version: 66.11
glider: 175
mission: 6
dive: 9
start: 7 9 115 0 34 32
data:
$ID,175
$MISSION,6
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,110
$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,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,-24996.43
$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,78
$R_STBD_OVSHOOT,53
$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
$GPS1,090715,002841,4744.066,-12223.404,10,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.9
$GPS2,090715,003335,4744.046,-12223.423,12,1.5,12,18.2
$SPEED_LIMITS,0.061,0.269
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,-0.235
$KALMAN_X,-901.5,-121.2,-35.0,2765.8,-408.7
$KALMAN_Y,-266.9,-37.1,33.2,3343.4,-295.0
$MHEAD_RNG_PITCHd_Wd,190.8,3027,-7.7,-6.061,-12.69,6058
$D_GRID,200
$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,-0.56,-244.4,137,1966,1880,1736,0.0,0.0,0,61,0.00,0.00,-44.25,0.000,16386,0.000,0.000,138,1966,2859,2950,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.56,-244.4,137,1966,2950,2770,3.1,-7.1,8,99,10.60,2.28,-18.92,0.000,18692,0.231,0.056,2685,3399,3604,3782,3427,0,0,0,0,0,0,25.27,25.84,26.36
$GC,325,-0.56,-244.4,2685,3399,3782,3428,30.2,-10.5,59,332,0.00,2.00,0.00,0.000,3078,0.000,0.022,2685,2006,3604,3782,3427,0,0,0,0,0,0,28.83,26.08,28.83
$GC,393,-0.56,-244.4,2685,2004,3782,3427,36.9,-8.5,72,400,0.00,2.10,0.00,0.000,2564,0.000,0.041,2685,607,3604,3782,3427,0,0,0,0,0,0,28.83,25.90,28.83
$GC,426,-0.56,-244.4,2685,607,3782,3428,40.1,-9.9,78,433,0.00,2.03,0.00,0.000,3078,0.000,0.028,2685,1992,3605,3782,3428,0,0,0,0,0,0,28.83,26.04,28.83
$GC,494,-0.56,-244.4,2685,1993,3782,3428,49.3,-18.2,91,500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2685,1993,3605,3782,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,561,-0.56,-244.4,2685,1993,3782,3427,58.6,-12.0,104,567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2685,1993,3605,3782,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.56,-244.4,2685,1993,3782,3428,76.8,-11.6,141,754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2685,1993,3604,3782,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.56,-244.4,2685,1993,3782,3427,99.2,-10.6,178,942,0.00,2.08,0.00,0.000,2564,0.000,0.037,2685,603,3605,3782,3428,0,0,0,0,0,0,28.83,25.98,28.83
$GC,990,-0.56,-244.4,2685,603,3782,3427,105.0,-10.2,188,996,0.00,2.05,0.00,0.000,3078,0.000,0.028,2685,2003,3604,3782,3427,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1178,-0.56,-244.4,2685,2003,3782,3427,124.2,-10.9,225,1184,0.00,2.15,0.00,0.000,2308,0.000,0.042,2685,3411,3604,3782,3427,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1221,-0.56,-244.4,2685,3411,3782,3428,128.5,-9.4,233,1227,0.00,2.05,0.00,0.000,3078,0.000,0.021,2685,1989,3605,3782,3428,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1408,-0.56,-244.4,2685,1986,3782,3427,146.7,-9.4,270,1415,0.00,2.05,0.00,0.000,2564,0.000,0.038,2685,609,3604,3782,3427,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1436,-0.56,-244.4,2685,607,3782,3427,149.4,-9.9,275,1443,0.00,2.05,0.00,0.000,3078,0.000,0.028,2685,2013,3604,3782,3427,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,1448,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1448,begin apogee
$GC,1451,-0.17,0.0,2685,1783,3782,3427,150.6,-9.8,277,1642,0.40,0.10,181.82,0.625,10246,0.130,0.092,2814,1885,2629,2717,2542,0,0,0,0,0,0,25.53,24.85,24.10
$STATE,1643,end apogee,CONTROL_FINISHED_OK
$STATE,1643,begin climb
$GC,1644,0.56,244.4,2813,1885,2717,2541,156.6,0.0,312,1839,0.73,2.35,183.68,0.604,10756,0.107,0.044,3044,469,1656,1775,1537,0,0,0,0,0,0,24.94,24.85,24.03
