version: 66.11
glider: 175
mission: 6
dive: 20
start: 7 9 115 9 49 3
data:
$ID,175
$MISSION,6
$DIVE,20
$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,-25010.344
$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,49
$R_STBD_OVSHOOT,85
$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
$GPS1,090715,094442,4743.222,-12224.843,8,2.0,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.4
$GPS2,090715,094806,4743.250,-12224.833,13,1.2,13,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.000,0.235
$KALMAN_X,-4311.7,195.2,-150.0,4218.1,31.6
$KALMAN_Y,-5043.1,-52.8,-143.9,6837.2,191.5
$MHEAD_RNG_PITCHd_Wd,341.8,1389,-20.4,-10.000,-23.03,1790
$D_GRID,177
$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,-0.96,-117.3,135,2040,1859,1750,0.0,0.0,0,61,0.00,0.00,-44.60,0.000,16386,0.000,0.000,134,2041,2876,2956,2797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.96,-117.3,134,2040,2956,2798,3.1,-7.4,8,88,9.73,2.20,-7.57,0.000,18948,0.216,0.047,2565,581,3176,3303,3050,0,0,0,0,0,0,25.21,25.83,26.29
$GC,219,-0.96,-117.3,2565,581,3302,3057,34.4,-22.4,38,226,0.00,2.05,0.00,0.000,3078,0.000,0.028,2562,1970,3178,3300,3057,0,0,0,0,0,0,28.83,25.95,28.83
$GC,288,-0.96,-117.3,2562,1970,3301,3059,47.4,-17.8,51,294,0.00,2.10,0.00,0.000,2564,0.000,0.036,2562,584,3179,3300,3059,0,0,0,0,0,0,28.83,25.89,28.83
$GC,437,-0.96,-117.3,2561,583,3298,3058,76.3,-18.0,80,444,0.00,2.12,0.00,0.000,3078,0.000,0.028,2561,2011,3178,3298,3059,0,0,0,0,0,0,28.83,26.03,28.83
$GC,626,-0.96,-117.3,2561,2011,3298,3061,109.0,-18.2,117,632,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2011,3179,3298,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,816,-0.96,-117.3,2561,2011,3298,3061,142.0,-17.4,154,821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2011,3179,3298,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-0.96,-117.3,2561,2011,3298,3061,172.2,-17.5,191,1009,0.00,2.10,0.00,0.000,2308,0.000,0.041,2561,3405,3179,3298,3061,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,1035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1035,begin apogee
$GC,1041,-0.20,0.0,2561,1833,3298,3062,177.7,-17.1,197,1138,0.85,0.00,90.47,0.641,10246,0.156,0.000,2807,1829,2710,2794,2626,0,0,0,0,0,0,25.15,28.83,24.32
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1141,0.96,117.3,2807,1829,2793,2625,182.8,0.0,215,1245,1.15,2.25,92.22,0.622,10756,0.099,0.043,3181,465,2242,2309,2175,0,0,0,0,0,0,25.15,24.94,24.12
$GC,1296,0.96,117.3,3181,465,2302,2174,166.2,16.0,244,1303,0.00,2.08,0.00,0.000,3078,0.000,0.022,3181,1856,2237,2302,2173,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1483,0.96,117.3,2304,1855,2244,2160,136.3,15.9,281,1490,0.00,2.12,0.00,0.000,2308,0.000,0.037,3181,3254,2235,2302,2169,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1561,0.96,117.3,3181,3254,2302,2169,122.2,18.8,296,1568,0.00,2.08,0.00,0.000,3078,0.000,0.026,3181,1847,2235,2302,2169,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1749,0.96,117.3,3181,1846,2302,2168,91.3,16.8,333,1756,0.00,2.12,0.00,0.000,2308,0.000,0.036,3181,3246,2235,2302,2168,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1787,0.96,117.3,3181,3247,2302,2168,84.3,18.4,340,1794,0.00,2.05,0.00,0.000,3078,0.000,0.027,3181,1851,2235,2302,2168,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1975,0.96,117.3,3182,1850,2302,2167,54.4,14.6,377,1982,0.00,2.15,0.00,0.000,2564,0.000,0.044,3183,450,2234,2302,2167,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2113,0.96,117.3,3182,449,2300,2167,34.6,14.6,404,2120,0.00,2.05,0.00,0.000,3078,0.000,0.022,3183,1857,2233,2300,2167,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2182,0.96,117.3,3182,1857,2300,2167,25.7,12.2,417,2187,0.00,0.00,0.00,0.000,2054,0.000,0.000,3183,1857,2233,2300,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2249,0.96,117.3,3183,1856,2300,2167,17.3,13.0,430,2255,0.00,2.10,0.00,0.000,2308,0.000,0.037,3182,3241,2233,2300,2167,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2277,0.96,117.3,3182,3241,2300,2167,13.4,14.4,435,2283,0.00,2.05,0.00,0.000,3078,0.000,0.028,3183,1839,2233,2300,2167,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2346,0.96,117.3,3182,1837,2300,2167,4.3,13.5,448,2352,0.00,0.00,0.00,0.000,2054,0.000,0.000,3183,1838,2233,2300,2167,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,0.5,1.000792
$STATE,2378,end surface coast,CONTROL_FINISHED_OK
$STATE,2378,begin surface
$SM_CCo,2393,60.90,0.067,0,0,1814,225.08
$SM_GC,1.58,8.50,0.22,60.90,0.061,0.053,0.067,141,2034,1814,-8.51,-1.39,225.08,0,0,0,0,0,0,25.92,26.33,25.83
$IRIDIUM_FIX,4722.92,-12225.08,040508,222241
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.33
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,63.6
$24V_AH,24.1,24.054
$10V_AH,10.5,10.414
$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,20.225,34.175,182.700,60.900,0.000,24.616,37.991,66.948,2.500,0.000,16.299,1007.735,493.031,325.595,819.113,31.777,33.206,709.086,0.000,658.851,0.000,18.458,0.000
$DEVICE_MAMPS,216.495,52.785,641.070,66.555,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.938,213.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,20177,454
$CAP_FILE_SIZE,49063,0
$CFSIZE,260165632,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090715,103047,4743.763,-12224.830,8,1.5,14,18.2