version: 66.11
glider: 173
mission: 11
dive: 26
start: 7 9 115 16 46 55
data:
$ID,173
$MISSION,11
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$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,50
$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,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17231.025
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,27
$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
$GPS1,090715,164227,4742.819,-12224.589,5,1.1,5,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-78.1
$GPS2,090715,164559,4742.806,-12224.595,6,1.1,6,16.3
$SPEED_LIMITS,0.084,0.205
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.031,0.203
$KALMAN_X,-3336.3,1142.2,-186.5,2637.6,-40.0
$KALMAN_Y,-6248.5,2394.2,-770.3,4712.9,-74.6
$MHEAD_RNG_PITCHd_Wd,352.3,2227,-23.6,-10.000,-26.00,1345
$D_GRID,179
$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,-88.0,136,2305,1869,1964,0.0,0.0,0,56,0.00,0.00,-38.83,0.000,16386,0.000,0.000,136,2305,2831,2874,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-88.0,136,2305,2874,2790,3.1,-7.6,7,82,11.95,0.00,-5.78,0.000,18438,0.264,0.000,2888,2305,3073,3145,3001,0,0,0,0,0,0,25.18,28.83,26.23
$GC,144,-0.85,-88.0,2888,2305,3145,3001,19.6,-18.8,23,150,0.00,1.92,0.00,0.000,2564,0.000,0.032,2889,1058,3073,3145,3002,0,0,0,0,0,0,28.83,25.85,28.83
$GC,222,-0.85,-88.0,2888,1057,3145,3001,35.3,-19.5,38,229,0.08,1.92,0.00,0.000,3078,0.241,0.034,2894,2304,3073,3145,3002,0,0,0,0,0,0,25.65,25.89,28.83
$STATE,274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,274,begin apogee
$GC,278,-0.16,0.0,2893,2231,3145,3002,45.5,-18.9,48,349,0.75,0.00,66.93,0.720,10246,0.175,0.000,3117,2230,2722,2757,2687,0,0,0,0,0,0,25.18,28.83,24.30
$STATE,350,end apogee,CONTROL_FINISHED_OK
$STATE,350,begin climb
$GC,352,0.85,88.0,3117,2231,2756,2687,51.1,0.0,61,433,0.95,0.00,73.88,0.701,10758,0.106,0.000,3442,2230,2369,2382,2357,0,0,0,0,0,0,25.13,28.83,24.10
$GC,495,0.87,103.8,3442,2231,2381,2351,42.6,8.8,88,518,0.00,2.08,14.30,0.644,10500,0.000,0.040,3442,3493,2307,2320,2294,0,0,0,0,0,0,28.83,25.30,24.36
$GC,595,0.87,103.8,2560,3492,2275,2278,31.0,13.8,107,601,0.00,1.88,0.00,0.000,1030,0.000,0.026,3452,2265,2304,2318,2291,0,0,0,0,0,0,28.83,25.65,28.83
$GC,663,0.87,103.8,3451,2265,2318,2290,22.7,11.7,120,668,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2265,2304,2318,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,730,0.87,103.8,3452,2265,2319,2290,14.7,12.3,133,736,0.00,1.90,0.00,0.000,516,0.000,0.034,3461,1013,2304,2318,2290,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,812,end climb,FINISH_DEPTH_REACHED
$STATE,812,begin subsurface finish
$FINISH1,4.5,1.022134,43
$GC,819,0.05,42.6,3461,2269,2316,2290,4.5,12.6,149,837,0.88,1.95,-9.80,0.000,20996,0.169,0.052,3200,1019,2552,2588,2517,0,0,0,0,0,0,25.29,25.85,26.35
$FINISH2,2.5
$STATE,838,end subsurface finish,CONTROL_FINISHED_OK
$STATE,838,begin surface
$IRIDIUM_FIX,4722.92,-12220.67,050508,050519
$TT8_MAMPS,0.025466,0.025466
$HUMID,53.07
$INTERNAL_PRESSURE,9.1419
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.1,25.115
$10V_AH,10.4,9.631
$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,14.600,13.700,155.100,0.000,0.000,27.375,41.049,78.209,0.000,0.000,6.925,329.193,128.424,199.333,384.665,21.652,33.202,371.496,0.000,232.099,0.000,0.535,0.000
$DEVICE_MAMPS,263.925,95.625,719.865,0.000,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,99.116,116.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323652
$DATA_FILE_SIZE,6898,152
$CAP_FILE_SIZE,22939,0
$CFSIZE,260165632,257822720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090715,164559,4742.806,-12224.595,6,1.1,6,16.3