version: 66.06
glider: 506
mission: 2
dive: 12
start: 12 15 109 6 37 44
data:
$ID,506
$MISSION,2
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,-7471.1646
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,063238,4807.650,-12223.648,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.1
$GPS2,063738,4807.682,-12223.685,13,2.0,13,18.3
$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,308.2,706,-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,-195.4,0.0,0.0,0,60,0.00,0.00,-47.15,0.000,2,0.000,0.000,153,2196,2368,0,0,0,0,0,0
$GC,61,-0.69,-195.4,3.1,-6.3,11,109,12.20,2.28,-31.42,0.000,4,0.266,0.067,2931,819,3818,0,0,0,0,0,0
$GC,355,-0.69,-195.4,36.9,-11.5,79,361,0.00,2.28,0.00,0.000,6,0.000,0.054,2923,2220,3819,0,0,0,0,0,0
$GC,395,-0.69,-195.4,41.1,-10.5,88,401,0.00,2.22,0.00,0.000,4,0.000,0.051,2923,827,3819,0,0,0,0,0,0
$GC,495,-0.69,-195.4,52.1,-10.7,111,501,0.00,2.28,0.00,0.000,6,0.000,0.053,2914,2234,3819,0,0,0,0,0,0
$GC,534,-0.69,-195.4,56.2,-10.5,120,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2234,3819,0,0,0,0,0,0
$GC,568,-0.69,-195.4,60.0,-10.9,128,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2234,3819,0,0,0,0,0,0
$GC,603,-0.69,-195.4,63.6,-10.0,136,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2234,3819,0,0,0,0,0,0
$GC,637,-0.69,-195.4,67.3,-10.7,144,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2234,3819,0,0,0,0,0,0
$GC,672,-0.69,-195.4,71.0,-10.2,152,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2235,3819,0,0,0,0,0,0
$GC,707,-0.69,-195.4,74.3,-10.0,160,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2234,3819,0,0,0,0,0,0
$GC,741,-0.69,-195.4,77.9,-10.3,168,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2234,3819,0,0,0,0,0,0
$GC,775,-0.69,-195.4,81.2,-9.7,176,781,0.00,2.33,0.00,0.000,4,0.000,0.068,2903,3639,3819,0,0,0,0,0,0
$GC,806,-0.69,-195.4,84.4,-10.4,183,812,0.10,2.17,0.00,0.000,6,0.142,0.044,2935,2235,3819,0,0,1,0,0,0
$GC,845,-0.69,-195.4,88.2,-8.8,192,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2235,3819,0,0,0,0,0,0
$GC,880,-0.69,-195.4,91.0,-8.3,200,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2235,3819,0,0,0,0,0,0
$GC,914,-0.69,-195.4,94.0,-8.8,208,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2235,3819,0,0,0,0,0,0
$GC,949,-0.69,-195.4,97.0,-8.5,216,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2235,3819,0,0,0,0,0,0
$GC,983,-0.69,-195.4,99.7,-8.2,224,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2235,3819,0,0,0,0,0,0
$GC,1018,-0.69,-195.4,102.6,-8.3,232,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2235,3818,0,0,0,0,0,0
$STATE,1026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1026,begin apogee
$GC,1029,-0.19,0.0,103.4,8.5,234,1185,0.47,0.00,151.05,0.647,6,0.130,0.000,3093,2191,3020,0,0,0,0,0,0
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1186,0.69,195.4,106.0,0.0,271,1346,0.85,0.00,154.12,0.612,6,0.093,0.000,3377,2191,2223,0,0,0,0,0,0
$GC,1380,0.69,195.4,86.4,12.7,317,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2191,2221,0,0,0,0,0,0
$GC,1417,0.69,195.4,81.5,13.1,326,1423,0.00,2.30,0.00,0.000,4,0.000,0.052,3387,790,2220,0,0,0,0,0,0
$GC,1439,0.69,195.4,78.7,12.6,331,1445,0.00,2.33,0.00,0.000,6,0.000,0.049,3387,2194,2220,0,0,0,0,0,0
$GC,1479,0.69,195.4,73.6,13.0,340,1484,0.00,2.38,0.00,0.000,4,0.000,0.064,3387,3593,2220,0,0,0,0,0,0
$GC,1505,0.69,195.4,69.7,14.3,346,1511,0.00,2.25,0.00,0.000,6,0.000,0.041,3397,2194,2220,0,0,0,0,0,0
$GC,1544,0.69,195.4,64.3,13.6,355,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2194,2220,0,0,0,0,0,0
$GC,1578,0.69,195.4,59.7,13.4,363,1584,0.00,2.25,0.00,0.000,4,0.000,0.050,3408,787,2220,0,0,0,0,0,0
$GC,1613,0.69,195.4,54.9,13.7,371,1619,0.00,2.28,0.00,0.000,6,0.000,0.047,3408,2195,2220,0,0,0,0,0,0
$GC,1652,0.69,195.4,49.3,14.3,380,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1687,0.69,195.4,44.5,13.3,388,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1721,0.69,195.4,39.8,14.1,396,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1756,0.69,195.4,35.0,13.8,404,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2196,2220,0,0,0,0,0,0
$GC,1790,0.69,195.4,30.2,13.8,412,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1825,0.69,195.4,25.5,13.3,420,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1859,0.69,195.4,20.9,13.3,428,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1894,0.69,195.4,16.3,13.1,436,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1928,0.69,195.4,11.8,13.2,444,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1963,0.69,195.4,7.4,12.7,452,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2195,2220,0,0,0,0,0,0
$GC,1998,0.87,340.1,5.9,4.0,460,2117,0.00,2.40,111.38,0.565,4,0.000,0.050,3416,774,1631,0,0,0,0,0,0
$STATE,2137,end climb,SURFACE_DEPTH_REACHED
$STATE,2137,begin surface coast
$FINISH,3.5,1.017316
$STATE,2146,end surface coast,CONTROL_FINISHED_OK
$STATE,2146,begin surface
$SM_CCo,2161,96.57,0.538,1,0,980,500.16
$SM_GC,0.79,0.00,0.00,96.57,0.000,0.000,0.538,157,2239,980,-9.40,0.23,500.16
$IRIDIUM_FIX,4748.51,-12224.57,110399,050523
$TT8_MAMPS,0.05369
$HUMID,20.19
$INTERNAL_PRESSURE,9.31389
$TCM_TEMP,19.50
$XPDR_PINGS,2
$24V_AH,24.1,6.186
$10V_AH,10.5,2.395
$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,22.875,32.175,416.550,96.575,0.000,29.520,22.803,185.307,0.500,0.000,15.131,0.000,868.722,510.379,901.926,281.244,0.000,981.346,0.000,712.207,0.000,0.535,0.000
$DEVICE_MAMPS,266.149,213.226,646.581,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.667,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324664
$DATA_FILE_SIZE,15890,495
$CAP_FILE_SIZE,68985,0
$CFSIZE,260165632,258150400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,151209,071616,4807.918,-12223.953,11,2.2,30,18.3