version: 66.11
glider: 175
mission: 6
dive: 17
start: 7 9 115 7 52 32
data:
$ID,175
$MISSION,6
$DIVE,17
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25006.576
$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,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,51
$R_STBD_OVSHOOT,48
$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,90
$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
$GPS1,090715,074817,4742.021,-12225.335,10,1.3,21,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.2
$GPS2,090715,075135,4742.033,-12225.330,11,1.3,17,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.136,0.192
$KALMAN_X,-4101.1,-26.1,-225.8,3678.2,-152.9
$KALMAN_Y,-4846.0,-266.2,-484.9,4923.9,-179.6
$MHEAD_RNG_PITCHd_Wd,17.1,1401,-20.4,-10.000,-23.03,1790
$D_GRID,86
$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,-0.96,-117.3,140,2007,1861,1747,0.0,0.0,0,67,0.00,0.00,-49.60,0.000,16386,0.000,0.000,140,2007,3034,3119,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.96,-117.3,140,2008,3119,2950,3.4,-8.0,9,87,9.82,0.00,-3.33,0.000,18950,0.222,0.000,2561,2006,3179,3287,3072,0,0,0,0,0,0,25.20,28.83,26.22
$GC,149,-0.96,-117.3,2561,2006,3291,3073,21.4,-21.9,24,155,0.00,2.12,0.00,0.000,2564,0.000,0.037,2562,596,3181,3290,3073,0,0,0,0,0,0,28.83,25.83,28.83
$GC,192,-0.96,-117.3,2561,595,3290,3073,30.7,-22.3,32,198,0.00,2.08,0.00,0.000,3078,0.000,0.027,2562,1998,3181,3290,3073,0,0,0,0,0,0,28.83,25.94,28.83
$GC,260,-0.96,-117.3,2561,1999,3290,3073,44.7,-20.8,45,265,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,1998,3181,3290,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,327,-0.96,-117.3,2562,1999,3290,3073,57.9,-19.2,58,332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2562,1998,3181,3290,3073,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,481,-0.20,0.0,2562,1787,3290,3073,86.2,-17.7,88,579,0.85,0.08,90.18,0.581,10246,0.164,0.107,2804,1871,2709,2791,2627,0,0,0,0,0,0,25.27,25.08,24.40
$STATE,580,end apogee,CONTROL_FINISHED_OK
$STATE,580,begin climb
$GC,582,0.96,117.3,2804,1871,2790,2627,92.3,0.0,106,679,1.17,0.00,90.72,0.562,10758,0.109,0.000,3178,1871,2243,2314,2172,0,0,0,0,0,0,25.14,28.83,24.22
$GC,861,0.96,117.3,3178,1871,2309,2166,60.3,14.1,160,866,0.00,0.00,0.00,0.000,2054,0.000,0.000,3178,1871,2237,2309,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1047,0.96,117.3,2304,1869,2252,2154,36.2,14.6,197,1054,0.00,2.20,0.00,0.000,2564,0.000,0.044,3179,458,2236,2309,2164,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1075,0.96,117.3,3179,458,2309,2164,32.0,14.8,202,1082,0.00,2.03,0.00,0.000,3078,0.000,0.022,3179,1852,2236,2309,2164,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1145,0.96,117.3,3179,1852,2309,2164,22.7,12.9,215,1150,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1852,2236,2309,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1212,0.96,117.3,3179,1852,2309,2164,13.2,13.2,228,1218,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1852,2236,2309,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1279,0.96,117.3,3179,1852,2309,2163,3.2,15.1,241,1285,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1852,2236,2309,2163,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1289,end climb,SURFACE_DEPTH_REACHED
$STATE,1289,begin surface coast
$FINISH,0.4,0.999514
$STATE,1306,end surface coast,CONTROL_FINISHED_OK
$STATE,1306,begin surface
$SM_CCo,1320,58.70,0.066,0,0,1814,225.08
$SM_GC,1.71,8.50,0.17,58.70,0.062,0.063,0.066,141,2029,1814,-8.50,-1.70,225.08,0,0,0,0,0,0,25.93,26.22,25.79
$IRIDIUM_FIX,4722.92,-12225.08,040508,202034
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.85
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,24.2,23.929
$10V_AH,10.5,10.343
$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,20.350,8.875,180.900,58.700,0.000,29.497,36.550,57.802,0.000,0.000,19.970,534.017,241.392,290.931,511.240,22.625,33.226,532.041,0.000,364.868,0.000,1.006,0.000
$DEVICE_MAMPS,221.850,107.100,580.635,65.790,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.282,131.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323484
$DATA_FILE_SIZE,10182,246
$CAP_FILE_SIZE,30629,0
$CFSIZE,260165632,257355776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090715,081618,4742.265,-12225.084,11,1.8,11,18.2