version: 66.06
glider: 506
mission: 2
dive: 2
start: 12 14 109 22 7 43
data:
$ID,506
$MISSION,2
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,30
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51509
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,480
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7124.1001
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3940
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,430
$VBD_MAX,3959
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-43.606201
$PRESSURE_SLOPE,0.00011645618
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.54000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.004302992
$SEABIRD_T_H,0.00062119117
$SEABIRD_T_I,2.2739867e-05
$SEABIRD_T_J,2.4046374e-06
$SEABIRD_C_G,-9.8404341
$SEABIRD_C_H,1.104722
$SEABIRD_C_I,-0.0022409149
$SEABIRD_C_J,0.00025927747
$GPS1,220132,4805.146,-12221.419,9,0.9,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.5
$GPS2,220738,4805.169,-12221.492,11,1.2,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,319.5,1663,-17.5,-10.000
$D_GRID,110
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.85,-146.6,0.0,0.0,0,97,0.00,0.00,-83.05,0.000,2,0.000,0.000,155,2202,2756,0,0,0,0,0,0
$GC,98,-0.85,-146.6,3.2,-3.5,20,133,11.68,2.22,-19.00,0.000,4,0.266,0.075,2905,3595,3588,0,0,0,0,0,0
$GC,380,-0.85,-146.6,33.3,-10.6,85,386,0.00,2.20,0.00,0.000,6,0.000,0.044,2905,2182,3589,0,0,0,0,0,0
$GC,419,-0.85,-146.6,37.6,-10.6,94,425,0.00,2.28,0.00,0.000,4,0.000,0.063,2894,3588,3589,0,0,0,0,0,0
$GC,619,-0.85,-146.6,60.5,-11.0,140,625,0.00,2.17,0.00,0.000,6,0.000,0.044,2894,2189,3589,0,0,0,0,0,0
$GC,658,-0.85,-146.6,65.0,-11.5,149,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$GC,696,-0.85,-146.6,69.4,-11.6,158,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$GC,730,-0.85,-146.6,73.2,-11.3,166,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$GC,765,-0.85,-146.6,77.1,-11.4,174,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$GC,799,-0.85,-146.6,80.8,-11.0,182,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$GC,834,-0.85,-146.6,84.6,-10.8,190,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$GC,868,-0.85,-146.6,88.3,-10.0,198,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3589,0,0,0,0,0,0
$STATE,889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,889,begin apogee
$GC,891,-0.19,0.0,90.4,9.8,203,1009,0.73,0.00,112.97,0.667,6,0.145,0.000,3124,2188,2990,0,0,0,0,0,0
$STATE,1009,end apogee,CONTROL_FINISHED_OK
$STATE,1009,begin climb
$GC,1010,0.85,146.6,91.5,0.0,231,1132,0.98,0.00,115.05,0.627,6,0.081,0.000,3463,2188,2391,0,0,0,0,0,0
$GC,1165,0.85,146.6,71.2,18.2,268,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2188,2390,0,0,0,0,0,0
$GC,1203,0.85,146.6,64.7,17.6,277,1209,0.00,2.30,0.00,0.000,4,0.000,0.056,3474,786,2389,0,0,0,0,0,0
$GC,1225,0.85,146.6,60.8,17.8,282,1230,0.00,2.28,0.00,0.000,6,0.000,0.047,3474,2185,2389,0,0,0,0,0,0
$GC,1264,0.85,146.6,53.6,18.2,291,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2184,2389,0,0,0,0,0,0
$GC,1302,0.85,146.6,46.5,18.9,300,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2185,2389,0,0,0,0,0,0
$GC,1336,0.85,146.6,40.3,18.4,308,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2185,2388,0,0,0,0,0,0
$GC,1371,0.85,146.6,33.8,18.7,316,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2185,2389,0,0,0,0,0,0
$GC,1406,0.85,146.6,27.6,19.0,324,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2184,2389,0,0,0,0,0,0
$GC,1443,0.85,146.6,20.5,18.1,333,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2184,2389,0,0,0,0,0,0
$GC,1478,0.85,146.6,14.4,17.4,341,1483,0.00,2.22,0.00,0.000,4,0.000,0.052,3485,788,2389,0,0,0,0,0,0
$GC,1500,0.85,146.6,10.5,17.6,346,1505,0.00,2.22,0.00,0.000,6,0.000,0.047,3484,2187,2389,0,0,0,0,0,0
$GC,1539,0.85,146.6,4.5,14.4,355,1545,0.00,2.25,0.00,0.000,4,0.000,0.051,3494,776,2388,0,0,0,0,0,0
$GC,1561,1.05,308.2,4.1,2.6,360,1681,0.08,2.22,114.10,0.578,2,0.073,0.045,3536,2187,1785,0,0,0,0,0,0
$STATE,1681,end climb,SURFACE_DEPTH_REACHED
$STATE,1681,begin surface coast
$FINISH,1.7,1.018354
$STATE,1749,end surface coast,CONTROL_FINISHED_OK
$STATE,1749,begin surface
$SM_CCo,1762,106.93,0.559,0,0,1032,480.04
$SM_GC,0.84,0.00,0.00,106.93,0.000,0.000,0.559,156,2187,1032,-9.50,-0.08,480.04
$IRIDIUM_FIX,4745.30,-12220.12,100399,222257
$TT8_MAMPS,0.052156
$HUMID,21.76
$INTERNAL_PRESSURE,9.31389
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.3,5.127
$10V_AH,10.4,2.116
$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,23.275,22.375,342.125,106.925,0.000,0.000,0.000,0.000,0.000,0.000,13.543,0.000,688.341,467.457,733.391,22.149,0.000,860.454,0.000,583.465,0.000,0.533,0.000
$DEVICE_MAMPS,266.149,75.166,666.523,559.143,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,12731,404
$CAP_FILE_SIZE,65219,0
$CFSIZE,260165632,258506752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141209,223920,4805.321,-12221.547,10,1.8,10,18.3