version: 66.11
glider: 156
mission: 6
dive: 8
start: 1 7 115 4 0 6
data:
$ID,156
$MISSION,6
$DIVE,8
$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,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,-905974.06
$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,31
$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
$GPS1,070115,035438,4743.648,-12224.864,12,1.3,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.2
$GPS2,070115,035907,4743.684,-12224.869,14,1.3,14,18.2
$SPEED_LIMITS,0.095,0.219
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.060,0.210
$KALMAN_X,-950.8,-153.1,-35.4,736.4,-125.6
$KALMAN_Y,-2388.2,-279.6,-210.0,3979.3,-470.3
$MHEAD_RNG_PITCHd_Wd,357.7,1579,-16.9,-8.000,-20.10,2233
$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,18,-0.58,-116.8,163,2020,520,682,0.0,0.0,0,80,0.00,0.00,-60.00,0.000,16386,0.000,0.000,163,2021,1885,1933,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.58,-116.8,163,2019,1934,1843,3.4,-6.9,11,104,7.45,2.45,-5.60,0.000,18692,0.243,0.069,2062,3458,2107,2179,2035,0,0,0,0,0,0,25.67,25.89,26.23
$GC,235,-0.58,-116.8,1280,3455,2130,2034,24.6,-12.4,39,242,0.00,2.28,0.00,0.000,1030,0.000,0.045,2062,2051,2111,2181,2042,0,0,0,0,0,0,28.83,26.02,28.83
$GC,306,-0.58,-116.8,2062,2048,2181,2041,33.4,-11.8,52,312,0.00,2.40,0.00,0.000,516,0.000,0.060,2062,623,2111,2182,2041,0,0,0,0,0,0,28.83,26.04,28.83
$GC,416,-0.58,-116.8,2062,624,2182,2041,47.1,-13.2,73,423,0.00,2.38,0.00,0.000,1030,0.000,0.046,2052,2041,2111,2182,2041,0,0,0,0,0,0,28.83,26.11,28.83
$GC,547,-0.58,-116.8,2051,2039,2182,2041,63.0,-10.9,98,553,0.00,2.28,0.00,0.000,260,0.000,0.057,2040,3467,2111,2181,2041,0,0,0,0,0,0,28.83,26.14,28.83
$GC,592,-0.58,-116.8,1256,3465,2130,2034,67.9,-10.4,106,599,0.15,2.28,0.00,0.000,3078,0.161,0.043,2081,2036,2111,2181,2041,0,0,0,0,0,0,26.06,26.17,28.83
$GC,726,-0.58,-116.8,2080,2033,2182,2041,80.7,-10.6,131,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2033,2111,2182,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-0.58,-116.8,1280,2029,2130,2034,96.5,-12.5,156,862,0.00,2.35,0.00,0.000,516,0.000,0.060,2081,626,2111,2181,2041,0,0,0,0,0,0,28.83,26.22,28.83
$GC,921,-0.58,-116.8,2081,626,2181,2041,104.2,-11.7,168,930,0.00,2.35,0.00,0.000,1030,0.000,0.044,2071,2043,2111,2182,2041,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1059,-0.58,-116.8,2071,2041,2181,2041,119.3,-11.3,193,1067,0.00,2.40,0.00,0.000,516,0.000,0.058,2072,632,2111,2181,2041,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1165,-0.58,-116.8,2071,632,2181,2041,131.4,-11.9,212,1171,0.00,2.35,0.00,0.000,1030,0.000,0.043,2061,2046,2111,2181,2041,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1299,-0.58,-116.8,2061,2044,2181,2041,146.7,-9.8,237,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2044,2111,2181,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1433,-0.58,-116.8,1248,2041,2128,2033,159.9,-9.7,262,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2044,2111,2182,2041,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1554,begin apogee
$GC,1566,-0.23,0.0,2061,1916,2181,2041,175.2,-14.2,285,1666,0.38,0.00,94.20,0.643,10246,0.144,0.000,2183,1916,1637,1661,1614,0,0,0,0,0,0,26.23,28.83,24.49
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1671,0.58,116.8,2183,1916,1661,1613,182.1,0.0,303,1777,0.80,2.53,94.72,0.615,10500,0.111,0.051,2444,3353,1173,1139,1207,0,0,0,0,0,0,25.04,24.71,24.16
