version: 66.11
glider: 156
mission: 6
dive: 17
start: 1 7 115 15 35 12
data:
$ID,156
$MISSION,6
$DIVE,17
$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,-905985.31
$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,59
$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
$GPS1,070115,152249,4742.729,-12225.327,36,1.7,36,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.5
$GPS2,070115,153413,4742.738,-12225.340,15,1.1,15,18.2
$SPEED_LIMITS,0.089,0.214
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.188,0.103
$KALMAN_X,-4138.6,15.3,-235.8,3365.6,-482.0
$KALMAN_Y,-4610.2,213.1,-887.4,4633.7,-298.6
$MHEAD_RNG_PITCHd_Wd,43.0,1154,-15.9,-7.500,-19.32,2379
$D_GRID,189
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.55,-116.8,136,1997,517,685,0.0,0.0,0,85,0.00,0.00,-65.20,0.000,16386,0.000,0.000,136,1998,1984,2029,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.55,-116.8,136,1998,2029,1943,3.6,-7.9,12,109,7.82,2.25,-3.10,0.000,18948,0.249,0.060,2082,661,2105,2176,2035,0,0,0,0,0,0,25.51,25.74,26.02
$GC,163,-0.55,-116.8,2082,661,2177,2035,16.2,-13.6,25,170,0.00,2.30,0.00,0.000,1030,0.000,0.034,2073,2045,2106,2178,2035,0,0,0,0,0,0,28.83,25.84,28.83
$GC,235,-0.55,-116.8,2073,2042,2178,2035,26.3,-14.2,38,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2042,2106,2178,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,305,-0.55,-116.8,2073,2042,2179,2035,35.4,-12.2,51,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2042,2107,2179,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,375,-0.55,-116.8,2073,2042,2178,2034,43.4,-11.0,64,381,0.00,2.35,0.00,0.000,516,0.000,0.047,2073,653,2107,2179,2035,0,0,0,0,0,0,28.83,25.99,28.83
$GC,510,-0.55,-116.8,1280,653,2128,2028,60.0,-12.8,90,516,0.00,2.30,0.00,0.000,1030,0.000,0.034,2063,2049,2106,2178,2035,0,0,0,0,0,0,28.83,26.10,28.83
$GC,640,-0.55,-116.8,2063,2046,2179,2035,76.5,-12.6,115,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2046,2106,2178,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,771,-0.55,-116.8,2063,2046,2178,2035,91.9,-10.4,140,778,0.00,2.17,0.00,0.000,260,0.000,0.046,2052,3457,2107,2179,2035,0,0,0,0,0,0,28.83,26.17,28.83
$GC,827,-0.55,-116.8,2052,3456,2179,2035,97.3,-9.5,150,834,0.12,2.15,0.00,0.000,3078,0.160,0.033,2084,2063,2107,2179,2035,0,0,0,0,0,0,26.09,26.22,28.83
$GC,962,-0.55,-116.8,2084,2058,2179,2035,108.4,-7.3,175,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2058,2107,2179,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1092,-0.55,-116.8,2084,2058,2179,2035,118.8,-8.1,200,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2058,2107,2179,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-0.55,-116.8,1256,2055,2126,2027,130.7,-9.7,225,1233,0.00,2.35,0.00,0.000,516,0.000,0.050,2085,630,2107,2179,2035,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1333,-0.55,-116.8,2085,630,2179,2035,141.4,-9.9,245,1339,0.00,2.30,0.00,0.000,1030,0.000,0.035,2075,2041,2107,2179,2035,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1468,-0.55,-116.8,2075,2039,2179,2035,152.9,-8.9,270,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2039,2107,2179,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-0.55,-116.8,2075,2039,2179,2035,167.0,-11.1,295,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2039,2107,2179,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1735,-0.55,-116.8,1248,2036,2126,2027,177.4,-6.1,320,1741,0.00,2.35,0.00,0.000,516,0.000,0.050,2075,635,2107,2179,2035,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,1764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1764,begin apogee
$GC,1775,-0.23,0.0,2065,1946,2178,2035,180.4,-9.5,325,1875,0.38,0.00,94.05,0.646,10246,0.144,0.000,2187,1944,1637,1663,1612,0,0,0,0,0,0,26.24,28.83,24.51
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1879,0.55,116.8,2186,1944,1663,1611,185.6,0.0,343,1980,0.75,0.00,95.72,0.620,10758,0.108,0.000,2434,1945,1173,1134,1212,0,0,0,0,0,0,25.05,28.83,24.14
