version: 66.11
glider: 173
mission: 11
dive: 20
start: 7 9 115 11 51 52
data:
$ID,173
$MISSION,11
$DIVE,20
$N_DIVES,0
$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,70
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17221.338
$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,2300
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,35
$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,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
$GPS1,090715,114727,4744.136,-12224.727,36,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-78.0
$GPS2,090715,115057,4744.147,-12224.720,5,1.6,5,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.033,-0.202
$KALMAN_X,-3314.1,60.9,309.8,3044.4,75.4
$KALMAN_Y,-5915.5,-435.3,1373.9,7540.3,-393.1
$MHEAD_RNG_PITCHd_Wd,173.0,2681,-23.6,-10.000,-26.00,1344
$D_GRID,176
$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,-0.85,-88.0,145,2259,1874,1958,0.0,0.0,0,56,0.00,0.00,-39.10,0.000,16386,0.000,0.000,145,2259,2844,2887,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-88.0,145,2259,2888,2801,3.1,-8.1,7,83,11.80,2.00,-5.43,0.000,18692,0.262,0.054,2882,3538,3073,3144,3002,0,0,0,0,0,0,25.23,25.86,26.30
$GC,385,-0.85,-88.0,2882,3538,3144,3003,71.8,-18.5,71,392,0.08,1.88,0.00,0.000,3078,0.228,0.025,2894,2288,3073,3144,3003,0,0,0,0,0,0,25.79,26.05,28.83
$GC,573,-0.85,-88.0,2894,2288,3144,3003,102.4,-15.6,108,580,0.00,1.85,0.00,0.000,2564,0.000,0.033,2894,1070,3073,3144,3003,0,0,0,0,0,0,28.83,26.01,28.83
$GC,628,-0.85,-88.0,2894,1070,3144,3003,110.6,-14.6,118,634,0.00,1.92,0.00,0.000,3078,0.000,0.038,2894,2301,3073,3143,3003,0,0,0,0,0,0,28.83,25.98,28.83
$GC,817,-0.85,-88.0,2893,2301,3143,3003,142.2,-16.8,155,823,0.00,1.95,0.00,0.000,2308,0.000,0.049,2894,3544,3073,3143,3003,0,0,0,0,0,0,28.83,25.91,28.83
$GC,845,-0.85,-88.0,2893,3544,3143,3003,147.4,-17.9,160,851,0.00,1.88,0.00,0.000,3078,0.000,0.026,2893,2289,3073,3144,3003,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,1017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1020,-0.16,0.0,2893,2288,3144,3003,176.8,-16.4,194,1096,0.73,0.00,67.90,0.796,10246,0.172,0.000,3111,2286,2721,2754,2689,0,0,0,0,0,0,25.08,28.83,24.25
$STATE,1097,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1098,0.85,88.0,3111,2286,2754,2688,181.2,0.0,208,1182,0.95,2.05,75.22,0.775,10500,0.106,0.041,3439,3495,2370,2383,2357,0,0,0,0,0,0,25.20,24.91,23.99
$GC,1283,0.85,88.0,3438,3495,2381,2351,160.8,16.1,243,1290,0.00,1.92,0.00,0.000,5126,0.000,0.027,3448,2245,2366,2381,2351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1471,0.85,88.0,3448,2245,2380,2348,132.8,15.3,280,1478,0.00,1.88,0.00,0.000,4612,0.000,0.035,3458,1017,2363,2380,2347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1519,0.85,88.0,3457,1016,2378,2347,125.7,14.4,289,1526,0.00,1.90,0.00,0.000,5126,0.000,0.031,3458,2259,2362,2378,2347,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1708,0.85,88.0,3457,2260,2378,2346,98.2,14.8,326,1714,0.00,1.92,0.00,0.000,4356,0.000,0.041,3458,3481,2362,2378,2346,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1765,0.85,88.0,3457,3481,2378,2346,88.8,16.7,337,1773,0.10,1.85,0.00,0.000,5126,0.233,0.027,3446,2247,2362,2378,2346,0,0,0,0,0,0,25.62,26.01,28.83
$GC,1955,0.85,88.0,2560,2245,2334,2331,63.8,12.1,374,1961,0.00,1.88,0.00,0.000,516,0.000,0.035,3454,1020,2361,2377,2345,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2003,0.85,88.0,3454,1018,2377,2345,58.3,10.2,383,2010,0.00,1.88,0.00,0.000,5126,0.000,0.031,3455,2258,2361,2377,2345,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2191,0.85,88.0,3454,2258,2377,2345,37.2,11.7,420,2197,0.00,0.00,0.00,0.000,4102,0.000,0.000,3455,2258,2360,2377,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2258,0.85,88.0,2560,2256,2333,2332,29.0,12.6,433,2264,0.00,1.90,0.00,0.000,4612,0.000,0.037,3464,1023,2360,2376,2344,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2301,0.85,88.0,3463,1023,2376,2345,24.0,11.2,441,2308,0.08,1.85,0.00,0.000,5126,0.235,0.032,3450,2248,2361,2377,2345,0,0,0,0,0,0,25.84,26.09,28.83
$GC,2370,0.85,88.0,3450,2248,2376,2344,17.1,10.4,454,2376,0.00,1.95,0.00,0.000,4356,0.000,0.042,3450,3492,2360,2377,2344,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2463,0.85,88.0,3450,3492,2376,2344,7.1,10.4,472,2469,0.00,1.88,0.00,0.000,5126,0.000,0.027,3459,2238,2360,2376,2345,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,2505,end climb,SURFACE_DEPTH_REACHED
$STATE,2505,begin surface coast
$FINISH,0.3,1.006892
$STATE,2536,end surface coast,CONTROL_FINISHED_OK
$STATE,2536,begin surface
$SM_CCo,2552,63.80,0.421,1,0,1924,200.21
$SM_GC,2.41,8.68,0.10,63.80,0.058,0.086,0.421,136,2307,1924,-9.44,-0.96,200.21,0,0,0,0,1,0,25.84,26.46,24.74
$IRIDIUM_FIX,4722.92,-12227.78,050508,000056
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.22
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.0,24.833
$10V_AH,10.4,9.495
$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,22.400,34.425,143.125,63.800,0.000,26.462,39.700,80.352,0.000,0.000,6.282,1098.384,553.070,297.572,859.747,39.203,33.205,693.124,0.000,703.869,0.000,0.535,0.000
$DEVICE_MAMPS,262.395,85.680,795.600,420.750,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.669,238.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323636
$DATA_FILE_SIZE,20207,486
$CAP_FILE_SIZE,51696,0
$CFSIZE,260165632,257966080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,1770.86,0x21215c,1,24
$GPS,090715,123621,4744.077,-12224.630,13,0.9,14,16.3