version: 66.11
glider: 173
mission: 11
dive: 23
start: 7 9 115 14 22 59
data:
$ID,173
$MISSION,11
$DIVE,23
$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,-17226.123
$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,28
$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
$GPS1,090715,141834,4743.410,-12224.542,25,1.0,25,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.9
$GPS2,090715,142204,4743.392,-12224.550,5,1.0,5,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.041,-0.201
$KALMAN_X,-3453.9,693.0,374.0,2697.5,-71.3
$KALMAN_Y,-5124.4,354.0,646.0,5288.2,-179.0
$MHEAD_RNG_PITCHd_Wd,175.1,1319,-23.6,-10.000,-26.00,1344
$D_GRID,176
$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,-88.0,143,2293,1870,1962,0.0,0.0,0,56,0.00,0.00,-38.58,0.000,16386,0.000,0.000,143,2293,2831,2873,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-88.0,143,2293,2873,2788,3.0,-7.2,7,83,11.57,1.98,-5.90,0.000,18692,0.255,0.057,2883,3546,3073,3145,3001,0,0,0,0,0,0,25.19,25.79,26.25
$GC,385,-0.85,-88.0,2883,3546,3145,3002,67.9,-20.5,71,392,0.08,1.88,0.00,0.000,3078,0.231,0.025,2896,2294,3073,3144,3002,0,0,0,0,0,0,25.77,26.03,28.83
$GC,574,-0.85,-88.0,2895,2295,3145,3002,99.3,-15.5,108,580,0.00,1.98,0.00,0.000,2308,0.000,0.047,2891,3542,3073,3144,3002,0,0,0,0,0,0,28.83,25.89,28.83
$GC,586,-0.85,-88.0,2891,3542,3144,3002,101.2,-15.9,110,593,0.00,1.88,0.00,0.000,3078,0.000,0.026,2891,2290,3073,3145,3002,0,0,0,0,0,0,28.83,26.09,28.83
$GC,773,-0.85,-88.0,1888,2288,3123,2994,131.9,-16.7,147,780,0.00,1.83,0.00,0.000,2564,0.000,0.034,2891,1073,3073,3144,3002,0,0,0,0,0,0,28.83,26.02,28.83
$GC,801,-0.85,-88.0,2891,1073,3144,3002,136.7,-18.1,152,808,0.08,1.92,0.00,0.000,3078,0.235,0.037,2897,2312,3073,3144,3002,0,0,0,0,0,0,25.79,26.02,28.83
$GC,990,-0.85,-88.0,2896,2313,3145,3002,166.3,-16.7,189,996,0.00,0.00,0.00,0.000,2054,0.000,0.000,2896,2313,3073,3145,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1056,-0.16,0.0,2896,2232,3144,3002,176.3,-16.6,201,1132,0.73,0.00,68.00,0.805,10246,0.173,0.000,3115,2232,2722,2755,2689,0,0,0,0,0,0,25.09,28.83,24.25
$STATE,1133,end apogee,CONTROL_FINISHED_OK
$STATE,1133,begin climb
$GC,1134,0.85,88.0,3114,2232,2754,2688,181.0,0.0,215,1216,0.95,0.00,75.18,0.780,10758,0.107,0.000,3440,2232,2370,2383,2358,0,0,0,0,0,0,25.20,28.83,23.98
$GC,1398,0.85,88.0,3440,2232,2380,2350,152.6,13.0,266,1404,0.00,0.00,0.00,0.000,2054,0.000,0.000,3440,2232,2365,2380,2350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,0.85,88.0,3440,2232,2380,2348,127.1,14.5,303,1591,0.00,2.00,0.00,0.000,2308,0.000,0.041,3440,3500,2363,2379,2348,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1633,0.85,88.0,3440,3501,2379,2348,119.7,16.0,312,1640,0.00,1.88,0.00,0.000,5126,0.000,0.028,3450,2272,2363,2379,2347,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1820,0.85,88.0,2592,2270,2337,2334,89.7,14.9,349,1827,0.00,1.95,0.00,0.000,4356,0.000,0.041,3450,3499,2362,2378,2346,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1898,0.85,88.0,3449,3500,2377,2346,77.4,16.5,364,1905,0.00,1.90,0.00,0.000,5126,0.000,0.028,3459,2240,2362,2378,2346,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2086,0.85,88.0,3459,2240,2377,2345,51.2,11.8,401,2093,0.00,1.88,0.00,0.000,4612,0.000,0.035,3468,1020,2361,2377,2346,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2134,0.85,88.0,3468,1019,2376,2345,46.1,10.8,410,2142,0.10,1.90,0.00,0.000,5126,0.222,0.031,3448,2269,2361,2377,2345,0,0,0,0,0,0,25.69,26.07,28.83
$GC,2204,0.85,88.0,3448,2268,2376,2345,38.6,11.1,423,2210,0.00,1.92,0.00,0.000,4612,0.000,0.037,3456,1018,2361,2377,2345,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2232,0.85,88.0,3456,1017,2376,2345,35.5,11.3,428,2238,0.00,1.88,0.00,0.000,5126,0.000,0.032,3457,2255,2360,2376,2345,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2300,0.85,88.0,3456,2256,2376,2345,28.1,10.4,441,2306,0.00,1.92,0.00,0.000,4356,0.000,0.043,3456,3492,2360,2376,2345,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2373,0.85,88.0,3456,3492,2376,2345,20.0,11.1,455,2380,0.08,1.88,0.00,0.000,5126,0.252,0.027,3453,2243,2360,2376,2345,0,0,0,0,0,0,25.84,26.12,28.83
$GC,2442,0.86,97.6,3452,2242,2376,2344,13.2,9.3,468,2454,0.00,0.00,7.97,0.607,12294,0.000,0.000,3453,2243,2332,2347,2318,0,0,0,0,0,0,28.83,28.83,24.96
$GC,2516,0.86,97.6,3453,2242,2347,2316,5.5,10.2,482,2522,0.00,1.85,0.00,0.000,4612,0.000,0.036,3461,1017,2331,2346,2316,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,2537,end climb,SURFACE_DEPTH_REACHED
$STATE,2537,begin surface coast
$FINISH,0.4,1.021980
$STATE,2563,end surface coast,CONTROL_FINISHED_OK
$STATE,2564,begin surface
$SM_CCo,2581,58.65,0.399,1,0,1925,200.21
$SM_GC,2.52,8.68,2.05,58.65,0.060,0.037,0.399,137,2302,1925,-9.44,-0.79,200.21,0,0,0,0,1,0,25.92,26.03,24.75
$IRIDIUM_FIX,4729.30,-12045.17,050508,020222
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.18
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.0,24.981
$10V_AH,10.4,9.572
$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,22.250,34.525,151.150,58.650,0.000,29.850,35.651,79.761,0.000,0.000,6.345,1105.873,553.877,303.589,866.473,40.722,33.207,707.571,0.000,710.919,0.000,0.536,0.000
$DEVICE_MAMPS,254.745,95.625,804.780,398.565,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.869,244.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323672
$DATA_FILE_SIZE,20177,491
$CAP_FILE_SIZE,53066,0
$CFSIZE,260165632,257867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,090715,150741,4743.008,-12224.682,3,1.1,3,16.3