version: 66.11
glider: 156
mission: 6
dive: 6
start: 1 7 115 1 4 5
data:
$ID,156
$MISSION,6
$DIVE,6
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,170
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,6
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,63
$T_MISSION,85
$T_ABORT,720
$T_TURN,600
$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,1
$APOGEE_PITCH,-7
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,51793
$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,50
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,56.75
$TGT_DEFAULT_LON,-7.25
$TGT_AUTO_DEFAULT,0
$SM_CC,260
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,0
$N_NOSURFACE,-1
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-905944.12
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2264
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,270
$C_ROLL_CLIMB,270
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1638
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,1
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.360556
$PRESSURE_SLOPE,0.00011457827
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043990691
$SEABIRD_T_H,0.00065709552
$SEABIRD_T_I,3.75727e-05
$SEABIRD_T_J,5.2690598e-06
$SEABIRD_C_G,-10.168411
$SEABIRD_C_H,1.1470841
$SEABIRD_C_I,-0.001554661
$SEABIRD_C_J,0.00020326475
$GPS1,070115,005323,4743.556,-12224.742,14,1.8,36,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.0
$GPS2,070115,010300,4743.557,-12224.769,15,1.1,15,18.2
$SPEED_LIMITS,0.336,0.338
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.072,0.331
$KALMAN_X,-467.5,-145.9,-60.7,394.7,-98.0
$KALMAN_Y,-950.1,-209.4,-69.0,2102.6,-351.4
$MHEAD_RNG_PITCHd_Wd,354.0,1778,-11.2,-8.995,-14.88,4941
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.45,-291.9,158,270,518,684,0.0,0.0,0,80,0.00,0.00,-59.90,0.000,16386,0.000,0.000,158,270,1884,1928,1840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.45,-291.9,158,270,1928,1844,3.0,-3.9,11,120,7.60,0.00,-23.00,0.000,18438,0.236,0.000,2115,259,2804,2887,2721,0,0,0,0,0,0,25.52,28.83,26.13
$GC,185,-0.45,-291.9,2115,259,2887,2722,14.7,-9.1,29,191,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,255,-0.45,-291.9,2115,260,2887,2722,21.6,-9.8,42,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2887,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,325,-0.45,-291.9,2115,259,2887,2722,28.4,-9.6,55,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2887,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,395,-0.45,-291.9,2115,259,2887,2722,35.1,-9.5,68,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,465,-0.45,-291.9,2115,259,2887,2722,41.4,-8.6,81,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2887,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,595,-0.45,-291.9,2115,259,2887,2722,52.2,-7.9,106,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,725,-0.45,-291.9,2115,259,2886,2722,63.1,-8.8,131,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,857,-0.45,-291.9,2115,259,2887,2722,75.4,-8.8,156,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-0.45,-291.9,2115,259,2887,2722,87.3,-8.2,181,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.45,-291.9,2115,260,2885,2722,99.3,-9.5,206,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,260,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1251,-0.45,-291.9,2114,259,2886,2722,110.5,-9.5,231,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,260,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1383,-0.45,-291.9,1280,259,2843,2714,122.9,-10.1,256,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1515,-0.45,-291.9,2115,259,2886,2722,135.0,-9.2,281,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2886,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-0.45,-291.9,2115,258,2887,2722,148.6,-10.4,306,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2887,2722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1786,-0.45,-291.9,2115,259,2886,2722,162.4,-10.1,331,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,259,2804,2887,2722,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1852,begin apogee
$GC,1860,-0.23,0.0,2114,259,2887,2722,170.2,-9.6,344,2088,0.20,0.00,218.43,0.631,10246,0.126,0.000,2185,259,1639,1638,1640,0,0,0,0,0,0,26.32,28.83,24.20
$STATE,2089,end apogee,CONTROL_FINISHED_OK
$STATE,2089,begin climb
$GC,2093,0.45,291.9,2185,259,1637,1638,185.4,0.0,385,2354,0.70,0.00,243.35,0.595,10246,0.121,0.000,2406,259,474,417,532,0,0,0,0,2,0,24.77,28.83,24.15
$GC,2480,0.47,363.9,1496,259,416,529,162.1,7.5,456,2492,0.00,0.00,6.05,0.471,8198,0.000,0.000,2406,259,450,398,502,0,0,0,0,0,0,28.83,28.83,24.86
$GC,2619,0.49,417.7,2406,259,398,500,152.0,7.9,482,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2749,0.50,462.0,2406,259,398,500,141.6,8.1,507,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,448,397,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,0.50,462.0,2405,259,398,500,129.8,10.5,532,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,0.50,462.0,2406,259,398,500,114.4,11.6,557,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,0.50,462.0,1504,259,398,500,100.1,12.5,582,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,0.50,462.0,2406,259,398,500,85.8,11.9,607,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3397,0.51,477.1,2406,259,398,500,73.3,8.7,632,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,0.51,477.1,2406,259,398,500,60.9,9.1,657,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,398,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,0.51,477.1,1504,259,398,500,47.5,9.5,682,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,399,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3786,0.51,477.1,2406,259,399,500,33.3,10.1,707,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,399,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3857,0.51,477.1,2406,259,399,500,25.1,12.6,720,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,259,449,399,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3927,0.51,477.1,2406,259,399,500,17.2,10.8,733,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,260,449,399,500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3996,0.51,477.1,1496,260,399,500,9.4,11.6,746,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,260,449,399,500,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4063,end climb,SURFACE_DEPTH_REACHED
$STATE,4063,begin surface coast
$FINISH,0.5,1.022076
$STATE,4079,end surface coast,CONTROL_FINISHED_OK
$STATE,4079,begin surface
$SM_CCo,4158,0.00,0.000,0,0,450,298.43
$SM_GC,1.06,5.85,0.00,0.00,0.044,0.000,0.000,144,260,450,-6.54,-0.28,298.43,0,0,0,0,0,0,26.39,28.83,28.83
$IRIDIUM_FIX,4722.92,-12225.08,060115,232320
$TT8_MAMPS,0.026964,0.026964
$HUMID,30.70
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.90
$XPDR_PINGS,234
$ALTIM_BOTTOM_PING,150.3,43.0
$24V_AH,24.2,0.652
$10V_AH,10.4,0.439
$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,14.350,3.175,467.825,0.000,0.000,24.293,40.803,350.052,61.750,0.000,16.029,1570.685,788.034,525.013,1592.358,256.173,33.210,1190.705,0.000,1142.999,0.000,24.106,0.000
$DEVICE_MAMPS,235.620,57.375,631.125,0.000,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.652,408.965,695.478,628.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323184
$DATA_FILE_SIZE,60419,762
$CAP_FILE_SIZE,76313,0
$CFSIZE,260165632,257576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070115,021407,4743.375,-12224.916,13,2.0,13,18.2