version: 66.11
glider: 175
mission: 6
dive: 28
start: 7 9 115 15 37 21
data:
$ID,175
$MISSION,6
$DIVE,28
$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,-25020.391
$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,62
$R_STBD_OVSHOOT,99
$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
$GPS1,090715,153242,4743.924,-12225.189,9,1.5,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.0
$GPS2,090715,153624,4743.919,-12225.191,12,1.5,12,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.107,0.209
$KALMAN_X,-4668.6,467.2,303.8,3404.7,-124.7
$KALMAN_Y,-6403.9,1162.4,567.9,7502.7,-1039.7
$MHEAD_RNG_PITCHd_Wd,8.9,510,-20.4,-10.000,-23.03,1790
$D_GRID,189
$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,-117.3,144,2050,1860,1749,0.0,0.0,0,61,0.00,0.00,-44.65,0.000,16386,0.000,0.000,144,2050,2883,2977,2790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.96,-117.3,144,2050,2978,2791,3.0,-6.5,8,88,9.80,2.17,-7.57,0.000,18948,0.223,0.047,2563,610,3177,3313,3042,0,0,0,0,0,0,25.25,25.89,26.36
$GC,125,-0.96,-117.3,2563,608,3313,3043,13.4,-18.4,19,131,0.00,1.98,0.00,0.000,3078,0.000,0.024,2561,1953,3178,3313,3043,0,0,0,0,0,0,28.83,25.98,28.83
$GC,193,-0.96,-117.3,2561,1953,3313,3044,26.8,-20.6,32,199,0.00,2.03,0.00,0.000,2564,0.000,0.034,2561,596,3178,3313,3044,0,0,0,0,0,0,28.83,25.91,28.83
$GC,276,-0.96,-117.3,2561,596,3313,3044,45.4,-21.6,48,283,0.00,2.08,0.00,0.000,3078,0.000,0.028,2561,2000,3178,3313,3044,0,0,0,0,0,0,28.83,26.00,28.83
$GC,344,-0.96,-117.3,2561,2001,3313,3044,57.9,-17.3,61,350,0.00,2.12,0.00,0.000,2308,0.000,0.041,2561,3403,3178,3313,3044,0,0,0,0,0,0,28.83,25.90,28.83
$GC,366,-0.96,-117.3,1680,3402,3293,3039,61.6,-16.2,65,373,0.00,2.00,0.00,0.000,3078,0.000,0.020,2561,1996,3179,3313,3045,0,0,0,0,0,0,28.83,26.12,28.83
$GC,554,-0.96,-117.3,2561,1992,3313,3045,95.6,-12.7,102,560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2561,1992,3179,3313,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,743,-0.96,-117.3,2561,1992,3313,3045,130.0,-21.3,139,749,0.00,2.17,0.00,0.000,2308,0.000,0.043,2561,3404,3179,3313,3045,0,0,0,0,0,0,28.83,25.94,28.83
$GC,786,-0.96,-117.3,2561,3405,3313,3045,139.2,-20.3,147,794,0.00,2.00,0.00,0.000,3078,0.000,0.021,2561,2002,3179,3313,3045,0,0,0,0,0,0,28.83,26.19,28.83
$GC,979,-0.96,-117.3,2561,1998,3313,3045,178.2,-17.7,184,986,0.00,2.08,0.00,0.000,2564,0.000,0.035,2561,593,3179,3313,3045,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,996,-0.20,0.0,2561,1849,3311,3045,180.7,-17.5,186,1093,0.82,0.00,90.35,0.637,10246,0.151,0.000,2805,1854,2710,2808,2612,0,0,0,0,0,0,25.27,28.83,24.35
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1096,0.96,117.3,2805,1854,2808,2612,183.3,0.0,204,1193,1.15,0.00,92.47,0.618,10502,0.102,0.000,3179,1854,2243,2314,2172,0,0,0,0,0,0,25.15,28.83,24.14
$GC,1375,0.96,117.3,3178,1854,2310,2163,143.0,17.5,258,1381,0.00,2.17,0.00,0.000,2564,0.000,0.043,3179,469,2236,2310,2163,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1537,0.96,117.3,2304,469,2251,2153,116.9,13.6,290,1544,0.00,2.03,0.00,0.000,3078,0.000,0.021,3179,1863,2236,2309,2163,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1725,0.96,117.3,3179,1867,2309,2162,92.0,13.9,327,1731,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1866,2235,2309,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,0.96,117.3,3179,1867,2309,2161,62.3,15.8,364,1919,0.00,2.10,0.00,0.000,2308,0.000,0.036,3179,3246,2235,2309,2161,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1985,0.96,117.3,3179,3246,2309,2161,49.7,17.7,378,1992,0.00,2.03,0.00,0.000,3078,0.000,0.025,3179,1854,2235,2309,2161,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2053,0.96,117.3,3179,1852,2309,2161,39.3,14.5,391,2059,0.00,0.00,0.00,0.000,2054,0.000,0.000,3179,1852,2235,2309,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2120,0.96,117.3,3179,1853,2309,2161,29.6,13.1,404,2127,0.00,2.12,0.00,0.000,2308,0.000,0.035,3179,3248,2235,2309,2161,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2144,0.96,117.3,3179,3248,2309,2160,26.2,15.0,408,2150,0.00,2.05,0.00,0.000,3078,0.000,0.026,3179,1840,2234,2309,2160,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2212,0.96,117.3,3179,1838,2309,2161,16.8,13.8,421,2218,0.00,2.12,0.00,0.000,2564,0.000,0.041,3179,456,2234,2309,2160,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2299,0.96,117.3,3179,456,2309,2160,4.6,13.5,438,2306,0.00,2.03,0.00,0.000,3078,0.000,0.022,3179,1861,2233,2308,2159,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,2311,end climb,SURFACE_DEPTH_REACHED
$STATE,2311,begin surface coast
$FINISH,0.5,1.004901
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2347,60.60,0.067,0,0,1814,225.08
$SM_GC,1.63,8.48,0.17,60.60,0.061,0.063,0.067,143,2051,1814,-8.50,-1.44,225.08,0,0,0,0,0,0,25.93,26.34,25.82
$IRIDIUM_FIX,4729.30,-12224.09,050508,040457
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.50
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,155.5,66.4
$24V_AH,24.1,24.396
$10V_AH,10.5,10.598
$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,20.250,37.350,182.825,60.600,0.000,27.282,51.958,70.074,4.000,0.000,15.360,987.146,475.421,327.539,826.652,32.157,33.210,710.827,0.000,644.486,0.000,26.185,0.000
$DEVICE_MAMPS,222.615,62.730,637.245,66.555,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.903,204.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323476
$DATA_FILE_SIZE,20100,444
$CAP_FILE_SIZE,50448,0
$CFSIZE,260165632,257007616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090715,161818,4744.002,-12224.948,13,1.0,13,18.2