version: 66.11
glider: 175
mission: 6
dive: 12
start: 7 9 115 3 57 26
data:
$ID,175
$MISSION,6
$DIVE,12
$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,60
$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,70
$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,-25000.291
$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,3700
$C_ROLL_CLIMB,3700
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,21
$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
$GPS1,090715,034736,4742.241,-12225.268,8,1.4,8,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.0
$GPS2,090715,035624,4742.170,-12225.320,11,1.5,11,18.2
$SPEED_LIMITS,0.083,0.173
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.088,0.148
$KALMAN_X,-2238.8,110.4,366.5,1119.4,-437.5
$KALMAN_Y,-2349.2,339.0,445.6,1176.7,-715.0
$MHEAD_RNG_PITCHd_Wd,12.6,1177,-23.1,-8.333,-25.77,1254
$D_GRID,150
$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,-68.4,134,3650,1781,1668,0.0,0.0,0,67,0.00,0.10,-49.15,0.000,16390,0.000,0.440,134,3705,2903,2998,2809,0,0,0,0,0,0,28.83,24.63,26.33
$GC,69,-0.85,-68.4,134,3705,2998,2809,3.2,-7.7,9,82,10.15,0.00,0.00,0.000,2054,0.227,0.000,2596,3707,2906,3003,2810,0,0,0,0,0,0,25.18,28.83,28.83
$GC,143,-0.85,-68.4,2596,3708,3017,2808,15.8,-15.6,23,149,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2912,3017,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,210,-0.85,-68.4,2596,3708,3017,2808,25.9,-13.8,36,216,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2913,3018,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,279,-0.85,-68.4,2596,3708,3017,2808,34.3,-12.8,49,285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2912,3017,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-0.85,-68.4,2596,3708,3017,2808,44.5,-15.8,62,352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2913,3018,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,413,-0.85,-68.4,2596,3708,3017,2808,54.5,-13.9,75,419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2912,3017,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,600,-0.85,-68.4,2596,3708,3017,2808,77.4,-11.5,112,606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2912,3017,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,787,-0.85,-68.4,2596,3708,3017,2808,96.2,-9.5,149,793,0.00,0.00,0.00,0.000,2054,0.000,0.000,2597,3708,2912,3017,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.85,-68.4,2596,3709,3018,2808,116.6,-12.2,186,985,0.00,0.00,0.00,0.000,2054,0.000,0.000,2596,3708,2913,3018,2808,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1046,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1046,begin apogee
$GC,1049,-0.17,0.0,2596,3708,3017,2808,124.8,-12.6,199,1110,0.77,0.00,56.95,0.612,10246,0.167,0.000,2817,3708,2630,2735,2525,0,0,0,0,0,0,25.06,28.83,24.58
$STATE,1111,end apogee,CONTROL_FINISHED_OK
$STATE,1111,begin climb
$GC,1112,0.85,68.4,2817,3708,2735,2525,127.7,0.0,210,1173,1.00,0.00,55.35,0.590,10246,0.101,0.000,3146,3708,2357,2448,2267,0,0,0,0,0,0,25.39,28.83,24.29
$GC,1354,0.85,68.4,3145,3708,2443,2263,97.4,15.0,257,1360,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2352,2442,2263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,0.85,68.4,3146,3708,2443,2261,67.8,14.8,294,1547,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2352,2443,2261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,0.85,68.4,3146,3708,2442,2260,43.1,13.2,331,1735,0.00,0.00,0.00,0.000,2054,0.000,0.000,3145,3708,2351,2442,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1797,0.85,68.4,3146,3708,2443,2260,35.1,11.2,344,1803,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2351,2442,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1864,0.85,68.4,3145,3708,2442,2260,27.8,10.5,357,1870,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2351,2442,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,0.85,68.4,3146,3708,2443,2260,21.0,9.6,370,1937,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2351,2443,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1999,0.85,68.4,3146,3708,2443,2259,14.6,9.3,383,2004,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2351,2442,2260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,0.85,68.4,3145,3708,2443,2259,7.1,11.7,396,2073,0.00,0.00,0.00,0.000,2054,0.000,0.000,3146,3708,2350,2442,2259,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2103,end climb,SURFACE_DEPTH_REACHED
$STATE,2103,begin surface coast
$FINISH,0.4,1.021128
$STATE,2129,end surface coast,CONTROL_FINISHED_OK
$STATE,2129,begin surface
$SM_CCo,2143,83.88,0.380,1,0,1733,225.08
$SM_GC,1.71,8.62,0.00,83.88,0.072,0.000,0.380,140,3708,1733,-8.51,0.20,225.08,0,0,0,0,1,0,25.87,28.83,24.70
$IRIDIUM_FIX,4722.92,-12229.50,040508,171707
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.76
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,105.2,34.1
$24V_AH,24.3,23.596
$10V_AH,10.3,10.224
$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,20.550,5.400,112.300,83.875,0.000,53.536,81.407,234.984,1.500,0.000,13.994,927.105,523.741,290.103,1005.884,36.724,33.216,629.758,0.000,593.848,0.000,10.539,0.000
$DEVICE_MAMPS,227.205,439.875,612.000,380.205,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.263,203.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323528
$DATA_FILE_SIZE,16831,408
$CAP_FILE_SIZE,46705,0
$CFSIZE,260165632,257486848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,043554,4741.907,-12225.563,9,3.1,39,18.2