version: 66.11
glider: 173
mission: 12
dive: 5
start: 11 4 115 22 11 32
data:
$ID,173
$MISSION,12
$DIVE,5
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,3
$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,60
$T_MISSION,85
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51698
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12225
$TGT_AUTO_DEFAULT,0
$SM_CC,368
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17558.953
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,3280
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,35
$C_ROLL_DIVE,2013
$C_ROLL_CLIMB,2013
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,1906
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,5
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.221535
$PRESSURE_SLOPE,0.0001159958
$AD7714Ch0Gain,128
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.63
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043108058
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,041115,220704,4742.810,-12224.812,3,1.7,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-76.4
$GPS2,041115,221100,4742.844,-12224.813,4,1.7,4,16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,4743.032,-12240.329
$TGT_RADIUS,1852.000
$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,253.7,20000,-15.7,-10.000,-18.65,2976
$D_GRID,185
$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,-0.73,-195.5,141,2020,390,490,0.0,0.0,0,61,0.00,0.00,-44.65,0.000,16386,0.000,0.000,141,2021,1633,1670,1596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.73,-195.5,141,2021,1670,1600,3.3,-8.2,8,112,12.57,1.95,-27.95,0.000,18948,0.264,0.051,3037,777,2687,2780,2595,0,0,0,0,0,0,25.25,25.88,26.36
$GC,234,-0.73,-195.5,2048,775,2738,2590,21.2,-13.2,40,241,0.00,1.90,0.00,0.000,3078,0.000,0.032,3037,2009,2688,2775,2602,0,0,0,0,0,0,28.83,25.96,28.83
$GC,303,-0.73,-195.5,3037,2009,2775,2602,29.8,-11.5,53,309,0.00,1.95,0.00,0.000,2308,0.000,0.046,3037,3244,2688,2775,2602,0,0,0,0,0,0,28.83,25.89,28.83
$GC,337,-0.73,-195.5,3037,3244,2774,2602,33.8,-12.1,59,343,0.00,1.88,0.00,0.000,3078,0.000,0.029,3037,2015,2688,2774,2602,0,0,0,0,0,0,28.83,26.03,28.83
$GC,404,-0.73,-195.5,2048,2012,2739,2590,42.3,-13.0,72,410,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2014,2688,2774,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,471,-0.73,-195.5,3037,2014,2773,2602,50.9,-12.5,85,477,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2014,2687,2773,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,538,-0.73,-195.5,3037,2014,2772,2601,59.0,-12.3,98,546,0.00,1.92,0.00,0.000,2308,0.000,0.045,3037,3243,2687,2772,2602,0,0,0,0,0,0,28.83,25.94,28.83
$GC,608,-0.73,-195.5,3037,3244,2771,2602,66.9,-11.1,111,614,0.00,1.85,0.00,0.000,3078,0.000,0.027,3037,2004,2687,2772,2602,0,0,0,0,0,0,28.83,26.10,28.83
$GC,677,-0.73,-195.5,2016,2002,2734,2590,74.7,-12.0,124,682,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2004,2687,2772,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-0.73,-195.5,3037,2004,2771,2602,82.2,-10.5,137,750,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2004,2686,2771,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,871,-0.73,-195.5,3037,2004,2771,2602,96.4,-11.6,162,879,0.00,1.88,0.00,0.000,2564,0.000,0.039,3037,788,2686,2771,2602,0,0,0,0,0,0,28.83,26.02,28.83