$GC,1797,0.58,116.8,2444,3353,1138,1207,175.8,10.1,325,1804,0.00,2.38,0.00,0.000,1030,0.000,0.044,2456,1947,1172,1138,1206,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1931,0.58,116.8,2455,1942,1138,1206,163.1,11.3,350,1937,0.00,2.45,0.00,0.000,516,0.000,0.064,2466,527,1172,1138,1207,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1956,0.58,116.8,1544,527,1126,1202,159.9,11.2,354,1962,0.00,2.40,0.00,0.000,1030,0.000,0.039,2466,1950,1171,1138,1204,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2089,0.58,116.8,2466,1952,1138,1204,143.9,12.6,379,2096,0.00,2.25,0.00,0.000,260,0.000,0.050,2466,3348,1170,1138,1203,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2135,0.58,116.8,2466,3347,1138,1203,138.4,11.1,387,2142,0.00,2.30,0.00,0.000,1030,0.000,0.044,2477,1940,1171,1138,1204,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2268,0.58,116.8,2477,1935,1138,1203,124.0,11.0,412,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1935,1170,1138,1203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2398,0.58,116.8,2477,1935,1138,1204,109.2,10.9,437,2405,0.00,2.38,0.00,0.000,516,0.000,0.061,2488,530,1170,1138,1203,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2428,0.58,116.8,1568,530,1126,1199,105.8,11.6,442,2436,0.15,2.35,0.00,0.000,5126,0.165,0.040,2450,1953,1169,1138,1201,0,0,0,0,0,0,25.94,26.08,28.83
$GC,2561,0.58,116.8,1536,1949,1126,1199,93.3,8.9,467,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1951,1169,1138,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,0.58,116.8,2449,1951,1138,1201,81.8,8.8,492,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1951,1169,1138,1200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,0.58,116.8,2450,1951,1138,1201,69.6,10.0,517,2827,0.00,2.20,0.00,0.000,260,0.000,0.049,2450,3343,1169,1138,1201,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2881,0.58,116.8,2449,3341,1138,1201,63.1,11.0,528,2887,0.00,2.25,0.00,0.000,1030,0.000,0.044,2459,1939,1169,1138,1201,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3014,0.58,116.8,2458,1936,1138,1201,49.6,10.2,553,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1936,1169,1138,1201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,0.58,127.4,1512,1933,1125,1199,38.3,7.5,578,3157,0.00,0.00,9.40,0.508,8198,0.000,0.000,2459,1936,1129,1095,1164,0,0,0,0,0,0,28.83,28.83,25.62
$GC,3223,0.58,127.4,2458,1936,1094,1164,32.2,8.2,592,3229,0.00,2.35,0.00,0.000,516,0.000,0.061,2470,528,1129,1094,1164,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3273,0.58,127.4,1544,528,1084,1162,27.8,8.1,601,3280,0.00,2.30,0.00,0.000,1030,0.000,0.039,2470,1937,1128,1094,1163,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3345,0.58,127.4,2470,1935,1094,1163,21.3,8.6,614,3352,0.00,2.22,0.00,0.000,260,0.000,0.048,2470,3346,1128,1094,1163,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3406,0.58,127.4,2470,3345,1094,1163,14.6,10.8,625,3413,0.00,2.25,0.00,0.000,1030,0.000,0.043,2480,1939,1128,1094,1163,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3477,0.58,127.4,2480,1939,1094,1163,7.5,9.9,638,3483,0.00,2.35,0.00,0.000,516,0.000,0.060,2492,526,1128,1094,1163,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3508,0.58,127.4,2492,526,1095,1162,4.4,10.1,643,3515,0.15,2.33,0.00,0.000,5126,0.164,0.039,2453,1948,1128,1094,1163,0,0,0,0,0,0,26.16,26.30,28.83
$STATE,3536,end climb,SURFACE_DEPTH_REACHED
$STATE,3536,begin surface coast
$FINISH,0.3,1.020962
$STATE,3562,end surface coast,CONTROL_FINISHED_OK
$STATE,3562,begin surface
$SM_CCo,3581,111.03,0.519,1,0,602,260.24
$SM_GC,0.90,6.05,0.17,111.03,0.050,0.070,0.519,142,2067,602,-6.54,-0.62,260.24,0,0,0,0,1,0,26.32,26.34,24.68
$IRIDIUM_FIX,4726.11,-12224.09,070115,030314
$TT8_MAMPS,0.027713,0.027713
$HUMID,29.60
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.70
$XPDR_PINGS,203
$ALTIM_BOTTOM_PING,161.1,36.1
$24V_AH,24.2,0.877
$10V_AH,10.4,0.574
$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,15.125,61.150,198.325,111.025,0.000,0.000,0.000,0.000,54.250,0.000,15.182,1474.034,647.851,448.921,1020.102,184.642,33.229,996.824,0.000,982.774,0.000,27.062,0.000
$DEVICE_MAMPS,243.270,70.380,643.365,518.670,0.000,0.000,0.000,0.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.478,360.370,612.611,551.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,50475,653
$CAP_FILE_SIZE,90519,0
$CFSIZE,260165632,257474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,070115,050305,4744.395,-12224.713,15,1.1,37,18.2