version: 66.11
glider: 156
mission: 6
dive: 15
start: 1 7 115 12 55 5
data:
$ID,156
$MISSION,6
$DIVE,15
$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,-905982.81
$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,22
$R_STBD_OVSHOOT,59
$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
$GPS1,070115,124301,4742.809,-12225.311,11,1.4,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.4
$GPS2,070115,125406,4742.721,-12225.384,12,1.5,17,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.128,0.171
$KALMAN_X,-3327.4,140.6,30.6,2113.3,-696.0
$KALMAN_Y,-3778.2,450.0,-357.9,3012.5,-1069.9
$MHEAD_RNG_PITCHd_Wd,18.5,3473,-15.9,-7.500,-19.32,2379
$D_GRID,189
$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,-116.8,141,2061,517,687,0.0,0.0,0,79,0.00,0.00,-59.72,0.000,16386,0.000,0.000,141,2060,1839,1890,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.55,-116.8,141,2061,1890,1793,3.0,-7.0,11,103,7.70,0.00,-7.68,0.000,18438,0.246,0.000,2079,2048,2104,2191,2018,0,0,0,0,0,0,25.49,28.83,26.04
$GC,167,-0.55,-116.8,2079,2048,2191,2022,12.6,-9.7,26,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2049,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,236,-0.55,-116.8,1280,2046,2140,2015,19.4,-10.4,39,242,0.00,2.40,0.00,0.000,516,0.000,0.048,2079,622,2106,2191,2022,0,0,0,0,0,0,28.83,25.89,28.83
$GC,371,-0.55,-116.8,1284,622,2140,2015,33.6,-9.3,65,377,0.00,2.30,0.00,0.000,1030,0.000,0.036,2070,2013,2106,2191,2022,0,0,0,0,0,0,28.83,26.03,28.83
$GC,441,-0.55,-116.8,2070,2011,2191,2022,39.9,-9.2,78,448,0.00,2.25,0.00,0.000,260,0.000,0.047,2059,3453,2106,2191,2022,0,0,0,0,0,0,28.83,26.04,28.83
$GC,492,-0.55,-116.8,2059,3452,2191,2023,44.7,-8.8,87,499,0.00,2.22,0.00,0.000,1030,0.000,0.034,2059,2026,2107,2192,2023,0,0,0,0,0,0,28.83,26.10,28.83
$GC,622,-0.55,-116.8,2059,2019,2191,2023,56.6,-9.6,112,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2020,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.55,-116.8,2059,2018,2191,2023,70.7,-10.3,137,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2018,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.55,-116.8,2059,2014,2191,2023,85.3,-11.7,162,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2014,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1013,-0.55,-116.8,2059,2014,2191,2023,101.8,-14.1,187,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2014,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.55,-116.8,1248,2012,2138,2015,115.0,-8.5,212,1154,0.00,2.28,0.00,0.000,516,0.000,0.048,2059,635,2107,2191,2023,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1233,-0.55,-116.8,2058,635,2191,2023,124.5,-11.2,228,1241,0.15,2.30,0.00,0.000,3078,0.171,0.036,2088,2042,2107,2191,2023,0,0,0,0,0,0,26.16,26.30,28.83
$GC,1368,-0.55,-116.8,2087,2039,2190,2023,136.5,-9.7,253,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2039,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1501,-0.55,-116.8,1252,2037,2137,2015,147.8,-7.4,278,1508,0.00,2.35,0.00,0.000,516,0.000,0.047,2088,632,2107,2191,2023,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1638,-0.55,-116.8,2088,632,2191,2023,159.4,-8.4,304,1646,0.00,2.30,0.00,0.000,1030,0.000,0.036,2078,2042,2106,2191,2022,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1773,-0.55,-116.8,2078,2039,2191,2023,171.6,-9.2,329,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2039,2107,2191,2023,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1856,begin apogee
$GC,1865,-0.23,0.0,2078,1903,2191,2023,180.2,-8.7,345,1965,0.32,0.05,93.82,0.646,10246,0.140,0.138,2185,1969,1637,1665,1610,0,0,0,0,0,0,26.26,24.98,24.51
$STATE,1966,end apogee,CONTROL_FINISHED_OK
$STATE,1969,begin climb
$GC,1973,0.55,116.8,2184,1968,1665,1608,184.5,0.0,363,2078,0.75,2.33,95.28,0.617,10500,0.108,0.045,2432,3312,1173,1134,1212,0,0,1,0,0,0,25.08,24.67,24.15
