version: 66.06
glider: 506
mission: 2
dive: 7
start: 12 15 109 2 43 9
data:
$ID,506
$MISSION,2
$DIVE,7
$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,-7351.9268
$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,27
$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
$GPS1,023446,4806.386,-12222.510,10,2.9,29,18.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.3
$GPS2,024304,4806.466,-12222.562,7,3.3,26,18.3
$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,309.7,3351,-11.7,-7.984
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.69,-195.4,0.0,0.0,0,64,0.00,0.00,-50.72,0.000,2,0.000,0.000,155,2225,2457,0,0,0,0,0,0
$GC,65,-0.69,-195.4,3.1,-6.4,12,125,11.80,2.28,-41.53,0.000,4,0.255,0.070,2932,830,3818,0,0,0,0,0,0
$GC,350,-0.69,-195.4,27.9,-10.8,78,356,0.00,2.25,0.00,0.000,6,0.000,0.052,2923,2225,3819,0,0,0,0,0,0
$GC,389,-0.69,-195.4,31.9,-10.3,87,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2225,3818,0,0,0,0,0,0
$GC,424,-0.69,-195.4,35.8,-11.1,95,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2225,3818,0,0,0,0,0,0
$GC,458,-0.69,-195.4,39.7,-11.1,103,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2225,3818,0,0,0,0,0,0
$GC,493,-0.69,-195.4,43.5,-11.0,111,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2225,3818,0,0,0,0,0,0
$GC,528,-0.69,-195.4,47.2,-10.8,119,534,0.00,2.30,0.00,0.000,4,0.000,0.067,2912,3631,3818,0,0,0,0,0,0
$GC,558,-0.69,-195.4,50.8,-11.4,126,564,0.00,2.20,0.00,0.000,6,0.000,0.043,2913,2231,3818,0,0,0,0,0,0
$GC,598,-0.69,-195.4,55.2,-11.0,135,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,632,-0.69,-195.4,58.8,-10.8,143,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,667,-0.69,-195.4,62.5,-11.1,151,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,701,-0.69,-195.4,66.4,-11.1,159,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,735,-0.69,-195.4,70.0,-10.3,167,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,770,-0.69,-195.4,73.7,-10.9,175,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,805,-0.69,-195.4,77.4,-10.5,183,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,839,-0.69,-195.4,80.9,-10.4,191,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,874,-0.69,-195.4,84.6,-10.6,199,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,909,-0.69,-195.4,88.1,-10.3,207,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,943,-0.69,-195.4,91.7,-10.4,215,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,978,-0.69,-195.4,95.3,-10.4,223,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,1012,-0.69,-195.4,98.6,-9.8,231,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$GC,1047,-0.69,-195.4,101.9,-9.5,239,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2231,3818,0,0,0,0,0,0
$STATE,1059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1059,begin apogee
$GC,1061,-0.19,0.0,103.1,9.3,242,1217,0.55,0.00,150.60,0.651,6,0.134,0.000,3091,2229,3020,0,0,0,0,0,0
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1219,0.69,195.4,105.6,0.0,279,1379,0.85,0.00,154.02,0.615,6,0.094,0.000,3374,2229,2222,0,0,0,0,0,0
$GC,1412,0.69,195.4,86.1,11.9,325,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2229,2222,0,0,0,0,0,0
$GC,1450,0.69,195.4,81.3,12.4,334,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2229,2221,0,0,0,0,0,0
$GC,1484,0.69,195.4,77.1,12.0,342,1490,0.00,2.38,0.00,0.000,4,0.000,0.053,3385,783,2220,0,0,0,0,0,0
$GC,1511,0.69,195.4,74.0,12.1,348,1516,0.00,2.30,0.00,0.000,6,0.000,0.048,3385,2186,2220,0,0,0,0,0,0
$GC,1550,0.69,195.4,69.0,12.8,357,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2186,2220,0,0,0,0,0,0
$GC,1584,0.69,195.4,64.6,12.6,365,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2186,2220,0,0,0,0,0,0
$GC,1619,0.69,195.4,60.1,12.6,373,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2186,2220,0,0,0,0,0,0
$GC,1654,0.69,195.4,55.8,12.3,381,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2185,2220,0,0,0,0,0,0
$GC,1688,0.69,195.4,51.5,12.6,389,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2186,2220,0,0,0,0,0,0
$GC,1722,0.69,195.4,47.2,12.0,397,1728,0.00,2.25,0.00,0.000,4,0.000,0.052,3395,789,2220,0,0,0,0,0,0
$GC,1748,0.69,195.4,44.2,12.6,403,1754,0.00,2.25,0.00,0.000,6,0.000,0.048,3395,2191,2220,0,0,0,0,0,0
$GC,1788,0.69,195.4,39.0,12.3,412,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2192,2220,0,0,0,0,0,0
$GC,1822,0.69,195.4,34.8,12.6,420,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2191,2220,0,0,0,0,0,0
$GC,1857,0.69,195.4,30.3,12.6,428,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2192,2220,0,0,0,0,0,0
$GC,1891,0.69,195.4,25.9,12.9,436,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2192,2220,0,0,0,0,0,0
$GC,1925,0.69,195.4,21.5,12.9,444,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2191,2220,0,0,0,0,0,0
$GC,1960,0.69,195.4,17.0,12.6,452,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2191,2220,0,0,0,0,0,0
$GC,1994,0.69,195.4,12.6,12.6,460,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2191,2220,0,0,0,0,0,0
$GC,2029,0.69,195.4,8.4,12.1,468,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2191,2220,0,0,0,0,0,0
$GC,2064,0.69,195.4,4.9,10.4,476,2069,0.00,2.30,0.00,0.000,4,0.000,0.064,3396,3590,2220,0,0,0,0,0,0
$STATE,2071,end climb,SURFACE_DEPTH_REACHED
$STATE,2072,begin surface coast
$FINISH,2.7,1.020162
$STATE,2085,end surface coast,CONTROL_FINISHED_OK
$STATE,2085,begin surface
$SM_CCo,2099,171.50,0.537,1,0,980,500.16
$SM_GC,0.80,0.00,0.00,171.50,0.000,0.000,0.537,156,2223,980,-9.40,-0.20,500.16
$IRIDIUM_FIX,4748.51,-12220.12,110399,020240
$TT8_MAMPS,0.052923
$HUMID,20.97
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.70
$XPDR_PINGS,2
$24V_AH,24.1,5.655
$10V_AH,10.4,2.261
$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,22.225,22.650,304.625,171.500,0.000,59.134,110.770,192.029,0.500,0.000,29.556,0.000,955.977,510.431,901.038,405.162,0.000,951.532,0.000,692.299,0.000,0.535,0.000
$DEVICE_MAMPS,255.411,69.797,651.183,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,15897,481
$CAP_FILE_SIZE,70330,0
$CFSIZE,260165632,258318336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151209,032132,4806.665,-12222.817,10,1.6,10,18.3