version: 66.11
glider: 156
mission: 6
dive: 13
start: 1 7 115 10 14 30
data:
$ID,156
$MISSION,6
$DIVE,13
$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,80
$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,-905980.31
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,070115,100306,4743.056,-12224.659,41,1.1,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.2
$GPS2,070115,101331,4742.961,-12224.698,14,1.8,14,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.023,0.213
$KALMAN_X,-1799.9,10.7,33.4,1566.7,-66.8
$KALMAN_Y,-2095.8,271.5,512.4,1088.7,-525.3
$MHEAD_RNG_PITCHd_Wd,347.9,2861,-15.9,-7.500,-19.32,2379
$D_GRID,177
$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,-0.55,-116.8,136,2030,517,686,0.0,0.0,0,85,0.00,0.00,-65.35,0.000,16386,0.000,0.000,136,2030,1974,2015,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.55,-116.8,136,2030,2015,1938,3.2,-6.0,12,109,7.72,2.33,-3.40,0.000,18692,0.243,0.064,2073,3450,2107,2176,2038,0,0,0,0,0,0,25.50,25.72,26.03
$GC,173,-0.55,-116.8,2073,3450,2181,2039,16.6,-11.7,27,180,0.00,2.25,0.00,0.000,1030,0.000,0.038,2073,2042,2110,2181,2039,0,0,0,0,0,0,28.83,25.84,28.83
$GC,244,-0.55,-116.8,2073,2037,2181,2039,25.0,-11.8,40,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2037,2110,2181,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,314,-0.55,-116.8,2073,2037,2181,2039,32.5,-10.2,53,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2037,2110,2181,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,383,-0.55,-116.8,1280,2034,2130,2032,39.2,-10.0,66,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2036,2110,2181,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,452,-0.55,-116.8,2073,2036,2181,2040,47.0,-10.8,79,459,0.00,2.35,0.00,0.000,516,0.000,0.051,2073,631,2110,2181,2039,0,0,0,0,0,0,28.83,26.04,28.83
$GC,513,-0.55,-116.8,2072,631,2181,2038,54.7,-13.3,90,520,0.00,2.35,0.00,0.000,1030,0.000,0.039,2062,2042,2109,2181,2038,0,0,0,0,0,0,28.83,26.10,28.83
$GC,644,-0.55,-116.8,2062,2040,2181,2038,69.6,-8.9,115,650,0.00,2.40,0.00,0.000,516,0.000,0.054,2062,631,2109,2181,2038,0,0,0,0,0,0,28.83,26.13,28.83
$GC,714,-0.55,-116.8,1280,631,2130,2030,77.9,-12.3,128,721,0.12,2.35,0.00,0.000,3078,0.176,0.037,2083,2053,2109,2181,2038,0,0,0,0,0,0,26.04,26.17,28.83
$GC,848,-0.55,-116.8,2082,2051,2181,2038,90.4,-8.6,153,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2051,2109,2181,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.55,-116.8,2083,2050,2181,2038,102.6,-9.6,178,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2050,2109,2181,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1111,-0.55,-116.8,2082,2050,2181,2038,114.6,-8.7,203,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2050,2109,2181,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1246,-0.55,-116.8,2083,2049,2181,2038,128.4,-10.2,228,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2050,2109,2181,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1381,-0.55,-116.8,2083,2049,2181,2038,142.3,-10.4,253,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2049,2109,2181,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1515,-0.55,-116.8,2082,2049,2181,2038,155.6,-10.3,278,1521,0.00,2.40,0.00,0.000,516,0.000,0.051,2083,627,2109,2181,2038,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1576,-0.55,-116.8,2083,627,2181,2037,162.5,-10.5,289,1582,0.00,2.33,0.00,0.000,1030,0.000,0.039,2073,2041,2109,2181,2037,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,1709,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1709,begin apogee
$GC,1718,-0.23,0.0,2074,1894,2181,2037,176.0,-10.6,314,1819,0.35,0.08,93.75,0.640,10246,0.136,0.113,2188,1968,1637,1662,1613,0,0,0,0,0,0,26.25,25.00,24.51
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1826,0.55,116.8,2188,1968,1662,1611,181.4,0.0,332,1926,0.75,0.00,95.20,0.616,10246,0.106,0.000,2437,1966,1173,1134,1212,0,0,0,0,0,0,25.08,28.83,24.15
