version: 66.11
glider: 156
mission: 6
dive: 5
start: 1 6 115 23 50 54
data:
$ID,156
$MISSION,6
$DIVE,5
$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,85
$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,-905942.75
$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,18
$R_STBD_OVSHOOT,22
$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
$GPS1,060115,234537,4743.410,-12224.790,12,1.2,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.5
$GPS2,060115,234955,4743.405,-12224.806,12,1.5,12,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.053,0.194
$KALMAN_X,-324.8,-103.3,-63.2,166.8,-142.3
$KALMAN_Y,-544.3,-104.5,-23.4,1269.0,-374.6
$MHEAD_RNG_PITCHd_Wd,357.0,2064,-18.6,-8.000,-21.66,1863
$D_GRID,175
$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,-0.63,-97.3,149,2041,518,683,0.0,0.0,0,85,0.00,0.00,-65.62,0.000,16386,0.000,0.000,149,2041,1991,2027,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.63,-97.3,149,2042,2027,1960,3.5,-7.1,12,104,7.35,2.47,-0.88,0.000,18948,0.239,0.071,2068,615,2027,2065,1989,0,0,0,0,0,0,25.76,25.98,26.25
$GC,418,-0.63,-97.3,2067,615,2066,1989,45.2,-10.8,75,424,0.00,2.38,0.00,0.000,1030,0.000,0.042,2058,2051,2027,2065,1989,0,0,0,0,0,0,28.83,26.21,28.83
$GC,547,-0.63,-97.3,1280,2047,2016,1981,59.1,-11.0,100,554,0.00,2.45,0.00,0.000,516,0.000,0.062,2058,620,2027,2066,1989,0,0,0,0,0,0,28.83,26.18,28.83
$GC,598,-0.63,-97.3,2058,620,2066,1989,64.5,-11.1,109,605,0.00,2.35,0.00,0.000,1030,0.000,0.041,2048,2046,2027,2065,1989,0,0,0,0,0,0,28.83,26.25,28.83
$GC,728,-0.63,-97.3,1264,2042,2016,1982,78.5,-10.4,134,735,0.00,2.20,0.00,0.000,260,0.000,0.050,2036,3460,2027,2066,1989,0,0,0,0,0,0,28.83,26.25,28.83
$GC,773,-0.63,-97.3,1252,3457,2017,1981,83.7,-11.8,142,780,0.00,2.28,0.00,0.000,1030,0.000,0.044,2036,2036,2028,2067,1989,0,0,0,0,0,0,28.83,26.27,28.83
$GC,904,-0.63,-97.3,2036,2029,2067,1989,99.8,-12.5,167,911,0.00,2.28,0.00,0.000,260,0.000,0.051,2026,3455,2028,2068,1989,0,0,0,0,0,0,28.83,26.27,28.83
$GC,970,-0.63,-97.3,2025,3454,2068,1989,109.5,-13.9,179,981,0.12,2.25,0.00,0.000,3078,0.176,0.044,2057,2039,2028,2068,1989,0,0,0,0,0,0,26.16,26.29,28.83
$GC,1110,-0.63,-97.3,2057,2035,2068,1988,124.8,-10.9,204,1117,0.00,2.35,0.00,0.000,516,0.000,0.062,2058,625,2027,2068,1987,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1192,-0.63,-97.3,2058,625,2068,1986,134.8,-11.8,219,1203,0.00,2.33,0.00,0.000,1030,0.000,0.041,2049,2042,2027,2068,1986,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1329,-0.63,-97.3,2048,2041,2068,1985,150.1,-9.5,244,1335,0.00,2.42,0.00,0.000,516,0.000,0.060,2049,622,2027,2068,1986,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1394,-0.63,-97.3,1264,622,2018,1978,156.4,-9.9,256,1401,0.00,2.35,0.00,0.000,1030,0.000,0.041,2037,2048,2026,2068,1985,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1529,-0.63,-97.3,2037,2046,2068,1985,168.9,-11.4,281,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2046,2026,2068,1985,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1584,begin apogee
$GC,1593,-0.23,0.0,2037,1907,2068,1985,175.3,-10.7,292,1677,0.47,0.00,78.38,0.643,10246,0.149,0.000,2186,1907,1637,1658,1616,0,0,0,0,0,0,26.23,28.83,24.64
$STATE,1678,end apogee,CONTROL_FINISHED_OK
$STATE,1678,begin climb
$GC,1681,0.63,97.3,2185,1907,1658,1615,180.4,0.0,307,1771,0.82,2.50,78.88,0.617,10500,0.111,0.050,2457,3345,1250,1238,1262,0,0,0,0,0,0,25.20,24.82,24.25
