version: 66.11
glider: 156
mission: 6
dive: 9
start: 1 7 115 5 15 6
data:
$ID,156
$MISSION,6
$DIVE,9
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,75
$T_MISSION,90
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,-905975.31
$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,2040
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,44
$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
$GPS1,070115,050305,4744.395,-12224.713,15,1.1,37,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.4
$GPS2,070115,051406,4744.455,-12224.789,11,1.7,16,18.2
$SPEED_LIMITS,0.095,0.219
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.054,-0.212
$KALMAN_X,-1119.1,-136.8,-43.4,994.2,-122.5
$KALMAN_Y,-1884.3,-387.4,-202.9,4992.2,58.8
$MHEAD_RNG_PITCHd_Wd,147.4,2718,-16.9,-8.000,-20.10,2233
$D_GRID,178
$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,17,-0.58,-116.8,141,2061,515,688,0.0,0.0,0,74,0.00,0.00,-54.95,0.000,16386,0.000,0.000,141,2061,1744,1805,1683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.58,-116.8,142,2061,1805,1687,3.0,-6.6,10,104,7.68,2.50,-10.27,0.000,18948,0.245,0.067,2071,628,2104,2195,2014,0,0,0,0,0,0,25.50,25.75,26.07
$GC,442,-0.58,-116.8,2070,628,2194,2015,50.9,-13.3,80,448,0.00,2.33,0.00,0.000,1030,0.000,0.041,2062,2025,2105,2195,2015,0,0,0,0,0,0,28.83,26.08,28.83
$GC,572,-0.58,-116.8,2061,2023,2195,2015,66.6,-11.0,105,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2023,2105,2195,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-0.58,-116.8,2061,2022,2195,2015,81.3,-11.5,130,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2022,2104,2195,2014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-0.58,-116.8,2061,2022,2195,2015,96.6,-11.8,155,838,0.00,2.38,0.00,0.000,516,0.000,0.056,2061,622,2105,2195,2015,0,0,0,0,0,0,28.83,26.19,28.83
$GC,892,-0.58,-116.8,1280,622,2144,2007,104.4,-13.6,166,899,0.00,2.35,0.00,0.000,1030,0.000,0.041,2051,2037,2105,2195,2015,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1029,-0.58,-116.8,2051,2034,2195,2015,122.1,-13.5,191,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2035,2105,2195,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1163,-0.58,-116.8,1232,2032,2140,2007,139.5,-12.7,216,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2034,2105,2195,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.58,-116.8,2051,2034,2195,2015,156.9,-12.6,241,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2034,2105,2195,2015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-0.58,-116.8,1280,2031,2144,2007,172.9,-14.8,266,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2034,2104,2195,2014,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1470,-0.23,0.0,2051,1902,2195,2014,178.4,-14.6,272,1571,0.43,0.05,93.82,0.644,10246,0.145,0.143,2188,1959,1637,1669,1606,0,0,0,0,0,0,26.20,24.94,24.48
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1578,0.58,116.8,2187,1960,1669,1603,185.9,0.0,290,1685,0.80,2.40,94.62,0.620,11012,0.109,0.047,2448,3327,1172,1137,1208,0,0,0,0,0,0,25.06,24.70,24.15
$GC,1696,0.59,165.9,2448,3327,1137,1208,182.6,5.7,310,1747,0.00,2.28,40.88,0.602,9222,0.000,0.041,2458,1973,976,932,1021,0,0,0,0,0,0,28.83,24.95,24.21
