version: 66.11
glider: 173
mission: 11
dive: 21
start: 7 9 115 12 43 42
data:
$ID,173
$MISSION,11
$DIVE,21
$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,-17222.598
$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,42
$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
$GPS1,090715,123621,4744.077,-12224.630,13,0.9,14,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.1
$GPS2,090715,124246,4744.142,-12224.535,16,0.9,16,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.058,-0.197
$KALMAN_X,-3157.6,210.6,375.8,2899.9,124.3
$KALMAN_Y,-4719.7,-606.7,1157.7,6713.7,59.2
$MHEAD_RNG_PITCHd_Wd,180.1,2691,-23.6,-10.000,-26.00,1344
$D_GRID,174
$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,-88.0,136,2308,1870,1959,0.0,0.0,0,56,0.00,0.00,-39.33,0.000,16386,0.000,0.000,136,2308,2852,2895,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-88.0,136,2308,2896,2809,3.1,-7.6,7,83,11.85,1.90,-5.25,0.000,18948,0.262,0.047,2892,1073,3074,3145,3003,0,0,0,0,0,0,25.20,25.84,26.26
$GC,239,-0.85,-88.0,2892,1072,3144,3004,40.0,-20.0,42,247,0.05,1.90,0.00,0.000,3078,0.268,0.037,2893,2302,3073,3144,3003,0,0,0,0,0,0,25.73,25.89,28.83
$GC,308,-0.85,-88.0,2893,2302,3144,3003,52.5,-18.1,55,315,0.00,1.88,0.00,0.000,2564,0.000,0.034,2894,1073,3073,3144,3003,0,0,0,0,0,0,28.83,25.92,28.83
$GC,336,-0.85,-88.0,2893,1072,3144,3003,57.8,-19.1,60,343,0.00,1.92,0.00,0.000,3078,0.000,0.038,2894,2299,3073,3144,3003,0,0,0,0,0,0,28.83,25.91,28.83
$GC,524,-0.85,-88.0,2893,2300,3144,3003,91.6,-16.9,97,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2300,3073,3144,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,712,-0.85,-88.0,2893,2300,3144,3003,123.2,-18.6,134,718,0.00,1.88,0.00,0.000,2564,0.000,0.033,2894,1064,3073,3144,3003,0,0,0,0,0,0,28.83,26.01,28.83
$GC,734,-0.85,-88.0,2893,1063,3144,3004,127.3,-17.9,138,741,0.00,1.92,0.00,0.000,3078,0.000,0.037,2887,2303,3074,3144,3004,0,0,0,0,0,0,28.83,26.01,28.83
$GC,922,-0.85,-88.0,2887,2304,3144,3003,158.9,-17.2,175,929,0.00,1.88,0.00,0.000,2564,0.000,0.033,2887,1070,3073,3144,3003,0,0,0,0,0,0,28.83,26.03,28.83
$GC,951,-0.85,-88.0,2887,1070,3144,3003,163.9,-17.6,180,958,0.08,1.92,0.00,0.000,3078,0.249,0.037,2893,2308,3073,3144,3003,0,0,0,0,0,0,25.75,26.01,28.83
$STATE,1012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1012,begin apogee
$GC,1016,-0.16,0.0,2894,2226,3144,3004,174.2,-16.4,192,1093,0.73,0.00,68.05,0.797,10246,0.170,0.000,3114,2226,2721,2754,2689,0,0,0,0,0,0,25.11,28.83,24.27
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1095,0.85,88.0,3113,2226,2753,2688,178.3,0.0,206,1178,0.95,2.12,75.05,0.779,11012,0.103,0.040,3439,3485,2370,2383,2358,0,0,0,0,0,0,25.20,24.91,23.98
$GC,1230,0.85,88.0,3440,3485,2381,2353,165.0,15.1,231,1236,0.00,1.88,0.00,0.000,5126,0.000,0.027,3449,2277,2366,2380,2353,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1418,0.85,88.0,3449,2276,2381,2348,138.7,13.5,268,1424,0.00,1.92,0.00,0.000,4612,0.000,0.035,3458,1020,2364,2380,2349,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1487,0.85,88.0,3458,1019,2378,2349,130.1,12.6,281,1494,0.00,1.90,0.00,0.000,5126,0.000,0.032,3458,2260,2363,2378,2349,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1675,0.85,88.0,2592,2258,2336,2334,103.2,14.4,318,1681,0.00,1.92,0.00,0.000,4356,0.000,0.042,3459,3491,2362,2378,2347,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1728,0.85,88.0,3458,3491,2378,2347,94.7,16.1,328,1735,0.10,1.88,0.00,0.000,5126,0.236,0.027,3448,2244,2362,2377,2347,0,0,0,0,0,0,25.60,26.01,28.83
$GC,1917,0.85,88.0,3448,2245,2378,2345,67.5,13.8,365,1923,0.00,1.85,0.00,0.000,516,0.000,0.035,3456,1019,2361,2378,2345,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1950,0.85,88.0,3456,1018,2377,2346,63.4,13.0,371,1956,0.00,1.88,0.00,0.000,5126,0.000,0.031,3456,2258,2361,2377,2346,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2138,0.85,88.0,3456,2258,2377,2345,41.4,11.6,408,2144,0.00,1.92,0.00,0.000,4356,0.000,0.042,3456,3484,2361,2377,2345,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2181,0.85,88.0,3456,3483,2377,2345,36.4,11.8,416,2188,0.08,1.85,0.00,0.000,5126,0.253,0.028,3453,2250,2361,2377,2345,0,0,0,0,0,0,25.81,26.10,28.83
$GC,2249,0.85,88.0,3452,2250,2377,2345,29.0,10.3,429,2256,0.00,1.92,0.00,0.000,4356,0.000,0.042,3453,3478,2361,2377,2345,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2372,0.85,88.0,3452,3479,2377,2345,15.7,10.3,453,2379,0.05,1.85,0.00,0.000,5126,0.279,0.027,3453,2243,2361,2377,2345,0,0,0,0,0,0,25.94,26.13,28.83
$GC,2441,0.86,102.1,3453,2242,2377,2345,9.5,8.9,466,2459,0.00,1.85,11.98,0.646,8708,0.000,0.034,3461,1021,2313,2328,2299,0,0,0,0,0,0,28.83,26.08,24.99
$STATE,2504,end climb,SURFACE_DEPTH_REACHED
$STATE,2504,begin surface coast
$FINISH,0.6,1.022099
$STATE,2526,end surface coast,CONTROL_FINISHED_OK
$STATE,2527,begin surface
$SM_CCo,2544,55.15,0.382,1,0,1924,200.21
$SM_GC,2.44,8.62,2.03,55.15,0.057,0.037,0.382,145,2292,1924,-9.42,-1.16,200.21,0,0,0,0,1,0,25.89,26.01,24.73
$IRIDIUM_FIX,4726.11,-12224.09,050508,020250
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.0,24.885
$10V_AH,10.3,9.521
$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,22.500,42.050,155.075,55.150,0.000,51.983,111.401,80.042,0.000,0.000,18.700,1087.422,599.934,308.980,967.445,40.850,33.205,711.833,0.000,698.107,0.000,0.536,0.000
$DEVICE_MAMPS,279.225,95.625,797.130,381.735,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.443,234.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20168,482
$CAP_FILE_SIZE,55084,0
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,090715,132746,4743.720,-12224.688,6,1.1,6,16.3