version: 66.11
glider: 156
mission: 6
dive: 11
start: 1 7 115 7 43 30
data:
$ID,156
$MISSION,6
$DIVE,11
$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,-905977.81
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,070115,073155,4744.347,-12224.693,12,1.2,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.3
$GPS2,070115,074231,4744.311,-12224.640,13,1.8,13,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.025,-0.212
$KALMAN_X,-1444.4,-72.7,-35.0,1430.1,-103.3
$KALMAN_Y,-840.5,-183.6,204.8,3087.7,805.3
$MHEAD_RNG_PITCHd_Wd,155.1,2433,-15.9,-7.500,-19.32,2379
$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,-0.55,-116.8,155,2039,515,688,0.0,0.0,0,79,0.00,0.00,-60.15,0.000,16386,0.000,0.000,155,2039,1929,1978,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.55,-116.8,155,2039,1978,1884,3.5,-5.7,11,103,7.70,2.25,-4.32,0.000,18692,0.246,0.063,2073,3445,2105,2178,2033,0,0,0,0,0,0,25.47,25.72,26.03
$GC,398,-0.55,-116.8,1280,3442,2133,2028,46.6,-12.5,72,405,0.00,2.22,0.00,0.000,1030,0.000,0.041,2072,2040,2110,2184,2036,0,0,0,0,0,0,28.83,26.03,28.83
$GC,529,-0.55,-116.8,2072,2036,2184,2036,61.5,-10.5,97,535,0.00,2.35,0.00,0.000,516,0.000,0.054,2072,633,2109,2184,2035,0,0,0,0,0,0,28.83,26.08,28.83
$GC,569,-0.55,-116.8,1280,632,2133,2028,66.2,-12.3,104,575,0.00,2.35,0.00,0.000,1030,0.000,0.040,2062,2040,2109,2184,2035,0,0,0,0,0,0,28.83,26.12,28.83
$GC,702,-0.55,-116.8,2061,2038,2184,2035,81.6,-12.4,129,709,0.00,2.22,0.00,0.000,260,0.000,0.054,2051,3454,2109,2184,2035,0,0,0,0,0,0,28.83,26.13,28.83
$GC,763,-0.55,-116.8,2051,3454,2184,2035,89.9,-14.3,140,770,0.12,2.22,0.00,0.000,3078,0.160,0.039,2083,2040,2109,2184,2035,0,0,0,0,0,0,26.07,26.18,28.83
$GC,898,-0.55,-116.8,2083,2035,2184,2035,104.7,-11.8,165,906,0.00,2.33,0.00,0.000,516,0.000,0.054,2083,632,2109,2184,2035,0,0,0,0,0,0,28.83,26.20,28.83
$GC,970,-0.55,-116.8,2083,632,2184,2034,113.3,-10.7,178,977,0.00,2.35,0.00,0.000,1030,0.000,0.041,2074,2041,2109,2184,2034,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1103,-0.55,-116.8,2074,2038,2184,2034,127.4,-10.9,203,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2038,2109,2184,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1236,-0.55,-116.8,2074,2037,2184,2034,141.2,-10.1,228,1243,0.00,2.40,0.00,0.000,516,0.000,0.054,2074,624,2109,2184,2034,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1343,-0.55,-116.8,2074,624,2184,2033,152.6,-10.1,248,1350,0.00,2.35,0.00,0.000,1030,0.000,0.040,2064,2045,2108,2184,2033,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1479,-0.55,-116.8,1248,2040,2131,2026,165.8,-9.8,273,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2042,2108,2184,2033,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1572,begin apogee
$GC,1581,-0.23,0.0,2063,1898,2184,2034,175.4,-10.4,291,1682,0.38,0.08,93.97,0.643,10246,0.141,0.116,2185,1969,1636,1662,1611,0,0,0,0,0,0,26.22,24.97,24.49
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1689,0.55,116.8,2185,1968,1662,1610,180.7,0.0,309,1800,0.77,2.35,94.88,0.616,10500,0.111,0.048,2437,3317,1172,1134,1210,0,0,0,0,0,0,25.06,24.72,24.15
$GC,1834,0.55,116.8,2436,3316,1134,1210,171.5,10.7,334,1840,0.00,2.22,0.00,0.000,1030,0.000,0.040,2447,1984,1172,1134,1210,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1967,0.55,116.8,2447,1983,1134,1210,158.7,9.9,359,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1983,1171,1134,1209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2097,0.55,116.8,2447,1983,1134,1210,145.5,10.3,384,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1983,1171,1133,1209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2226,0.55,116.8,2447,1983,1134,1210,133.3,9.2,409,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1983,1172,1134,1210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,0.55,116.8,1512,1981,1121,1207,122.6,8.1,434,2363,0.00,2.45,0.00