version: 66.11
glider: 175
mission: 6
dive: 7
start: 7 8 115 22 58 46
data:
$ID,175
$MISSION,6
$DIVE,7
$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,50
$T_MISSION,65
$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,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,-24993.92
$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,2875
$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,50
$R_STBD_OVSHOOT,77
$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,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
$GPS1,080715,225300,4744.021,-12224.470,7,1.5,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.5
$GPS2,080715,225748,4744.015,-12224.516,14,1.1,14,18.2
$SPEED_LIMITS,0.100,0.326
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.325,0.032
$KALMAN_X,-574.3,-99.0,-16.8,1040.6,-198.7
$KALMAN_Y,117.0,-83.6,-31.2,3005.8,115.4
$MHEAD_RNG_PITCHd_Wd,66.2,1311,-13.9,-10.000,-17.04,3715
$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,-0.76,-244.4,137,2035,1871,1739,0.0,0.0,0,61,0.00,0.00,-44.33,0.000,16386,0.000,0.000,137,2033,2861,2950,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.76,-244.4,137,2033,2950,2773,3.1,-7.6,8,99,10.38,2.25,-19.35,0.000,18948,0.232,0.053,2622,596,3684,3872,3496,0,0,0,0,0,0,25.27,25.86,26.38
$GC,171,-0.76,-244.4,2622,595,3872,3496,20.1,-16.9,28,177,0.00,2.03,0.00,0.000,3078,0.000,0.029,2622,1965,3684,3872,3496,0,0,0,0,0,0,28.83,25.94,28.83
$GC,239,-0.76,-244.4,2622,1966,3872,3497,32.1,-18.7,41,245,0.00,2.20,0.00,0.000,2308,0.000,0.043,2619,3411,3684,3872,3497,0,0,0,0,0,0,28.83,25.84,28.83
$GC,277,-0.76,-244.4,2619,3411,3872,3497,38.9,-17.4,48,283,0.00,2.08,0.00,0.000,3078,0.000,0.021,2619,1983,3684,3872,3496,0,0,0,0,0,0,28.83,26.07,28.83
$GC,345,-0.76,-244.4,2619,1979,3872,3496,50.4,-17.2,61,350,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1980,3684,3872,3496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,532,-0.76,-244.4,2619,1979,3872,3497,83.4,-18.7,98,538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,1979,3684,3872,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,723,-0.76,-244.4,2619,1979,3872,3497,113.6,-15.9,135,730,0.00,2.17,0.00,0.000,2308,0.000,0.044,2619,3403,3684,3872,3496,0,0,0,0,0,0,28.83,25.89,28.83
$GC,753,-0.76,-244.4,2619,3403,3872,3497,117.9,-14.0,140,759,0.00,2.03,0.00,0.000,3078,0.000,0.021,2619,2000,3684,3872,3496,0,0,0,0,0,0,28.83,26.17,28.83
$GC,940,-0.76,-244.4,2619,1996,3872,3496,147.6,-15.6,177,947,0.00,2.08,0.00,0.000,2564,0.000,0.037,2619,599,3684,3872,3497,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,963,-0.17,0.0,2618,1862,3872,3496,150.7,-16.7,180,1151,0.62,0.00,180.52,0.625,10246,0.138,0.000,2811,1863,2710,2797,2623,0,0,0,0,0,0,25.36,28.83,24.12
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1154,0.76,244.4,2811,1863,2796,2623,159.7,0.0,215,1349,0.95,2.25,184.45,0.604,10756,0.108,0.042,3112,469,1735,1846,1624,0,0,0,0,0,0,24.94,24.88,24.06
$GC,1392,0.76,244.4,3112,469,1838,1624,138.4,12.1,259,1398,0.00,2.08,0.00,0.000,3078,0.000,0.024,3112,1855,1731,1838,1624,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1580,0.76,244.4,3112,1856,1838,1619,114.8,12.6,296,1586,0.00,0.00,0.00,0.000,2054,0.000,0.000,3112,1856,1728,1838,1619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1767,0.76,244.4,3112,1856,1838,1618,91.9,12.0,333,1773,0.00,0.00,0.00,0.000,2054,0.000,0.000,3112,1856,1728,1838,1618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,0.76,244.4,3112,1856,1838,1618,70.8,11.3,370,1961,0.00,2.15,0.00,0.000,2308,0.000,0.040,3112,3262,1728,1838,1618,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1982,0.76,244.4,3113,3262,1838,1618,67.2,12.9,375,1989,0.00,2.05,0.00,0.000,3078,0.000,0.026,3112,1857,1728,1838,1618,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2170,0.76,244.4,3112,1856,1838,1617,45.9,11.0,412,2177,0.00,2.17,0.00,0.000,2564,0.000,0.044,3112,452,1727,1838,1617,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2238,0.76,244.4,3112,450,1836,1617,38.6,10.3,425,2245,0.00,2.05,0.00,0.000,3078,0.000,0.023,3113,1856,1726,1836,1617,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2308,0.76,244.4,3112,1857,1836,1617,31.3,10.6,438,2313,0.00,0.00,0.00,0.000,2054,0.000,0.000,3112,1857,1726,1836,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,0.76,244.4,3112,1857,1836,1617,23.5,10.2,451,2381,0.00,0.00,0.00,0.000,2054,0.000,0.000,3112,1857,1726,1836,1616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2442,0.76,244.4,3112,1857,1836,1616,16.7,10.2,464,2448,0.00,0.00,0.00,0.000,2054,0.000,0.000,3112,1857,1726,1836,1617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,0.76,244.4,3112,1857,1836,1617,9.2,11.5,477,2515,0.00,0.00,0.00,0.000,2054,0.000,0.000,3112,1857,1727,1837,1617,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2566,end climb,SURFACE_DEPTH_REACHED
$STATE,2566,begin surface coast
$FINISH,0.6,1.009577
$STATE,2592,end surface coast,CONTROL_FINISHED_OK
$STATE,2593,begin surface
$SM_CCo,2667,0.00,0.000,0,0,1724,247.68
$SM_GC,1.50,8.30,0.17,0.00,0.061,0.055,0.000,145,2035,1724,-8.48,-1.41,247.68,0,0,0,0,0,0,25.94,26.44,28.83
$IRIDIUM_FIX,4726.11,-12217.96,040508,111123
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.48
$INTERNAL_PRESSURE,9.10232
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,70.8
$24V_AH,24.1,23.272
$10V_AH,10.4,10.071
$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,20.250,29.650,364.975,0.000,0.000,23.861,37.820,148.551,1.250,0.000,16.952,1013.871,559.238,408.707,955.409,36.887,33.223,852.606,0.000,714.088,0.000,10.642,0.000
$DEVICE_MAMPS,231.795,55.080,625.005,0.000,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.409,230.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323116
$DATA_FILE_SIZE,20180,493
$CAP_FILE_SIZE,51747,0
$CFSIZE,260165632,257671168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080715,234354,4744.052,-12223.895,7,1.7,7,18.2