0,0,0,0,28.83,24.64,28.83
$GC,1965,-0.97,-194.6,2363,2380,577,3317,226.2,-11.1,368,1972,0.00,2.12,0.00,0.000,260,0.000,0.086,2364,3542,3317,681,3317,0,0,0,0,0,0,28.83,24.57,28.83
$GC,1990,-1.00,-194.6,2363,3542,679,3317,229.0,-11.6,372,1996,0.00,2.10,0.00,0.000,1030,0.000,0.076,2364,2374,3317,771,3317,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2179,-1.00,-194.6,2363,2374,522,3317,250.0,-10.9,409,2184,0.00,2.10,0.00,0.000,516,0.000,0.087,2363,1211,3317,585,3317,0,0,0,0,0,0,28.83,24.60,28.83
$GC,2194,-1.00,-194.6,2363,1211,584,3317,252.0,-11.4,412,2201,0.00,2.00,0.00,0.000,1030,0.000,0.050,2363,2380,3317,683,3317,0,0,0,0,0,0,28.83,24.65,28.83
$GC,2382,-1.00,-194.6,2363,2380,314,3317,272.5,-11.1,422,2386,0.00,2.10,0.00,0.000,260,0.000,0.088,2363,3540,3316,371,3316,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2425,-1.04,-194.6,2363,3540,369,3316,277.5,-11.5,430,2428,0.00,2.10,0.00,0.000,1030,0.000,0.077,2363,2380,3317,424,3317,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2626,-1.04,-194.6,2363,2380,315,3316,300.0,-11.1,443,2630,0.00,2.10,0.00,0.000,516,0.000,0.087,2363,1215,3317,376,3317,0,0,0,0,0,0,28.83,24.62,28.83
$GC,2635,-1.04,-194.6,2363,1215,375,3317,301.3,-11.2,445,2640,0.00,2.00,0.00,0.000,1030,0.000,0.051,2363,2382,3316,456,3316,0,0,0,0,0,0,28.83,24.66,28.83
$GC,2828,-1.04,-194.6,2363,2382,315,3316,322.2,-10.9,456,2832,0.00,2.12,0.00,0.000,260,0.000,0.090,2363,3545,3316,370,3316,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2858,-1.09,-194.6,2363,3545,369,3317,325.7,-11.6,462,2862,0.00,2.10,0.00,0.000,1030,0.000,0.079,2363,2380,3288,429,3288,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3046,-1.09,-194.6,2363,2380,315,3290,345.5,-10.6,472,3053,0.00,2.10,0.00,0.000,516,0.000,0.089,2363,1215,3266,439,3266,0,0,0,0,0,0,28.83,24.61,28.83
$GC,3065,-1.09,-194.6,2363,1216,438,3266,347.7,-10.8,476,3069,0.00,2.00,0.00,0.000,1030,0.000,0.052,2363,2380,3262,488,3262,0,0,0,0,0,0,28.83,24.66,28.83
$GC,3267,-1.09,-194.6,2363,2380,315,3268,369.1,-10.7,489,3272,0.00,2.15,0.00,0.000,260,0.000,0.090,2363,3550,3317,399,3317,0,0,0,0,0,0,28.83,24.59,28.83
$GC,3294,-1.13,-194.6,2363,3550,398,3317,372.2,-11.5,494,3299,0.15,2.12,0.00,0.000,5126,0.086,0.081,2334,2382,0,459,0,0,0,0,0,0,0,24.70,24.63,28.83
$GC,3487,-1.09,-194.6,2333,2382,315,0,396.5,-12.7,505,3492,0.00,2.15,0.00,0.000,516,0.000,0.092,2333,1212,0,392,0,0,0,0,0,0,0,28.83,24.61,28.83
$GC,3497,-1.05,-194.6,2333,1211,391,0,398.0,-12.6,507,3501,0.00,2.03,0.00,0.000,1030,0.000,0.052,2333,2386,0,444,0,0,0,0,0,0,0,28.83,24.67,28.83
$GC,3690,-1.00,-194.6,2333,2386,315,0,422.2,-12.6,518,3697,0.12,2.12,0.00,0.000,2308,0.141,0.092,2357,3543,3316,421,3316,0,0,0,0,0,0,24.68,24.60,28.83
$GC,3723,-1.04,-194.6,2357,3543,419,3317,426.4,-12.0,525,3731,0.00,2.12,0.00,0.000,1030,0.000,0.084,2357,2381,3300,561,3300,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3910,-1.04,-194.6,2357,2381,316,3299,446.8,-11.1,535,3916,0.00,2.22,0.00,0.000,516,0.000,0.115,2357,1211,3300,422,3300,0,0,0,0,0,0,28.83,24.61,28.83
$GC,3924,-1.04,-194.6,2357,1210,421,3300,448.5,-10.9,538,3930,0.00,2.03,0.00,0.000,1030,0.000,0.054,2357,2386,3297,537,3297,0,0,0,0,0,0,28.83,24.67,28.83
