version: 66.11
glider: 173
mission: 11
dive: 19
start: 7 9 115 11 3 28
data:
$ID,173
$MISSION,11
$DIVE,19
$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,-17219.631
$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,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,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
$GPS1,090715,105833,4743.745,-12224.466,3,0.8,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-78.6
$GPS2,090715,110232,4743.812,-12224.431,32,1.9,33,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.152,0.137
$KALMAN_X,-3126.0,-170.1,175.8,3578.2,85.1
$KALMAN_Y,-5515.0,-745.0,1115.3,7087.6,-133.2
$MHEAD_RNG_PITCHd_Wd,295.7,577,-23.6,-10.000,-26.00,1344
$D_GRID,173
$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,-0.85,-88.0,136,2291,1872,1959,0.0,0.0,0,56,0.00,0.00,-38.75,0.000,16386,0.000,0.000,136,2292,2832,2874,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-88.0,136,2291,2874,2790,3.1,-7.4,7,83,11.75,1.98,-5.82,0.000,18692,0.259,0.057,2884,3538,3072,3144,3000,0,0,0,0,0,0,25.21,25.82,26.27
$GC,195,-0.85,-88.0,2884,3538,3145,3002,31.5,-22.5,33,202,0.08,1.90,0.00,0.000,3078,0.234,0.025,2895,2286,3073,3145,3002,0,0,0,0,0,0,25.71,25.97,28.83
$GC,263,-0.85,-88.0,2896,2286,3144,3001,47.2,-23.2,46,270,0.00,1.85,0.00,0.000,2564,0.000,0.033,2896,1074,3073,3144,3002,0,0,0,0,0,0,28.83,25.92,28.83
$GC,311,-0.85,-88.0,2896,1074,3144,3001,57.5,-19.3,55,318,0.00,1.90,0.00,0.000,3078,0.000,0.037,2894,2301,3073,3144,3002,0,0,0,0,0,0,28.83,25.93,28.83
$GC,499,-0.85,-88.0,2894,2301,3144,3002,89.2,-15.2,92,506,0.00,1.88,0.00,0.000,2564,0.000,0.032,2894,1074,3073,3144,3002,0,0,0,0,0,0,28.83,26.00,28.83
$GC,597,-0.85,-88.0,2894,1074,3145,3002,105.0,-17.0,111,604,0.00,1.92,0.00,0.000,3078,0.000,0.037,2894,2308,3072,3144,3001,0,0,0,0,0,0,28.83,25.99,28.83
$GC,785,-0.85,-88.0,2894,2309,3144,3002,136.0,-17.5,148,791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2308,3073,3144,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,974,-0.85,-88.0,2893,2309,3144,3002,169.1,-16.5,185,980,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2309,3073,3144,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1004,-0.16,0.0,2894,2220,3144,3002,173.9,-17.0,190,1076,0.75,0.00,68.18,0.804,10246,0.175,0.000,3117,2220,2721,2754,2689,0,0,0,0,0,0,25.10,28.83,24.24
$STATE,1077,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1078,0.85,88.0,3116,2220,2754,2689,178.2,0.0,203,1161,0.95,1.95,75.35,0.780,10756,0.109,0.036,3451,1051,2370,2383,2358,0,0,0,0,0,0,25.16,24.90,23.96
$GC,1222,0.85,88.0,3451,1051,2380,2354,164.5,13.4,230,1229,0.00,1.90,0.00,0.000,5126,0.000,0.031,3451,2258,2366,2380,2353,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1410,0.85,88.0,3451,2258,2380,2350,138.0,14.5,267,1417,0.00,1.92,0.00,0.000,4356,0.000,0.041,3451,3490,2365,2380,2350,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1463,0.85,88.0,3451,3490,2379,2349,129.9,15.7,277,1470,0.00,1.88,0.00,0.000,5126,0.000,0.027,3460,2258,2364,2379,2349,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1652,0.85,88.0,3460,2257,2379,2347,101.9,15.0,314,1657,0.00,0.00,0.00,0.000,4102,0.000,0.000,3460,2258,2363,2380,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1839,0.85,88.0,3460,2257,2379,2346,74.9,13.1,351,1845,0.00,0.00,0.00,0.000,4102,0.000,0.000,3460,2258,2362,2378,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,0.85,88.0,3460,2258,2379,2345,52.3,12.2,388,2032,0.00,1.90,0.00,0.000,4612,0.000,0.035,3470,1009,2362,2379,2346,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2094,0.85,88.0,3469,1009,2377,2345,44.2,11.1,401,2101,0.10,1.90,0.00,0.000,5126,0.224,0.031,3449,2254,2361,2376,2346,0,0,0,0,0,0,25.71,26.10,28.83
$GC,2164,0.85,88.0,3449,2254,2376,2345,37.4,10.2,414,2171,0.00,1.92,0.00,0.000,4612,0.000,0.037,3458,1019,2361,2377,2345,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2342,0.88,118.6,3457,1018,2376,2345,19.5,7.7,449,2376,0.00,1.88,25.20,0.682,9222,0.000,0.031,3458,2246,2248,2260,2237,0,0,0,0,0,0,28.83,26.10,24.87
$GC,2438,0.88,118.6,3457,2246,2259,2233,9.6,13.9,467,2444,0.00,1.90,0.00,0.000,516,0.000,0.038,3466,1013,2245,2258,2233,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2476,0.88,118.6,3466,1012,2258,2233,4.2,14.1,474,2482,0.00,1.92,0.00,0.000,5126,0.000,0.032,3466,2258,2245,2258,2233,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2487,begin surface coast
$FINISH,0.4,1.021894
$STATE,2509,end surface coast,CONTROL_FINISHED_OK
$STATE,2509,begin surface
$SM_CCo,2524,44.25,0.060,0,0,1923,200.21
$SM_GC,1.50,8.70,0.00,44.25,0.058,0.000,0.060,145,2258,1923,-9.42,-1.19,200.21,0,0,0,0,0,0,25.75,28.83,25.82
$IRIDIUM_FIX,4722.92,-12225.08,040508,232359
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.38
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.0,24.786
$10V_AH,10.4,9.469
$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,22.325,30.575,168.725,44.250,0.000,25.598,39.337,78.779,0.000,0.000,35.249,1072.983,539.521,291.584,882.899,38.007,33.205,690.248,0.000,695.600,0.000,0.535,0.000
$DEVICE_MAMPS,259.335,94.095,804.015,59.670,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.995,234.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,20152,480
$CAP_FILE_SIZE,51186,0
$CFSIZE,260165632,257998848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090715,114727,4744.136,-12224.727,36,1.1,36,16.3