version: 66.11
glider: 173
mission: 11
dive: 9
start: 7 9 115 2 0 16
data:
$ID,173
$MISSION,11
$DIVE,9
$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,150
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17197.227
$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,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,46
$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,100
$ALTIM_PING_DELTA,5
$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
$GPS1,090715,015448,4743.429,-12224.495,1,2.4,32,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.5
$GPS2,090715,015921,4743.407,-12224.509,3,1.6,4,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.005,-0.261
$KALMAN_X,-978.3,-208.8,-103.3,1651.0,-243.5
$KALMAN_Y,-385.2,-22.2,-20.1,1624.7,-167.3
$MHEAD_RNG_PITCHd_Wd,164.9,1359,-18.2,-10.000,-20.99,2236
$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,14,begin dive
$GC,15,-0.75,-146.6,137,2328,1897,1934,0.0,0.0,0,61,0.00,0.00,-43.92,0.000,16386,0.000,0.000,137,2328,2979,3018,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.75,-146.6,136,2329,3018,2940,3.3,-7.8,8,88,11.70,2.00,-7.10,0.000,18948,0.256,0.049,2920,1066,3308,3373,3243,0,0,0,0,0,0,25.26,25.91,26.35
$GC,300,-0.75,-146.6,2920,1065,3374,3244,51.3,-18.4,54,306,0.00,1.90,0.00,0.000,3078,0.000,0.038,2920,2293,3309,3374,3244,0,0,0,0,0,0,28.83,25.93,28.83
$GC,488,-0.75,-146.6,2920,2293,3373,3244,83.6,-17.9,91,494,0.00,1.98,0.00,0.000,2308,0.000,0.050,2920,3545,3308,3373,3244,0,0,0,0,0,0,28.83,25.86,28.83
$GC,500,-0.75,-146.6,2921,3545,3374,3244,85.9,-18.0,93,507,0.00,1.88,0.00,0.000,3078,0.000,0.026,2920,2290,3308,3373,3244,0,0,0,0,0,0,28.83,26.10,28.83
$GC,691,-0.75,-146.6,2920,2289,3374,3244,120.8,-18.2,130,697,0.00,0.00,0.00,0.000,2054,0.000,0.000,2920,2289,3309,3374,3244,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,859,begin apogee
$GC,862,-0.16,0.0,2920,2289,3373,3244,150.8,-17.3,163,981,0.62,0.00,112.12,0.784,10246,0.161,0.000,3114,2289,2721,2756,2687,0,0,0,0,0,0,25.13,28.83,24.04
$STATE,982,end apogee,CONTROL_FINISHED_OK
$STATE,982,begin climb
$GC,984,0.75,146.6,3114,2288,2755,2686,156.3,0.0,185,1114,0.88,2.08,121.75,0.752,10756,0.106,0.034,3421,1009,2135,2156,2115,0,0,0,0,0,0,25.00,24.86,23.92
$GC,1151,0.75,146.6,3421,1008,2154,2113,140.0,14.1,216,1159,0.00,1.98,0.00,0.000,5126,0.000,0.034,3421,2255,2132,2153,2112,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1340,0.75,146.6,2560,2254,2111,2094,109.1,17.2,253,1346,0.00,1.92,0.00,0.000,4356,0.000,0.041,3421,3469,2130,2153,2107,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1398,0.75,146.6,3421,3469,2153,2106,97.2,20.1,264,1405,0.03,1.88,0.00,0.000,5126,0.310,0.028,3421,2240,2129,2153,2106,0,0,0,0,0,0,25.72,25.88,28.83
$GC,1586,0.75,146.6,3421,2239,2153,2105,64.5,16.2,301,1593,0.00,1.90,0.00,0.000,4612,0.000,0.037,3429,1002,2129,2153,2105,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1644,0.75,146.6,3429,1001,2151,2105,54.9,15.5,312,1651,0.00,1.90,0.00,0.000,5126,0.000,0.033,3429,2245,2128,2151,2105,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1833,0.75,146.6,3429,2245,2151,2104,27.2,13.7,349,1840,0.03,1.92,0.00,0.000,4356,0.291,0.041,3420,3473,2127,2151,2104,0,0,0,0,0,0,26.32,25.95,28.83
$GC,1876,0.75,146.6,2560,3471,2109,2092,21.3,13.9,357,1882,0.00,1.90,0.00,0.000,5126,0.000,0.030,3428,2226,2127,2151,2104,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1944,0.75,146.6,3428,2225,2151,2103,11.9,13.1,370,1950,0.00,1.88,0.00,0.000,4612,0.000,0.037,3437,998,2127,2151,2103,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1972,0.75,146.6,3437,998,2150,2103,8.2,13.1,375,1979,0.10,1.90,0.00,0.000,5126,0.196,0.034,3415,2248,2126,2150,2103,0,0,0,0,0,0,25.77,26.06,28.83
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,0.4,1.022150
$STATE,2036,end surface coast,CONTROL_FINISHED_OK
$STATE,2036,begin surface
$SM_CCo,2051,28.33,0.062,0,0,1924,200.21
$SM_GC,1.95,8.45,0.08,28.33,0.053,0.112,0.062,136,2303,1924,-9.44,-0.88,200.21,0,0,0,0,0,0,25.86,26.41,25.91
$IRIDIUM_FIX,4722.92,-12225.08,040508,141441
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.07354
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,67.2
$24V_AH,23.9,24.138
$10V_AH,10.4,9.186
$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,21.800,27.075,233.875,28.325,0.000,24.294,46.388,136.588,1.500,0.000,5.043,833.994,402.369,311.222,784.597,37.402,33.228,654.258,0.000,564.050,0.000,11.870,0.000
$DEVICE_MAMPS,309.825,112.455,784.125,61.965,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.901,183.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323656
$DATA_FILE_SIZE,16784,387
$CAP_FILE_SIZE,44236,0
$CFSIZE,260165632,258342912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090715,023530,4742.908,-12224.556,1,1.6,1,16.3