version: 66.11
glider: 173
mission: 11
dive: 16
start: 7 9 115 8 36 19
data:
$ID,173
$MISSION,11
$DIVE,16
$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,-17214.389
$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,36
$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
$GPS1,090715,083140,4742.691,-12225.290,3,0.8,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-78.3
$GPS2,090715,083524,4742.723,-12225.282,4,0.8,4,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.195,-0.015
$KALMAN_X,-2699.2,-566.1,-202.8,2866.8,-97.2
$KALMAN_Y,-3969.1,-1400.2,-444.9,5736.3,19.3
$MHEAD_RNG_PITCHd_Wd,78.1,603,-24.8,-10.000,-27.13,1218
$D_GRID,186
$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,14,-0.87,-79.7,140,2304,1879,1953,0.0,0.0,0,56,0.00,0.00,-39.42,0.000,16386,0.000,0.000,140,2304,2855,2897,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.88,-88.0,140,2304,2897,2813,3.1,-7.6,7,83,11.88,1.90,-5.15,0.000,18948,0.265,0.043,2879,1065,3074,3144,3005,0,0,0,0,0,0,25.25,25.91,26.30
$GC,329,-0.88,-88.0,2878,1064,3143,3006,59.9,-16.7,60,337,0.08,1.90,0.00,0.000,3078,0.241,0.037,2883,2299,3074,3143,3006,0,0,0,0,0,0,25.72,25.94,28.83
$GC,518,-0.88,-88.0,2883,2300,3143,3006,97.9,-18.5,97,524,0.00,1.95,0.00,0.000,2308,0.000,0.047,2880,3543,3075,3144,3006,0,0,0,0,0,0,28.83,25.89,28.83
$GC,548,-0.88,-88.0,2880,3544,3143,3006,103.6,-20.4,102,554,0.00,1.88,0.00,0.000,3078,0.000,0.027,2880,2292,3074,3143,3006,0,0,0,0,0,0,28.83,26.08,28.83
$GC,736,-0.88,-88.0,2880,2291,3143,3006,141.1,-19.3,139,742,0.00,1.85,0.00,0.000,2564,0.000,0.034,2880,1066,3074,3143,3006,0,0,0,0,0,0,28.83,26.02,28.83
$GC,844,-0.88,-88.0,2880,1066,3143,3006,162.2,-18.5,160,850,0.00,1.90,0.00,0.000,3078,0.000,0.038,2874,2301,3074,3143,3006,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,939,-0.16,0.0,2874,2214,3143,3006,180.3,-19.3,178,1015,0.82,0.00,68.38,0.799,10246,0.179,0.000,3115,2214,2721,2753,2690,0,0,0,0,0,0,25.04,28.83,24.24
$STATE,1016,end apogee,CONTROL_FINISHED_OK
$STATE,1016,begin climb
$GC,1018,0.88,88.0,3115,2214,2753,2689,186.2,0.0,192,1099,0.98,0.00,75.15,0.779,10758,0.102,0.000,3453,2214,2370,2383,2357,0,0,0,0,0,0,25.20,28.83,23.97
$GC,1281,0.88,88.0,3453,2214,2381,2347,159.9,12.5,243,1287,0.00,0.00,0.00,0.000,2054,0.000,0.000,3453,2214,2364,2381,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1468,0.88,88.0,3453,2214,2379,2345,135.8,13.5,280,1474,0.00,1.83,0.00,0.000,2564,0.000,0.037,3461,1049,2362,2379,2345,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1501,0.88,88.0,2592,1047,2336,2332,131.5,13.6,286,1507,0.00,1.85,0.00,0.000,5126,0.000,0.032,3462,2260,2362,2379,2345,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1689,0.88,88.0,3461,2261,2378,2344,106.0,13.1,323,1695,0.00,1.90,0.00,0.000,4356,0.000,0.041,3461,3483,2361,2378,2345,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1717,0.88,88.0,3461,3483,2378,2345,102.3,13.5,328,1723,0.00,1.83,0.00,0.000,5126,0.000,0.028,3471,2270,2361,2378,2344,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1905,0.88,88.0,3470,2270,2378,2344,79.1,13.5,365,1911,0.00,0.00,0.00,0.000,4102,0.000,0.000,3471,2270,2361,2378,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2092,0.88,88.0,3471,2269,2378,2344,54.6,12.6,402,2098,0.00,1.90,0.00,0.000,4356,0.000,0.042,3471,3482,2361,2378,2344,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2150,0.88,88.0,3471,3482,2377,2344,46.4,13.7,413,2157,0.10,1.85,0.00,0.000,5126,0.239,0.027,3460,2243,2360,2377,2344,0,0,0,0,0,0,25.69,26.13,28.83
$GC,2219,0.88,88.0,3460,2242,2377,2343,39.1,10.7,426,2225,0.00,1.90,0.00,0.000,4612,0.000,0.037,3469,1010,2360,2377,2343,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2247,0.88,88.0,3468,1010,2376,2343,35.7,12.3,431,2253,0.00,1.90,0.00,0.000,5126,0.000,0.033,3469,2249,2359,2376,2343,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2314,0.88,88.0,3469,2250,2377,2343,27.3,12.3,444,2321,0.00,1.92,0.00,0.000,4356,0.000,0.042,3469,3491,2360,2377,2343,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2357,0.88,88.0,3468,3491,2377,2343,21.6,13.7,452,2365,0.08,1.88,0.00,0.000,5126,0.256,0.028,3464,2246,2360,2377,2343,0,0,0,0,0,0,25.82,26.11,28.83
$GC,2426,0.88,88.0,3464,2245,2377,2343,12.4,12.8,465,2432,0.00,0.00,0.00,0.000,4102,0.000,0.000,3465,2245,2360,2377,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,0.88,88.0,3464,2245,2377,2343,4.4,11.2,478,2499,0.00,0.00,0.00,0.000,4102,0.000,0.000,3464,2245,2360,2377,2343,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2510,end climb,SURFACE_DEPTH_REACHED
$STATE,2510,begin surface coast
$FINISH,0.3,1.001147
$STATE,2536,end surface coast,CONTROL_FINISHED_OK
$STATE,2536,begin surface
$SM_CCo,2551,62.72,0.414,1,0,1924,200.21
$SM_GC,2.52,8.70,0.08,62.72,0.060,0.103,0.414,139,2304,1924,-9.43,-1.10,200.21,0,0,0,0,1,0,25.86,26.51,24.75
$IRIDIUM_FIX,4719.74,-12223.37,040508,212112
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.62
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.0,24.645
$10V_AH,10.4,9.395
$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,22.625,30.275,143.525,62.725,0.000,31.114,51.580,77.072,0.000,0.000,6.334,1092.270,552.914,301.751,875.669,36.954,33.208,702.393,0.000,703.851,0.000,0.535,0.000
$DEVICE_MAMPS,265.455,102.510,798.660,413.865,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.526,250.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323660
$DATA_FILE_SIZE,20148,486
$CAP_FILE_SIZE,51875,0
$CFSIZE,260165632,258097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,090715,092036,4742.836,-12224.799,4,1.2,4,16.3