version: 66.11
glider: 175
mission: 6
dive: 6
start: 7 8 115 22 16 45
data:
$ID,175
$MISSION,6
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,65
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51513
$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,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$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,-24992.666
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3935
$C_PITCH,2875
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2710
$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,-45.364391
$PRESSURE_SLOPE,0.0001165895
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.40000001
$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,0.0043275012
$SEABIRD_T_H,0.0006214368
$SEABIRD_T_I,2.2085376e-05
$SEABIRD_T_J,2.2233748e-06
$SEABIRD_C_G,-10.084761
$SEABIRD_C_H,1.1595923
$SEABIRD_C_I,-0.0010180317
$SEABIRD_C_J,0.00017345669
$GPS1,080715,220804,4743.843,-12224.847,9,0.9,37,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.7
$GPS2,080715,221548,4743.866,-12224.905,13,1.6,13,18.2
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.249,0.076
$KALMAN_X,-318.0,-87.0,-27.9,297.4,-106.8
$KALMAN_Y,42.7,-62.2,-25.1,2777.0,0.1
$MHEAD_RNG_PITCHd_Wd,54.9,1856,-18.2,-10.000,-20.99,2236
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.91,-146.6,139,1979,1868,1738,0.0,0.0,0,61,0.00,0.00,-44.10,0.000,16386,0.000,0.000,139,1979,2856,2945,2767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.91,-146.6,139,1979,2945,2767,3.2,-7.6,8,93,10.15,2.08,-11.12,0.000,18948,0.231,0.054,2573,613,3295,3433,3157,0,0,0,0,0,0,25.27,25.87,26.36
$GC,125,-0.91,-146.6,2573,613,3433,3158,12.7,-16.7,19,131,0.00,2.08,0.00,0.000,3078,0.000,0.031,2573,1993,3295,3433,3158,0,0,0,0,0,0,28.83,25.91,28.83
$GC,193,-0.91,-146.6,2573,1994,3433,3160,25.4,-19.8,32,199,0.00,2.15,0.00,0.000,2308,0.000,0.043,2573,3409,3296,3433,3160,0,0,0,0,0,0,28.83,25.84,28.83
$GC,221,-0.91,-146.6,2573,3409,3433,3161,31.6,-22.6,37,227,0.00,2.05,0.00,0.000,3078,0.000,0.021,2573,2000,3297,3433,3161,0,0,0,0,0,0,28.83,26.03,28.83
$GC,289,-0.91,-146.6,2572,1997,3433,3161,46.3,-21.9,50,294,0.00,0.00,0.00,0.000,2054,0.000,0.000,2573,1997,3297,3433,3162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,357,-0.91,-146.6,2573,1997,3433,3161,60.4,-21.3,63,364,0.00,2.17,0.00,0.000,2308,0.000,0.043,2573,3407,3297,3433,3161,0,0,0,0,0,0,28.83,25.86,28.83
$GC,375,-0.91,-146.6,2573,3407,3433,3161,64.3,-19.8,66,381,0.00,2.05,0.00,0.000,3078,0.000,0.021,2573,1993,3297,3433,3161,0,0,0,0,0,0,28.83,26.10,28.83
$GC,563,-0.91,-146.6,2573,1989,3433,3161,98.3,-16.7,103,568,0.00,0.00,0.00,0.000,2054,0.000,0.000,2573,1989,3297,3433,3161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.91,-146.6,2573,1989,3433,3161,133.1,-18.3,140,759,0.00,2.05,0.00,0.000,2564,0.000,0.037,2573,603,3297,3433,3161,0,0,0,0,0,0,28.83,25.98,28.83
$GC,776,-0.91,-146.6,2572,603,3432,3161,137.3,-18.3,144,782,0.00,2.08,0.00,0.000,3078,0.000,0.028,2573,2007,3296,3432,3161,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,848,begin apogee
$GC,851,-0.20,0.0,2573,1789,3432,3161,150.3,-16.8,158,970,0.77,0.08,112.03,0.627,10246,0.151,0.108,2802,1866,2710,2805,2616,0,0,0,0,0,0,25.28,24.97,24.25
$STATE,972,end apogee,CONTROL_FINISHED_OK
$STATE,972,begin climb
$GC,973,0.91,146.6,2802,1866,2804,2616,155.6,0.0,180,1098,1.12,2.30,113.57,0.607,10756,0.107,0.044,3161,472,2124,2207,2042,0,0,0,0,0,0,25.08,24.96,24.10
$GC,1135,0.91,146.6,3161,472,2200,2043,139.0,15.4,210,1141,0.00,2.08,0.00,0.000,3078,0.000,0.022,3161,1852,2120,2199,2042,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1323,0.91,146.6,3160,1852,2199,2037,110.2,15.2,247,1329,0.00,2.12,0.00,0.000,2308,0.000,0.037,3161,3250,2118,2199,2037,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1361,0.91,146.6,3161,3249,2199,2037,103.8,17.1,254,1367,0.00,2.08,0.00,0.000,3078,0.000,0.026,3160,1855,2118,2199,2037,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1548,0.91,146.6,2272,1852,2142,2027,73.2,15.8,291,1554,0.00,0.00,0.00,0.000,2054,0.000,0.000,3161,1854,2117,2199,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1735,0.91,146.6,2272,1852,2142,2026,48.2,14.4,328,1741,0.00,2.15,0.00,0.000,2564,0.000,0.044,3161,455,2117,2199,2035,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1792,0.91,146.6,3161,453,2198,2035,39.7,13.4,339,1799,0.00,2.03,0.00,0.000,3078,0.000,0.022,3161,1856,2116,2198,2035,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1861,0.91,146.6,3161,1857,2198,2035,30.4,12.7,352,1866,0.00,0.00,0.00,0.000,2054,0.000,0.000,3161,1857,2116,2198,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1928,0.91,146.6,3161,1857,2198,2035,22.3,11.8,365,1933,0.00,0.00,0.00,0.000,2054,0.000,0.000,3161,1857,2116,2198,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1995,0.91,146.6,3161,1857,2198,2035,12.9,15.1,378,2000,0.00,0.00,0.00,0.000,2054,0.000,0.000,3161,1857,2116,2197,2035,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2056,end climb,SURFACE_DEPTH_REACHED
$STATE,2056,begin surface coast
$FINISH,0.5,1.011410
$STATE,2072,end surface coast,CONTROL_FINISHED_OK
$STATE,2072,begin surface
$SM_CCo,2087,45.05,0.067,0,0,1814,225.08
$SM_GC,2.19,8.45,0.17,45.05,0.060,0.064,0.067,137,2027,1814,-8.51,-1.55,225.08,0,0,0,0,0,0,25.91,26.35,25.85
$IRIDIUM_FIX,4726.11,-12303.18,040508,111148
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.48
$INTERNAL_PRESSURE,9.10232
$TCM_TEMP,20.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,120.0,73.8
$24V_AH,24.1,23.198
$10V_AH,10.3,10.044
$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,20.500,29.900,225.600,45.050,0.000,55.723,118.167,150.078,2.000,0.000,15.844,849.034,462.109,343.856,925.529,34.732,33.224,700.643,0.000,572.801,0.000,12.862,0.000
$DEVICE_MAMPS,231.030,107.865,627.300,67.320,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.893,181.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323080
$DATA_FILE_SIZE,16867,393
$CAP_FILE_SIZE,48305,0
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080715,225300,4744.021,-12224.470,7,1.5,7,18.2