version: 66.06
glider: 506
mission: 2
dive: 4
start: 12 15 109 0 21 56
data:
$ID,506
$MISSION,2
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$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,200
$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,500
$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,-7249.5737
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3940
$C_PITCH,3162
$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,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,430
$VBD_MAX,3959
$C_VBD,3020
$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
$GPS1,001802,4805.710,-12222.178,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.0
$GPS2,002150,4805.733,-12222.218,12,1.2,12,18.3
$SPEED_LIMITS,0.173,0.295
$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,10.2,563,-16.8,-10.000
$D_GRID,105
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.84,-157.0,0.0,0.0,0,83,0.00,0.00,-70.65,0.000,2,0.000,0.000,156,2235,2408,0,0,0,0,0,0
$GC,85,-0.89,-195.4,3.2,-7.8,17,140,11.50,2.30,-37.95,0.000,4,0.267,0.083,2861,3646,3818,0,0,0,0,0,0
$GC,387,-0.89,-195.4,43.0,-15.2,87,392,0.00,2.20,0.00,0.000,6,0.000,0.044,2862,2236,3819,0,0,0,0,0,0
$GC,426,-0.89,-195.4,48.9,-15.4,96,432,0.00,2.30,0.00,0.000,4,0.000,0.067,2851,3629,3819,0,0,0,0,0,0
$GC,530,-0.89,-195.4,65.1,-15.0,120,536,0.00,2.17,0.00,0.000,6,0.000,0.044,2852,2234,3819,0,0,0,0,0,0
$GC,569,-0.89,-195.4,70.9,-15.1,129,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2234,3819,0,0,0,0,0,0
$GC,604,-0.89,-195.4,76.3,-15.5,137,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2234,3819,0,0,0,0,0,0
$GC,639,-0.89,-195.4,81.5,-15.1,145,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2234,3819,0,0,0,0,0,0
$GC,673,-0.89,-195.4,86.5,-14.3,153,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2234,3819,0,0,0,0,0,0
$GC,708,-0.89,-195.4,91.7,-14.7,161,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2234,3819,0,0,0,0,0,0
$GC,743,-0.89,-195.4,96.6,-14.1,169,749,0.00,2.30,0.00,0.000,4,0.000,0.067,2840,3635,3820,0,0,0,0,0,0
$GC,791,-0.89,-195.4,103.6,-14.4,180,797,0.10,2.20,0.00,0.000,6,0.158,0.044,2871,2225,3819,0,0,0,0,0,0
$STATE,803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,803,begin apogee
$GC,806,-0.19,0.0,105.4,14.4,183,964,0.70,0.00,151.07,0.675,6,0.149,0.000,3093,2224,3019,0,0,0,0,0,0
$STATE,964,end apogee,CONTROL_FINISHED_OK
$STATE,964,begin climb
$GC,965,0.89,195.4,108.2,0.0,221,1128,1.05,2.38,154.50,0.632,4,0.093,0.064,3443,3598,2222,0,0,0,0,0,0
$GC,1149,0.89,195.4,83.2,18.9,265,1154,0.00,2.30,0.00,0.000,6,0.000,0.041,3455,2189,2220,0,0,1,0,0,0
$GC,1188,0.89,195.4,75.8,18.4,274,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2187,2220,0,0,0,0,0,0
$GC,1222,0.89,195.4,69.5,17.9,282,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2188,2220,0,0,0,0,0,0
$GC,1257,0.89,195.4,63.3,18.7,290,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2188,2220,0,0,0,0,0,0
$GC,1291,0.89,195.4,57.0,18.4,298,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2187,2220,0,0,0,0,0,0
$GC,1326,0.89,195.4,50.8,17.7,306,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2187,2220,0,0,0,0,0,0
$GC,1364,0.89,195.4,44.0,18.1,315,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2187,2220,0,0,0,0,0,0
$GC,1398,0.89,195.4,37.9,17.8,323,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2187,2220,0,0,0,0,0,0
$GC,1436,0.89,195.4,31.4,17.4,332,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2187,2220,0,0,0,0,0,0
$GC,1471,0.89,195.4,25.3,17.8,340,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2187,2220,0,0,0,0,0,0
$GC,1508,0.89,195.4,18.6,17.4,349,1514,0.00,2.22,0.00,0.000,4,0.000,0.054,3465,790,2220,0,0,0,0,0,0
$GC,1552,0.89,195.4,11.0,17.1,359,1558,0.00,2.25,0.00,0.000,6,0.000,0.048,3465,2195,2220,0,0,0,0,0,0
$GC,1591,0.89,195.4,4.5,15.4,368,1597,0.00,2.25,0.00,0.000,4,0.000,0.051,3476,782,2220,0,0,1,0,0,0
$STATE,1599,end climb,SURFACE_DEPTH_REACHED
$STATE,1599,begin surface coast
$FINISH,2.8,1.018823
$STATE,1617,end surface coast,CONTROL_FINISHED_OK
$STATE,1617,begin surface
$SM_CCo,1632,192.77,0.545,2,0,980,500.16
$SM_GC,0.64,0.00,0.00,192.77,0.000,0.000,0.545,160,2234,980,-9.38,0.11,500.16
$IRIDIUM_FIX,4748.51,-12121.04,110399,000041
$TT8_MAMPS,0.052923
$HUMID,21.64
$INTERNAL_PRESSURE,9.30413
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.1,5.354
$10V_AH,10.4,2.180
$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,22.700,27.200,305.575,192.775,0.000,0.000,0.000,0.000,0.000,0.000,14.532,0.000,623.522,548.362,686.297,21.320,0.000,916.739,0.000,540.790,0.000,0.535,0.000
$DEVICE_MAMPS,266.916,82.836,674.960,544.570,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,12760,374
$CAP_FILE_SIZE,65812,0
$CFSIZE,260165632,258428928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,151209,005256,4805.842,-12221.972,7,1.7,7,18.3