,0.000,516,0.000,0.056,2459,520,1171,1133,1210,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2388,0.55,116.8,2459,520,1134,1206,120.0,7.7,439,2394,0.00,2.33,0.00,0.000,1030,0.000,0.037,2459,1935,1170,1134,1206,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2521,0.55,116.8,2459,1932,1134,1206,108.6,7.9,464,2527,0.00,2.22,0.00,0.000,260,0.000,0.047,2459,3341,1170,1134,1206,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2576,0.55,116.8,1536,3338,1121,1203,103.3,9.1,474,2583,0.00,2.25,0.00,0.000,1030,0.000,0.041,2470,1928,1169,1134,1205,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2711,0.55,116.8,2469,1928,1134,1205,90.4,10.0,499,2717,0.00,2.25,0.00,0.000,260,0.000,0.047,2469,3341,1169,1134,1205,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2746,0.55,116.8,2469,3341,1134,1205,86.3,11.1,505,2754,0.15,2.22,0.00,0.000,5126,0.168,0.040,2440,1932,1169,1134,1205,0,0,0,0,0,0,26.06,26.19,28.83
$GC,2880,0.56,162.8,1488,1928,1121,1203,76.4,5.5,530,2926,0.00,2.35,36.95,0.565,8452,0.000,0.047,2441,3342,987,935,1040,0,0,1,0,0,0,28.83,25.67,25.18
$GC,2969,0.56,162.8,1536,3340,928,1036,69.0,9.7,546,2976,0.00,2.25,0.00,0.000,1030,0.000,0.041,2450,1943,986,935,1037,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3102,0.56,162.8,2449,1941,935,1037,56.7,8.9,571,3109,0.00,2.38,0.00,0.000,516,0.000,0.057,2461,533,986,935,1037,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3143,0.56,162.8,2461,533,935,1036,52.7,9.0,578,3150,0.00,2.33,0.00,0.000,1030,0.000,0.037,2461,1933,985,935,1035,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3277,0.56,162.8,2460,1929,935,1034,40.6,9.3,603,3284,0.00,2.22,0.00,0.000,260,0.000,0.047,2461,3345,984,935,1034,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3328,0.56,162.8,2461,3344,935,1033,34.8,11.1,612,3334,0.00,2.25,0.00,0.000,1030,0.000,0.041,2471,1938,984,935,1033,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3398,0.56,162.8,1544,1933,928,1032,27.3,10.6,625,3404,0.00,2.35,0.00,0.000,516,0.000,0.057,2483,530,984,935,1033,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3463,0.56,162.8,1552,530,928,1032,20.2,11.6,637,3471,0.15,2.35,0.00,0.000,5126,0.158,0.037,2442,1946,984,935,1033,0,0,0,0,0,0,26.04,26.17,28.83
$GC,3535,0.56,162.8,2442,1944,935,1032,13.3,9.0,650,3541,0.00,2.20,0.00,0.000,260,0.000,0.047,2442,3353,983,935,1032,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3565,0.56,162.8,2442,3352,935,1031,10.5,9.7,655,3572,0.00,2.25,0.00,0.000,1030,0.000,0.039,2451,1928,983,935,1031,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3638,0.56,167.2,2451,1928,935,1031,4.7,7.3,668,3651,0.00,2.33,4.15,0.381,8452,0.000,0.047,2451,3347,972,929,1015,0,0,0,0,0,0,28.83,26.17,25.63
$STATE,3671,end climb,SURFACE_DEPTH_REACHED
$STATE,3671,begin surface coast
$FINISH,0.4,1.021029
$STATE,3698,end surface coast,CONTROL_FINISHED_OK
$STATE,3698,begin surface
$SM_CCo,3720,82.25,0.507,2,0,601,260.24
$SM_GC,1.11,6.10,2.12,82.25,0.052,0.039,0.507,139,2038,601,-6.55,0.96,260.24,0,0,0,0,2,0,26.22,26.22,24.84
$IRIDIUM_FIX,4726.11,-12224.09,070115,060624
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.56
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.70
$XPDR_PINGS,209
$24V_AH,24.1,1.138
$10V_AH,10.4,0.768
$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,15.375,69.000,229.950,82.250,0.000,22.541,41.431,408.031,56.250,0.000,14.112,1531.336,668.790,450.495,1519.415,281.205,33.230,1025.659,0.000,1021.674,0.000,26.073,0.000
$DEVICE_MAMPS,246.330,115.515,643.365,507.195,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.431,370.181,625.877,565.071,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323260
$DATA_FILE_SIZE,50433,679
$CAP_FILE_SIZE,83552,0
$CFSIZE,260165632,257323008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$INTR,0,1788.55,0x233ccc,1,24
$GPS,070115,084800,4743.833,-12224.551,8,1.6,13,18.2