version: 66.11
glider: 175
mission: 6
dive: 26
start: 7 9 115 14 4 21
data:
$ID,175
$MISSION,6
$DIVE,26
$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,-25017.881
$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,55
$R_STBD_OVSHOOT,53
$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
$GPS1,090715,140004,4743.634,-12224.836,10,1.4,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.3
$GPS2,090715,140324,4743.620,-12224.833,16,1.4,16,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.073,0.224
$KALMAN_X,-3758.7,-75.3,59.2,3724.0,289.7
$KALMAN_Y,-5384.8,817.9,970.3,5880.1,-254.9
$MHEAD_RNG_PITCHd_Wd,323.7,706,-20.4,-10.000,-23.03,1790
$D_GRID,175
$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,-117.3,141,1983,1858,1750,0.0,0.0,0,61,0.00,0.00,-44.53,0.000,16386,0.000,0.000,141,1983,2882,2974,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.96,-117.3,141,1984,2974,2791,3.2,-7.2,8,88,9.82,2.17,-7.32,0.000,18692,0.221,0.051,2561,3400,3176,3309,3043,0,0,0,0,0,0,25.18,25.78,26.25
$GC,150,-0.96,-117.3,2561,3400,3310,3047,18.7,-18.1,24,156,0.00,2.03,0.00,0.000,3078,0.000,0.020,2561,1995,3178,3310,3047,0,0,0,0,0,0,28.83,25.96,28.83
$GC,218,-0.96,-117.3,2561,1991,3310,3047,30.8,-19.8,37,224,0.00,2.10,0.00,0.000,2564,0.000,0.036,2561,601,3178,3310,3046,0,0,0,0,0,0,28.83,25.85,28.83
$GC,260,-0.96,-117.3,2561,601,3309,3046,39.7,-20.7,45,267,0.00,2.08,0.00,0.000,3078,0.000,0.027,2561,1992,3177,3309,3046,0,0,0,0,0,0,28.83,25.95,28.83
$GC,329,-0.96,-117.3,2561,1993,3309,3046,55.0,-22.9,58,335,0.00,2.08,0.00,0.000,2564,0.000,0.035,2561,606,3177,3309,3046,0,0,0,0,0,0,28.83,25.90,28.83
$GC,356,-0.96,-117.3,2561,605,3309,3046,60.7,-20.2,63,363,0.00,2.08,0.00,0.000,3078,0.000,0.027,2561,2001,3177,3309,3046,0,0,0,0,0,0,28.83,25.99,28.83
$GC,548,-0.96,-117.3,1664,1999,3289,3040,95.1,-17.3,100,555,0.00,2.12,0.00,0.000,2308,0.000,0.041,2561,3406,3177,3309,3046,0,0,0,0,0,0,28.83,25.92,28.83
$GC,586,-0.96,-117.3,2561,3406,3310,3047,101.7,-16.7,107,593,0.00,2.05,0.00,0.000,3078,0.000,0.020,2561,1985,3178,3309,3047,0,0,0,0,0,0,28.83,26.14,28.83
$GC,778,-0.96,-117.3,1664,1980,3288,3041,134.1,-18.7,144,784,0.00,2.08,0.00,0.000,2564,0.000,0.036,2561,598,3177,3309,3046,0,0,0,0,0,0,28.83,25.99,28.83
$GC,805,-0.96,-117.3,2561,597,3309,3046,139.6,-18.6,149,812,0.00,2.08,0.00,0.000,3078,0.000,0.028,2561,2000,3178,3309,3047,0,0,0,0,0,0,28.83,26.08,28.83
$GC,993,-0.96,-117.3,2561,2000,3309,3047,171.7,-16.0,186,999,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,2000,3177,3309,3046,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1014,begin apogee
$GC,1018,-0.20,0.0,2561,1780,3309,3046,175.2,-15.2,190,1116,0.85,0.10,90.47,0.639,10246,0.156,0.090,2808,1883,2709,2806,2613,0,0,0,0,0,0,25.20,25.11,24.34
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1119,0.96,117.3,2808,1883,2805,2613,179.5,0.0,208,1223,1.15,2.33,92.55,0.617,10756,0.104,0.043,3179,469,2242,2315,2169,0,0,0,0,0,0,25.15,24.95,24.14
$GC,1259,0.96,117.3,3178,469,2310,2168,164.7,16.1,234,1266,0.00,2.05,0.00,0.000,3078,0.000,0.021,3179,1843,2239,2310,2168,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1447,0.96,117.3,3178,1843,2310,2163,132.7,17.2,271,1453,0.00,0.00,0.00,0.000,2054,0.000,0.000,3178,1843,2236,2310,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1634,0.96,117.3,3178,1843,2311,2162,100.9,18.8,308,1640,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1843,2235,2310,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1821,0.96,117.3,3178,1843,2310,2161,69.4,15.8,345,1828,0.00,2.12,0.00,0.000,2564,0.000,0.043,3178,468,2235,2310,2161,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1859,0.96,117.3,3178,468,2309,2161,63.2,15.8,352,1866,0.00,2.00,0.00,0.000,3078,0.000,0.022,3179,1853,2235,2309,2161,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2047,0.96,117.3,3178,1853,2309,2161,37.8,13.0,389,2053,0.00,0.00,0.00,0.000,2054,0.000,0.000,3178,1853,2235,2309,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2116,0.96,117.3,3178,1853,2309,2161,29.2,12.5,402,2122,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1853,2235,2309,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2183,0.96,117.3,3178,1854,2309,2161,19.8,13.3,415,2190,0.00,2.15,0.00,0.000,2564,0.000,0.044,3179,462,2235,2309,2161,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2251,0.96,117.3,3178,462,2309,2161,9.7,15.0,428,2258,0.00,2.03,0.00,0.000,3078,0.000,0.022,3179,1853,2235,2309,2161,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,2302,end climb,SURFACE_DEPTH_REACHED
$STATE,2302,begin surface coast
$FINISH,0.4,1.008646
$STATE,2324,end surface coast,CONTROL_FINISHED_OK
$STATE,2324,begin surface
$SM_CCo,2339,61.47,0.392,1,0,1814,225.08
$SM_GC,1.16,8.48,0.17,61.47,0.060,0.064,0.392,137,2028,1814,-8.51,-1.67,225.08,0,0,0,0,1,0,25.95,26.34,24.88
$IRIDIUM_FIX,4726.11,-12219.67,050508,020249
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.09
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.9,64.7
$24V_AH,24.1,24.313
$10V_AH,10.5,10.549
$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,20.300,34.000,183.025,61.475,0.000,26.387,37.271,61.298,2.500,0.000,18.769,982.110,475.067,335.209,801.851,32.367,33.211,716.715,0.000,641.926,0.000,19.344,0.000
$DEVICE_MAMPS,221.085,90.270,638.775,391.680,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.434,203.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20132,442
$CAP_FILE_SIZE,50220,0
$CFSIZE,260165632,257069056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,144534,4743.799,-12225.076,9,0.9,31,18.2