$GC,2105,0.55,116.8,2434,1944,1131,1211,169.1,7.5,385,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1944,1171,1131,1211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,0.55,116.8,2434,1944,1131,1211,157.5,8.6,410,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1944,1170,1130,1211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,0.55,116.8,2434,1944,1130,1211,146.1,9.2,435,2371,0.00,2.22,0.00,0.000,260,0.000,0.043,2434,3355,1170,1129,1211,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2420,0.55,116.8,2434,3355,1130,1209,141.0,10.0,445,2427,0.00,2.25,0.00,0.000,1030,0.000,0.035,2445,1937,1169,1130,1209,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2554,0.55,116.8,2444,1936,1130,1209,129.6,8.5,470,2560,0.00,2.33,0.00,0.000,516,0.000,0.050,2456,534,1169,1130,1209,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2594,0.55,116.8,2456,534,1130,1207,125.2,10.7,477,2601,0.00,2.30,0.00,0.000,1030,0.000,0.031,2456,1949,1168,1130,1207,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2727,0.55,116.8,2456,1946,1131,1206,110.8,10.5,502,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1946,1168,1131,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2858,0.55,116.8,2456,1946,1131,1207,96.6,11.9,527,2864,0.00,2.20,0.00,0.000,260,0.000,0.044,2456,3356,1168,1131,1206,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2928,0.55,116.8,2456,3356,1131,1206,89.1,10.5,540,2935,0.00,2.22,0.00,0.000,1030,0.000,0.034,2467,1943,1168,1131,1206,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3062,0.55,116.8,2466,1943,1131,1206,77.8,7.9,565,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1943,1168,1131,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,0.55,116.8,1544,1941,1119,1204,67.0,8.0,590,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1943,1168,1131,1206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,0.55,123.0,2466,1943,1131,1206,56.8,7.2,615,3334,0.00,2.22,5.95,0.466,8452,0.000,0.041,2467,3344,1147,1110,1184,0,0,0,0,0,0,28.83,26.19,25.65
$GC,3378,0.55,123.0,2466,3343,1110,1184,52.3,8.3,625,3385,0.15,2.22,0.00,0.000,5126,0.169,0.036,2438,1923,1147,1110,1184,0,0,0,0,0,0,26.10,26.22,28.83
$GC,3512,0.56,157.9,1488,1920,1099,1182,43.7,6.0,650,3547,0.00,2.38,28.77,0.548,8452,0.000,0.042,2438,3345,1008,956,1061,0,0,0,0,0,0,28.83,25.84,25.36
$GC,3571,0.56,157.9,2438,3344,956,1058,39.3,8.0,660,3578,0.00,2.22,0.00,0.000,1030,0.000,0.034,2447,1944,1007,956,1058,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3642,0.57,182.3,2446,1943,956,1058,34.2,6.4,673,3672,0.00,2.42,20.92,0.527,8708,0.000,0.051,2458,541,911,859,963,0,0,0,0,0,0,28.83,25.68,25.21
$GC,3726,0.57,182.3,2458,541,859,960,26.7,9.6,688,3733,0.00,2.30,0.00,0.000,1030,0.000,0.032,2458,1945,909,859,959,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3797,0.57,182.3,2458,1944,859,958,19.7,10.1,701,3803,0.00,2.22,0.00,0.000,260,0.000,0.043,2458,3350,908,859,958,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3882,0.57,182.3,1536,3348,855,955,10.4,10.6,717,3888,0.00,2.25,0.00,0.000,1030,0.000,0.036,2469,1937,907,859,956,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3952,0.57,182.3,2468,1935,859,956,2.6,10.6,730,3959,0.00,2.33,0.00,0.000,516,0.000,0.050,2480,528,907,859,956,0,0,0,0,0,0,28.83,26.02,28.83
$STATE,3964,end climb,SURFACE_DEPTH_REACHED
$STATE,3964,begin surface coast
$FINISH,0.4,1.022199
$STATE,3971,end surface coast,CONTROL_FINISHED_OK
$STATE,3971,begin surface
$SM_CCo,3993,68.65,0.516,1,0,601,260.24
$SM_GC,0.97,6.18,2.53,68.65,0.047,0.031,0.516,141,2042,601,-6.55,-1.24,260.24,0,0,0,0,1,0,26.06,26.09,24.82
$IRIDIUM_FIX,4722.92,-12225.08,070115,141403
$TT8_MAMPS,0.027713,0.027713
$HUMID,28.97
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.70
$XPDR_PINGS,237
$24V_AH,24.1,1.662
$10V_AH,10.4,1.175
$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,15.400,59.450,245.425,68.650,0.000,29.330,41.249,446.453,63.500,0.000,16.485,1642.575,733.298,449.964,1625.768,302.222,33.217,1062.408,0.000,1100.168,0.000,27.648,0.000
$DEVICE_MAMPS,249.390,89.505,645.660,515.610,0.000,58.900,160.000,223.000,420.000,0.000,29.210,12.460,2.190,12.460,35.680,42.420,58.150,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.118,392.351,664.713,599.040,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,105.000,41.940,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,53729,733
$CAP_FILE_SIZE,86729,0
$CFSIZE,260165632,256974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070115,164355,4742.928,-12224.795,12,1.3,12,18.2