$GC,1812,0.63,97.3,1536,3343,1220,1259,172.7,12.1,330,1818,0.00,2.30,0.00,0.000,1030,0.000,0.047,2468,1980,1249,1237,1261,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1945,0.63,97.3,2467,1976,1236,1261,160.6,9.7,355,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1976,1249,1237,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2074,0.63,97.3,2467,1976,1236,1261,146.5,11.1,380,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1976,1249,1236,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,0.63,97.3,2467,1976,1236,1262,131.8,11.0,405,2211,0.00,2.22,0.00,0.000,260,0.000,0.049,2467,3350,1249,1236,1262,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2250,0.63,97.3,2467,3349,1234,1261,126.8,10.9,413,2257,0.00,2.33,0.00,0.000,1030,0.000,0.046,2478,1922,1247,1234,1261,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2383,0.63,97.3,2478,1922,1234,1261,113.5,10.1,438,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1922,1248,1234,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,0.63,97.3,2478,1922,1234,1261,99.9,11.0,463,2520,0.00,2.35,0.00,0.000,516,0.000,0.065,2490,531,1248,1234,1262,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2584,0.63,97.3,2489,531,1235,1258,93.1,10.2,476,2590,0.00,2.33,0.00,0.000,1030,0.000,0.040,2489,1947,1246,1235,1258,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2717,0.63,97.3,2489,1955,1234,1258,78.7,11.9,501,2723,0.00,2.20,0.00,0.000,260,0.000,0.049,2490,3351,1246,1234,1258,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2767,0.63,97.3,2490,3351,1234,1258,71.8,13.3,510,2775,0.12,2.30,0.00,0.000,5126,0.183,0.046,2470,1930,1246,1234,1258,0,0,0,0,0,0,26.09,26.24,28.83
$GC,2902,0.63,97.3,2470,1930,1234,1258,57.4,10.1,535,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1930,1246,1234,1258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3031,0.63,97.3,2470,1929,1234,1258,45.4,9.5,560,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1929,1246,1235,1258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3162,0.63,97.3,2470,1929,1235,1258,33.5,8.1,585,3169,0.00,2.28,0.00,0.000,260,0.000,0.048,2469,3353,1246,1234,1258,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3238,0.63,97.3,2469,3352,1234,1258,25.6,10.9,599,3245,0.00,2.28,0.00,0.000,1030,0.000,0.046,2477,1937,1246,1234,1258,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3309,0.63,97.3,2478,1937,1234,1258,18.6,9.8,612,3316,0.00,2.38,0.00,0.000,516,0.000,0.064,2489,527,1246,1235,1258,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3370,0.63,97.3,2489,527,1235,1256,12.4,10.2,623,3377,0.00,2.33,0.00,0.000,1030,0.000,0.039,2489,1947,1245,1234,1257,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3441,0.63,97.3,2489,1946,1235,1256,5.8,8.9,636,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1946,1245,1234,1256,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3481,end climb,SURFACE_DEPTH_REACHED
$STATE,3482,begin surface coast
$FINISH,0.3,1.021419
$STATE,3503,end surface coast,CONTROL_FINISHED_OK
$STATE,3504,begin surface
$SM_CCo,3523,135.23,0.514,2,0,602,260.24
$SM_GC,0.91,6.20,0.15,135.23,0.057,0.075,0.514,145,2064,602,-6.54,-0.76,260.24,0,0,0,0,2,0,26.40,26.44,24.63
$IRIDIUM_FIX,4735.69,-13052.11,060115,232349
$TT8_MAMPS,0.027713,0.027713
$HUMID,29.76
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.90
$XPDR_PINGS,208
$ALTIM_BOTTOM_PING,135.7,58.2
$24V_AH,24.2,0.541
$10V_AH,10.4,0.368
$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,15.100,56.225,157.250,135.225,0.000,0.000,0.000,0.000,54.250,0.000,13.351,1468.930,662.167,439.580,1007.807,166.254,33.214,971.262,0.000,974.900,0.000,16.522,0.000
$DEVICE_MAMPS,238.680,74.970,642.600,514.080,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.148,358.644,608.334,549.318,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323272
$DATA_FILE_SIZE,47037,648
$CAP_FILE_SIZE,90535,0
$CFSIZE,260165632,257626112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,070115,005323,4743.556,-12224.742,14,1.8,36,18.2