version: 66.06
glider: 506
mission: 2
dive: 6
start: 12 15 109 1 56 12
data:
$ID,506
$MISSION,2
$DIVE,6
$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,-7321.7407
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,015028,4806.144,-12222.258,7,2.1,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.5
$GPS2,015606,4806.198,-12222.280,10,1.5,26,18.3
$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,309.2,3956,-11.7,-7.984
$D_GRID,107
$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,11,-0.69,-195.4,0.0,0.0,0,60,0.00,0.00,-47.12,0.000,2,0.000,0.000,159,2241,2383,0,0,0,0,0,0
$GC,61,-0.69,-195.4,3.1,-6.7,11,121,11.80,2.28,-43.15,0.000,4,0.256,0.067,2932,820,3818,0,0,0,0,0,0
$GC,368,-0.69,-195.4,30.5,-11.0,82,373,0.00,2.28,0.00,0.000,6,0.000,0.051,2923,2229,3818,0,0,0,0,0,0
$GC,407,-0.69,-195.4,34.8,-11.3,91,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2228,3818,0,0,0,0,0,0
$GC,441,-0.69,-195.4,38.8,-11.3,99,447,0.00,2.30,0.00,0.000,4,0.000,0.066,2913,3632,3818,0,0,0,0,0,0
$GC,472,-0.69,-195.4,42.3,-11.8,106,478,0.00,2.17,0.00,0.000,6,0.000,0.041,2913,2231,3818,0,0,1,0,0,0
$GC,511,-0.69,-195.4,46.9,-11.7,115,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,546,-0.69,-195.4,50.8,-11.5,123,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,580,-0.69,-195.4,54.4,-10.3,131,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,614,-0.69,-195.4,58.1,-10.7,139,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,649,-0.69,-195.4,61.8,-10.6,147,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2230,3818,0,0,0,0,0,0
$GC,684,-0.69,-195.4,65.7,-11.1,155,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,718,-0.69,-195.4,69.3,-10.5,163,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,752,-0.69,-195.4,73.2,-11.2,171,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,787,-0.69,-195.4,76.8,-10.4,179,793,0.00,2.22,0.00,0.000,4,0.000,0.053,2913,823,3818,0,0,0,0,0,0
$GC,817,-0.69,-195.4,80.1,-11.1,186,823,0.10,2.25,0.00,0.000,6,0.148,0.051,2935,2232,3818,0,0,0,0,0,0
$GC,857,-0.69,-195.4,84.0,-9.5,195,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2233,3818,0,0,0,0,0,0
$GC,891,-0.69,-195.4,86.9,-8.4,203,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2233,3818,0,0,0,0,0,0
$GC,926,-0.69,-195.4,89.8,-8.3,211,932,0.00,2.28,0.00,0.000,4,0.000,0.067,2926,3634,3818,0,0,0,0,0,0
$GC,952,-0.69,-195.4,92.0,-8.5,217,958,0.00,2.17,0.00,0.000,6,0.000,0.041,2926,2231,3818,0,0,0,0,0,0
$GC,991,-0.69,-195.4,95.7,-9.1,226,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2231,3818,0,0,0,0,0,0
$GC,1026,-0.69,-195.4,98.8,-9.2,234,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2232,3818,0,0,0,0,0,0
$GC,1060,-0.69,-195.4,101.9,-8.9,242,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2232,3817,0,0,0,0,0,0
$STATE,1072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1072,begin apogee
$GC,1075,-0.19,0.0,103.1,8.9,245,1231,0.50,0.00,150.43,0.650,6,0.129,0.000,3090,2231,3020,0,0,0,0,0,0
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1233,0.69,195.4,105.7,0.0,282,1392,0.88,0.00,154.30,0.614,6,0.096,0.000,3378,2230,2222,0,0,0,0,0,0
$GC,1426,0.69,195.4,85.2,13.0,328,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2231,2221,0,0,0,0,0,0
$GC,1460,0.69,195.4,80.8,12.5,336,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2231,2221,0,0,0,0,0,0
$GC,1495,0.69,195.4,76.5,12.3,344,1501,0.00,2.35,0.00,0.000,4,0.000,0.052,3389,790,2220,0,0,0,0,0,0
$GC,1517,0.69,195.4,73.8,12.7,349,1523,0.00,2.30,0.00,0.000,6,0.000,0.048,3389,2192,2220,0,0,0,0,0,0
$GC,1556,0.69,195.4,68.5,13.3,358,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2192,2220,0,0,0,0,0,0
$GC,1591,0.69,195.4,64.1,12.9,366,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2192,2220,0,0,0,0,0,0
$GC,1625,0.69,195.4,59.8,12.9,374,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2192,2220,0,0,0,0,0,0
$GC,1663,0.69,195.4,54.7,12.9,383,1669,0.00,2.28,0.00,0.000,4,0.000,0.051,3399,781,2220,0,0,0,0,0,0
$GC,1689,0.69,195.4,51.3,13.4,389,1695,0.00,2.28,0.00,0.000,6,0.000,0.047,3398,2193,2220,0,0,0,0,0,0
$GC,1728,0.69,195.4,46.0,13.6,398,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2193,2220,0,0,0,0,0,0
$GC,1763,0.69,195.4,41.3,13.4,406,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2193,2220,0,0,0,0,0,0
$GC,1798,0.69,195.4,36.7,13.5,414,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2193,2220,0,0,0,0,0,0
$GC,1832,0.69,195.4,32.1,13.3,422,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2192,2220,0,0,0,0,0,0
$GC,1866,0.69,195.4,27.8,12.7,430,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2193,2220,0,0,0,0,0,0
$GC,1901,0.69,195.4,23.3,12.9,438,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2193,2220,0,0,0,0,0,0
$GC,1939,0.69,195.4,18.4,12.9,447,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2193,2220,0,0,0,0,0,0
$GC,1973,0.69,195.4,13.8,12.8,455,1979,0.00,2.22,0.00,0.000,4,0.000,0.051,3409,789,2220,0,0,0,0,0,0
$GC,2004,0.69,195.4,9.7,13.4,462,2009,0.00,2.22,0.00,0.000,6,0.000,0.047,3409,2192,2220,0,0,0,0,0,0
$GC,2043,0.69,195.4,4.9,12.4,471,2049,0.00,2.30,0.00,0.000,4,0.000,0.064,3409,3589,2220,0,0,0,0,0,0
$STATE,2051,end climb,SURFACE_DEPTH_REACHED
$STATE,2051,begin surface coast
$FINISH,2.4,1.019505
$STATE,2068,end surface coast,CONTROL_FINISHED_OK
$STATE,2069,begin surface
$SM_CCo,2084,177.32,0.538,1,0,980,500.16
$SM_GC,0.68,0.00,0.00,177.32,0.000,0.000,0.538,155,2226,980,-9.40,-0.11,500.16
$IRIDIUM_FIX,4748.51,-12220.12,110399,010118
$TT8_MAMPS,0.050622
$HUMID,21.13
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,24.1,5.556
$10V_AH,10.4,2.235
$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,22.375,36.025,304.725,177.325,0.000,31.144,24.980,204.884,0.500,0.000,28.448,0.000,865.732,535.010,894.079,308.288,0.000,978.301,0.000,686.674,0.000,0.535,0.000
$DEVICE_MAMPS,256.178,66.729,649.649,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324716
$DATA_FILE_SIZE,15870,477
$CAP_FILE_SIZE,70008,0
$CFSIZE,260165632,258351104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,151209,023446,4806.386,-12222.510,10,2.9,29,18.3