version: 66.11
glider: 175
mission: 6
dive: 24
start: 7 9 115 12 39 14
data:
$ID,175
$MISSION,6
$DIVE,24
$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,-25015.365
$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,47
$R_STBD_OVSHOOT,92
$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
$GPS1,090715,123448,4744.099,-12224.507,9,1.9,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.2
$GPS2,090715,123817,4744.099,-12224.490,14,1.6,14,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.070,-0.224
$KALMAN_X,-4478.2,202.1,111.1,4540.7,-18.8
$KALMAN_Y,-3935.8,-183.7,435.7,6847.2,655.8
$MHEAD_RNG_PITCHd_Wd,179.2,427,-20.4,-10.000,-23.03,1790
$D_GRID,174
$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,-117.3,137,2041,1857,1751,0.0,0.0,0,61,0.00,0.00,-44.62,0.000,16386,0.000,0.000,137,2042,2880,2971,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.96,-117.3,137,2042,2972,2789,3.1,-7.0,8,88,9.88,2.03,-7.53,0.000,18692,0.223,0.054,2561,3364,3177,3309,3046,0,0,0,0,0,0,25.20,25.79,26.27
$GC,305,-0.96,-117.3,2561,3363,3309,3051,49.5,-17.3,55,311,0.00,2.00,0.00,0.000,3078,0.000,0.021,2561,1979,3180,3309,3051,0,0,0,0,0,0,28.83,26.03,28.83
$GC,373,-0.96,-117.3,2561,1975,3309,3050,62.0,-19.1,68,379,0.00,2.10,0.00,0.000,2308,0.000,0.041,2561,3357,3180,3310,3050,0,0,0,0,0,0,28.83,25.89,28.83
$GC,416,-0.96,-117.3,2561,3356,3309,3051,70.1,-18.4,76,422,0.00,1.95,0.00,0.000,3078,0.000,0.021,2561,1996,3180,3309,3051,0,0,0,0,0,0,28.83,26.08,28.83
$GC,606,-0.96,-117.3,2561,1993,3309,3050,106.0,-17.5,113,612,0.00,2.10,0.00,0.000,2564,0.000,0.037,2561,594,3179,3309,3050,0,0,0,0,0,0,28.83,25.97,28.83
$GC,698,-0.96,-117.3,2561,594,3308,3050,122.6,-18.5,131,705,0.00,2.03,0.00,0.000,3078,0.000,0.027,2561,1963,3179,3308,3050,0,0,0,0,0,0,28.83,26.08,28.83
$GC,888,-0.96,-117.3,2561,1963,3309,3050,153.7,-17.0,168,894,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,1963,3179,3308,3050,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1008,begin apogee
$GC,1012,-0.20,0.0,2561,1778,3308,3050,174.5,-17.3,192,1110,0.85,0.10,90.40,0.638,10246,0.155,0.090,2808,1884,2710,2803,2617,0,0,0,0,0,0,25.18,25.11,24.34
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1113,0.96,117.3,2808,1884,2803,2616,178.5,0.0,210,1217,1.15,2.17,92.25,0.620,11012,0.102,0.037,3180,3225,2242,2314,2170,0,0,0,0,0,0,25.15,24.96,24.13
$GC,1253,0.96,117.3,2304,3223,2255,2159,162.7,17.5,236,1260,0.00,2.08,0.00,0.000,3078,0.000,0.026,3180,1852,2241,2314,2168,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1442,0.96,117.3,3180,1851,2311,2165,132.7,16.2,273,1448,0.00,2.17,0.00,0.000,2564,0.000,0.044,3180,458,2237,2310,2165,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1479,0.96,117.3,3180,457,2309,2165,126.3,16.4,280,1486,0.00,2.00,0.00,0.000,3078,0.000,0.021,3180,1833,2237,2309,2165,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1668,0.96,117.3,3180,1834,2309,2164,96.4,15.9,317,1674,0.00,2.12,0.00,0.000,2564,0.000,0.042,3180,453,2236,2309,2164,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1700,0.96,117.3,3180,453,2309,2164,91.2,15.7,323,1707,0.00,2.03,0.00,0.000,3078,0.000,0.022,3180,1851,2236,2308,2164,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1888,0.96,117.3,3180,1851,2308,2163,63.5,13.9,360,1894,0.00,0.00,0.00,0.000,2054,0.000,0.000,3180,1851,2235,2308,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,0.96,117.3,3180,1851,2309,2162,34.5,14.4,397,2081,0.00,0.00,0.00,0.000,2054,0.000,0.000,3180,1851,2235,2308,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,0.96,117.3,3180,1851,2309,2162,26.1,13.9,410,2148,0.00,0.00,0.00,0.000,2054,0.000,0.000,3180,1851,2235,2309,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2210,0.96,117.3,3180,1851,2309,2162,17.1,13.2,423,2216,0.00,0.00,0.00,0.000,2054,0.000,0.000,3180,1851,2235,2309,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,0.96,117.3,3180,1851,2309,2162,8.8,12.2,436,2283,0.00,0.00,0.00,0.000,2054,0.000,0.000,3180,1851,2235,2308,2162,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2323,end climb,SURFACE_DEPTH_REACHED
$STATE,2323,begin surface coast
$FINISH,0.5,1.022108
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2344,begin surface
$SM_CCo,2359,60.17,0.392,1,0,1814,225.08
$SM_GC,1.28,8.48,0.17,60.17,0.060,0.063,0.392,138,2039,1814,-8.51,-1.70,225.08,0,0,0,0,1,0,25.91,26.35,24.88
$IRIDIUM_FIX,4729.30,-12224.09,050508,010126
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.09
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,6.4
$24V_AH,24.1,24.226
$10V_AH,10.5,10.504
$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,20.350,25.200,182.650,60.175,0.000,29.070,37.011,62.803,0.500,0.000,19.007,990.451,495.070,323.982,813.203,30.738,33.201,703.005,0.000,651.712,0.000,5.446,0.000
$DEVICE_MAMPS,223.380,89.505,638.010,391.680,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.593,208.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323536
$DATA_FILE_SIZE,20187,449
$CAP_FILE_SIZE,47096,0
$CFSIZE,260165632,257130496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,132023,4743.843,-12224.636,9,1.7,9,18.2