version: 66.11
glider: 156
mission: 6
dive: 16
start: 1 7 115 14 16 6
data:
$ID,156
$MISSION,6
$DIVE,16
$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,-905984.06
$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,53
$R_STBD_OVSHOOT,62
$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
$GPS1,070115,140330,4742.646,-12225.408,43,1.1,43,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.6
$GPS2,070115,141507,4742.574,-12225.426,12,1.1,12,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.133,0.167
$KALMAN_X,-3806.0,99.7,-119.5,2726.8,-662.1
$KALMAN_Y,-4403.6,393.5,-774.7,3835.7,-817.1
$MHEAD_RNG_PITCHd_Wd,20.4,1397,-15.9,-7.500,-19.32,2379
$D_GRID,188
$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,-0.55,-116.8,135,2013,517,686,0.0,0.0,0,86,0.00,0.00,-65.45,0.000,16386,0.000,0.000,135,2013,1978,2024,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.55,-116.8,135,2013,2024,1937,3.4,-6.2,12,110,7.85,2.28,-3.33,0.000,18948,0.250,0.060,2083,653,2105,2178,2033,0,0,0,0,0,0,25.49,25.73,26.01
$GC,159,-0.55,-116.8,2082,653,2178,2033,14.2,-11.3,24,166,0.00,2.28,0.00,0.000,1030,0.000,0.034,2073,2020,2105,2178,2033,0,0,0,0,0,0,28.83,25.84,28.83
$GC,229,-0.55,-116.8,1280,2016,2129,2026,21.5,-10.1,37,236,0.00,2.33,0.00,0.000,516,0.000,0.047,2074,649,2106,2180,2033,0,0,0,0,0,0,28.83,25.87,28.83
$GC,377,-0.55,-116.8,2073,649,2180,2033,39.6,-11.8,65,384,0.00,2.30,0.00,0.000,1030,0.000,0.034,2063,2039,2106,2180,2033,0,0,0,0,0,0,28.83,26.03,28.83
$GC,448,-0.55,-116.8,2063,2037,2180,2033,48.2,-11.5,78,454,0.00,2.20,0.00,0.000,260,0.000,0.046,2053,3454,2106,2180,2033,0,0,0,0,0,0,28.83,26.03,28.83
$GC,478,-0.55,-116.8,2052,3453,2181,2033,51.7,-11.4,83,486,0.12,2.17,0.00,0.000,3078,0.158,0.032,2085,2054,2106,2180,2033,0,0,0,0,0,0,25.96,26.09,28.83
$GC,612,-0.55,-116.8,1256,2046,2128,2026,65.4,-11.1,108,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2048,2107,2181,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,741,-0.55,-116.8,2084,2048,2181,2033,79.9,-11.4,133,748,0.00,2.33,0.00,0.000,516,0.000,0.050,2085,641,2107,2181,2033,0,0,0,0,0,0,28.83,26.15,28.83
$GC,803,-0.55,-116.8,1280,640,2129,2025,87.3,-12.1,144,809,0.00,2.30,0.00,0.000,1030,0.000,0.035,2076,2040,2106,2180,2033,0,0,0,0,0,0,28.83,26.20,28.83
$GC,936,-0.55,-116.8,1256,2034,2128,2025,101.8,-10.6,169,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2037,2107,2181,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.55,-116.8,1256,2034,2127,2025,119.2,-15.3,194,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2036,2107,2181,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1206,-0.55,-116.8,2075,2036,2181,2033,136.4,-11.6,219,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2036,2107,2181,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.55,-116.8,1256,2034,2128,2025,149.4,-8.3,244,1347,0.00,2.35,0.00,0.000,516,0.000,0.047,2076,632,2106,2180,2033,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1456,-0.55,-116.8,2076,632,2181,2033,160.2,-9.5,265,1463,0.00,2.30,0.00,0.000,1030,0.000,0.036,2065,2042,2107,2181,2033,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1590,-0.55,-116.8,2065,2039,2181,2033,174.1,-9.8,290,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2039,2106,2180,2033,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1655,-0.23,0.0,2065,1900,2181,2033,180.3,-10.7,300,1756,0.38,0.08,93.82,0.644,10246,0.141,0.112,2187,1971,1637,1663,1611,0,0,0,0,0,0,26.23,24.98,24.49
$STATE,1757,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1763,0.55,116.8,2187,1971,1663,1610,185.3,0.0,318,1863,0.75,0.00,95.53,0.620,10246,0.106,0.000,2434,1970,1173,1134,1212,0,0,0,0,0,0,25.07,28.83,24.14
$GC,1989,0.55,135.0,2434,1970,1133,1209,171.6,6.7,360,2013,0.00,2.22,15.85,0.579,8452,0.000,0.044,2435,3320,1099,1055,1144,0,0,1,0,0,0,28.83,25.24,24.70
