version: 66.11
glider: 173
mission: 12
dive: 2
start: 11 4 115 19 19 18
data:
$ID,173
$MISSION,12
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,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,-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,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,-17441.436
$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,27
$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
$GPS1,041115,191232,4742.498,-12224.608,3,1.2,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.8
$GPS2,041115,191853,4742.488,-12224.604,5,1.6,5,16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$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,16.3,3728,-15.7,-10.000,-18.65,2976
$D_GRID,90
$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,-195.5,138,2038,388,490,0.0,0.0,0,61,0.00,0.00,-44.53,0.000,16386,0.000,0.000,138,2039,1613,1665,1562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.73,-195.5,138,2039,1666,1566,3.2,-8.8,8,117,12.68,2.00,-30.27,0.000,19204,0.264,0.054,3044,782,2689,2778,2600,0,0,0,0,0,0,25.18,25.90,26.43
$GC,223,-0.73,-195.5,3044,782,2772,2607,18.4,-11.0,38,231,0.00,1.90,0.00,0.000,3078,0.000,0.035,3044,2019,2689,2771,2607,0,0,0,0,0,0,28.83,25.92,28.83
$GC,293,-0.73,-195.5,3043,2019,2771,2607,25.6,-9.8,51,299,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2019,2689,2771,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,360,-0.73,-195.5,3043,2019,2770,2607,32.9,-11.1,64,366,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2019,2688,2770,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,429,-0.73,-195.5,3044,2019,2770,2607,40.4,-11.1,77,435,0.00,1.90,0.00,0.000,260,0.000,0.046,3044,3246,2688,2770,2607,0,0,0,0,0,0,28.83,25.88,28.83
$GC,512,-0.73,-195.5,3044,3246,2769,2607,49.2,-10.4,93,519,0.00,1.85,0.00,0.000,1030,0.000,0.030,3044,2015,2688,2769,2607,0,0,0,0,0,0,28.83,26.04,28.83
$GC,580,-0.73,-195.5,2048,2013,2734,2595,56.1,-10.0,106,586,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2014,2688,2769,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,650,-0.73,-195.5,3044,2015,2769,2607,63.3,-9.7,119,655,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2015,2687,2768,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,716,-0.73,-195.5,2048,2013,2733,2595,70.4,-10.2,132,722,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2015,2687,2768,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,784,-0.73,-195.5,3043,2015,2768,2607,77.7,-11.5,145,789,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2015,2687,2767,2607,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,908,-0.16,0.0,3044,2015,2767,2607,90.4,-10.4,169,1081,0.52,0.00,166.50,0.750,10246,0.133,0.000,3221,2013,1905,1940,1871,0,0,0,0,0,0,25.38,28.83,23.35
$STATE,1082,end apogee,CONTROL_FINISHED_OK
$STATE,1082,begin climb
$GC,1083,0.73,195.5,3220,2013,1939,1869,93.7,0.0,200,1249,0.82,2.03,155.93,0.721,10756,0.088,0.038,3521,778,1125,1111,1140,0,0,0,0,0,0,24.78,24.66,23.32
$GC,1356,0.73,195.5,3521,777,1110,1138,57.6,16.3,250,1362,0.00,1.92,0.00,0.000,5126,0.000,0.029,3521,2027,1123,1109,1137,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1423,0.73,195.5,2704,2025,1100,1135,46.7,15.7,263,1430,0.00,1.90,0.00,0.000,4356,0.000,0.041,3521,3243,1123,1109,1138,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1451,0.73,195.5,3521,3243,1109,1137,41.9,17.3,268,1458,0.03,1.88,0.00,0.000,5126,0.301,0.030,3520,2020,1123,1109,1137,0,0,0,0,0,0,25.63,25.77,28.83
$GC,1520,0.73,195.5,3520,2020,1109,1136,31.0,14.9,281,1526,0.00,0.00,0.00,0.000,4102,0.000,0.000,3520,2020,1122,1109,1136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,0.73,195.5,3520,2020,1109,1136,21.1,14.9,294,1596,0.00,1.90,0.00,0.000,4356,0.000,0.041,3520,3244,1122,1109,1136,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1633,0.73,195.5,3520,3244,1109,1136,13.9,16.2,302,1639,0.00,1.88,0.00,0.000,5126,0.000,0.030,3528,2013,1123,1110,1136,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,1699,end climb,SURFACE_DEPTH_REACHED
$STATE,1699,begin surface coast
$FINISH,1.0,1.018737
$STATE,1716,end surface coast,CONTROL_FINISHED_OK
$STATE,1716,begin surface
$SM_CCo,1731,123.38,0.623,1,0,440,368.01
$SM_GC,1.52,8.93,0.00,123.38,0.061,0.000,0.623,142,2013,440,-9.76,0.00,368.01,0,0,0,0,1,0,25.74,28.83,23.77
$IRIDIUM_FIX,4722.92,-12225.08,310808,080835
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.41
$INTERNAL_PRESSURE,8.70243
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.3,25.769
$10V_AH,10.2,9.791
$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,22.975,19.150,322.425,123.375,0.000,0.000,0.000,0.000,0.000,0.000,6.828,662.528,260.721,509.222,466.107,24.332,0.000,826.357,0.000,465.051,0.000,0.535,0.000
$DEVICE_MAMPS,301.410,54.315,750.465,623.475,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,0.000,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,346428
$DATA_FILE_SIZE,13497,318
$CAP_FILE_SIZE,49479,0
$CFSIZE,260165632,258527232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.182,204.5,1
$GPS,041115,195104,4742.579,-12224.434,12,1.4,12,16.3