version: 66.11
glider: 175
mission: 6
dive: 10
start: 7 9 115 1 46 15
data:
$ID,175
$MISSION,6
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,110
$T_MISSION,125
$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,250
$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,-24997.686
$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,2880
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,51
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2630
$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,15
$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
$GPS1,090715,013948,4743.379,-12223.921,11,2.9,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.7
$GPS2,090715,014518,4743.359,-12223.946,12,1.0,12,18.2
$SPEED_LIMITS,0.061,0.269
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.179,-0.201
$KALMAN_X,-364.2,-328.3,-110.6,1856.6,199.0
$KALMAN_Y,313.5,-211.3,-54.9,1744.0,202.6
$MHEAD_RNG_PITCHd_Wd,203.4,1619,-7.7,-6.061,-12.69,6058
$D_GRID,200
$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,-0.56,-244.4,141,2028,1737,1554,0.0,0.0,0,72,0.00,0.00,-55.05,0.000,16386,0.000,0.000,141,2027,2980,3089,2872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.56,-244.4,141,2027,3090,2872,3.2,-7.4,10,104,10.40,2.15,-14.38,0.000,18692,0.224,0.059,2689,3374,3605,3780,3430,0,0,0,0,0,0,25.26,25.84,26.36
$GC,320,-0.56,-244.4,2689,3374,3780,3432,33.7,-10.6,58,327,0.00,2.00,0.00,0.000,3078,0.000,0.022,2689,1987,3606,3781,3432,0,0,0,0,0,0,28.83,26.06,28.83
$GC,388,-0.56,-244.4,2688,1983,3780,3432,41.3,-11.0,71,395,0.00,2.08,0.00,0.000,2564,0.000,0.038,2689,599,3606,3780,3432,0,0,0,0,0,0,28.83,25.88,28.83
$GC,421,-0.56,-244.4,2689,599,3780,3431,45.1,-12.1,77,428,0.00,2.05,0.00,0.000,3078,0.000,0.028,2689,1979,3606,3780,3432,0,0,0,0,0,0,28.83,26.01,28.83
$GC,489,-0.56,-244.4,2689,1979,3780,3431,52.7,-11.1,90,495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2689,1979,3606,3780,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,676,-0.56,-244.4,2689,1979,3780,3431,73.5,-11.2,127,682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2689,1979,3606,3781,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.56,-244.4,2689,1979,3780,3431,95.9,-12.5,164,870,0.00,2.08,0.00,0.000,2564,0.000,0.037,2689,591,3605,3780,3431,0,0,0,0,0,0,28.83,25.95,28.83
$GC,886,-0.56,-244.4,2689,591,3780,3431,98.7,-12.5,168,893,0.00,2.10,0.00,0.000,3078,0.000,0.027,2689,2013,3605,3780,3431,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1079,-0.56,-244.4,2689,2013,3780,3431,119.0,-9.6,205,1085,0.00,2.12,0.00,0.000,2308,0.000,0.043,2689,3403,3605,3780,3431,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1107,-0.56,-244.4,2689,3403,3780,3432,121.6,-9.3,210,1113,0.00,2.03,0.00,0.000,3078,0.000,0.021,2689,1984,3606,3780,3432,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1295,-0.56,-244.4,2688,1981,3780,3431,139.8,-9.5,247,1300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2689,1981,3605,3780,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1482,-0.56,-244.4,2688,1981,3780,3431,158.0,-9.6,284,1488,0.00,2.17,0.00,0.000,2308,0.000,0.042,2689,3400,3605,3780,3431,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1525,-0.56,-244.4,2689,3400,3780,3431,161.9,-8.7,292,1531,0.00,2.00,0.00,0.000,3078,0.000,0.021,2689,1994,3606,3780,3432,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,1607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1607,begin apogee
$GC,1611,-0.17,0.0,2689,1777,3780,3431,169.9,-9.5,308,1801,0.40,0.10,182.75,0.637,10246,0.122,0.089,2818,1877,2629,2717,2541,0,0,0,0,0,0,25.57,24.83,24.06
$STATE,1802,end apogee,CONTROL_FINISHED_OK
$STATE,1802,begin climb
$GC,1803,0.56,244.4,2817,1877,2717,2540,174.9,0.0,343,1998,0.75,2.33,183.62,0.615,10756,0.103,0.044,3055,474,1656,1775,1537,0,0,0,0,0,0,24.91,24.82,23.99