$GC,4109,-1.04,-194.6,2357,2385,315,3298,469.2,-11.2,548,4113,0.00,2.12,0.00,0.000,260,0.000,0.096,2357,3539,3316,372,3316,0,0,0,0,0,0,28.83,24.60,28.83
$GC,4131,-1.04,-194.6,2357,3539,371,3317,471.6,-10.9,552,4135,0.00,2.12,0.00,0.000,1030,0.000,0.086,2357,2380,3290,425,3290,0,0,0,0,0,0,28.83,24.64,28.83
$GC,4333,-1.04,-194.6,2357,2380,315,3296,494.0,-10.9,565,4337,0.00,2.20,0.00,0.000,516,0.000,0.114,2357,1213,3169,389,3169,0,0,0,0,0,0,28.83,24.62,28.83
$GC,4342,-1.04,-194.6,2357,1212,388,3257,495.2,-10.9,567,4346,0.00,2.03,0.00,0.000,1030,0.000,0.054,2357,2383,3275,443,3275,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4393,begin apogee
$GC,4398,-0.25,0.0,2357,2095,359,3299,500.9,-11.2,571,4557,0.85,0.00,155.07,1.166,10246,0.119,0.000,2518,2095,2520,1624,2520,0,0,0,0,0,0,24.64,28.83,23.22
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4561,1.04,194.6,2518,2095,949,2518,507.6,0.0,579,4737,1.40,2.35,160.62,1.134,10756,0.082,0.109,2800,936,1726,1747,1726,0,0,0,0,0,0,24.05,23.84,23.20
$GC,4780,1.08,240.5,2800,936,701,1722,495.5,9.3,623,4827,0.00,2.00,40.10,1.121,9222,0.000,0.044,2800,2102,1538,1306,1538,0,0,0,0,0,0,28.83,24.30,23.20
$GC,5022,1.18,275.5,2800,2102,315,1528,472.5,9.7,644,5061,0.15,2.15,31.23,1.121,10500,0.084,0.081,2834,3259,1391,1037,1391,0,0,0,0,0,0,24.52,23.95,23.27
$GC,5104,1.18,275.5,2834,3259,706,1389,462.7,12.5,660,5111,0.00,2.17,0.00,0.000,1030,0.000,0.090,2834,2097,1134,814,1134,0,0,0,0,0,0,28.83,24.30,28.83
$GC,5304,1.18,275.5,2834,2097,314,1079,438.5,11.9,673,5309,0.00,1.55,0.00,0.000,516,0.000,0.094,2834,1259,1209,400,1209,0,0,0,1,0,1,28.83,24.46,28.83
$STATE,5312,end climb,UNCOMMANDED_BLEED_DETECTED
$SM_CCo,5324,-11.88,0.000,2,0,3755,-316.44
$SM_CCo,5339,494.77,1.011,9,1,1430,267.13
$SM_CCo,5883,203.48,1.017,6,0,550,483.24
$SM_GC,1.28,10.57,0.00,0.00,0.067,0.000,0.000,585,1257,543,-9.14,-23.86,484.71,0,0,0,0,0,0,24.68,28.83,28.83
$RAFOS_CLK,651
$RAFOS,1,1419782757,16.100000,16.099167,80,59,51,0,0,0,253,202,156,0,0,0
$RAFOS,0,1419782480,16.033333,16.022223,139,67,58,0,0,0,581,198,164,0,0,0
$RAFOS_FIX,-6623.178711,11958.005859,281214,121216,2,120,0.79
$IRIDIUM_FIX,-6553.70,12003.38,281214,150651
$TT8_MAMPS,0.020972,0.020972
$HUMID,72.99
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.15,5.377
$10V_AH,9.90,3.067
$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,25.350,90.125,387.025,698.250,0.000,0.000,0.000,0.000,0.000,0.000,33.005,1604.636,7017.773,1345.512,1030.675,125.028,0.000,2053.439,0.000,972.672,480.000,0.988,0.000
$DEVICE_MAMPS,237.915,114.750,1165.860,1017.450,0.000,0.000,0.000,0.000,420.000,0.000,36.700,13.570,2.310,12.820,41.280,51.020,0.000,10.400,0.000,5.000,1.500,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.909,235.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,300712
$DATA_FILE_SIZE,33648,675
$CAP_FILE_SIZE,120603,22
$CFSIZE,256368640,251363328
$ERRORS,0,2,0,0,0,0,0,0,0,1,2,0,0,17,0,0
$INTR,0,7203.88,0x23777a,7,5
$INTR,1,10954.19,0x23777a,6,5
$EOP_CODE,UNCOMMANDED_BLEED_DETECTED
$RECOV_CODE,UNCOMMANDED_BLEED
$GPS,281214,182456,-6624.772,11959.517,239,2.2,259,-106.5