version: 66.11
glider: 175
mission: 6
dive: 18
start: 7 9 115 8 20 27
data:
$ID,175
$MISSION,6
$DIVE,18
$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,-25007.834
$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,51
$R_STBD_OVSHOOT,83
$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
$GPS1,090715,081618,4742.265,-12225.084,11,1.8,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.5
$GPS2,090715,081930,4742.283,-12225.066,14,1.5,14,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.073,0.223
$KALMAN_X,-3958.9,-35.5,-279.5,3931.1,88.3
$KALMAN_Y,-4665.5,-302.0,-514.8,5278.6,40.1
$MHEAD_RNG_PITCHd_Wd,360.0,841,-20.4,-10.000,-23.03,1790
$D_GRID,152
$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,14,-0.96,-117.3,141,2034,1860,1749,0.0,0.0,0,67,0.00,0.00,-49.92,0.000,16386,0.000,0.000,141,2034,3044,3132,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.96,-117.3,141,2034,3132,2958,3.4,-7.7,9,88,9.73,2.10,-3.08,0.000,18692,0.219,0.054,2561,3369,3178,3285,3072,0,0,0,0,0,0,25.27,25.89,26.31
$GC,131,-0.96,-117.3,2561,3369,3290,3073,17.1,-20.4,20,138,0.00,2.00,0.00,0.000,3078,0.000,0.021,2561,1985,3181,3290,3073,0,0,0,0,0,0,28.83,26.01,28.83
$GC,199,-0.96,-117.3,2561,1981,3290,3073,31.2,-20.0,33,206,0.00,2.08,0.00,0.000,2564,0.000,0.037,2561,600,3181,3290,3073,0,0,0,0,0,0,28.83,25.91,28.83
$GC,217,-0.96,-117.3,2561,599,3289,3073,35.1,-20.4,36,224,0.00,2.00,0.00,0.000,3078,0.000,0.027,2561,1964,3181,3289,3073,0,0,0,0,0,0,28.83,26.00,28.83
$GC,285,-0.96,-117.3,2561,1964,3289,3073,49.8,-22.1,49,292,0.00,2.05,0.00,0.000,2564,0.000,0.036,2561,592,3181,3289,3073,0,0,0,0,0,0,28.83,25.95,28.83
$GC,368,-0.96,-117.3,2561,593,3288,3073,67.5,-22.1,65,375,0.00,2.08,0.00,0.000,3078,0.000,0.028,2561,2003,3180,3288,3073,0,0,0,0,0,0,28.83,26.04,28.83
$GC,561,-0.96,-117.3,2560,2003,3289,3073,105.2,-18.2,102,567,0.00,2.10,0.00,0.000,2564,0.000,0.035,2561,596,3180,3288,3073,0,0,0,0,0,0,28.83,26.01,28.83
$GC,679,-0.96,-117.3,2561,594,3287,3073,127.1,-18.1,125,685,0.00,2.08,0.00,0.000,3078,0.000,0.030,2561,1998,3180,3287,3073,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,835,begin apogee
$GC,839,-0.20,0.0,2561,1779,3287,3073,152.4,-14.5,156,937,0.85,0.10,90.75,0.624,10246,0.161,0.090,2806,1882,2709,2790,2628,0,0,0,0,0,0,25.22,25.11,24.35
$STATE,938,end apogee,CONTROL_FINISHED_OK
$STATE,938,begin climb
$GC,940,0.96,117.3,2805,1882,2789,2628,156.6,0.0,174,1043,1.17,2.15,91.60,0.607,10500,0.103,0.035,3184,3222,2242,2311,2173,0,0,0,0,0,0,25.15,24.96,24.15
$GC,1079,0.96,117.3,2304,3220,2252,2159,143.9,15.6,200,1086,0.00,2.08,0.00,0.000,3078,0.000,0.028,3184,1856,2239,2310,2169,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1268,0.96,117.3,3184,1852,2309,2166,114.5,13.9,237,1273,0.00,0.00,0.00,0.000,2054,0.000,0.000,3184,1853,2237,2309,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1455,0.96,117.3,3184,1853,2309,2164,86.5,14.5,274,1460,0.00,0.00,0.00,0.000,2054,0.000,0.000,3184,1852,2236,2309,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,0.96,117.3,3184,1852,2309,2163,60.0,13.1,311,1648,0.00,2.15,0.00,0.000,2564,0.000,0.044,3184,447,2236,2309,2163,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1790,0.96,117.3,3184,447,2305,2163,38.7,13.1,340,1797,0.00,2.00,0.00,0.000,3078,0.000,0.022,3184,1839,2234,2305,2163,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1860,0.96,117.3,3184,1839,2305,2163,29.8,12.8,353,1865,0.00,0.00,0.00,0.000,2054,0.000,0.000,3184,1839,2234,2305,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,0.96,117.3,3184,1839,2305,2163,20.4,14.0,366,1934,0.00,2.12,0.00,0.000,2308,0.000,0.037,3184,3248,2234,2305,2163,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1980,0.96,117.3,3184,3248,2305,2163,12.3,15.5,376,1987,0.00,2.05,0.00,0.000,3078,0.000,0.026,3184,1842,2234,2305,2163,0,0,0,0,0,0,28.83,26.12,28.83
$STATE,2047,end climb,SURFACE_DEPTH_REACHED
$STATE,2047,begin surface coast
$FINISH,0.4,0.999328
$STATE,2068,end surface coast,CONTROL_FINISHED_OK
$STATE,2069,begin surface
$SM_CCo,2083,59.17,0.067,0,0,1814,225.08
$SM_GC,1.59,8.50,0.20,59.17,0.061,0.055,0.067,140,2040,1814,-8.51,-1.67,225.08,0,0,0,0,0,0,25.96,26.34,25.83
$IRIDIUM_FIX,4722.92,-12227.78,040508,212140
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.17
$INTERNAL_PRESSURE,9.07302
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.2,66.6
$24V_AH,24.1,23.968
$10V_AH,10.5,10.365
$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,20.250,29.525,182.350,59.175,0.000,25.485,40.438,55.421,1.250,0.000,17.686,870.639,420.025,314.715,720.936,31.973,33.232,657.964,0.000,572.599,0.000,10.290,0.000
$DEVICE_MAMPS,218.790,90.270,624.240,66.555,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.354,182.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323508
$DATA_FILE_SIZE,16807,393
$CAP_FILE_SIZE,44615,0
$CFSIZE,260165632,257306624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,290.67,0x21215c,0,24
$GPS,090715,085717,4742.715,-12224.958,8,1.9,31,18.2