$GC,2037,0.55,135.0,2434,3320,1055,1143,167.7,9.4,368,2044,0.00,2.17,0.00,0.000,1030,0.000,0.035,2445,1989,1099,1055,1143,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2171,0.55,135.0,1488,1986,1044,1140,155.9,10.0,393,2178,0.00,2.47,0.00,0.000,516,0.000,0.052,2456,518,1098,1054,1142,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2202,0.55,135.0,2457,518,1055,1142,152.2,10.4,398,2209,0.00,2.33,0.00,0.000,1030,0.000,0.034,2457,1920,1098,1055,1141,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2335,0.55,135.0,2457,1918,1055,1141,139.8,9.7,423,2342,0.00,2.25,0.00,0.000,260,0.000,0.044,2457,3343,1098,1055,1141,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2376,0.55,135.0,2457,3343,1054,1139,135.2,11.0,430,2382,0.00,2.25,0.00,0.000,1030,0.000,0.036,2467,1933,1097,1055,1139,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2510,0.55,135.0,2467,1933,1054,1139,121.1,11.2,455,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1933,1097,1055,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,0.55,135.0,2467,1933,1055,1139,106.4,11.1,480,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1933,1097,1055,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,0.55,135.0,2466,1932,1055,1140,92.1,10.7,505,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1933,1096,1054,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,0.55,135.0,1540,1930,1046,1138,78.9,9.6,530,2905,0.00,2.33,0.00,0.000,516,0.000,0.052,2478,534,1097,1055,1139,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2934,0.55,135.0,2478,534,1055,1140,75.2,10.4,536,2941,0.15,2.30,0.00,0.000,5126,0.158,0.033,2438,1944,1097,1055,1139,0,0,0,0,0,0,26.08,26.22,28.83
$GC,3068,0.55,135.0,2438,1942,1055,1137,63.5,8.2,561,3074,0.00,2.17,0.00,0.000,260,0.000,0.044,2438,3352,1095,1054,1137,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3128,0.55,135.0,1536,3349,1046,1136,57.9,9.4,572,3135,0.00,2.22,0.00,0.000,1030,0.000,0.036,2448,1931,1096,1055,1137,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3262,0.55,135.0,2447,1930,1055,1138,45.8,9.2,597,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1930,1096,1055,1137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,0.55,135.0,2447,1930,1055,1137,33.9,8.7,622,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1930,1096,1055,1137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3462,0.55,135.0,2447,1930,1055,1137,28.1,8.3,635,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1930,1096,1055,1137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,0.56,137.6,2447,1930,1055,1137,22.6,7.4,648,3538,0.00,2.28,0.00,0.000,516,0.000,0.051,2459,538,1096,1055,1137,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3603,0.56,137.6,2458,538,1055,1137,16.7,8.4,661,3609,0.00,2.28,0.00,0.000,1030,0.000,0.032,2458,1943,1096,1055,1137,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3673,0.56,137.6,2458,1941,1055,1137,10.7,8.7,674,3680,0.00,2.17,0.00,0.000,260,0.000,0.044,2458,3357,1096,1055,1137,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3709,0.56,137.6,2458,3356,1055,1136,7.7,9.0,680,3716,0.00,2.20,0.00,0.000,1030,0.000,0.034,2469,1947,1095,1055,1136,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,3771,end climb,SURFACE_DEPTH_REACHED
$STATE,3771,begin surface coast
$FINISH,0.2,1.001851
$STATE,3793,end surface coast,CONTROL_FINISHED_OK
$STATE,3793,begin surface
$SM_CCo,3812,105.40,0.521,1,0,602,260.24
$SM_GC,0.93,6.03,0.20,105.40,0.044,0.057,0.521,136,2103,602,-6.55,-0.48,260.24,0,0,0,0,1,0,26.39,26.43,24.75
$IRIDIUM_FIX,4726.11,-12216.97,070115,121233
$TT8_MAMPS,0.027713,0.027713
$HUMID,28.73
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.90
$XPDR_PINGS,213
$ALTIM_BOTTOM_PING,175.1,29.1
$24V_AH,24.1,1.572
$10V_AH,10.4,1.105
$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,15.275,55.025,205.200,105.400,0.000,28.867,41.500,462.419,57.500,0.000,13.687,1571.946,698.526,454.828,1584.507,312.563,33.221,1040.885,0.000,1046.267,0.000,28.999,0.000
$DEVICE_MAMPS,250.155,111.690,644.130,520.965,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.706,386.255,650.954,588.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323212
$DATA_FILE_SIZE,50311,696
$CAP_FILE_SIZE,84547,0
$CFSIZE,260165632,257040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$GPS,070115,152249,4742.729,-12225.327,36,1.7,36,18.2