version: 66.11
glider: 173
mission: 11
dive: 30
start: 7 9 115 18 15 47
data:
$ID,173
$MISSION,11
$DIVE,30
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,20
$T_MISSION,40
$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,50
$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,-17244.23
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,31
$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
$GPS1,090715,181103,4742.663,-12224.891,2,0.9,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.5
$GPS2,090715,181449,4742.636,-12224.906,5,0.9,5,16.3
$SPEED_LIMITS,0.168,0.364
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.071,0.357
$KALMAN_X,-3821.3,1326.6,-341.1,2708.1,-66.9
$KALMAN_Y,-7365.5,2844.3,-1051.3,5345.5,-64.5
$MHEAD_RNG_PITCHd_Wd,355.0,2529,-27.2,-20.000,-28.80,1496
$D_GRID,184
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.09,-195.5,134,2314,1866,1963,0.0,0.0,0,61,0.00,0.00,-43.62,0.000,16386,0.000,0.000,134,2314,2977,3028,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.09,-195.5,134,2314,3028,2927,3.2,-7.0,8,94,11.48,1.92,-11.50,0.000,18692,0.261,0.057,2809,3544,3501,3564,3439,0,0,0,0,0,0,25.32,25.93,26.40
$GC,116,-1.09,-195.5,2808,3544,3563,3442,16.0,-26.8,17,122,0.00,1.88,0.00,0.000,3078,0.000,0.025,2808,2294,3502,3562,3442,0,0,0,0,0,0,28.83,26.03,28.83
$GC,184,-1.09,-195.5,2808,2293,3562,3443,37.7,-34.4,30,189,0.00,0.00,0.00,0.000,2054,0.000,0.000,2808,2293,3502,3562,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,251,-1.09,-195.5,2808,2293,3562,3443,60.5,-32.6,43,257,0.00,1.88,0.00,0.000,2564,0.000,0.033,2808,1065,3502,3562,3443,0,0,0,0,0,0,28.83,26.01,28.83
$GC,354,-1.09,-195.5,2808,1065,3562,3444,94.1,-32.3,63,361,0.10,1.90,0.00,0.000,3078,0.227,0.036,2820,2298,3502,3561,3444,0,0,0,0,0,0,25.68,26.03,28.83
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,445,-0.16,0.0,2819,2298,3561,3443,121.5,-31.4,80,600,1.02,0.00,146.45,0.762,10246,0.189,0.000,3115,2298,2721,2743,2699,0,0,0,0,0,0,25.21,28.83,24.03
$STATE,602,end apogee,CONTROL_FINISHED_OK
$STATE,602,begin climb
$GC,603,1.09,195.5,3115,2298,2743,2698,136.5,0.0,109,777,1.17,2.12,161.27,0.739,10756,0.099,0.036,3529,1029,1943,1929,1957,0,0,0,0,0,0,24.94,24.80,23.96
$GC,793,1.09,195.5,3529,1029,1928,1956,113.1,24.5,144,800,0.00,1.95,0.00,0.000,5126,0.000,0.033,3529,2252,1941,1928,1955,0,0,0,0,0,0,28.83,25.13,28.83
$GC,981,1.09,195.5,3529,2253,1928,1950,64.8,24.4,181,988,0.00,1.92,0.00,0.000,4612,0.000,0.038,3538,1018,1939,1928,1950,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1014,1.09,195.5,2736,1017,1892,1939,56.8,24.6,187,1020,0.00,1.90,0.00,0.000,5126,0.000,0.030,3538,2263,1939,1928,1950,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1202,1.09,195.5,3538,2263,1928,1948,9.3,25.9,224,1207,0.00,0.00,0.00,0.000,4102,0.000,0.000,3538,2263,1938,1928,1948,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1227,end climb,SURFACE_DEPTH_REACHED
$STATE,1228,begin surface coast
$FINISH,0.3,1.006813
$STATE,1239,end surface coast,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$SM_CCo,1254,1.25,0.070,0,0,1925,200.21
$SM_GC,2.68,8.77,0.00,1.25,0.052,0.000,0.070,136,2263,1925,-9.44,-1.05,200.21,0,0,0,0,0,0,25.84,28.83,25.88
$IRIDIUM_FIX,4726.11,-12224.09,050508,070742
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.52
$INTERNAL_PRESSURE,9.07354
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.0,25.319
$10V_AH,10.3,9.682
$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,22.550,15.475,307.725,1.250,0.000,0.000,0.000,0.000,0.000,0.000,5.921,440.358,190.308,326.762,338.985,20.940,33.226,573.562,0.000,342.124,0.000,0.536,0.000
$DEVICE_MAMPS,260.865,56.610,761.940,69.615,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,150.048,118.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323652
$DATA_FILE_SIZE,10168,231
$CAP_FILE_SIZE,43068,0
$CFSIZE,260165632,257720320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090715,183719,4742.769,-12224.845,3,1.0,4,16.3