version: 66.11
glider: 175
mission: 6
dive: 25
start: 7 9 115 13 24 44
data:
$ID,175
$MISSION,6
$DIVE,25
$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,-25016.621
$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,49
$R_STBD_OVSHOOT,93
$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
$GPS1,090715,132023,4743.843,-12224.636,9,1.7,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.5
$GPS2,090715,132347,4743.837,-12224.636,9,1.8,14,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.160,-0.067
$KALMAN_X,-4359.6,140.1,126.0,4290.7,55.3
$KALMAN_Y,-4247.3,165.5,677.5,6088.8,405.6
$MHEAD_RNG_PITCHd_Wd,229.1,364,-27.8,-10.000,-30.00,966
$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,-1.19,-63.1,139,2044,1858,1750,0.0,0.0,0,61,0.00,0.00,-44.65,0.000,16386,0.000,0.000,138,2042,2881,2973,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.22,-89.0,138,2043,2973,2789,3.0,-7.3,8,88,9.57,2.25,-4.75,0.000,18948,0.226,0.050,2477,597,3067,3188,2947,0,0,0,0,0,0,25.20,25.82,26.25
$GC,390,-1.22,-89.0,2477,596,3188,2947,79.0,-23.2,72,396,0.00,2.00,0.00,0.000,3078,0.000,0.028,2477,1958,3068,3189,2947,0,0,0,0,0,0,28.83,26.01,28.83
$GC,580,-1.22,-89.0,2477,1959,3189,2949,117.4,-19.0,109,586,0.00,2.05,0.00,0.000,2564,0.000,0.034,2477,578,3069,3189,2949,0,0,0,0,0,0,28.83,25.98,28.83
$GC,793,-1.22,-89.0,2477,577,3188,2948,162.0,-20.8,150,799,0.00,2.12,0.00,0.000,3078,0.000,0.028,2477,2010,3068,3189,2948,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,855,begin apogee
$GC,858,-0.20,0.0,2477,1775,3188,2949,174.6,-20.1,162,936,1.17,0.10,70.40,0.640,10246,0.171,0.092,2807,1876,2710,2805,2615,0,0,0,0,0,0,25.08,25.24,24.45
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,938,1.22,89.0,2807,1876,2805,2614,179.1,0.0,176,1014,1.40,0.00,71.70,0.618,10758,0.100,0.000,3264,1877,2355,2430,2280,0,0,0,0,0,0,25.27,28.83,24.19
$GC,1196,1.22,89.0,3264,1876,2424,2275,137.2,18.9,226,1202,0.00,2.22,0.00,0.000,2564,0.000,0.043,3265,459,2349,2424,2274,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1244,1.22,89.0,3265,459,2422,2274,127.8,20.2,235,1251,0.00,2.05,0.00,0.000,3078,0.000,0.022,3265,1848,2347,2421,2274,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1432,1.22,89.0,3264,1848,2421,2273,88.8,19.1,272,1438,0.00,2.15,0.00,0.000,2564,0.000,0.042,3265,458,2347,2422,2273,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1464,1.22,89.0,2400,458,2362,2263,82.8,17.9,278,1471,0.00,2.05,0.00,0.000,3078,0.000,0.021,3265,1859,2346,2420,2273,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1652,1.22,89.0,3265,1860,2421,2273,51.7,17.7,315,1659,0.00,2.08,0.00,0.000,2308,0.000,0.034,3264,3248,2347,2421,2273,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1680,1.22,89.0,3265,3248,2421,2273,46.3,19.4,320,1687,0.00,2.08,0.00,0.000,3078,0.000,0.028,3265,1847,2346,2421,2272,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1748,1.22,89.0,3265,1846,2421,2272,33.7,17.6,333,1754,0.00,2.12,0.00,0.000,2564,0.000,0.043,3265,459,2346,2420,2272,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1810,1.22,89.0,2400,459,2362,2263,22.5,17.2,345,1817,0.00,2.03,0.00,0.000,3078,0.000,0.024,3265,1857,2346,2420,2272,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1879,1.22,89.0,3265,1858,2420,2272,11.6,14.6,358,1885,0.00,2.08,0.00,0.000,2308,0.000,0.035,3265,3247,2346,2420,2272,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,1936,end climb,SURFACE_DEPTH_REACHED
$STATE,1936,begin surface coast
$FINISH,0.6,1.022121
$STATE,1951,end surface coast,CONTROL_FINISHED_OK
$STATE,1952,begin surface
$SM_CCo,1968,77.90,0.421,1,0,1813,225.08
$SM_GC,1.47,8.80,1.88,77.90,0.066,0.024,0.421,141,1988,1813,-8.50,1.36,225.08,0,0,0,0,1,0,25.93,26.12,24.72
$IRIDIUM_FIX,4726.11,-12219.67,050508,020214
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.89
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,61.9
$24V_AH,24.2,24.268
$10V_AH,10.5,10.524
$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,20.950,29.475,142.100,77.900,0.000,29.230,36.642,63.902,2.250,0.000,17.196,843.569,406.924,296.189,701.185,27.481,33.202,610.957,0.000,543.007,0.000,16.525,0.000
$DEVICE_MAMPS,225.675,91.800,639.540,420.750,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.207,173.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323476
$DATA_FILE_SIZE,16851,372
$CAP_FILE_SIZE,41422,0
$CFSIZE,260165632,257110016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,140004,4743.634,-12224.836,10,1.4,32,18.2