version: 66.11
glider: 173
mission: 11
dive: 15
start: 7 9 115 7 47 6
data:
$ID,173
$MISSION,11
$DIVE,15
$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,-17212.738
$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,34
$R_STBD_OVSHOOT,38
$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
$GPS1,090715,074034,4742.347,-12225.596,36,1.0,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-78.4
$GPS2,090715,074611,4742.373,-12225.578,4,0.9,4,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.124,0.163
$KALMAN_X,-2524.1,-608.7,-263.5,2422.9,-238.5
$KALMAN_Y,-3947.4,-1246.0,-694.2,5161.0,-455.3
$MHEAD_RNG_PITCHd_Wd,21.0,1143,-23.6,-10.000,-26.00,1344
$D_GRID,185
$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,-88.0,145,2314,1888,1945,0.0,0.0,0,58,0.00,0.00,-40.88,0.000,16386,0.000,0.000,145,2314,2908,2954,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.85,-88.0,145,2314,2955,2863,3.3,-8.1,7,85,11.88,1.95,-3.78,0.000,18948,0.264,0.047,2890,1066,3075,3140,3011,0,0,0,0,0,0,25.22,25.89,26.27
$GC,196,-0.85,-88.0,2890,1066,3141,3011,34.5,-21.3,33,203,0.08,1.90,0.00,0.000,3078,0.245,0.037,2894,2292,3076,3141,3011,0,0,0,0,0,0,25.63,25.86,28.83
$GC,265,-0.85,-88.0,2894,2293,3141,3011,48.5,-19.5,46,271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2292,3076,3141,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,332,-0.85,-88.0,2894,2293,3141,3011,63.2,-25.1,59,338,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2293,3076,3141,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,521,-0.85,-88.0,2894,2293,3141,3011,102.4,-19.8,96,527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2293,3076,3141,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,708,-0.85,-88.0,2894,2293,3142,3011,135.8,-17.9,133,715,0.00,1.88,0.00,0.000,2564,0.000,0.031,2894,1051,3076,3141,3011,0,0,0,0,0,0,28.83,26.02,28.83
$GC,771,-0.85,-88.0,2894,1051,3141,3012,147.4,-19.1,145,778,0.00,1.92,0.00,0.000,3078,0.000,0.036,2894,2303,3076,3141,3011,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,953,begin apogee
$GC,957,-0.16,0.0,2894,2214,3141,3011,180.5,-17.7,181,1033,0.75,0.00,69.20,0.807,10246,0.177,0.000,3115,2214,2720,2750,2691,0,0,0,0,0,0,25.01,28.83,24.21
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1035,0.85,88.0,3115,2214,2750,2690,185.8,0.0,195,1116,0.95,0.00,74.90,0.783,10246,0.107,0.000,3441,2214,2369,2384,2355,0,0,0,0,0,0,25.17,28.83,23.95
$GC,1298,0.85,88.0,3441,2214,2381,2346,158.3,12.9,246,1304,0.00,2.03,0.00,0.000,2308,0.000,0.043,3441,3485,2363,2381,2346,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1336,0.85,88.0,3441,3485,2380,2346,152.6,15.9,253,1343,0.00,1.85,0.00,0.000,5126,0.000,0.028,3450,2271,2362,2380,2345,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1524,0.85,88.0,3450,2271,2380,2344,125.1,14.0,290,1531,0.00,1.92,0.00,0.000,4612,0.000,0.035,3460,1018,2361,2379,2344,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1562,0.85,88.0,3459,1018,2379,2344,119.5,15.1,297,1569,0.00,1.90,0.00,0.000,5126,0.000,0.032,3460,2262,2361,2378,2344,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1750,0.85,88.0,3459,2263,2379,2344,92.4,14.2,334,1756,0.00,0.00,0.00,0.000,4102,0.000,0.000,3460,2263,2361,2379,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1937,0.85,88.0,3460,2263,2379,2343,66.7,12.7,371,1943,0.00,0.00,0.00,0.000,4102,0.000,0.000,3460,2263,2361,2379,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,0.85,88.0,3459,2263,2379,2343,46.9,11.3,408,2131,0.00,1.95,0.00,0.000,4612,0.000,0.037,3469,1013,2361,2379,2343,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2152,0.85,88.0,3469,1013,2378,2343,43.7,11.0,413,2159,0.10,1.88,0.00,0.000,5126,0.222,0.032,3449,2252,2360,2378,2343,0,0,0,0,0,0,25.69,26.08,28.83
$GC,2223,0.85,94.2,3448,2252,2378,2343,36.8,9.5,426,2235,0.00,1.95,4.65,0.515,8452,0.000,0.041,3448,3482,2347,2366,2329,0,0,0,0,0,0,28.83,26.17,24.79
$GC,2327,0.85,94.2,3448,3482,2365,2329,24.9,11.2,446,2333,0.00,1.85,0.00,0.000,5126,0.000,0.029,3457,2251,2347,2365,2329,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2395,0.85,94.2,3456,2250,2365,2329,17.5,11.3,459,2401,0.00,1.92,0.00,0.000,4356,0.000,0.043,3457,3489,2347,2365,2329,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2443,0.85,94.2,3456,3489,2365,2329,12.3,10.4,468,2450,0.08,1.90,0.00,0.000,5126,0.253,0.029,3453,2242,2347,2365,2329,0,0,0,0,0,0,25.84,26.13,28.83
$GC,2512,0.87,107.6,3453,2242,2365,2328,6.1,9.0,481,2529,0.00,0.00,13.20,0.659,8198,0.000,0.000,3453,2243,2293,2309,2277,0,0,0,0,0,0,28.83,28.83,24.99
$STATE,2544,end climb,SURFACE_DEPTH_REACHED
$STATE,2544,begin surface coast
$FINISH,0.4,1.000114
$STATE,2572,end surface coast,CONTROL_FINISHED_OK
$STATE,2572,begin surface
$SM_CCo,2588,50.33,0.060,0,0,1924,200.21
$SM_GC,1.83,8.62,0.08,50.33,0.057,0.102,0.060,140,2304,1924,-9.43,-1.16,200.21,0,0,0,0,0,0,25.86,26.28,25.89
$IRIDIUM_FIX,4722.92,-12313.90,040508,191950
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.93
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.0,24.597
$10V_AH,10.4,9.370
$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,22.450,26.950,161.950,50.325,0.000,30.175,36.733,195.288,0.000,0.000,6.029,1101.080,558.891,296.680,984.184,46.355,33.211,702.937,0.000,712.152,0.000,0.536,0.000
$DEVICE_MAMPS,263.925,101.745,807.075,59.670,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.290,244.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,20184,492
$CAP_FILE_SIZE,54609,0
$CFSIZE,260165632,258125824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,22.97,0x233cca,0,24
$GPS,090715,083140,4742.691,-12225.290,3,0.8,3,16.3