version: 66.11
glider: 175
mission: 6
dive: 14
start: 7 9 115 5 31 39
data:
$ID,175
$MISSION,6
$DIVE,14
$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,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,15
$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,-25002.805
$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,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,19
$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
$GPS1,090715,052536,4741.648,-12225.688,11,1.6,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.3
$GPS2,090715,053023,4741.623,-12225.697,11,1.8,16,18.2
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.208,0.322
$KALMAN_X,-3724.9,156.0,323.4,2118.0,-1051.1
$KALMAN_Y,-4866.1,327.6,336.5,2780.4,-1723.0
$MHEAD_RNG_PITCHd_Wd,14.7,2287,-11.1,-10.000,-14.63,5416
$D_GRID,150
$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,-0.67,-244.4,134,2057,1251,1113,0.0,0.0,0,88,0.00,0.00,-70.88,0.000,16386,0.000,0.000,134,2058,2938,3027,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.67,-244.4,134,2057,3029,2849,3.2,-7.5,13,124,10.18,0.00,-17.33,0.000,18438,0.221,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,25.29,28.83,26.36
$GC,186,-0.67,-244.4,2648,2058,3822,3546,18.2,-14.6,31,191,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,253,-0.67,-244.4,2649,2058,3822,3546,28.1,-14.7,44,258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,321,-0.67,-244.4,2649,2058,3822,3546,38.3,-15.9,57,327,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,388,-0.67,-244.4,2649,2058,3822,3546,48.8,-13.7,70,394,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,456,-0.67,-244.4,2649,2058,3822,3546,59.0,-14.4,83,461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,643,-0.67,-244.4,2649,2058,3822,3546,86.6,-15.1,120,648,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-0.67,-244.4,1744,2056,3819,3544,114.5,-15.2,157,838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1020,-0.67,-244.4,2649,2058,3821,3546,142.1,-9.6,194,1026,0.00,0.00,0.00,0.000,2054,0.000,0.000,2649,2058,3684,3822,3546,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1095,-0.17,0.0,2649,1780,3822,3546,150.4,-12.5,208,1285,0.52,0.12,181.10,0.623,10246,0.131,0.080,2815,1914,2709,2783,2636,0,0,0,0,0,0,25.45,24.87,24.11
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1287,begin climb
$GC,1288,0.67,244.4,2814,1914,2782,2635,158.8,0.0,243,1477,0.82,0.00,183.18,0.601,10246,0.103,0.000,3082,1913,1736,1843,1630,0,0,0,0,0,0,24.94,28.83,24.03
$GC,1659,0.67,244.4,3082,1913,1839,1621,130.1,10.3,314,1664,0.00,0.00,0.00,0.000,2054,0.000,0.000,3082,1914,1730,1839,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,0.67,244.4,3081,1913,1839,1620,107.8,12.3,351,1852,0.00,0.00,0.00,0.000,2054,0.000,0.000,3082,1913,1729,1839,1620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2035,0.71,275.3,3081,1913,1839,1619,87.0,9.4,388,2063,0.08,0.00,23.35,0.558,10246,0.146,0.000,3106,1914,1612,1723,1501,0,0,0,0,0,0,26.20,28.83,24.84
$GC,2245,0.74,300.1,3106,1914,1722,1497,65.9,9.5,429,2268,0.00,0.00,19.35,0.541,10246,0.000,0.000,3107,1914,1514,1628,1400,0,0,0,0,0,0,28.83,28.83,24.84
$GC,2449,0.74,300.1,3107,1914,1626,1394,45.1,11.0,469,2455,0.00,0.00,0.00,0.000,2054,0.000,0.000,3107,1914,1510,1626,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,0.74,300.1,3106,1914,1626,1394,37.2,11.3,482,2522,0.00,0.00,0.00,0.000,2054,0.000,0.000,3106,1914,1510,1626,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,0.74,300.1,3106,1914,1626,1393,29.4,11.8,495,2590,0.00,0.00,0.00,0.000,2054,0.000,0.000,3107,1914,1510,1626,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2652,0.74,300.1,3106,1914,1626,1393,21.4,11.4,508,2658,0.00,0.00,0.00,0.000,2054,0.000,0.000,3106,1914,1509,1626,1393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,0.74,300.1,3106,1914,1626,1393,13.9,10.8,521,2725,0.00,0.00,0.00,0.000,2054,0.000,0.000,3106,1914,1509,1626,1393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,0.74,300.1,3106,1914,1626,1392,6.6,10.6,534,2792,0.00,0.00,0.00,0.000,2054,0.000,0.000,3107,1914,1509,1626,1393,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2822,end climb,SURFACE_DEPTH_REACHED
$STATE,2822,begin surface coast
$FINISH,0.4,1.009998
$STATE,2848,end surface coast,CONTROL_FINISHED_OK
$STATE,2849,begin surface
$SM_CCo,2923,0.00,0.000,0,0,1507,302.19
$SM_GC,1.36,8.23,0.15,0.00,0.058,0.076,0.000,137,2068,1507,-8.50,-0.51,302.19,0,0,0,0,0,0,25.97,26.27,28.83
$IRIDIUM_FIX,4722.92,-12223.37,040508,181818
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.39
$INTERNAL_PRESSURE,9.06325
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,63.5
$24V_AH,24.0,23.771
$10V_AH,10.3,10.281
$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,19.825,3.225,406.975,0.000,0.000,29.401,38.802,138.932,0.500,0.000,18.709,1107.281,618.046,447.863,1025.709,38.665,33.214,930.080,0.000,788.926,0.000,5.909,0.000
$DEVICE_MAMPS,221.085,79.560,622.710,0.000,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.677,251.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323500
$DATA_FILE_SIZE,23507,546
$CAP_FILE_SIZE,52296,1
$CFSIZE,260165632,257417216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090715,062059,4741.744,-12225.816,7,1.7,12,18.2