version: 66.11
glider: 175
mission: 6
dive: 30
start: 7 9 115 17 16 45
data:
$ID,175
$MISSION,6
$DIVE,30
$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,-25022.904
$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,49
$R_STBD_OVSHOOT,76
$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
$GPS1,090715,171129,4743.482,-12224.735,6,1.3,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.9
$GPS2,090715,171548,4743.451,-12224.757,9,2.5,39,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.048,-0.230
$KALMAN_X,-4548.8,277.5,130.9,4186.8,-210.0
$KALMAN_Y,-4487.7,-74.8,-931.0,7452.1,-296.0
$MHEAD_RNG_PITCHd_Wd,150.1,1391,-20.4,-10.000,-23.03,1790
$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,-0.82,-117.3,134,2035,1862,1748,0.0,0.0,0,61,0.00,0.00,-44.55,0.000,16386,0.000,0.000,134,2036,2872,2966,2778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-117.3,135,2036,2966,2778,3.1,-7.4,8,88,10.07,2.28,-8.02,0.000,18948,0.223,0.050,2609,581,3179,3317,3041,0,0,0,0,0,0,25.21,25.82,26.28
$GC,390,-0.82,-117.3,2609,581,3317,3042,56.4,-16.0,72,397,0.00,2.08,0.00,0.000,3078,0.000,0.026,2605,1981,3179,3317,3042,0,0,0,0,0,0,28.83,26.01,28.83
$GC,578,-0.82,-117.3,2605,1981,3317,3042,83.6,-14.8,109,584,0.00,2.15,0.00,0.000,2308,0.000,0.041,2604,3402,3180,3317,3043,0,0,0,0,0,0,28.83,25.92,28.83
$GC,616,-0.82,-117.3,2604,3402,3317,3044,89.4,-15.6,116,623,0.00,2.05,0.00,0.000,3078,0.000,0.020,2604,1983,3180,3317,3044,0,0,0,0,0,0,28.83,26.15,28.83
$GC,809,-0.82,-117.3,2604,1980,3317,3044,118.0,-13.5,153,816,0.00,2.05,0.00,0.000,2564,0.000,0.037,2604,603,3180,3317,3043,0,0,0,0,0,0,28.83,25.98,28.83
$GC,939,-0.82,-117.3,2604,601,3316,3043,137.7,-14.1,178,946,0.00,2.08,0.00,0.000,3078,0.000,0.028,2604,2000,3179,3315,3043,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1127,-0.82,-117.3,2603,2001,3315,3044,164.5,-14.1,215,1133,0.00,0.00,0.00,0.000,2054,0.000,0.000,2604,2001,3179,3315,3044,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1202,-0.17,0.0,2604,1777,3316,3044,176.0,-14.2,229,1301,0.73,0.10,90.45,0.638,10246,0.150,0.091,2818,1879,2710,2810,2611,0,0,0,0,0,0,25.18,25.16,24.37
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1303,0.82,117.3,2818,1879,2810,2611,179.7,0.0,247,1407,0.98,2.33,92.85,0.619,11012,0.099,0.044,3138,470,2241,2316,2167,0,0,0,0,0,0,25.18,24.95,24.14
$GC,1428,0.82,117.3,3138,469,2313,2167,170.5,11.6,270,1435,0.00,2.08,0.00,0.000,3078,0.000,0.021,3138,1842,2239,2313,2166,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1616,0.82,117.3,3138,1843,2313,2161,146.0,13.9,307,1623,0.00,2.15,0.00,0.000,2308,0.000,0.037,3138,3245,2236,2312,2161,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1634,0.82,117.3,3138,3245,2313,2160,143.6,13.8,310,1641,0.00,2.08,0.00,0.000,3078,0.000,0.024,3138,1851,2236,2312,2161,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1822,0.82,117.3,3138,1850,2312,2159,119.6,13.7,347,1829,0.00,2.15,0.00,0.000,2564,0.000,0.043,3138,457,2235,2312,2159,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1880,0.82,117.3,3138,456,2311,2159,112.4,12.0,358,1887,0.00,2.05,0.00,0.000,3078,0.000,0.021,3138,1855,2235,2311,2159,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2068,0.82,117.3,3138,1856,2311,2159,89.4,13.2,395,2075,0.00,2.15,0.00,0.000,2564,0.000,0.042,3138,462,2235,2311,2159,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2111,0.82,117.3,3138,462,2310,2158,83.6,13.4,403,2118,0.00,2.03,0.00,0.000,3078,0.000,0.022,3138,1850,2234,2310,2159,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2299,0.82,117.3,3138,1850,2310,2158,57.3,13.9,440,2306,0.00,2.10,0.00,0.000,2308,0.000,0.036,3138,3249,2234,2311,2158,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2364,0.82,117.3,3138,3249,2310,2158,48.3,14.8,452,2370,0.00,2.08,0.00,0.000,3078,0.000,0.024,3138,1837,2233,2310,2157,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2432,0.82,117.3,3138,1836,2310,2157,38.7,14.6,465,2437,0.00,0.00,0.00,0.000,2054,0.000,0.000,3138,1836,2234,2310,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,0.82,117.3,3138,1836,2310,2157,30.8,10.5,478,2505,0.00,2.10,0.00,0.000,2564,0.000,0.042,3138,462,2233,2310,2157,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2562,0.82,117.3,3138,462,2310,2157,23.8,11.2,490,2568,0.00,2.03,0.00,0.000,3078,0.000,0.021,3138,1857,2233,2310,2157,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2630,0.85,139.6,3138,1857,2310,2157,17.3,8.7,503,2653,0.00,0.00,17.33,0.521,10246,0.000,0.000,3138,1857,2153,2233,2073,0,0,0,0,0,0,28.83,28.83,25.12
$GC,2715,0.86,141.8,3138,1857,2232,2071,9.0,9.9,519,2720,0.00,0.00,0.00,0.000,2054,0.000,0.000,3138,1857,2151,2232,2071,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2771,end climb,SURFACE_DEPTH_REACHED
$STATE,2771,begin surface coast
$FINISH,0.5,1.001232
$STATE,2797,end surface coast,CONTROL_FINISHED_OK
$STATE,2797,begin surface
$SM_CCo,2812,50.78,0.361,1,0,1813,225.08
$SM_GC,1.71,8.40,0.17,50.78,0.063,0.063,0.361,140,2040,1813,-8.51,-1.55,225.08,0,0,0,0,1,0,25.93,26.25,24.91
$IRIDIUM_FIX,4726.11,-12226.80,050508,050544
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.09
$INTERNAL_PRESSURE,9.08279
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,62.0
$24V_AH,24.1,24.492
$10V_AH,10.5,10.654
$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,20.175,38.450,200.625,50.775,0.000,30.321,36.733,89.572,2.500,0.000,42.446,1185.619,592.499,341.028,981.842,43.338,33.210,784.108,0.000,773.292,0.000,18.438,0.000
$DEVICE_MAMPS,222.615,91.035,638.010,361.080,0.000,43.600,160.000,223.000,420.000,0.000,28.460,13.960,2.190,13.960,37.930,44.670,61.150,16.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.729,252.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323472
$DATA_FILE_SIZE,23459,535
$CAP_FILE_SIZE,57146,0
$CFSIZE,260165632,256933888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090715,180518,4742.969,-12224.756,9,2.0,9,18.2