version: 66.06
glider: 506
mission: 2
dive: 14
start: 12 15 109 8 7 8
data:
$ID,506
$MISSION,2
$DIVE,14
$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,-7515.647
$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,22
$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
$GPS1,080136,4808.012,-12223.617,27,0.8,27,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.4
$GPS2,080702,4808.065,-12223.655,10,1.6,10,18.3
$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,80.2,819,-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,-195.4,0.0,0.0,0,59,0.00,0.00,-46.10,0.000,2,0.000,0.000,153,2223,2327,0,0,0,0,0,0
$GC,60,-0.69,-195.4,3.1,-5.8,11,112,12.25,2.38,-32.65,0.000,4,0.268,0.081,2920,3631,3819,0,0,0,0,0,0
$GC,289,-0.69,-195.4,29.2,-11.0,64,294,0.00,2.20,0.00,0.000,6,0.000,0.044,2920,2232,3819,0,0,1,0,0,0
$GC,328,-0.69,-195.4,33.6,-11.1,73,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2233,3819,0,0,0,0,0,0
$GC,362,-0.69,-195.4,37.4,-11.2,81,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2232,3819,0,0,0,0,0,0
$GC,397,-0.69,-195.4,41.2,-11.0,89,403,0.00,2.22,0.00,0.000,4,0.000,0.051,2920,830,3819,0,0,0,0,0,0
$GC,432,-0.69,-195.4,45.1,-11.3,97,438,0.00,2.25,0.00,0.000,6,0.000,0.052,2911,2226,3819,0,0,0,0,0,0
$GC,471,-0.69,-195.4,49.5,-10.9,106,477,0.00,2.35,0.00,0.000,4,0.000,0.067,2901,3642,3819,0,0,0,0,0,0
$GC,502,-0.69,-195.4,53.3,-12.5,113,507,0.10,2.20,0.00,0.000,6,0.143,0.043,2932,2231,3819,0,0,1,0,0,0
$GC,541,-0.69,-195.4,57.4,-10.3,122,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2230,3819,0,0,0,0,0,0
$GC,575,-0.69,-195.4,60.8,-9.8,130,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2230,3819,0,0,0,0,0,0
$GC,610,-0.69,-195.4,64.2,-9.7,138,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2230,3819,0,0,0,0,0,0
$GC,645,-0.69,-195.4,67.6,-10.0,146,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2230,3819,0,0,0,0,0,0
$GC,679,-0.69,-195.4,70.8,-9.0,154,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2230,3819,0,0,0,0,0,0
$GC,713,-0.69,-195.4,73.9,-9.1,162,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2230,3819,0,0,0,0,0,0
$GC,748,-0.69,-195.4,77.2,-9.5,170,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2230,3819,0,0,0,0,0,0
$GC,782,-0.69,-195.4,80.2,-8.8,178,788,0.00,2.35,0.00,0.000,4,0.000,0.068,2923,3640,3819,0,0,0,0,0,0
$GC,808,-0.69,-195.4,82.7,-9.4,184,814,0.00,2.20,0.00,0.000,6,0.000,0.043,2923,2232,3819,0,0,0,0,0,0
$GC,848,-0.69,-195.4,86.6,-9.8,193,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2232,3819,0,0,0,0,0,0
$GC,882,-0.69,-195.4,89.7,-9.3,201,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2233,3819,0,0,0,0,0,0
$GC,920,-0.69,-195.4,93.3,-9.4,210,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2232,3819,0,0,0,0,0,0
$GC,954,-0.69,-195.4,96.5,-9.4,218,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2232,3819,0,0,0,0,0,0
$GC,989,-0.69,-195.4,99.7,-9.3,226,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2232,3819,0,0,0,0,0,0
$GC,1024,-0.69,-195.4,102.7,-9.0,234,1029,0.00,2.33,0.00,0.000,4,0.000,0.068,2914,3638,3819,0,0,0,0,0,0
$STATE,1031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1032,begin apogee
