version: 66.06
glider: 506
mission: 2
dive: 5
start: 12 15 109 1 11 20
data:
$ID,506
$MISSION,2
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$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,43
$T_MISSION,60
$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,-7292.6631
$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,35
$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,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
$GPS1,010756,4805.931,-12222.039,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.4
$GPS2,011114,4805.952,-12222.053,11,2.0,11,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,309.3,4492,-11.7,-7.984
$D_GRID,108
$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,10,begin dive
$GC,11,-0.69,-195.4,0.0,0.0,0,63,0.00,0.00,-50.38,0.000,2,0.000,0.000,151,2235,2430,0,0,0,0,0,0
$GC,64,-0.69,-195.4,3.1,-6.2,12,120,11.77,2.25,-38.20,0.000,4,0.264,0.071,2934,826,3818,0,0,0,0,0,0
$GC,366,-0.69,-195.4,30.2,-10.5,82,372,0.00,2.25,0.00,0.000,6,0.000,0.053,2925,2224,3819,0,0,0,0,0,0
$GC,406,-0.69,-195.4,34.4,-10.5,91,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2225,3819,0,0,0,0,0,0
$GC,440,-0.69,-195.4,38.0,-10.3,99,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2224,3819,0,0,0,0,0,0
$GC,474,-0.69,-195.4,41.5,-10.5,107,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2225,3819,0,0,0,0,0,0
$GC,509,-0.69,-195.4,45.5,-11.1,115,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2225,3819,0,0,0,0,0,0
$GC,543,-0.69,-195.4,49.1,-10.9,123,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2225,3818,0,0,0,0,0,0
$GC,578,-0.69,-195.4,52.8,-10.6,131,583,0.00,2.33,0.00,0.000,4,0.000,0.068,2915,3639,3819,0,0,0,0,0,0
$GC,613,-0.69,-195.4,56.7,-11.3,139,618,0.00,2.17,0.00,0.000,6,0.000,0.044,2915,2231,3819,0,0,1,0,0,0
$GC,652,-0.69,-195.4,60.9,-11.0,148,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2231,3819,0,0,0,0,0,0
$GC,686,-0.69,-195.4,64.6,-10.9,156,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2231,3819,0,0,0,0,0,0
$GC,721,-0.69,-195.4,68.2,-10.5,164,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2231,3819,0,0,0,0,0,0
$GC,755,-0.69,-195.4,71.9,-10.6,172,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2231,3818,0,0,0,0,0,0
$GC,790,-0.69,-195.4,75.7,-10.7,180,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2231,3819,0,0,0,0,0,0
$GC,824,-0.69,-195.4,79.1,-10.3,188,830,0.00,2.25,0.00,0.000,4,0.000,0.058,2915,826,3819,0,0,0,0,0,0
$GC,846,-0.69,-195.4,81.5,-10.4,193,852,0.08,2.22,0.00,0.000,6,0.150,0.051,2930,2226,3818,0,0,0,0,0,0
$GC,886,-0.69,-195.4,85.5,-9.7,202,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2226,3819,0,0,0,0,0,0
$GC,920,-0.69,-195.4,88.5,-9.3,210,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2226,3819,0,0,0,0,0,0
$GC,955,-0.69,-195.4,91.8,-9.4,218,960,0.00,2.30,0.00,0.000,4,0.000,0.066,2921,3630,3819,0,0,0,0,0,0
$GC,985,-0.69,-195.4,94.7,-9.6,225,991,0.00,2.17,0.00,0.000,6,0.000,0.043,2920,2231,3819,0,0,0,0,0,0
$GC,1024,-0.69,-195.4,98.5,-9.7,234,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2231,3819,0,0,0,0,0,0
$GC,1059,-0.69,-195.4,101.9,-9.6,242,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2231,3818,0,0,0,0,0,0
$STATE,1070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1070,begin apogee