$GC,1873,0.59,165.9,2458,1970,932,1018,164.4,11.7,343,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1970,975,932,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,0.59,165.9,2458,1970,932,1017,150.4,11.1,368,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1970,974,932,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2132,0.59,165.9,2458,1970,932,1017,134.9,12.5,393,2139,0.00,2.22,0.00,0.000,260,0.000,0.050,2458,3340,974,932,1016,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2158,0.59,165.9,2458,3339,933,1015,131.4,13.6,397,2164,0.00,2.28,0.00,0.000,1030,0.000,0.042,2468,1932,973,932,1015,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2291,0.59,165.9,2468,1932,932,1015,114.9,13.2,422,2298,0.00,2.38,0.00,0.000,516,0.000,0.060,2480,524,973,932,1015,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2317,0.59,165.9,2480,524,932,1015,111.4,12.2,426,2323,0.00,2.33,0.00,0.000,1030,0.000,0.039,2480,1930,973,932,1014,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2450,0.59,165.9,2480,1928,932,1013,95.8,12.6,451,2457,0.00,2.25,0.00,0.000,260,0.000,0.049,2480,3344,972,932,1013,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2486,0.59,165.9,2479,3343,932,1012,90.7,13.5,457,2493,0.12,2.28,0.00,0.000,5126,0.175,0.043,2460,1923,972,932,1012,0,0,0,0,0,0,25.98,26.10,28.83
$GC,2620,0.59,165.9,2460,1921,932,1012,76.9,9.4,482,2627,0.00,2.33,0.00,0.000,516,0.000,0.058,2470,533,972,932,1012,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2635,0.59,165.9,2469,533,932,1012,75.1,9.6,484,2642,0.00,2.33,0.00,0.000,1030,0.000,0.038,2470,1943,972,932,1012,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2769,0.59,165.9,2470,1941,932,1012,60.1,11.5,509,2775,0.00,2.20,0.00,0.000,260,0.000,0.049,2470,3351,972,932,1012,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2830,0.59,165.9,1536,3349,926,1010,52.7,11.9,520,2837,0.00,2.25,0.00,0.000,1030,0.000,0.041,2480,1938,971,932,1011,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2964,0.59,165.9,2480,1938,932,1011,37.9,10.5,545,2970,0.00,2.28,0.00,0.000,260,0.000,0.048,2480,3355,971,932,1011,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2999,0.59,165.9,1552,3355,926,1010,33.8,11.0,551,3006,0.12,2.28,0.00,0.000,5126,0.176,0.043,2460,1934,971,932,1011,0,0,0,0,0,0,26.13,26.25,28.83
$GC,3071,0.59,165.9,2460,1934,932,1011,26.8,9.2,564,3077,0.00,2.33,0.00,0.000,516,0.000,0.057,2470,531,971,932,1011,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3143,0.59,165.9,2470,531,932,1011,19.9,9.4,577,3149,0.00,2.30,0.00,0.000,1030,0.000,0.037,2470,1946,971,932,1011,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3213,0.59,165.9,2470,1944,932,1011,12.6,10.9,590,3220,0.00,2.20,0.00,0.000,260,0.000,0.048,2470,3347,971,932,1010,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3249,0.59,165.9,1536,3345,926,1008,8.1,11.8,596,3256,0.00,2.25,0.00,0.000,1030,0.000,0.041,2480,1929,971,932,1010,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,3306,end climb,SURFACE_DEPTH_REACHED
$STATE,3306,begin surface coast
$FINISH,0.1,1.021002
$STATE,3328,end surface coast,CONTROL_FINISHED_OK
$STATE,3328,begin surface
$SM_CCo,3347,82.20,0.513,2,0,602,260.24
$SM_GC,1.03,6.12,0.20,82.20,0.049,0.061,0.513,135,2063,602,-6.56,-0.88,260.24,0,0,0,0,2,0,26.34,26.39,24.92
$IRIDIUM_FIX,4722.92,-12226.80,070115,030317
$TT8_MAMPS,0.027713,0.027713
$HUMID,29.36
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.70
$XPDR_PINGS,187
$ALTIM_BOTTOM_PING,140.7,56.0
$24V_AH,24.1,0.964
$10V_AH,10.4,0.635
$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,15.275,51.100,229.325,82.200,0.000,28.178,38.735,428.748,49.250,0.000,17.801,1367.749,594.399,435.350,1427.557,279.883,33.224,959.346,0.000,921.489,0.000,18.102,0.000
$DEVICE_MAMPS,244.800,143.055,644.130,512.550,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.187,336.443,570.992,515.306,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,47142,611
$CAP_FILE_SIZE,75036,0
$CFSIZE,260165632,257437696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,070115,061354,4744.388,-12224.721,44,1.7,44,18.2