$GC,2020,0.56,244.4,3055,475,1769,1537,159.5,8.0,383,2026,0.00,2.05,0.00,0.000,3078,0.000,0.022,3056,1839,1653,1769,1537,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2208,0.56,244.4,3055,1842,1768,1533,142.5,8.7,420,2214,0.00,0.00,0.00,0.000,2054,0.000,0.000,3056,1842,1650,1768,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2395,0.56,244.4,3055,1842,1768,1532,126.7,9.5,457,2401,0.00,0.00,0.00,0.000,2054,0.000,0.000,3055,1842,1650,1768,1532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2582,0.56,244.4,3055,1842,1768,1531,108.6,10.3,494,2589,0.00,2.12,0.00,0.000,2564,0.000,0.045,3056,462,1650,1768,1532,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2610,0.56,244.4,3055,461,1767,1532,105.7,10.3,499,2617,0.00,2.03,0.00,0.000,1030,0.000,0.023,3056,1859,1649,1767,1531,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2798,0.56,244.4,3056,1859,1767,1532,86.5,9.3,536,2804,0.00,2.12,0.00,0.000,2308,0.000,0.039,3056,3250,1648,1766,1531,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2816,0.56,244.4,3056,3250,1767,1532,84.7,10.0,539,2823,0.00,2.03,0.00,0.000,1030,0.000,0.025,3056,1859,1649,1767,1531,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3005,0.56,244.4,2112,1853,1722,1526,66.2,9.4,576,3011,0.00,2.17,0.00,0.000,2564,0.000,0.046,3056,459,1649,1767,1531,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3063,0.56,244.4,3055,458,1766,1531,61.0,9.0,587,3069,0.00,2.00,0.00,0.000,1030,0.000,0.021,3056,1854,1649,1766,1532,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3251,0.56,244.4,3055,1854,1766,1531,44.2,9.2,624,3256,0.00,0.00,0.00,0.000,2054,0.000,0.000,3056,1854,1649,1766,1532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3318,0.56,244.4,3056,1854,1766,1532,39.0,7.0,637,3324,0.00,2.17,0.00,0.000,2564,0.000,0.043,3056,453,1648,1766,1531,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3342,0.56,244.4,2112,453,1721,1526,37.4,6.9,641,3348,0.00,2.00,0.00,0.000,1030,0.000,0.022,3056,1849,1648,1766,1531,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3410,0.60,277.6,3056,1850,1766,1531,33.2,5.5,654,3444,0.00,2.15,24.92,0.547,10500,0.000,0.037,3056,3238,1524,1653,1395,0,0,0,0,0,0,28.83,25.91,25.01
$GC,3460,0.60,277.6,2144,3236,1614,1391,30.1,6.5,663,3467,0.00,2.03,0.00,0.000,3078,0.000,0.024,3056,1847,1524,1653,1395,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3528,0.60,277.6,3056,1847,1654,1393,26.1,6.1,676,3535,0.00,2.15,0.00,0.000,2564,0.000,0.045,3056,460,1523,1653,1393,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3547,0.61,287.5,3055,460,1652,1393,25.0,5.9,679,3565,0.05,2.03,9.00,0.484,11270,0.178,0.022,3075,1853,1483,1614,1353,0,0,0,0,0,0,25.94,26.04,24.92
$GC,3627,0.61,287.5,3075,1854,1614,1351,19.1,8.3,694,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1853,1482,1614,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,0.61,287.5,3075,1854,1614,1350,13.8,8.2,707,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1854,1482,1614,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,0.61,287.5,3075,1853,1614,1350,8.4,8.3,720,3769,0.00,2.15,0.00,0.000,516,0.000,0.044,3076,463,1482,1614,1350,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3801,0.61,287.5,3076,462,1612,1350,5.0,8.9,727,3807,0.00,2.00,0.00,0.000,1030,0.000,0.022,3076,1850,1480,1611,1350,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,3827,end climb,SURFACE_DEPTH_REACHED
$STATE,3827,begin surface coast
$FINISH,0.4,1.008947
$STATE,3869,end surface coast,CONTROL_FINISHED_OK
$STATE,3869,begin surface
$SM_CCo,3944,0.00,0.000,0,0,1479,289.13
$SM_GC,1.36,8.12,0.17,0.00,0.057,0.067,0.000,137,2016,1479,-8.51,-1.72,289.13,0,0,0,0,0,0,25.94,26.25,28.83
$IRIDIUM_FIX,4722.92,-12222.38,040508,131311
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.53
$INTERNAL_PRESSURE,9.06325
$TCM_TEMP,20.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,115.3,69.1
$24V_AH,24.0,23.491
$10V_AH,10.3,10.170
$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,19.725,54.750,400.300,0.000,0.000,31.022,36.383,180.324,1.500,0.000,15.333,1557.196,847.203,484.968,1342.324,54.395,33.202,1115.014,0.000,1063.125,0.000,10.640,0.000
$DEVICE_MAMPS,224.145,88.740,637.245,0.000,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.493,345.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,33533,740
$CAP_FILE_SIZE,77788,0
$CFSIZE,260165632,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090715,025304,4742.609,-12224.895,9,1.2,31,18.2