$GC,2109,0.55,116.8,2432,3312,1133,1211,174.5,11.1,387,2116,0.00,2.20,0.00,0.000,1030,0.000,0.032,2443,1974,1172,1133,1211,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2242,0.55,116.8,2442,1973,1133,1209,160.6,10.8,412,2249,0.00,2.42,0.00,0.000,516,0.000,0.050,2454,533,1171,1133,1209,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2318,0.55,116.8,2454,533,1133,1207,151.9,11.4,426,2325,0.00,2.30,0.00,0.000,1030,0.000,0.033,2454,1921,1170,1134,1206,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2452,0.55,116.8,2453,1918,1134,1206,137.7,11.6,451,2458,0.00,2.25,0.00,0.000,260,0.000,0.044,2454,3342,1170,1134,1206,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2487,0.55,116.8,2454,3341,1133,1206,133.4,11.9,457,2494,0.00,2.25,0.00,0.000,1030,0.000,0.035,2464,1934,1170,1134,1206,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2621,0.55,116.8,2464,1932,1134,1206,118.6,11.8,482,2627,0.00,2.35,0.00,0.000,516,0.000,0.054,2476,521,1170,1134,1206,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2666,0.55,116.8,1552,521,1121,1204,112.9,12.4,490,2673,0.12,2.33,0.00,0.000,5126,0.168,0.034,2445,1940,1168,1133,1204,0,0,0,0,0,0,25.91,26.05,28.83
$GC,2799,0.55,116.8,2444,1938,1134,1204,99.2,9.1,515,2805,0.00,2.20,0.00,0.000,260,0.000,0.044,2445,3344,1169,1134,1204,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2864,0.55,116.8,2444,3343,1134,1204,92.2,10.5,527,2871,0.00,2.22,0.00,0.000,1030,0.000,0.035,2454,1929,1169,1134,1204,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2998,0.55,116.8,2454,1929,1134,1203,79.9,8.9,552,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1929,1169,1134,1204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,0.55,116.8,2454,1928,1134,1204,66.8,11.2,577,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1928,1169,1134,1204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,0.55,116.8,1536,1926,1122,1201,53.7,10.4,602,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1928,1169,1134,1204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,0.55,116.8,2453,1929,1134,1203,41.0,9.9,627,3393,0.00,2.22,0.00,0.000,260,0.000,0.043,2454,3342,1169,1134,1204,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3448,0.55,116.8,2454,3342,1134,1204,34.8,9.4,638,3454,0.00,2.20,0.00,0.000,1030,0.000,0.035,2464,1944,1169,1134,1204,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3518,0.55,116.8,2464,1941,1134,1204,28.7,8.4,651,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1941,1168,1134,1203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,0.55,116.8,2464,1941,1134,1203,23.0,8.4,664,3596,0.00,2.33,0.00,0.000,516,0.000,0.051,2476,523,1169,1134,1204,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3640,0.55,116.8,2476,522,1134,1203,18.4,9.7,673,3647,0.15,2.33,0.00,0.000,5126,0.163,0.033,2436,1947,1168,1135,1201,0,0,0,0,0,0,26.20,26.34,28.83
$GC,3712,0.55,119.6,2436,1946,1134,1201,12.6,7.4,686,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1945,1168,1135,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,0.55,131.0,2436,1945,1134,1201,7.3,7.0,699,3800,0.00,0.00,11.95,0.503,8198,0.000,0.000,2436,1945,1115,1074,1157,0,0,0,0,0,0,28.83,28.83,25.69
$STATE,3850,end climb,SURFACE_DEPTH_REACHED
$STATE,3851,begin surface coast
$FINISH,0.2,1.021689
$STATE,3877,end surface coast,CONTROL_FINISHED_OK
$STATE,3877,begin surface
$SM_CCo,3897,110.40,0.510,2,0,601,260.24
$SM_GC,1.09,6.00,0.15,110.40,0.046,0.073,0.510,135,2079,601,-6.55,-0.79,260.24,0,0,0,0,2,0,26.26,26.29,24.70
$IRIDIUM_FIX,4726.11,-12224.09,070115,111129
$TT8_MAMPS,0.026964,0.026964
$HUMID,28.97
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.80
$XPDR_PINGS,215
$24V_AH,24.1,1.482
$10V_AH,10.4,1.037
$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,15.200,50.700,201.050,110.400,0.000,28.709,41.517,425.863,58.000,0.000,18.617,1615.931,722.284,458.251,1602.178,286.950,33.231,1053.865,0.000,1077.530,0.000,27.624,0.000
$DEVICE_MAMPS,245.565,138.465,645.660,510.255,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.251,403.293,677.623,611.979,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323196
$DATA_FILE_SIZE,53750,717
$CAP_FILE_SIZE,84493,0
$CFSIZE,260165632,257093632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$GPS,070115,140330,4742.646,-12225.408,43,1.1,43,18.2