version: 66.11
glider: 175
mission: 6
dive: 29
start: 7 9 115 16 22 45
data:
$ID,175
$MISSION,6
$DIVE,29
$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,-25021.648
$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,30
$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,51
$R_STBD_OVSHOOT,54
$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
$GPS1,090715,161818,4744.002,-12224.948,13,1.0,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.5
$GPS2,090715,162148,4743.985,-12224.944,12,1.3,12,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.113,-0.206
$KALMAN_X,-4704.2,447.5,281.3,3788.3,-280.1
$KALMAN_Y,-5956.3,775.2,-99.5,8231.0,-906.5
$MHEAD_RNG_PITCHd_Wd,133.0,2387,-20.4,-10.000,-23.03,1790
$D_GRID,179
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.82,-117.3,143,2054,1861,1749,0.0,0.0,0,61,0.00,0.00,-43.95,0.000,16386,0.000,0.000,143,2055,2861,2952,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-117.3,143,2055,2953,2770,3.1,-6.9,8,88,9.95,2.28,-8.18,0.000,18948,0.220,0.050,2609,598,3178,3316,3040,0,0,0,0,0,0,25.26,25.89,26.37
$GC,360,-0.82,-117.3,2609,597,3316,3042,52.9,-16.3,66,366,0.00,2.08,0.00,0.000,3078,0.000,0.027,2605,1995,3179,3316,3042,0,0,0,0,0,0,28.83,26.03,28.83
$GC,548,-0.82,-117.3,2605,1995,3316,3042,81.6,-13.9,103,554,0.00,2.10,0.00,0.000,2564,0.000,0.036,2606,590,3179,3316,3042,0,0,0,0,0,0,28.83,25.96,28.83
$GC,606,-0.82,-117.3,2605,590,3315,3042,90.8,-16.6,114,613,0.00,2.08,0.00,0.000,3078,0.000,0.027,2605,2007,3179,3315,3043,0,0,0,0,0,0,28.83,26.08,28.83
$GC,799,-0.82,-117.3,2605,2007,3315,3043,121.6,-16.3,151,805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2605,2007,3179,3315,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,990,-0.82,-117.3,1728,2005,3294,3037,151.4,-14.4,188,997,0.00,2.10,0.00,0.000,2308,0.000,0.041,2604,3400,3179,3315,3043,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1048,-0.82,-117.3,2604,3400,3315,3044,159.4,-13.2,199,1055,0.00,2.03,0.00,0.000,3078,0.000,0.020,2604,1977,3179,3315,3044,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1189,-0.17,0.0,2603,1782,3315,3044,179.2,-15.0,226,1287,0.73,0.10,90.47,0.642,10246,0.148,0.091,2819,1882,2710,2809,2611,0,0,0,0,0,0,25.19,25.14,24.35
$STATE,1289,end apogee,CONTROL_FINISHED_OK
$STATE,1289,begin climb
$GC,1290,0.82,117.3,2819,1882,2809,2611,183.6,0.0,244,1393,0.98,2.17,92.55,0.624,10500,0.102,0.035,3137,3231,2242,2318,2166,0,0,0,0,0,0,25.17,24.96,24.13
$GC,1445,0.82,117.3,3136,3231,2316,2161,169.3,15.3,273,1452,0.00,2.08,0.00,0.000,3078,0.000,0.024,3138,1860,2239,2317,2161,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1633,0.82,117.3,2240,1856,2255,2150,144.6,12.9,310,1639,0.00,2.17,0.00,0.000,2564,0.000,0.042,3137,462,2236,2314,2159,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1656,0.82,117.3,3138,462,2313,2159,141.4,14.0,314,1662,0.00,2.03,0.00,0.000,3078,0.000,0.021,3138,1840,2236,2313,2159,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1844,0.82,117.3,3138,1842,2313,2158,115.9,11.7,351,1850,0.00,2.12,0.00,0.000,2308,0.000,0.038,3138,3242,2235,2313,2158,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1856,0.82,117.3,3138,3242,2313,2158,114.2,12.1,353,1863,0.00,2.08,0.00,0.000,3078,0.000,0.027,3138,1849,2235,2313,2158,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2044,0.82,117.3,3137,1845,2313,2157,88.0,13.3,390,2050,0.00,2.15,0.00,0.000,2564,0.000,0.045,3138,453,2235,2313,2157,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2096,0.82,117.3,2248,453,2253,2148,81.0,13.2,400,2103,0.00,2.05,0.00,0.000,3078,0.000,0.021,3138,1859,2234,2311,2157,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2285,0.82,117.3,2208,1857,2251,2148,59.1,11.9,437,2291,0.00,0.00,0.00,0.000,2054,0.000,0.000,3137,1859,2234,2311,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2472,0.82,117.3,3137,1859,2311,2157,37.3,11.8,474,2479,0.00,2.20,0.00,0.000,2564,0.000,0.044,3138,449,2234,2311,2157,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2524,0.82,117.3,2248,449,2253,2148,31.1,12.5,484,2531,0.00,2.05,0.00,0.000,3078,0.000,0.023,3138,1855,2233,2310,2157,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2592,0.82,117.3,3137,1856,2310,2157,22.8,10.9,497,2599,0.00,2.17,0.00,0.000,2564,0.000,0.043,3138,459,2233,2310,2157,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2625,0.82,117.3,3138,458,2310,2157,19.1,10.4,503,2632,0.00,2.03,0.00,0.000,3078,0.000,0.022,3138,1852,2233,2310,2156,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2694,0.83,124.6,3137,1852,2310,2156,11.9,9.6,516,2707,0.00,2.08,5.78,0.432,10500,0.000,0.034,3138,3250,2213,2291,2136,0,0,0,0,0,0,28.83,26.17,25.03
$GC,2750,0.83,124.6,3137,3250,2291,2136,5.6,11.8,526,2756,0.00,2.05,0.00,0.000,3078,0.000,0.025,3138,1839,2213,2291,2136,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,2772,end climb,SURFACE_DEPTH_REACHED
$STATE,2772,begin surface coast
$FINISH,0.4,1.021962
$STATE,2798,end surface coast,CONTROL_FINISHED_OK
$STATE,2798,begin surface
$SM_CCo,2813,59.15,0.388,1,0,1814,225.08
$SM_GC,1.17,8.35,0.22,59.15,0.061,0.053,0.388,134,2032,1814,-8.52,-1.39,225.08,0,0,0,0,1,0,26.01,26.32,24.91
$IRIDIUM_FIX,4729.30,-12004.99,050508,050521
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.13
$INTERNAL_PRESSURE,9.07302
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,63.2
$24V_AH,24.1,24.443
$10V_AH,10.5,10.625
$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,20.000,42.550,188.800,59.150,0.000,26.019,40.243,70.274,2.500,0.000,15.110,1196.556,591.066,340.753,941.708,36.264,33.206,781.633,0.000,773.455,0.000,18.083,0.000
$DEVICE_MAMPS,220.320,91.035,641.835,387.855,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.957,243.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323512
$DATA_FILE_SIZE,23488,535
$CAP_FILE_SIZE,56774,0
$CFSIZE,260165632,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,171129,4743.482,-12224.735,6,1.3,11,18.2