version: 66.11
glider: 173
mission: 12
dive: 4
start: 11 4 115 21 9 23
data:
$ID,173
$MISSION,12
$DIVE,4
$N_DIVES,4
$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,85
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51698
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,368
$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,-17521.145
$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,3280
$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,2013
$C_ROLL_CLIMB,2013
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,1906
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-70.221535
$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
$GPS1,041115,210456,4743.002,-12224.287,44,1.3,50,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.1
$GPS2,041115,210900,4743.032,-12224.277,4,1.1,5,16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,4743.032,-12240.329
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,253.7,20000,-15.7,-10.000,-18.65,2976
$D_GRID,180
$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,-0.73,-195.5,140,1993,386,492,0.0,0.0,0,51,0.00,0.00,-34.00,0.000,16386,0.000,0.000,140,1993,1380,1407,1353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.73,-195.5,140,1993,1408,1356,3.3,-7.9,6,115,12.25,1.88,-42.12,0.000,18948,0.256,0.052,3035,778,2687,2780,2594,0,0,0,0,0,0,25.31,25.91,26.44
$GC,296,-0.73,-195.5,3035,777,2773,2601,29.1,-13.7,53,303,0.00,1.90,0.00,0.000,3078,0.000,0.032,3034,2012,2686,2772,2601,0,0,0,0,0,0,28.83,25.99,28.83
$GC,364,-0.73,-195.5,3034,2012,2772,2602,37.7,-12.4,66,370,0.00,0.00,0.00,0.000,2054,0.000,0.000,3034,2012,2686,2772,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,431,-0.73,-195.5,3034,2012,2771,2601,46.1,-12.2,79,438,0.00,1.95,0.00,0.000,2308,0.000,0.046,3030,3246,2686,2771,2602,0,0,0,0,0,0,28.83,25.91,28.83
$GC,464,-0.73,-195.5,3031,3246,2770,2602,50.2,-12.4,85,471,0.00,1.88,0.00,0.000,3078,0.000,0.029,3031,2012,2686,2770,2602,0,0,0,0,0,0,28.83,26.07,28.83
$GC,534,-0.73,-195.5,3031,2012,2770,2602,58.2,-11.7,98,540,0.00,1.92,0.00,0.000,2308,0.000,0.045,3031,3243,2686,2770,2602,0,0,0,0,0,0,28.83,25.93,28.83
$GC,557,-0.73,-195.5,3031,3243,2770,2602,61.1,-11.4,102,563,0.00,1.88,0.00,0.000,3078,0.000,0.028,3031,2007,2686,2770,2602,0,0,0,0,0,0,28.83,26.09,28.83
$GC,624,-0.73,-195.5,3031,2006,2770,2602,68.6,-10.7,115,631,0.00,1.90,0.00,0.000,2564,0.000,0.039,3031,778,2686,2770,2602,0,0,0,0,0,0,28.83,25.99,28.83
$GC,652,-0.73,-195.5,3031,778,2770,2602,71.8,-11.6,120,659,0.00,1.90,0.00,0.000,3078,0.000,0.032,3031,2016,2686,2770,2602,0,0,0,0,0,0,28.83,26.04,28.83
$GC,720,-0.73,-195.5,3031,2016,2770,2602,79.3,-11.6,133,726,0.00,0.00,0.00,0.000,2054,0.000,0.000,3031,2016,2686,2770,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.73,-195.5,3031,2016,2769,2602,94.0,-11.8,158,854,0.00,1.92,0.00,0.000,2308,0.000,0.047,3031,3249,2685,2770,2601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,925,-0.73,-195.5,3031,3249,2770,2602,103.3,-11.1,173,932,0.00,1.88,0.00,0.000,3078,0.000,0.028,3031,2007,2686,2770,2602,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1055,-0.73,-195.5,3031,2007,2769,2602,118.6,-11.8,198,1061,0.00,0.00,0.00,0.000,2054,0.000,0.000,3031,2007,2685,2770,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1183,-0.73,-195.5,3031,2007,2769,2602,134.2,-12.6,223,1189,0.00,1.92,0.00,0.000,2308,0.000,0.044,3031,3243,2685,2769,2601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1206,-0.73,-195.5,3031,3243,2769,2602,137.0,-11.6,227,1212,0.00,1.85,0.00,0.000,3078,0.000,0.028,3031,2001,2685,2769,2602,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1334,-0.73,-195.5,3031,2001,2769,2601,152.7,-12.7,250,1338,0.00,1.95,0.00,0.000,2308,0.000,0.045,3031,3249,2685,2769,2601,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1352,-0.73,-195.5,2112,3247,2737,2591,154.7,-12.9,251,1359,0.00,1.90,0.00,0.000,3078,0.000,0.028,3031,2007,2685,2768,2602,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,1548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1548,begin apogee