$GC,1036,-0.19,0.0,103.5,8.9,236,1192,0.55,0.00,150.57,0.647,6,0.132,0.000,3092,2184,3019,0,0,0,0,0,0
$STATE,1192,end apogee,CONTROL_FINISHED_OK
$STATE,1192,begin climb
$GC,1193,0.69,195.4,105.9,0.0,273,1353,0.85,0.00,153.57,0.611,6,0.094,0.000,3376,2184,2224,0,0,0,0,0,0
$GC,1387,0.69,195.4,86.1,12.4,319,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2184,2222,0,0,0,0,0,0
$GC,1425,0.69,195.4,81.5,12.0,328,1430,0.00,2.30,0.00,0.000,4,0.000,0.051,3386,786,2222,0,0,0,0,0,0
$GC,1451,0.69,195.4,78.4,12.1,334,1457,0.00,2.33,0.00,0.000,6,0.000,0.048,3386,2196,2221,0,0,0,0,0,0
$GC,1490,0.69,195.4,73.1,13.2,343,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2196,2221,0,0,0,0,0,0
$GC,1525,0.69,195.4,68.6,13.2,351,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2196,2221,0,0,0,0,0,0
$GC,1559,0.69,195.4,64.4,12.1,359,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2196,2221,0,0,0,0,0,0
$GC,1594,0.69,195.4,60.0,12.8,367,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2196,2222,0,0,0,0,0,0
$GC,1632,0.69,195.4,55.2,12.7,376,1637,0.00,2.33,0.00,0.000,4,0.000,0.064,3386,3601,2221,0,0,0,0,0,0
$GC,1649,0.69,195.4,52.9,12.6,380,1655,0.00,2.25,0.00,0.000,6,0.000,0.041,3397,2189,2221,0,0,0,0,0,0
$GC,1688,0.69,195.4,47.9,13.0,389,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2187,2222,0,0,0,0,0,0
$GC,1723,0.69,195.4,43.2,13.0,397,1729,0.00,2.22,0.00,0.000,4,0.000,0.048,3407,785,2221,0,0,0,0,0,0
$GC,1753,0.69,195.4,39.1,13.8,404,1759,0.00,2.25,0.00,0.000,6,0.000,0.047,3407,2187,2221,0,0,0,0,0,0
$GC,1793,0.69,195.4,33.7,14.0,413,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2187,2221,0,0,0,0,0,0
$GC,1827,0.69,195.4,28.9,14.0,421,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2187,2221,0,0,0,0,0,0
$GC,1865,0.69,195.4,23.9,13.7,430,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2187,2221,0,0,0,0,0,0
$GC,1900,0.69,195.4,19.2,13.7,438,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2187,2221,0,0,0,0,0,0
$GC,1934,0.69,195.4,14.6,13.1,446,1940,0.00,2.22,0.00,0.000,4,0.000,0.049,3417,785,2221,0,0,1,0,0,0
$GC,2004,0.69,195.4,6.6,10.5,462,2010,0.08,2.22,0.00,0.000,6,0.118,0.048,3389,2182,2221,0,0,0,0,0,0
$GC,2043,1.03,476.3,6.3,0.2,471,2209,0.28,0.00,161.75,0.562,2,0.060,0.000,3514,2182,1371,0,0,0,0,0,0
$STATE,2209,end climb,SURFACE_DEPTH_REACHED
$STATE,2209,begin surface coast
$FINISH,0.1,1.016828
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2347,60.20,0.538,1,0,981,500.16
$SM_GC,0.95,0.00,0.00,60.20,0.000,0.000,0.538,154,2233,981,-9.40,0.08,500.16
$IRIDIUM_FIX,4748.51,-12224.57,110399,070705
$TT8_MAMPS,0.052923
$HUMID,20.97
$INTERNAL_PRESSURE,9.30413
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.1,6.391
$10V_AH,10.5,2.448
$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,23.450,40.950,465.900,60.200,0.000,27.986,24.597,212.601,0.000,0.000,12.535,0.000,921.397,527.926,973.709,313.520,0.000,1046.186,0.000,774.251,0.000,0.535,0.000
$DEVICE_MAMPS,268.450,123.487,647.348,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,15870,539
$CAP_FILE_SIZE,75264,0
$CFSIZE,260165632,258072576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,151209,084749,4808.073,-12223.292,6,1.2,12,18.3