version: 66.11
glider: 175
mission: 6
dive: 19
start: 7 9 115 9 2 1
data:
$ID,175
$MISSION,6
$DIVE,19
$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,-25009.09
$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,50
$R_STBD_OVSHOOT,95
$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
$GPS1,090715,085717,4742.715,-12224.958,8,1.9,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.2
$GPS2,090715,090104,4742.738,-12224.944,9,1.2,31,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.016,0.235
$KALMAN_X,-4205.0,89.1,-233.5,4164.6,38.3
$KALMAN_Y,-4542.6,-293.3,-470.9,5949.2,428.0
$MHEAD_RNG_PITCHd_Wd,345.8,2345,-20.4,-10.000,-23.03,1790
$D_GRID,185
$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,14,begin dive
$GC,15,-0.96,-117.3,139,2041,1861,1749,0.0,0.0,0,67,0.00,0.00,-49.33,0.000,16386,0.000,0.000,140,2042,3024,3110,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.96,-117.3,139,2041,3110,2939,3.4,-7.6,9,88,9.70,2.05,-3.62,0.000,18692,0.217,0.053,2559,3355,3179,3288,3071,0,0,0,0,0,0,25.28,25.94,26.36
$GC,165,-0.96,-117.3,2558,3355,3291,3073,24.5,-21.2,27,172,0.00,1.98,0.00,0.000,3078,0.000,0.021,2559,1988,3182,3291,3073,0,0,0,0,0,0,28.83,26.06,28.83
$GC,233,-0.96,-117.3,2559,1985,3291,3073,39.7,-22.9,40,239,0.00,2.08,0.00,0.000,2308,0.000,0.041,2550,3353,3182,3291,3073,0,0,0,0,0,0,28.83,25.91,28.83
$GC,255,-0.96,-117.3,1672,3352,3269,3068,44.5,-21.3,44,262,0.10,1.98,0.00,0.000,3078,0.187,0.022,2569,1995,3182,3291,3074,0,0,0,0,0,0,25.74,26.07,28.83
$GC,324,-0.96,-117.3,2568,1990,3291,3073,56.8,-16.8,57,330,0.00,2.10,0.00,0.000,2564,0.000,0.037,2569,595,3182,3291,3073,0,0,0,0,0,0,28.83,25.95,28.83
$GC,497,-0.96,-117.3,2568,594,3290,3073,92.1,-18.8,91,503,0.00,2.00,0.00,0.000,3078,0.000,0.026,2565,1964,3181,3289,3073,0,0,0,0,0,0,28.83,26.08,28.83
$GC,684,-0.96,-117.3,1680,1962,3267,3068,124.7,-17.7,128,691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,1964,3181,3290,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,877,-0.96,-117.3,2565,1964,3290,3073,157.6,-15.9,165,883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2565,1964,3181,3290,3073,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1018,begin apogee
$GC,1022,-0.20,0.0,2565,1768,3288,3073,180.3,-15.8,193,1121,0.82,0.10,91.00,0.646,10246,0.155,0.091,2805,1876,2709,2790,2629,0,0,0,0,0,0,25.20,25.10,24.31
$STATE,1122,end apogee,CONTROL_FINISHED_OK
$STATE,1122,begin climb
$GC,1123,0.96,117.3,2805,1877,2790,2628,183.9,0.0,211,1222,1.15,0.00,92.03,0.626,10758,0.101,0.000,3178,1876,2242,2311,2174,0,0,0,0,0,0,25.15,28.83,24.10
$GC,1403,0.96,117.3,2304,1874,2249,2158,144.8,15.9,265,1408,0.00,0.00,0.00,0.000,2054,0.000,0.000,3178,1877,2237,2307,2168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,0.96,117.3,3178,1876,2306,2166,117.7,13.4,302,1595,0.00,0.00,0.00,0.000,2054,0.000,0.000,3178,1877,2236,2306,2166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1778,0.96,117.3,3178,1877,2306,2164,90.9,14.2,339,1784,0.00,0.00,0.00,0.000,2054,0.000,0.000,3178,1877,2235,2306,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,0.96,117.3,2304,1874,2249,2154,63.0,14.1,376,1971,0.00,2.15,0.00,0.000,2564,0.000,0.043,3178,466,2234,2306,2163,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2013,0.96,117.3,3178,466,2304,2164,56.5,13.9,385,2019,0.00,1.98,0.00,0.000,3078,0.000,0.022,3178,1839,2234,2304,2164,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2201,0.96,117.3,3178,1839,2304,2163,32.4,13.4,422,2207,0.00,2.10,0.00,0.000,2564,0.000,0.043,3178,459,2233,2304,2163,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2299,0.96,117.3,3178,459,2303,2164,19.4,13.0,441,2305,0.00,2.00,0.00,0.000,3078,0.000,0.022,3179,1848,2233,2303,2163,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2367,0.96,117.3,3178,1848,2303,2163,10.3,13.0,454,2373,0.00,2.12,0.00,0.000,2308,0.000,0.036,3178,3255,2233,2303,2163,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2390,0.96,117.3,3178,3255,2303,2163,7.0,13.9,458,2396,0.00,2.05,0.00,0.000,3078,0.000,0.027,3178,1850,2233,2303,2163,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,2417,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,0.5,1.022171
$STATE,2438,end surface coast,CONTROL_FINISHED_OK
$STATE,2438,begin surface
$SM_CCo,2453,59.28,0.319,1,0,1813,225.08
$SM_GC,1.08,8.48,0.20,59.28,0.060,0.054,0.319,134,2037,1813,-8.52,-1.47,225.08,0,0,0,0,1,0,25.95,26.37,24.96
$IRIDIUM_FIX,4722.92,-12227.78,040508,212139
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.97
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.5,66.2
$24V_AH,24.1,24.014
$10V_AH,10.5,10.390
$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,20.250,25.025,183.025,59.275,0.000,27.845,39.431,68.294,2.750,0.000,34.692,1037.071,513.916,319.190,861.608,32.181,33.234,708.868,0.000,677.156,0.000,18.080,0.000
$DEVICE_MAMPS,217.260,91.035,646.425,319.005,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.972,211.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,20135,467
$CAP_FILE_SIZE,48877,0
$CFSIZE,260165632,257273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,094442,4743.222,-12224.843,8,2.0,8,18.2