$GC,1072,-0.19,0.0,103.0,9.9,245,1229,0.52,0.00,150.70,0.663,6,0.132,0.000,3092,2231,3021,0,0,0,0,0,0
$STATE,1229,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1230,0.69,195.4,105.6,0.0,282,1390,0.85,0.00,154.80,0.624,6,0.094,0.000,3375,2230,2222,0,0,0,0,0,0
$GC,1424,0.69,195.4,86.1,12.4,328,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2230,2221,0,0,0,0,0,0
$GC,1458,0.69,195.4,81.8,12.4,336,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2231,2221,0,0,0,0,0,0
$GC,1493,0.69,195.4,77.6,12.0,344,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2230,2221,0,0,0,0,0,0
$GC,1530,0.69,195.4,73.2,11.8,353,1536,0.00,2.35,0.00,0.000,4,0.000,0.055,3385,793,2220,0,0,0,0,0,0
$GC,1570,0.69,195.4,68.7,11.8,362,1575,0.00,2.28,0.00,0.000,6,0.000,0.047,3385,2191,2220,0,0,0,0,0,0
$GC,1609,0.69,195.4,63.7,12.2,371,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2191,2220,0,0,0,0,0,0
$GC,1643,0.69,195.4,59.4,12.6,379,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2191,2220,0,0,0,0,0,0
$GC,1681,0.69,195.4,54.6,12.6,388,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2191,2220,0,0,0,0,0,0
$GC,1715,0.69,195.4,50.4,12.5,396,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2191,2221,0,0,0,0,0,0
$GC,1750,0.69,195.4,46.1,12.6,404,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2191,2220,0,0,0,0,0,0
$GC,1784,0.69,195.4,41.9,12.1,412,1790,0.00,2.25,0.00,0.000,4,0.000,0.053,3395,786,2220,0,0,0,0,0,0
$GC,1806,0.69,195.4,39.2,12.2,417,1812,0.00,2.25,0.00,0.000,6,0.000,0.047,3395,2190,2220,0,0,0,0,0,0
$GC,1845,0.69,195.4,34.1,13.1,426,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2190,2220,0,0,0,0,0,0
$GC,1880,0.69,195.4,29.6,13.2,434,1885,0.00,2.33,0.00,0.000,4,0.000,0.064,3395,3599,2220,0,0,0,0,0,0
$GC,1902,0.69,195.4,26.6,13.3,439,1907,0.00,2.20,0.00,0.000,6,0.000,0.039,3406,2195,2221,0,0,0,0,0,0
$GC,1941,0.69,195.4,21.3,13.7,448,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2195,2221,0,0,0,0,0,0
$GC,1975,0.69,195.4,16.6,13.9,456,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2195,2221,0,0,0,0,0,0
$GC,2013,0.69,195.4,11.4,13.8,465,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2195,2220,0,0,0,0,0,0
$GC,2051,0.69,195.4,6.5,13.1,474,2057,0.00,2.25,0.00,0.000,4,0.000,0.051,3416,779,2220,0,0,0,0,0,0
$STATE,2072,end climb,SURFACE_DEPTH_REACHED
$STATE,2072,begin surface coast
$FINISH,2.6,1.019111
$STATE,2103,end surface coast,CONTROL_FINISHED_OK
$STATE,2103,begin surface
$SM_CCo,2118,180.40,0.543,1,0,981,500.16
$SM_GC,0.76,0.00,0.00,180.40,0.000,0.000,0.543,160,2241,981,-9.39,0.31,500.16
$IRIDIUM_FIX,4748.51,-12220.12,110399,010129
$TT8_MAMPS,0.05369
$HUMID,21.49
$INTERNAL_PRESSURE,9.31389
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.1,5.459
$10V_AH,10.4,2.209
$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,22.275,36.175,305.500,180.400,0.000,0.000,0.000,0.000,0.000,0.000,13.590,0.000,880.504,542.945,893.981,28.801,0.000,994.297,0.000,699.417,0.000,0.534,0.000
$DEVICE_MAMPS,263.848,71.331,663.455,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324708
$DATA_FILE_SIZE,15846,486
$CAP_FILE_SIZE,79371,0
$CFSIZE,260165632,258379776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,151209,015028,4806.144,-12222.258,7,2.1,26,18.3