version: 66.11
glider: 173
mission: 11
dive: 11
start: 7 9 115 3 29 23
data:
$ID,173
$MISSION,11
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,370
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51436
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,200
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17199.734
$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,3174
$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,250
$C_ROLL_CLIMB,250
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2722
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-70.689926
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,090715,032333,4742.531,-12224.884,4,1.7,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.3
$GPS2,090715,032820,4742.424,-12224.789,7,2.0,7,16.3
$SPEED_LIMITS,0.275,0.385
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.006,0.309
$KALMAN_X,-979.8,-294.2,-61.9,1349.5,-29.2
$KALMAN_Y,-1408.2,74.2,-36.9,753.9,-421.2
$MHEAD_RNG_PITCHd_Wd,344.8,512,-14.9,-10.000,-17.95,3269
$D_GRID,150
$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,14,-0.73,-214.9,144,233,1886,1942,0.0,0.0,0,61,0.00,0.00,-44.70,0.000,16386,0.000,0.000,144,233,3003,3043,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.81,-278.9,144,233,3043,2964,3.5,-8.0,8,98,11.75,0.00,-16.42,0.000,18438,0.259,0.000,2900,233,3833,4037,3629,0,0,0,0,0,0,25.18,28.83,26.27
$GC,159,-0.81,-278.9,2900,233,4037,3628,24.6,-18.6,26,165,0.00,0.00,0.00,0.000,2054,0.000,0.000,2900,233,3832,4037,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,226,-0.81,-278.9,2900,233,4037,3628,36.2,-16.7,39,232,0.00,0.00,0.00,0.000,2054,0.000,0.000,2900,233,3832,4037,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,295,-0.81,-278.9,2900,232,4037,3628,47.0,-17.0,52,301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2901,232,3832,4037,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,362,-0.81,-278.9,2900,232,4037,3628,57.3,-15.8,65,368,0.00,0.00,0.00,0.000,2054,0.000,0.000,2900,232,3832,4037,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,549,-0.81,-278.9,2900,232,4037,3628,88.2,-16.3,102,555,0.00,0.00,0.00,0.000,2054,0.000,0.000,2901,232,3832,4037,3628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.81,-278.9,2900,232,4037,3628,119.0,-16.4,139,742,0.00,0.00,0.00,0.000,2054,0.000,0.000,2900,232,3832,4037,3628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,910,begin apogee
$GC,913,-0.16,0.0,2900,232,4037,3628,150.8,-20.7,173,1126,0.62,0.00,206.55,0.767,10246,0.137,0.000,3109,232,2721,2766,2677,0,0,0,0,0,0,25.36,28.83,23.91
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1128,0.81,278.9,3108,232,2765,2676,169.1,0.0,212,1361,0.98,0.00,226.27,0.750,10246,0.117,0.000,3428,232,1611,1596,1626,0,0,0,0,0,0,24.79,28.83,23.85
$GC,1542,0.81,278.9,3428,232,1593,1619,121.0,12.7,291,1548,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1606,1593,1619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,0.81,278.9,3427,232,1593,1617,95.8,13.1,328,1735,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1605,1593,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,0.81,278.9,3428,232,1593,1616,71.6,13.6,365,1924,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1604,1593,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,0.81,278.9,2560,232,1567,1608,44.9,13.7,402,2110,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1604,1593,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,0.81,278.9,3427,232,1593,1616,36.6,12.0,415,2178,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1604,1593,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,0.81,278.9,3428,232,1593,1615,29.0,11.4,428,2245,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1604,1593,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,0.81,278.9,3428,232,1594,1615,21.1,12.2,441,2312,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1604,1593,1615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,0.81,278.9,3427,232,1593,1615,13.3,11.6,454,2380,0.00,0.00,0.00,0.000,2054,0.000,0.000,3428,232,1604,1593,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2442,0.81,278.9,3427,232,1594,1615,5.1,12.8,467,2448,0.00,0.00,0.00,0.000,2054,0.000,0.000,3427,232,1604,1593,1615,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2463,end climb,SURFACE_DEPTH_REACHED
$STATE,2463,begin surface coast
$FINISH,0.2,1.012655
$STATE,2490,end surface coast,CONTROL_FINISHED_OK
$STATE,2490,begin surface
$SM_CCo,2564,0.00,0.000,0,0,1602,281.34
$SM_GC,1.13,8.50,0.00,0.00,0.055,0.000,0.000,135,232,1602,-9.44,-0.51,281.34,0,0,0,0,0,0,25.95,28.83,28.83
$IRIDIUM_FIX,4722.92,-12225.08,040508,161603
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,9.03447
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,59.8
$24V_AH,23.9,24.283
$10V_AH,10.4,9.236
$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,21.850,4.725,432.825,0.000,0.000,23.805,36.122,157.461,0.500,0.000,8.986,928.664,531.497,441.277,923.876,39.758,33.214,876.048,0.000,690.031,0.000,5.579,0.000
$DEVICE_MAMPS,258.570,29.070,767.295,0.000,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.597,222.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323676
$DATA_FILE_SIZE,20164,476
$CAP_FILE_SIZE,45872,0
$CFSIZE,260165632,258277376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1107.61,0x233ccc,2,24
$GPS,090715,041303,4742.185,-12225.335,9,1.1,33,16.3