version: 66.06
glider: 506
mission: 2
dive: 9
start: 12 15 109 4 17 31
data:
$ID,506
$MISSION,2
$DIVE,9
$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,-7400.8691
$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,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
$GPS1,040720,4806.914,-12223.033,11,2.0,11,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.1
$GPS2,041725,4806.948,-12223.065,15,2.0,32,18.3
$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,311.0,2266,-11.7,-7.984
$D_GRID,103
$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,-51.17,0.000,2,0.000,0.000,154,2235,2468,0,0,0,0,0,0
$GC,65,-0.69,-195.4,3.3,-6.9,12,113,12.20,2.35,-28.17,0.000,4,0.267,0.081,2924,3636,3818,0,0,0,0,0,0
$GC,142,-0.69,-195.4,14.1,-12.9,30,148,0.00,2.22,0.00,0.000,6,0.000,0.044,2924,2228,3819,0,0,1,0,0,0
$GC,181,-0.69,-195.4,18.3,-10.7,39,187,0.00,2.25,0.00,0.000,4,0.000,0.054,2924,827,3820,0,0,0,0,0,0
$GC,433,-0.69,-195.4,47.7,-11.5,97,439,0.00,2.25,0.00,0.000,6,0.000,0.053,2915,2223,3819,0,0,0,0,0,0
$GC,473,-0.69,-195.4,52.2,-11.7,106,478,0.00,2.22,0.00,0.000,4,0.000,0.053,2915,831,3819,0,0,0,0,0,0
$GC,595,-0.69,-195.4,65.9,-10.8,134,600,0.08,2.25,0.00,0.000,6,0.150,0.052,2930,2232,3819,0,0,0,0,0,0
$GC,634,-0.69,-195.4,69.9,-10.2,143,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2232,3819,0,0,0,0,0,0
$GC,668,-0.69,-195.4,73.2,-9.6,151,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2231,3818,0,0,0,0,0,0
$GC,703,-0.69,-195.4,76.6,-9.6,159,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2231,3819,0,0,0,0,0,0
$GC,737,-0.69,-195.4,79.6,-9.0,167,743,0.00,2.30,0.00,0.000,4,0.000,0.067,2920,3629,3819,0,0,0,0,0,0
$GC,768,-0.69,-195.4,82.5,-9.2,174,774,0.00,2.17,0.00,0.000,6,0.000,0.044,2920,2224,3819,0,0,1,0,0,0
$GC,807,-0.69,-195.4,86.1,-9.4,183,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2224,3819,0,0,0,0,0,0
$GC,842,-0.69,-195.4,89.4,-9.4,191,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2224,3819,0,0,0,0,0,0
$GC,876,-0.69,-195.4,92.4,-9.0,199,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2224,3819,0,0,0,0,0,0
$GC,910,-0.69,-195.4,95.6,-9.2,207,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2224,3819,0,0,0,0,0,0
$GC,945,-0.69,-195.4,98.7,-9.3,215,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2224,3819,0,0,0,0,0,0
$GC,979,-0.69,-195.4,101.8,-8.7,223,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2224,3819,0,0,0,0,0,0
$STATE,996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,996,begin apogee
$GC,998,-0.19,0.0,103.3,9.1,227,1154,0.52,0.00,150.95,0.652,6,0.133,0.000,3092,2224,3019,0,0,0,0,0,0
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1156,0.69,195.4,105.5,0.0,264,1316,0.88,0.00,153.95,0.615,6,0.094,0.000,3382,2224,2222,0,0,0,0,0,0
$GC,1350,0.69,195.4,84.9,13.2,310,1355,0.00,2.40,0.00,0.000,4,0.000,0.053,3392,786,2221,0,0,0,0,0,0
$GC,1376,0.69,195.4,81.4,13.3,316,1382,0.00,2.33,0.00,0.000,6,0.000,0.048,3392,2184,2221,0,0,0,0,0,0
$GC,1415,0.69,195.4,76.2,13.4,325,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2220,0,0,0,0,0,0
$GC,1450,0.69,195.4,71.5,13.7,333,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2220,0,0,0,0,0,0
$GC,1487,0.69,195.4,66.3,13.6,342,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2184,2220,0,0,0,0,0,0
$GC,1522,0.69,195.4,61.7,13.3,350,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2221,0,0,0,0,0,0
$GC,1557,0.69,195.4,57.0,13.9,358,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2220,0,0,0,0,0,0
$GC,1591,0.69,195.4,52.3,13.3,366,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2220,0,0,0,0,0,0
$GC,1629,0.69,195.4,47.2,13.0,375,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2184,2221,0,0,0,0,0,0
$GC,1663,0.69,195.4,42.6,13.4,383,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2184,2220,0,0,0,0,0,0
$GC,1698,0.69,195.4,38.3,12.7,391,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2220,0,0,0,0,0,0
$GC,1733,0.69,195.4,33.8,13.0,399,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2184,2220,0,0,0,0,0,0
$GC,1770,0.69,195.4,28.8,13.4,408,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2184,2220,0,0,0,0,0,0
$GC,1805,0.69,195.4,24.4,12.5,416,1811,0.00,2.22,0.00,0.000,4,0.000,0.052,3403,792,2220,0,0,0,0,0,0
$GC,1836,0.69,195.4,20.7,12.3,423,1841,0.00,2.25,0.00,0.000,6,0.000,0.048,3403,2196,2221,0,0,0,0,0,0
$GC,1875,0.69,195.4,15.5,13.0,432,1881,0.00,2.30,0.00,0.000,4,0.000,0.063,3403,3592,2220,0,0,0,0,0,0
$GC,1910,0.69,195.4,10.4,14.8,440,1916,0.00,2.17,0.00,0.000,6,0.000,0.042,3413,2197,2220,0,0,1,0,0,0
$GC,1949,0.69,195.4,6.4,10.4,449,1955,0.00,2.25,0.00,0.000,4,0.000,0.051,3424,782,2221,0,0,0,0,0,0
$STATE,2188,end climb,NO_VERTICAL_VELOCITY
$STATE,2188,begin surface
$SM_CCo,2189,309.38,0.532,13,0,430,635.32
$SM_GC,1.02,9.20,0.00,0.00,0.053,0.000,0.000,159,2238,423,-9.34,0.23,637.03
$IRIDIUM_FIX,4748.51,-12221.84,110399,040414
$TT8_MAMPS,0.052923
$HUMID,20.27
$INTERNAL_PRESSURE,9.23577
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.1,5.882
$10V_AH,10.4,2.318
$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,22.875,36.400,304.900,309.375,0.000,55.513,66.485,316.428,0.000,0.000,33.893,0.000,1105.153,721.544,937.078,509.408,0.000,1175.983,0.000,724.799,0.000,0.535,0.000
$DEVICE_MAMPS,266.916,81.302,651.950,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324652
$DATA_FILE_SIZE,15892,504
$CAP_FILE_SIZE,72137,0
$CFSIZE,260165632,258248704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,13,0
$GPS,151209,050246,4807.072,-12223.250,8,4.4,27,18.3