$GC,1551,-0.16,0.0,3031,2007,2768,2602,180.5,-13.8,271,1723,0.57,0.00,165.43,0.806,10246,0.137,0.000,3222,2006,1905,1938,1872,0,0,0,0,0,0,25.34,28.83,23.58
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1724,begin climb
$GC,1725,0.73,195.5,3222,2006,1936,1871,186.1,0.0,288,1890,0.82,0.00,157.52,0.781,10758,0.091,0.000,3510,2006,1125,1093,1158,0,0,0,0,0,0,24.79,28.83,23.46
$GC,2190,0.73,195.5,3510,2006,1092,1154,122.8,17.0,352,2196,0.00,1.95,0.00,0.000,2308,0.000,0.040,3510,3256,1123,1092,1154,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2262,0.73,195.5,3510,3256,1092,1153,109.6,16.9,366,2269,0.00,1.90,0.00,0.000,5126,0.000,0.028,3518,2015,1122,1092,1152,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2391,0.73,195.5,3519,2015,1092,1151,88.7,14.1,391,2397,0.00,0.00,0.00,0.000,4102,0.000,0.000,3519,2015,1121,1092,1151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,0.73,195.5,3518,2015,1092,1151,69.2,15.8,416,2524,0.00,0.00,0.00,0.000,4102,0.000,0.000,3519,2015,1121,1092,1151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,0.73,195.5,3518,2015,1092,1151,58.9,15.5,429,2591,0.00,0.00,0.00,0.000,4102,0.000,0.000,3518,2015,1121,1092,1151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,0.73,195.5,3518,2015,1092,1151,48.9,14.8,442,2659,0.00,1.92,0.00,0.000,4356,0.000,0.038,3519,3250,1121,1092,1151,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2670,0.73,195.5,3518,3250,1092,1151,46.1,15.6,445,2677,0.00,1.90,0.00,0.000,5126,0.000,0.029,3528,2010,1121,1092,1151,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2739,0.73,195.5,3528,2010,1092,1151,34.4,16.9,458,2744,0.00,0.00,0.00,0.000,4102,0.000,0.000,3528,2010,1121,1092,1151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,0.73,195.5,3528,2011,1092,1150,23.0,16.6,471,2812,0.00,1.92,0.00,0.000,4356,0.000,0.040,3527,3258,1121,1092,1151,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2844,0.73,195.5,3528,3258,1092,1150,16.4,18.0,478,2851,0.10,1.92,0.00,0.000,5126,0.207,0.031,3514,1994,1121,1092,1150,0,0,0,0,0,0,25.78,26.09,28.83
$GC,2913,0.73,195.5,3514,1994,1092,1149,5.8,13.9,491,2919,0.00,1.88,0.00,0.000,516,0.000,0.041,3522,777,1120,1092,1149,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,2939,end climb,SURFACE_DEPTH_REACHED
$STATE,2939,begin surface coast
$FINISH,0.9,1.019874
$STATE,2965,end surface coast,CONTROL_FINISHED_OK
$STATE,2966,begin surface
$SM_CCo,2982,127.47,0.633,1,0,440,368.01
$SM_GC,1.24,8.65,1.92,127.47,0.050,0.029,0.633,142,2016,440,-9.76,-1.02,368.01,0,0,0,0,1,0,25.91,26.12,24.00
$IRIDIUM_FIX,4722.92,-12225.08,310808,101038
$TT8_MAMPS,0.026215,0.026215
$HUMID,50.86
$INTERNAL_PRESSURE,8.69266
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.5,25.997
$10V_AH,10.2,9.854
$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,22.400,41.950,322.950,127.475,0.000,0.000,0.000,0.000,0.000,0.000,5.849,1106.723,715.238,558.724,760.127,35.249,0.000,1022.362,0.000,754.843,0.000,0.536,0.000
$DEVICE_MAMPS,256.275,52.020,805.545,633.420,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,0.000,14.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,346444
$DATA_FILE_SIZE,20170,501
$CAP_FILE_SIZE,69742,0
$CFSIZE,260165632,258441216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,041115,220227,4742.765,-12224.818,3,3.7,34,16.3