$GC,2052,0.55,116.8,2436,1966,1132,1212,166.9,8.5,374,2059,0.00,2.22,0.00,0.000,260,0.000,0.046,2437,3319,1170,1130,1211,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2103,0.55,116.8,2436,3319,1131,1210,162.3,8.9,383,2109,0.00,2.20,0.00,0.000,1030,0.000,0.040,2447,1969,1170,1131,1210,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2235,0.55,116.8,1504,1967,1118,1207,151.0,9.4,408,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1969,1170,1131,1209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,0.55,116.8,2447,1969,1131,1209,138.0,9.5,433,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1969,1170,1131,1209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,0.55,116.8,1536,1966,1119,1207,126.2,9.1,458,2501,0.00,2.40,0.00,0.000,516,0.000,0.055,2459,534,1170,1131,1210,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2559,0.55,116.8,1536,534,1121,1204,119.5,11.3,470,2566,0.00,2.28,0.00,0.000,1030,0.000,0.035,2458,1923,1169,1133,1206,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2693,0.55,116.8,2458,1921,1133,1205,105.4,9.7,495,2699,0.00,2.25,0.00,0.000,260,0.000,0.046,2459,3352,1169,1133,1205,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2773,0.55,116.8,1536,3350,1121,1203,96.8,10.6,510,2779,0.00,2.25,0.00,0.000,1030,0.000,0.039,2469,1940,1169,1133,1205,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2908,0.55,116.8,2468,1938,1133,1205,83.1,11.7,535,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1938,1169,1134,1205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3037,0.55,116.8,2469,1936,1133,1205,68.1,10.4,560,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1936,1169,1133,1205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3167,0.55,116.8,2468,1936,1134,1205,54.6,10.0,585,3173,0.00,2.22,0.00,0.000,260,0.000,0.047,2469,3340,1169,1133,1205,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3227,0.55,116.8,2469,3340,1133,1205,47.8,11.1,596,3235,0.15,2.22,0.00,0.000,5126,0.173,0.040,2440,1934,1169,1133,1205,0,0,0,0,0,0,26.14,26.27,28.83
$GC,3362,0.55,134.2,2440,1933,1133,1205,37.9,6.7,621,3380,0.00,0.00,14.68,0.528,8198,0.000,0.000,2440,1932,1103,1056,1150,0,0,0,0,0,0,28.83,28.83,25.58
$GC,3444,0.55,134.2,2440,1933,1055,1148,31.8,7.8,636,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1932,1102,1056,1148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3514,0.55,134.2,2440,1933,1056,1148,26.1,8.6,649,3521,0.00,2.33,0.00,0.000,516,0.000,0.054,2450,532,1102,1056,1148,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3555,0.55,134.2,2450,532,1055,1148,22.4,9.4,656,3562,0.00,2.30,0.00,0.000,1030,0.000,0.034,2450,1948,1101,1056,1146,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3625,0.55,134.2,1536,1943,1046,1144,16.3,8.4,669,3632,0.00,2.20,0.00,0.000,260,0.000,0.046,2450,3347,1100,1056,1145,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3696,0.55,134.2,2450,3346,1056,1145,9.6,9.2,682,3703,0.00,2.22,0.00,0.000,1030,0.000,0.038,2461,1943,1100,1056,1145,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3767,0.55,134.2,2460,1944,1056,1145,3.0,9.0,695,3773,0.00,2.33,0.00,0.000,516,0.000,0.054,2472,531,1100,1056,1145,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FINISH,0.2,1.021344
$STATE,3800,end surface coast,CONTROL_FINISHED_OK
$STATE,3800,begin surface
$SM_CCo,3822,107.85,0.508,2,0,602,260.24
$SM_GC,1.00,6.15,2.53,107.85,0.053,0.036,0.508,143,2035,602,-6.54,-1.16,260.24,0,0,0,0,2,0,26.28,26.29,24.72
$IRIDIUM_FIX,4722.92,-12321.00,070115,080837
$TT8_MAMPS,0.028462,0.028462
$HUMID,29.28
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.90
$XPDR_PINGS,214
$ALTIM_BOTTOM_PING,175.1,15.6
$24V_AH,24.2,1.306
$10V_AH,10.4,0.899
$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,15.250,50.975,203.625,107.850,0.000,29.428,43.465,389.589,58.000,0.000,15.759,1582.032,702.832,458.035,1547.807,277.914,33.236,1041.808,0.000,1054.681,0.000,31.877,0.000
$DEVICE_MAMPS,243.270,113.220,640.305,507.960,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.234,388.382,656.499,592.587,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323208
$DATA_FILE_SIZE,50333,701
$CAP_FILE_SIZE,83586,0
$CFSIZE,260165632,257212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,070115,112106,4742.998,-12225.064,11,1.9,11,18.2