version: 66.06
glider: 506
mission: 2
dive: 13
start: 12 15 109 7 21 34
data:
$ID,506
$MISSION,2
$DIVE,13
$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,-7502.4795
$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
$GPS1,071616,4807.918,-12223.953,11,2.2,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.2
$GPS2,072128,4807.974,-12223.988,8,2.1,27,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$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,69.4,1223,-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,-46.92,0.000,2,0.000,0.000,155,2240,2355,0,0,0,0,0,0
$GC,61,-0.69,-195.4,3.1,-6.3,11,113,12.18,2.35,-32.58,0.000,4,0.266,0.082,2923,3628,3818,0,0,0,0,0,0
$GC,359,-0.69,-195.4,35.9,-11.1,80,365,0.00,2.22,0.00,0.000,6,0.000,0.044,2923,2227,3819,0,0,0,0,0,0
$GC,398,-0.69,-195.4,40.3,-11.2,89,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2227,3818,0,0,0,0,0,0
$GC,433,-0.69,-195.4,43.9,-10.2,97,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2227,3819,0,0,0,0,0,0
$GC,467,-0.69,-195.4,47.6,-10.5,105,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2227,3819,0,0,0,0,0,0
$GC,502,-0.69,-195.4,51.3,-10.7,113,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2226,3819,0,0,0,0,0,0
$GC,537,-0.69,-195.4,54.6,-9.6,121,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2227,3819,0,0,0,0,0,0
$GC,571,-0.69,-195.4,58.0,-9.9,129,577,0.00,2.35,0.00,0.000,4,0.000,0.069,2913,3633,3818,0,0,0,0,0,0
$GC,597,-0.69,-195.4,60.9,-10.8,135,603,0.00,2.20,0.00,0.000,6,0.000,0.044,2913,2232,3819,0,0,0,0,0,0
$GC,636,-0.69,-195.4,65.0,-10.6,144,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3819,0,0,0,0,0,0
$GC,671,-0.69,-195.4,68.6,-10.3,152,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3818,0,0,0,0,0,0
$GC,705,-0.69,-195.4,72.1,-10.5,160,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3819,0,0,0,0,0,0
$GC,740,-0.69,-195.4,75.8,-10.3,168,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3819,0,0,0,0,0,0
$GC,774,-0.69,-195.4,79.1,-10.0,176,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3818,0,0,0,0,0,0
$GC,809,-0.69,-195.4,82.9,-10.8,184,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3819,0,0,0,0,0,0
$GC,843,-0.69,-195.4,86.4,-10.8,192,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3818,0,0,0,0,0,0
$GC,878,-0.69,-195.4,90.1,-10.4,200,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3818,0,0,0,0,0,0
$GC,913,-0.69,-195.4,93.5,-9.9,208,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3819,0,0,0,0,0,0
$GC,947,-0.69,-195.4,96.8,-9.9,216,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3819,0,0,0,0,0,0
$GC,982,-0.69,-195.4,100.3,-10.4,224,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2232,3818,0,0,0,0,0,0
$STATE,1011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1013,-0.19,0.0,103.3,9.8,231,1169,0.55,0.00,150.68,0.644,6,0.130,0.000,3094,2232,3019,0,0,0,0,0,0
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1170,0.69,195.4,105.6,0.0,268,1330,0.85,0.00,153.65,0.611,6,0.092,0.000,3377,2232,2223,0,0,0,0,0,0
$GC,1364,0.69,195.4,86.1,12.7,314,1370,0.00,2.38,0.00,0.000,4,0.000,0.051,3387,773,2221,0,0,0,0,0,0
$GC,1390,0.69,195.4,83.0,12.3,320,1396,0.00,2.35,0.00,0.000,6,0.000,0.048,3387,2189,2220,0,0,0,0,0,0
$GC,1429,0.69,195.4,77.7,13.3,329,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2189,2220,0,0,0,0,0,0
$GC,1464,0.69,195.4,73.2,13.1,337,1470,0.00,2.35,0.00,0.000,4,0.000,0.063,3388,3588,2220,0,0,0,0,0,0
$GC,1486,0.69,195.4,70.3,13.9,342,1492,0.00,2.25,0.00,0.000,6,0.000,0.041,3398,2189,2220,0,0,0,0,0,0
$GC,1525,0.69,195.4,64.4,14.1,351,1531,0.00,2.25,0.00,0.000,4,0.000,0.049,3409,785,2220,0,0,0,0,0,0
$GC,1556,0.69,195.4,60.0,14.4,358,1561,0.00,2.28,0.00,0.000,6,0.000,0.048,3408,2187,2220,0,0,0,0,0,0
$GC,1595,0.69,195.4,54.3,14.4,367,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2187,2220,0,0,0,0,0,0
$GC,1629,0.69,195.4,49.4,14.4,375,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2187,2220,0,0,0,0,0,0
$GC,1664,0.69,195.4,44.5,13.9,383,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2187,2220,0,0,0,0,0,0
$GC,1702,0.69,195.4,39.1,14.7,392,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2188,2220,0,0,0,0,0,0
$GC,1739,0.69,195.4,33.8,13.7,401,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2187,2220,0,0,0,0,0,0
$GC,1774,0.69,195.4,29.3,13.2,409,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2187,2220,0,0,0,0,0,0
$GC,1808,0.69,195.4,24.5,13.7,417,1814,0.00,2.22,0.00,0.000,4,0.000,0.049,3419,788,2220,0,0,0,0,0,0
$GC,1848,0.69,195.4,19.2,13.6,426,1853,0.10,2.22,0.00,0.000,6,0.141,0.048,3387,2184,2220,0,0,0,0,0,0
$GC,1887,0.69,195.4,14.2,12.2,435,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2184,2220,0,0,0,0,0,0
$GC,1921,0.69,195.4,10.3,11.0,443,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2220,0,0,0,0,0,0
$GC,1956,0.69,195.4,6.9,9.9,451,1961,0.00,2.22,0.00,0.000,4,0.000,0.049,3395,779,2220,0,0,0,0,0,0
$GC,1978,0.76,252.6,5.9,6.4,456,2030,0.00,2.22,44.42,0.567,6,0.000,0.046,3395,2185,1989,0,0,0,0,0,0
$GC,2063,1.12,542.9,6.0,-0.1,476,2150,0.35,0.00,82.88,0.558,2,0.054,0.000,3548,2185,1557,0,0,0,0,0,0
$STATE,2150,end climb,SURFACE_DEPTH_REACHED
$STATE,2150,begin surface coast
$FINISH,0.1,1.008834
$STATE,2243,end surface coast,CONTROL_FINISHED_OK
$STATE,2244,begin surface
$SM_CCo,2257,90.45,0.535,2,0,981,500.16
$SM_GC,0.96,0.00,0.00,90.45,0.000,0.000,0.535,153,2222,981,-9.41,-0.20,500.16
$IRIDIUM_FIX,4748.51,-12221.84,110399,060629
$TT8_MAMPS,0.052156
$HUMID,20.58
$INTERNAL_PRESSURE,9.30413
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,24.1,6.287
$10V_AH,10.5,2.421
$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,23.475,31.925,431.625,90.450,0.000,27.938,25.037,182.238,0.000,0.000,30.684,0.000,904.719,525.191,956.867,282.570,0.000,1017.434,0.000,744.551,0.000,0.535,0.000
$DEVICE_MAMPS,266.149,153.400,644.280,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,15922,518
$CAP_FILE_SIZE,71429,0
$CFSIZE,260165632,258113536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,151209,080136,4808.012,-12223.617,27,0.8,27,18.3