version: 66.11
glider: 156
mission: 6
dive: 7
start: 1 7 115 2 39 42
data:
$ID,156
$MISSION,6
$DIVE,7
$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,63
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-905945.38
$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,3750
$C_ROLL_CLIMB,3750
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,20
$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
$GPS1,070115,021407,4743.375,-12224.916,13,2.0,13,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.9
$GPS2,070115,023835,4743.437,-12224.793,14,2.0,30,18.2
$SPEED_LIMITS,0.075,0.188
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.029,0.186
$KALMAN_X,-740.0,-167.7,-44.3,645.1,-77.4
$KALMAN_Y,-2142.9,-303.0,-130.1,3242.2,-536.2
$MHEAD_RNG_PITCHd_Wd,350.6,2002,-23.0,-8.995,-25.60,1328
$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,14,begin dive
$GC,17,-0.77,-77.8,119,3730,398,502,0.0,0.0,0,96,0.00,0.00,-72.28,0.000,16390,0.000,0.000,119,3730,1949,1982,1917,0,0,0,0,0,0,28.83,28.83,26.13
$GC,100,-0.77,-77.8,119,3730,1982,1921,3.0,-3.8,14,112,7.57,0.00,0.00,0.000,2054,0.247,0.000,2012,3730,1951,1982,1921,0,0,0,0,0,0,25.53,28.83,28.83
$GC,178,-0.77,-77.8,2012,3730,1987,1921,15.8,-13.1,28,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1954,1987,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,248,-0.77,-77.8,2012,3730,1987,1921,25.4,-13.3,41,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1954,1987,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,318,-0.77,-77.8,2012,3730,1987,1921,34.2,-12.9,54,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1954,1987,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,388,-0.77,-77.8,2012,3730,1987,1921,43.0,-12.1,67,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1954,1987,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,517,-0.77,-77.8,2012,3730,1987,1921,58.6,-11.5,92,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1953,1987,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,647,-0.77,-77.8,2012,3730,1987,1919,74.0,-12.0,117,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1953,1987,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,777,-0.77,-77.8,2012,3730,1988,1918,91.0,-12.4,142,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1952,1987,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,907,-0.77,-77.8,2012,3730,1988,1918,106.4,-12.9,167,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1952,1987,1918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1044,-0.77,-77.8,2012,3729,1988,1917,122.3,-13.0,192,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1952,1988,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-0.77,-77.8,2012,3730,1988,1917,138.9,-12.5,217,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1952,1988,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1313,-0.77,-77.8,2012,3730,1988,1916,155.7,-11.7,242,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,3730,1952,1988,1916,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1421,begin apogee
$GC,1429,-0.23,0.0,2012,3729,1988,1916,170.3,-13.0,263,1496,0.55,0.00,63.75,0.641,10246,0.171,0.000,2182,3730,1637,1657,1618,0,0,0,0,0,0,26.17,28.83,24.79
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1501,0.77,77.8,2182,3730,1657,1615,174.3,0.0,275,1573,1.00,0.00,63.50,0.614,10246,0.122,0.000,2505,3729,1328,1308,1348,0,0,0,0,0,0,25.29,28.83,24.32
$GC,1699,0.77,77.8,1572,3728,1287,1343,154.9,13.8,312,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,3729,1326,1306,1346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1828,0.77,77.8,2504,3730,1306,1344,138.8,12.1,337,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1325,1306,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,0.77,77.8,2504,3729,1306,1344,123.2,12.2,362,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1325,1306,1344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2090,0.77,77.8,2504,3729,1306,1342,108.7,9.9,387,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1324,1306,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,0.77,77.8,2504,3730,1305,1342,95.0,11.1,412,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3729,1324,1306,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,0.77,77.8,1568,3729,1287,1339,80.3,12.5,437,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1323,1305,1342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,0.77,77.8,2505,3730,1306,1341,64.5,11.4,462,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1324,1307,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2609,0.77,77.8,2504,3730,1306,1341,48.6,12.2,487,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1323,1306,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,0.77,77.8,1568,3729,1287,1338,33.8,9.9,512,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1323,1305,1341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,0.77,89.0,2505,3730,1306,1341,27.5,8.1,525,2821,0.00,0.00,9.52,0.501,8198,0.000,0.000,2505,3730,1283,1261,1306,0,0,0,0,0,0,28.83,28.83,25.62
$GC,2887,0.77,89.0,2505,3730,1260,1306,19.3,10.5,539,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1283,1260,1306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,0.77,89.0,2504,3730,1260,1306,11.9,9.2,552,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1283,1260,1306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3026,0.77,89.0,1568,3729,1242,1303,3.7,11.2,565,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,3730,1283,1260,1306,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3048,end climb,SURFACE_DEPTH_REACHED
$STATE,3048,begin surface coast
$FINISH,0.6,1.021488
$STATE,3074,end surface coast,CONTROL_FINISHED_OK
$STATE,3074,begin surface
$SM_CCo,3094,142.38,0.513,2,0,602,260.24
$SM_GC,0.88,6.62,0.00,142.38,0.090,0.000,0.513,152,3730,602,-6.54,-0.57,260.24,0,0,0,0,2,0,26.26,28.83,24.54
$IRIDIUM_FIX,4722.92,-12225.08,070115,020250
$TT8_MAMPS,0.026215,0.026215
$HUMID,29.99
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.80
$XPDR_PINGS,177
$24V_AH,24.3,0.768
$10V_AH,10.4,0.504
$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,15.750,8.575,136.775,142.375,0.000,89.361,142.572,928.374,48.000,0.000,31.682,1296.990,644.235,416.934,2108.844,249.862,33.228,888.476,0.000,867.253,0.000,24.501,0.000
$DEVICE_MAMPS,247.095,228.735,641.070,512.550,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.158,322.055,544.418,492.219,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323160
$DATA_FILE_SIZE,43733,574
$CAP_FILE_SIZE,71143,0
$CFSIZE,260165632,257548288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070115,033454,4743.530,-12224.806,13,1.4,30,18.2