version: 66.11
glider: 173
mission: 11
dive: 25
start: 7 9 115 15 57 15
data:
$ID,173
$MISSION,11
$DIVE,25
$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,-17229.678
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,090715,155243,4742.697,-12224.601,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.4
$GPS2,090715,155620,4742.670,-12224.606,5,1.1,5,16.3
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.010,0.205
$KALMAN_X,-3389.7,1009.3,8.4,2612.6,-110.5
$KALMAN_Y,-4798.7,1243.2,-547.0,3931.0,56.4
$MHEAD_RNG_PITCHd_Wd,346.5,2475,-23.6,-10.000,-26.00,1344
$D_GRID,177
$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,-88.0,135,2305,1870,1963,0.0,0.0,0,56,0.00,0.00,-38.65,0.000,16386,0.000,0.000,135,2305,2827,2869,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.85,-88.0,135,2305,2869,2786,3.1,-8.1,7,83,11.57,1.90,-5.82,0.000,18948,0.254,0.045,2888,1069,3070,3143,2997,0,0,0,0,0,0,25.17,25.82,26.22
$GC,314,-0.85,-88.0,2888,1069,3144,2998,51.7,-18.6,57,322,0.08,1.90,0.00,0.000,3078,0.244,0.037,2894,2292,3070,3143,2998,0,0,0,0,0,0,25.67,25.90,28.83
$GC,504,-0.85,-88.0,2893,2292,3143,2998,84.2,-16.1,94,509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2292,3070,3143,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,691,-0.85,-88.0,2893,2292,3142,2998,116.2,-16.9,131,696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2292,3070,3143,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,878,-0.85,-88.0,2893,2292,3143,2998,145.8,-15.5,168,883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2894,2292,3070,3143,2998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1066,-0.85,-88.0,2893,2292,3143,2998,175.6,-16.3,205,1072,0.00,0.00,0.00,0.000,2054,0.000,0.000,2893,2292,3070,3143,2998,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1077,begin apogee
$GC,1080,-0.16,0.0,2893,2292,3143,2998,177.6,-16.6,207,1151,0.75,0.00,67.35,0.806,10246,0.176,0.000,3117,2292,2722,2756,2689,0,0,0,0,0,0,25.08,28.83,24.26
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1153,0.85,88.0,3117,2292,2755,2688,181.6,0.0,220,1235,0.95,0.00,75.28,0.787,10246,0.109,0.000,3441,2293,2370,2382,2359,0,0,0,0,0,0,25.18,28.83,23.96
$GC,1417,0.85,88.0,3441,2293,2380,2350,152.6,13.9,271,1423,0.00,1.88,0.00,0.000,2308,0.000,0.041,3441,3493,2365,2380,2350,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1459,0.85,88.0,2576,3493,2337,2337,146.2,15.2,279,1466,0.00,1.90,0.00,0.000,5126,0.000,0.028,3451,2250,2364,2378,2350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1647,0.85,88.0,3450,2250,2378,2348,119.1,14.0,316,1654,0.00,1.98,0.00,0.000,4356,0.000,0.041,3451,3489,2363,2378,2348,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1690,0.85,88.0,3450,3489,2377,2348,112.8,15.0,324,1697,0.00,1.88,0.00,0.000,5126,0.000,0.027,3460,2250,2362,2377,2348,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1878,0.85,88.0,3459,2249,2377,2346,87.0,14.6,361,1884,0.00,0.00,0.00,0.000,4102,0.000,0.000,3460,2250,2362,2377,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,0.85,88.0,3459,2249,2377,2346,60.2,14.1,398,2072,0.00,1.85,0.00,0.000,4612,0.000,0.034,3469,1017,2361,2377,2346,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2153,0.85,88.0,3469,1016,2376,2346,48.6,12.2,415,2161,0.10,1.90,0.00,0.000,5126,0.222,0.032,3449,2269,2361,2376,2346,0,0,0,0,0,0,25.69,26.06,28.83
$GC,2222,0.85,88.0,3449,2269,2376,2346,40.1,13.1,428,2229,0.00,1.90,0.00,0.000,4356,0.000,0.041,3449,3491,2360,2375,2346,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2305,0.85,88.0,2592,3490,2334,2333,30.0,11.2,444,2311,0.00,1.88,0.00,0.000,5126,0.000,0.027,3457,2239,2360,2375,2346,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2373,0.85,88.0,3458,2239,2376,2345,22.3,10.8,457,2378,0.00,0.00,0.00,0.000,4102,0.000,0.000,3457,2239,2360,2376,2345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,0.85,88.0,3457,2239,2376,2345,15.4,10.0,470,2445,0.00,0.00,0.00,0.000,4102,0.000,0.000,3457,2239,2360,2376,2345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,0.85,95.2,3457,2239,2376,2345,8.6,9.4,483,2521,0.00,1.85,6.30,0.571,12804,0.000,0.034,3466,1013,2341,2356,2326,0,0,0,0,0,0,28.83,26.17,24.91
$STATE,2563,end climb,SURFACE_DEPTH_REACHED
$STATE,2563,begin surface coast
$FINISH,0.4,1.022058
$STATE,2588,end surface coast,CONTROL_FINISHED_OK
$STATE,2589,begin surface
$SM_CCo,2606,60.78,0.415,1,0,1925,200.21
$SM_GC,2.48,8.70,2.05,60.78,0.060,0.037,0.415,136,2303,1925,-9.44,-0.79,200.21,0,0,0,0,1,0,25.94,26.08,24.73
$IRIDIUM_FIX,4722.92,-12229.50,050508,040412
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.34
$INTERNAL_PRESSURE,9.06377
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.0,25.077
$10V_AH,10.4,9.620
$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,22.150,22.850,148.925,60.775,0.000,30.484,44.312,78.117,0.000,0.000,6.335,1119.391,568.754,294.950,884.721,38.582,33.203,697.312,0.000,720.806,0.000,0.536,0.000
$DEVICE_MAMPS,253.980,45.135,805.545,414.630,0.000,62.730,160.000,223.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.044,249.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20148,498
$CAP_FILE_SIZE,50266,0
$CFSIZE,260165632,257806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,090715,164227,4742.819,-12224.589,5,1.1,5,16.3