version: 66.11
glider: 156
mission: 6
dive: 4
start: 1 6 115 22 31 26
data:
$ID,156
$MISSION,6
$DIVE,4
$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,50
$T_MISSION,75
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-905861.12
$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,2244
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,25
$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
$GPS1,060115,222548,4743.350,-12224.801,12,1.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.4
$GPS2,060115,223029,4743.346,-12224.813,16,1.4,44,18.2
$SPEED_LIMITS,0.196,0.223
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.059,0.215
$KALMAN_X,-183.0,-77.4,-68.5,-1.9,-73.3
$KALMAN_Y,-157.9,-15.6,-7.6,668.5,-66.8
$MHEAD_RNG_PITCHd_Wd,357.2,2173,-24.8,-11.333,-26.96,1319
$D_GRID,176
$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,-0.85,-97.3,146,2013,401,502,0.0,0.0,0,96,0.00,0.00,-75.38,0.000,16390,0.000,0.000,147,2013,2027,2053,2001,0,0,0,0,0,0,28.83,28.83,26.45
$GC,100,-0.85,-97.3,146,2014,2053,2005,2.8,-3.7,14,114,6.97,2.30,0.00,0.000,2308,0.238,0.047,1949,3458,2029,2054,2005,0,0,0,0,0,0,25.80,26.06,28.83
$GC,450,-0.85,-97.3,1949,3456,2061,2005,65.7,-16.4,82,456,0.00,2.30,0.00,0.000,1030,0.000,0.047,1953,2032,2032,2060,2005,0,0,0,0,0,0,28.83,26.22,28.83
$GC,581,-0.85,-97.3,1953,2029,2061,2002,85.7,-15.6,107,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2029,2031,2061,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,711,-0.85,-97.3,1953,2027,2061,2002,107.1,-16.1,132,718,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2027,2031,2061,2001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-0.85,-97.3,1184,2024,2009,1993,129.7,-17.9,157,855,0.00,2.30,0.00,0.000,260,0.000,0.051,1944,3470,2030,2061,2000,0,0,0,0,0,0,28.83,26.30,28.83
$GC,899,-0.85,-97.3,1200,3470,2012,1993,138.8,-15.0,166,911,0.00,2.28,0.00,0.000,1030,0.000,0.044,1952,2036,2031,2062,2000,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1035,-0.85,-97.3,1200,2027,2011,1992,159.4,-14.4,191,1042,0.00,2.35,0.00,0.000,516,0.000,0.067,1958,629,2030,2061,1999,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1103,begin apogee
$GC,1113,-0.23,0.0,1949,1981,2061,1998,170.5,-15.7,204,1197,0.70,0.00,78.72,0.637,10246,0.171,0.000,2165,1981,1638,1656,1620,0,0,0,0,0,0,26.15,28.83,24.63
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1202,0.85,97.3,2164,1981,1656,1619,176.2,0.0,219,1285,1.08,0.00,78.38,0.611,10502,0.116,0.000,2515,1980,1250,1237,1264,0,0,0,0,0,0,25.19,28.83,24.28
$GC,1411,0.85,97.3,1576,1981,1219,1259,152.5,15.0,258,1418,0.00,2.53,0.00,0.000,516,0.000,0.067,2526,571,1248,1235,1261,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1457,0.85,97.3,2526,571,1235,1259,145.7,14.4,266,1463,0.00,2.38,0.00,0.000,1030,0.000,0.041,2527,1995,1247,1235,1259,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1590,0.85,97.3,2526,1993,1235,1259,128.3,13.2,291,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1993,1247,1235,1259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1720,0.85,97.3,2526,1994,1235,1259,111.1,14.2,316,1726,0.00,2.20,0.00,0.000,260,0.000,0.050,2526,3384,1247,1235,1259,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1790,0.85,97.3,2526,3383,1235,1259,100.5,15.6,329,1797,0.00,2.28,0.00,0.000,1030,0.000,0.047,2537,1986,1247,1235,1259,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1923,0.85,97.3,1568,1982,1218,1256,81.7,13.6,354,1930,0.00,2.28,0.00,0.000,260,0.000,0.050,2537,3388,1246,1234,1259,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1960,0.85,97.3,2536,3388,1234,1259,76.2,15.5,360,1967,0.00,2.30,0.00,0.000,1030,0.000,0.045,2547,1965,1246,1234,1259,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2093,0.85,97.3,2547,1965,1234,1259,57.5,13.6,385,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1965,1246,1233,1259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,0.85,97.3,2547,1965,1234,1259,38.9,14.0,410,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1965,1246,1234,1259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,0.85,97.3,2547,1965,1234,1259,30.1,12.1,423,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1965,1246,1234,1259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,0.85,97.3,2547,1965,1234,1259,21.6,12.0,436,2371,0.00,2.33,0.00,0.000,516,0.000,0.064,2559,575,1246,1234,1259,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2400,0.85,97.3,2559,575,1234,1257,16.8,13.2,442,2407,0.15,2.28,0.00,0.000,5126,0.184,0.039,2520,1971,1245,1234,1257,0,0,0,0,0,0,26.13,26.32,28.83
$GC,2473,0.86,115.4,2520,1970,1234,1257,8.8,9.9,455,2497,0.00,2.33,15.05,0.513,8452,0.000,0.050,2520,3399,1178,1157,1199,0,0,0,0,0,0,28.83,26.08,25.58
$STATE,2529,end climb,SURFACE_DEPTH_REACHED
$STATE,2529,begin surface coast
$FINISH,1.1,1.021738
$STATE,2534,end surface coast,CONTROL_FINISHED_OK
$STATE,2534,begin surface
$SM_CCo,2556,121.82,0.505,2,0,601,260.24
$SM_GC,1.07,6.32,2.25,121.82,0.054,0.046,0.505,149,2048,601,-6.47,0.85,260.24,0,0,0,0,2,0,26.17,26.14,24.61
$IRIDIUM_FIX,4722.92,-12225.08,060115,222214
$TT8_MAMPS,0.027713,0.027713
$HUMID,30.11
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.80
$XPDR_PINGS,144
$ALTIM_BOTTOM_PING,140.0,51.8
$24V_AH,24.3,0.438
$10V_AH,10.4,0.297
$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,15.225,36.925,172.150,121.825,0.000,0.000,0.000,0.000,38.500,0.000,45.288,1043.504,458.464,408.984,760.975,123.043,32.223,810.219,0.000,705.520,0.000,18.075,0.000
$DEVICE_MAMPS,237.915,67.320,637.245,504.900,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.459,259.289,440.455,398.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,33842,466
$CAP_FILE_SIZE,70479,0
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,060115,231712,4743.418,-12224.688,9,1.0,14,18.2