version: 66.11
glider: 173
mission: 11
dive: 12
start: 7 9 115 4 18 36
data:
$ID,173
$MISSION,11
$DIVE,12
$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,-17200.99
$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
$GPS1,090715,041303,4742.185,-12225.335,9,1.1,33,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.6
$GPS2,090715,041739,4742.149,-12225.342,4,0.9,4,16.3
$SPEED_LIMITS,0.275,0.385
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.122,0.365
$KALMAN_X,-2023.0,-129.2,114.7,1375.1,-281.8
$KALMAN_Y,-3276.4,326.0,141.6,1691.4,-968.9
$MHEAD_RNG_PITCHd_Wd,2.2,1224,-11.1,-10.000,-14.55,5482
$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,15,-0.79,-361.7,135,232,1580,1620,0.0,0.0,0,72,0.00,0.00,-54.88,0.000,16386,0.000,0.000,135,233,2897,2941,2853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.79,-361.7,134,233,2941,2853,3.1,-7.3,10,114,11.70,0.00,-22.17,0.000,18438,0.257,0.000,2911,231,3964,4021,3907,0,0,0,0,0,0,25.30,28.83,26.39
$GC,175,-0.79,-361.7,2911,231,4019,3909,22.0,-15.7,29,181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2911,231,3964,4019,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,242,-0.79,-361.7,2911,231,4019,3909,33.5,-17.0,42,248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2910,231,3964,4019,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,311,-0.79,-361.7,2911,231,4018,3909,45.4,-17.7,55,317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2911,231,3964,4019,3909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,378,-0.79,-361.7,2911,231,4019,3909,56.6,-16.3,68,384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2911,231,3964,4018,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,565,-0.79,-361.7,1920,231,4017,3908,84.1,-14.7,105,571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2911,231,3964,4018,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.79,-361.7,2911,231,4017,3910,113.9,-16.8,142,758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2911,231,3963,4017,3910,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,846,begin apogee
$GC,849,-0.16,0.0,2911,231,4017,3910,128.3,-15.9,160,1086,0.60,0.00,230.25,0.753,10246,0.124,0.000,3118,231,2721,2766,2676,0,0,0,0,0,0,25.53,28.83,23.92
$STATE,1087,end apogee,CONTROL_FINISHED_OK
$STATE,1087,begin climb
$GC,1088,0.79,361.7,3118,231,2765,2675,141.2,0.0,204,1385,0.90,0.00,287.42,0.716,10246,0.111,0.000,3418,230,1281,1232,1331,0,0,0,0,0,0,24.79,28.83,23.93
$GC,1566,0.79,361.7,3418,230,1232,1321,88.7,13.6,295,1572,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,231,1276,1232,1321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1753,0.79,361.7,2560,230,1219,1314,65.4,11.6,332,1758,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,231,1275,1232,1319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,0.79,361.7,3418,231,1232,1318,44.9,11.4,369,1946,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,230,1275,1232,1318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,0.79,361.7,3418,230,1232,1318,37.4,10.9,382,2013,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,230,1274,1232,1317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,0.79,361.7,3418,231,1232,1317,30.0,10.2,395,2080,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,231,1274,1232,1317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,0.79,361.7,2560,230,1219,1313,22.1,12.3,408,2147,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,231,1274,1232,1317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,0.79,361.7,3418,230,1232,1317,14.1,11.9,421,2214,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,230,1274,1232,1317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,0.79,361.7,3418,231,1232,1317,6.3,11.0,434,2281,0.00,0.00,0.00,0.000,2054,0.000,0.000,3418,231,1274,1232,1317,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2308,end climb,SURFACE_DEPTH_REACHED
$STATE,2308,begin surface coast
$FINISH,0.3,1.004424
$STATE,2334,end surface coast,CONTROL_FINISHED_OK
$STATE,2334,begin surface
$SM_CCo,2408,0.00,0.000,0,0,1273,363.99
$SM_GC,1.24,8.45,0.00,0.00,0.054,0.000,0.000,136,230,1273,-9.44,-0.57,363.99,0,0,0,0,0,0,26.00,28.83,28.83
$IRIDIUM_FIX,4722.92,-12222.38,040508,161657
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.84
$INTERNAL_PRESSURE,9.00517
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,22.5
$24V_AH,23.9,24.401
$10V_AH,10.3,9.262
$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,21.650,0.000,517.675,0.000,0.000,25.453,41.344,143.350,0.500,0.000,5.141,814.111,463.339,507.850,869.433,38.151,33.214,938.698,0.000,646.379,0.000,5.480,0.000
$DEVICE_MAMPS,257.040,0.000,752.760,0.000,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.094,212.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20171,445
$CAP_FILE_SIZE,43177,0
$CFSIZE,260165632,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090715,045909,4741.903,-12225.541,1,0.9,1,16.3