$GC,1875,0.56,244.4,2120,469,1723,1531,141.0,7.7,355,1882,0.00,2.05,0.00,0.000,3078,0.000,0.024,3044,1836,1651,1766,1537,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2063,0.56,244.4,3044,1837,1767,1533,126.7,7.2,392,2069,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1837,1649,1766,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,0.56,244.4,3044,1837,1767,1533,112.2,7.6,429,2256,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1837,1649,1766,1533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2439,0.56,244.4,3044,1837,1766,1532,97.3,7.1,466,2445,0.00,2.15,0.00,0.000,2564,0.000,0.044,3044,465,1649,1766,1532,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2477,0.56,244.4,3044,463,1765,1532,94.3,7.4,473,2483,0.00,2.03,0.00,0.000,3078,0.000,0.023,3044,1863,1648,1765,1532,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2665,0.56,244.4,3044,1863,1765,1532,80.1,8.4,510,2670,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1863,1648,1765,1532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,0.56,244.4,3043,1863,1765,1531,65.2,6.9,547,2858,0.00,2.15,0.00,0.000,2564,0.000,0.044,3044,470,1648,1765,1532,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2920,0.56,244.4,3044,469,1765,1532,60.7,6.7,560,2926,0.00,2.00,0.00,0.000,3078,0.000,0.023,3044,1861,1648,1764,1532,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3108,0.56,244.4,3044,1862,1764,1531,48.0,7.3,597,3113,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1862,1647,1764,1531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,0.56,244.4,3044,1861,1764,1531,43.3,6.7,610,3180,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1862,1648,1765,1531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3243,0.56,244.4,3044,1862,1765,1531,38.4,7.9,623,3250,0.00,2.17,0.00,0.000,2564,0.000,0.045,3044,466,1648,1764,1532,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3276,0.56,244.4,3044,466,1764,1532,35.6,7.4,629,3283,0.00,2.00,0.00,0.000,3078,0.000,0.022,3044,1862,1648,1765,1531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3346,0.56,244.4,3044,1862,1765,1531,30.2,8.0,642,3352,0.00,2.08,0.00,0.000,2308,0.000,0.038,3044,3245,1648,1765,1531,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3369,0.56,244.4,3044,3245,1764,1531,28.0,9.0,646,3375,0.00,2.00,0.00,0.000,3078,0.000,0.024,3044,1856,1647,1764,1531,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3437,0.56,244.4,3044,1855,1765,1531,22.9,6.7,659,3443,0.00,2.12,0.00,0.000,2564,0.000,0.044,3044,465,1647,1764,1531,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3464,0.56,244.4,3044,463,1764,1531,21.0,6.8,664,3471,0.00,2.00,0.00,0.000,3078,0.000,0.022,3044,1859,1647,1764,1531,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3532,0.56,244.4,3044,1859,1764,1531,16.1,7.2,677,3539,0.00,2.08,0.00,0.000,2308,0.000,0.037,3044,3249,1647,1764,1531,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3560,0.56,244.4,3044,3249,1764,1531,13.9,7.7,682,3567,0.00,2.03,0.00,0.000,3078,0.000,0.025,3044,1848,1647,1764,1531,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3630,0.56,244.4,3044,1847,1764,1531,9.1,6.7,695,3636,0.00,2.15,0.00,0.000,2564,0.000,0.045,3044,459,1647,1764,1531,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3658,0.56,244.4,3044,459,1764,1531,7.0,7.2,700,3664,0.00,2.00,0.00,0.000,3078,0.000,0.022,3044,1855,1647,1764,1531,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,3719,end climb,SURFACE_DEPTH_REACHED
$STATE,3719,begin surface coast
$FINISH,0.5,1.009419
$STATE,3766,end surface coast,CONTROL_FINISHED_OK
$STATE,3766,begin surface
$SM_CCo,3841,0.00,0.000,0,0,1645,247.43
$SM_GC,1.35,8.07,0.17,0.00,0.059,0.067,0.000,141,2020,1645,-8.49,-1.58,247.43,0,0,0,0,0,0,25.91,26.42,28.83
$IRIDIUM_FIX,4726.11,-12219.67,040508,131321
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.85
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.5,64.5
$24V_AH,24.0,23.408
$10V_AH,10.4,10.132
$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,19.800,54.725,365.500,0.000,0.000,30.071,37.285,151.305,0.750,0.000,15.134,1528.858,836.301,453.621,1280.387,53.470,33.263,1064.791,0.000,1036.154,0.000,5.914,0.000
$DEVICE_MAMPS,231.030,107.865,625.005,0.000,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.274,341.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,30089,721
$CAP_FILE_SIZE,75339,0
$CFSIZE,260165632,257568768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090715,013948,4743.379,-12223.921,11,2.9,41,18.2