$GC,884,-0.73,-195.5,3037,787,2770,2602,98.0,-11.6,164,891,0.00,1.85,0.00,0.000,3078,0.000,0.031,3037,2015,2686,2770,2602,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1014,-0.73,-195.5,3037,2015,2770,2602,112.3,-10.9,189,1020,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2015,2686,2770,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.73,-195.5,3037,2015,2770,2602,126.6,-11.8,214,1148,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2015,2686,2770,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-0.73,-195.5,3037,2015,2770,2602,141.5,-11.8,239,1277,0.00,1.92,0.00,0.000,2308,0.000,0.046,3037,3251,2686,2770,2602,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1319,-0.73,-195.5,2016,3250,2733,2590,147.4,-12.1,248,1325,0.00,1.88,0.00,0.000,3078,0.000,0.028,3037,2005,2685,2769,2602,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1453,-0.73,-195.5,3037,2005,2770,2602,165.2,-13.7,263,1454,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,2005,2686,2770,2602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1581,begin apogee
$GC,1584,-0.16,0.0,3037,2005,2770,2601,181.2,-11.8,276,1756,0.55,0.00,164.73,0.802,10246,0.138,0.000,3220,2005,1904,1936,1872,0,0,0,0,0,0,25.37,28.83,23.69
$STATE,1757,end apogee,CONTROL_FINISHED_OK
$STATE,1757,begin climb
$GC,1758,0.73,195.5,3220,2005,1935,1872,186.6,0.0,293,1924,0.82,2.08,156.50,0.777,10500,0.088,0.037,3511,3252,1125,1086,1164,0,0,0,0,0,0,24.84,24.69,23.60
$GC,1996,0.73,195.5,3510,3253,1086,1158,155.7,18.0,317,2000,0.00,1.95,0.00,0.000,5126,0.000,0.028,3520,2014,1122,1086,1158,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2303,0.73,195.5,3519,2013,1086,1156,103.2,17.6,374,2309,0.00,0.00,0.00,0.000,4102,0.000,0.000,3520,2014,1121,1086,1156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,0.73,195.5,3519,2014,1086,1156,80.2,15.8,399,2437,0.00,0.00,0.00,0.000,4102,0.000,0.000,3520,2013,1121,1086,1156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,0.73,195.5,3519,2013,1086,1156,60.5,15.7,424,2565,0.00,1.92,0.00,0.000,4612,0.000,0.041,3529,775,1121,1086,1156,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2577,0.73,195.5,3529,775,1086,1155,57.5,15.6,427,2584,0.00,1.90,0.00,0.000,5126,0.000,0.028,3529,2025,1120,1086,1155,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2644,0.73,195.5,2720,2024,1079,1152,46.5,16.6,440,2651,0.00,1.90,0.00,0.000,4356,0.000,0.039,3529,3248,1121,1087,1155,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2683,0.73,195.5,3529,3248,1087,1154,39.8,17.9,447,2690,0.10,1.90,0.00,0.000,5126,0.205,0.030,3515,2009,1121,1087,1155,0,0,0,0,0,0,25.78,26.10,28.83
$GC,2751,0.73,195.5,2688,2007,1079,1151,28.6,16.6,460,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2009,1120,1087,1154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,0.73,195.5,3515,2009,1087,1154,18.4,15.2,473,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2009,1120,1087,1154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,0.73,195.5,3515,2009,1087,1154,8.3,15.2,486,2893,0.00,1.88,0.00,0.000,516,0.000,0.041,3523,778,1120,1087,1154,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,2923,end climb,SURFACE_DEPTH_REACHED
$STATE,2924,begin surface coast
$FINISH,1.0,1.019667
$STATE,2945,end surface coast,CONTROL_FINISHED_OK
$STATE,2945,begin surface
$SM_CCo,2961,125.40,0.620,1,0,441,368.01
$SM_GC,1.56,8.68,1.92,125.40,0.050,0.029,0.620,140,2015,441,-9.76,-1.05,368.01,0,0,0,0,1,0,25.95,26.13,24.09
$IRIDIUM_FIX,4722.92,-12222.38,310808,111157
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.18
$INTERNAL_PRESSURE,8.69266
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.6,26.105
$10V_AH,10.2,9.885
$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,22.725,34.425,321.225,125.400,0.000,0.000,0.000,0.000,0.000,0.000,5.805,1164.572,638.429,529.810,784.716,44.086,0.000,1013.039,0.000,776.065,0.000,0.536,0.000
$DEVICE_MAMPS,263.925,51.255,802.485,620.415,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,0.000,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.519,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323788
$DATA_FILE_SIZE,20165,497
$CAP_FILE_SIZE,66144,0
$CFSIZE,260165632,258412544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.180,125.6,1
$GPS,041115,230341,4742.671,-12225.284,3,1.0,3,16.3