version: 66.11
glider: 175
mission: 6
dive: 21
start: 7 9 115 10 35 38
data:
$ID,175
$MISSION,6
$DIVE,21
$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,-25011.596
$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,78
$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
$GPS1,090715,103047,4743.763,-12224.830,8,1.5,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.3
$GPS2,090715,103441,4743.799,-12224.825,9,1.5,26,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.040,0.169
$KALMAN_X,-4541.4,314.2,-29.6,4219.5,-30.3
$KALMAN_Y,-5250.3,60.3,128.3,7670.9,113.8
$MHEAD_RNG_PITCHd_Wd,355.2,374,-27.8,-10.000,-30.00,966
$D_GRID,176
$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,-1.19,-63.1,141,2036,1858,1751,0.0,0.0,0,61,0.00,0.00,-44.30,0.000,16386,0.000,0.000,140,2036,2868,2950,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-1.22,-88.2,140,2036,2950,2786,3.0,-7.3,8,88,9.43,2.08,-5.07,0.000,18692,0.220,0.055,2482,3367,3064,3180,2949,0,0,0,0,0,0,25.27,25.91,26.36
$GC,211,-1.22,-88.2,2481,3367,3181,2953,36.3,-24.9,36,217,0.00,2.00,0.00,0.000,3078,0.000,0.021,2482,1975,3067,3181,2953,0,0,0,0,0,0,28.83,26.06,28.83
$GC,279,-1.22,-88.2,2482,1972,3181,2953,52.1,-21.9,49,285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2482,1972,3067,3181,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,466,-1.22,-88.2,2482,1972,3180,2953,88.9,-21.9,86,472,0.00,2.05,0.00,0.000,2564,0.000,0.037,2482,593,3067,3181,2953,0,0,0,0,0,0,28.83,25.96,28.83
$GC,720,-1.22,-88.2,2482,593,3180,2953,148.7,-21.6,135,727,0.00,2.03,0.00,0.000,3078,0.000,0.027,2482,1980,3066,3179,2953,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,853,begin apogee
$GC,856,-0.20,0.0,2481,1776,3179,2953,176.2,-20.2,161,933,1.15,0.10,69.70,0.640,10246,0.170,0.091,2804,1875,2710,2795,2625,0,0,0,0,0,0,25.07,25.25,24.45
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,934,begin climb
$GC,936,1.22,88.2,2803,1875,2795,2624,181.1,0.0,175,1017,1.42,2.30,70.88,0.622,10756,0.101,0.040,3277,466,2356,2425,2288,0,0,0,0,0,0,25.27,25.03,24.18
$GC,1034,1.22,88.2,2432,466,2361,2279,171.9,14.9,193,1041,0.00,2.05,0.00,0.000,5126,0.000,0.021,3277,1846,2354,2421,2288,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1221,1.22,88.2,2432,1844,2359,2276,135.3,19.4,230,1227,0.00,0.00,0.00,0.000,4102,0.000,0.000,3277,1846,2351,2418,2285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1410,1.22,88.2,3277,1846,2417,2284,98.8,18.8,267,1416,0.00,2.12,0.00,0.000,4356,0.000,0.036,3277,3247,2351,2417,2285,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1468,1.22,88.2,3277,3247,2417,2285,86.8,20.6,278,1475,0.08,2.03,0.00,0.000,5126,0.246,0.025,3277,1855,2350,2417,2284,0,0,0,0,0,0,25.68,25.98,28.83
$GC,1657,1.22,88.2,3277,1853,2417,2283,50.1,16.8,315,1663,0.00,2.10,0.00,0.000,4612,0.000,0.040,3287,456,2350,2417,2283,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1780,1.22,88.2,3286,456,2416,2283,28.2,17.3,339,1786,0.00,2.00,0.00,0.000,5126,0.000,0.021,3287,1855,2349,2416,2282,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1848,1.22,88.2,3286,1857,2416,2283,17.0,15.5,352,1854,0.00,2.12,0.00,0.000,4612,0.000,0.041,3294,454,2349,2416,2283,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1881,1.22,88.2,3293,453,2416,2283,11.8,15.6,358,1888,0.10,2.00,0.00,0.000,5126,0.221,0.021,3276,1856,2349,2416,2283,0,0,0,0,0,0,25.70,26.14,28.83
$STATE,1935,end climb,SURFACE_DEPTH_REACHED
$STATE,1935,begin surface coast
$FINISH,0.5,1.022192
$STATE,1951,end surface coast,CONTROL_FINISHED_OK
$STATE,1951,begin surface
$SM_CCo,1966,76.90,0.368,1,0,1813,225.08
$SM_GC,1.54,8.77,0.15,76.90,0.063,0.070,0.368,144,2030,1813,-8.50,-2.09,225.08,0,0,0,0,1,0,25.90,26.32,24.78
$IRIDIUM_FIX,4722.92,-12225.08,040508,232304
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.97
$INTERNAL_PRESSURE,9.07302
$TCM_TEMP,20.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.4,66.0
$24V_AH,24.2,24.095
$10V_AH,10.5,10.435
$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,20.950,25.300,140.575,76.900,0.000,24.805,53.669,67.750,3.250,0.000,29.355,843.313,400.986,295.745,730.895,31.066,33.195,611.027,0.000,541.440,0.000,21.210,0.000
$DEVICE_MAMPS,246.330,91.035,640.305,367.965,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.439,170.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,16825,371
$CAP_FILE_SIZE,41787,0
$CFSIZE,260165632,257224704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,111104,4744.208,-12224.765,12,1.3,40,18.2