version: 66.11
glider: 173
mission: 11
dive: 22
start: 7 9 115 13 32 23
data:
$ID,173
$MISSION,11
$DIVE,22
$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,-17224.385
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,090715,132746,4743.720,-12224.688,6,1.1,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.3
$GPS2,090715,133128,4743.659,-12224.707,8,1.1,9,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.004,-0.205
$KALMAN_X,-3644.7,595.3,459.3,2709.9,-75.6
$KALMAN_Y,-5530.3,88.5,1058.6,6050.3,-220.7
$MHEAD_RNG_PITCHd_Wd,162.6,1780,-23.6,-10.000,-26.00,1344
$D_GRID,175
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.85,-88.0,145,2293,1871,1961,0.0,0.0,0,57,0.00,0.00,-39.42,0.000,16386,0.000,0.000,145,2293,2856,2900,2812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.85,-88.0,145,2293,2900,2813,3.2,-7.5,7,84,11.68,1.88,-5.18,0.000,18948,0.258,0.047,2891,1070,3073,3144,3003,0,0,0,0,0,0,25.20,25.83,26.23
$GC,220,-0.85,-88.0,2891,1069,3144,3004,35.2,-19.3,38,228,0.08,1.92,0.00,0.000,3078,0.237,0.039,2896,2304,3074,3144,3004,0,0,0,0,0,0,25.65,25.86,28.83
$GC,289,-0.85,-88.0,2896,2305,3144,3003,47.7,-17.9,51,295,0.00,0.00,0.00,0.000,2054,0.000,0.000,2896,2305,3073,3144,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,356,-0.85,-88.0,2896,2305,3144,3004,58.6,-16.1,64,362,0.00,0.00,0.00,0.000,2054,0.000,0.000,2896,2304,3074,3144,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,543,-0.85,-88.0,2896,2305,3144,3004,91.2,-16.1,101,550,0.00,1.90,0.00,0.000,2564,0.000,0.035,2896,1073,3074,3144,3004,0,0,0,0,0,0,28.83,25.98,28.83
$GC,658,-0.85,-88.0,2896,1072,3144,3004,108.2,-14.5,123,664,0.00,1.90,0.00,0.000,3078,0.000,0.039,2894,2302,3074,3144,3004,0,0,0,0,0,0,28.83,25.98,28.83
$GC,847,-0.85,-88.0,2894,2301,3144,3004,138.2,-16.8,160,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2302,3074,3144,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.85,-88.0,2894,2302,3144,3004,168.9,-17.7,197,1040,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2302,3074,3144,3004,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1074,-0.16,0.0,2894,2211,3144,3004,175.2,-17.5,204,1151,0.73,0.03,68.00,0.804,10246,0.172,0.078,3112,2250,2721,2754,2689,0,0,0,0,0,0,25.13,24.91,24.25
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1154,0.85,88.0,3112,2250,2754,2688,180.0,0.0,218,1236,0.95,0.00,75.20,0.780,10758,0.106,0.000,3440,2250,2370,2383,2358,0,0,0,0,0,0,25.20,28.83,23.99
$GC,1418,0.85,88.0,3440,2250,2380,2350,152.1,14.0,269,1424,0.00,1.92,0.00,0.000,2308,0.000,0.040,3440,3485,2365,2380,2350,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1521,0.85,88.0,3440,3485,2378,2349,136.9,15.1,289,1527,0.00,1.83,0.00,0.000,5126,0.000,0.027,3449,2281,2363,2378,2349,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1709,0.85,88.0,3449,2281,2378,2346,109.3,14.9,326,1715,0.00,1.92,0.00,0.000,4356,0.000,0.041,3449,3490,2362,2378,2346,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1767,0.85,88.0,3449,3491,2378,2346,100.3,16.1,337,1773,0.00,1.88,0.00,0.000,5126,0.000,0.027,3458,2246,2362,2378,2346,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1955,0.85,88.0,3458,2245,2378,2345,74.3,13.2,374,1961,0.00,1.88,0.00,0.000,4612,0.000,0.035,3468,1015,2361,2377,2345,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2048,0.85,88.0,3468,1014,2376,2345,62.6,12.3,392,2055,0.10,1.88,0.00,0.000,5126,0.228,0.031,3448,2255,2360,2376,2345,0,0,0,0,0,0,25.67,26.06,28.83
$GC,2236,0.85,88.0,3448,2256,2376,2345,42.1,12.7,429,2243,0.00,1.90,0.00,0.000,4612,0.000,0.037,3456,1019,2360,2376,2345,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2274,0.85,88.0,3456,1019,2376,2345,37.4,12.6,436,2281,0.00,1.88,0.00,0.000,5126,0.000,0.032,3456,2258,2360,2376,2345,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2343,0.85,88.0,3456,2258,2376,2345,29.8,10.5,449,2349,0.00,1.92,0.00,0.000,4356,0.000,0.042,3456,3484,2360,2376,2345,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2466,0.85,88.0,3456,3484,2376,2345,16.4,10.1,473,2473,0.08,1.85,0.00,0.000,5126,0.253,0.028,3452,2247,2360,2376,2345,0,0,0,0,0,0,25.84,26.13,28.83
$GC,2535,0.85,88.0,3452,2247,2377,2344,9.5,10.0,486,2541,0.00,1.88,0.00,0.000,4612,0.000,0.036,3461,1014,2360,2376,2344,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,2598,end climb,SURFACE_DEPTH_REACHED
$STATE,2598,begin surface coast
$FINISH,0.4,1.022032
$STATE,2624,end surface coast,CONTROL_FINISHED_OK
$STATE,2624,begin surface
$SM_CCo,2641,65.75,0.434,1,0,1924,200.21
$SM_GC,2.54,8.65,2.03,65.75,0.058,0.037,0.434,143,2292,1924,-9.42,-1.24,200.21,0,0,0,0,1,0,25.86,26.04,24.72
$IRIDIUM_FIX,4726.11,-12226.80,050508,020231
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.26
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.0,24.933
$10V_AH,10.4,9.547
$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,22.250,30.450,143.200,65.750,0.000,23.010,49.805,79.233,0.000,0.000,10.409,1133.990,575.723,303.533,894.164,41.413,33.199,712.151,0.000,727.879,0.000,0.536,0.000
$DEVICE_MAMPS,257.805,94.860,804.015,433.755,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.339,246.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323656
$DATA_FILE_SIZE,20168,503
$CAP_FILE_SIZE,52454,0
$CFSIZE,260165632,257900544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,090715,141834,4743.410,-12224.542,25,1.0,25,16.3