version: 66.06
glider: 506
mission: 2
dive: 15
start: 12 15 109 8 55 21
data:
$ID,506
$MISSION,2
$DIVE,15
$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,-7548.8311
$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,36
$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
$GPS1,084749,4808.073,-12223.292,6,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.8
$GPS2,085516,4808.165,-12223.358,10,2.5,29,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$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,135.2,6548,-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,12,-0.69,-195.4,0.0,0.0,0,60,0.00,0.00,-46.42,0.000,2,0.000,0.000,151,2233,2323,0,0,0,0,0,0
$GC,61,-0.69,-195.4,3.0,-6.0,11,113,12.23,2.35,-33.25,0.000,4,0.268,0.084,2922,3636,3818,0,0,0,0,0,0
$GC,125,-0.69,-195.4,9.6,-6.5,26,130,0.00,2.22,0.00,0.000,6,0.000,0.044,2922,2235,3819,0,0,1,0,0,0
$GC,164,-0.69,-195.4,13.7,-10.4,35,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2235,3819,0,0,0,0,0,0
$GC,198,-0.69,-195.4,17.4,-11.0,43,204,0.00,2.25,0.00,0.000,4,0.000,0.051,2922,830,3819,0,0,0,0,0,0
$GC,233,-0.69,-195.4,21.6,-12.0,51,239,0.00,2.28,0.00,0.000,6,0.000,0.052,2912,2227,3819,0,0,0,0,0,0
$GC,272,-0.69,-195.4,26.0,-11.2,60,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2227,3818,0,0,0,0,0,0
$GC,307,-0.69,-195.4,30.0,-11.7,68,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2227,3818,0,0,0,0,0,0
$GC,341,-0.69,-195.4,33.9,-11.6,76,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2228,3818,0,0,0,0,0,0
$GC,379,-0.69,-195.4,38.5,-11.9,85,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2227,3819,0,0,0,0,0,0
$GC,413,-0.69,-195.4,42.6,-12.0,93,419,0.00,2.35,0.00,0.000,4,0.000,0.068,2902,3636,3818,0,0,0,0,0,0
$GC,435,-0.69,-195.4,45.1,-11.7,98,441,0.10,2.20,0.00,0.000,6,0.149,0.044,2933,2234,3819,0,0,1,0,0,0
$GC,475,-0.69,-195.4,49.4,-10.5,107,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,513,-0.69,-195.4,53.3,-10.3,116,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,547,-0.69,-195.4,56.7,-9.7,124,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,581,-0.69,-195.4,60.0,-9.7,132,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3818,0,0,0,0,0,0
$GC,616,-0.69,-195.4,63.2,-9.5,140,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,651,-0.69,-195.4,66.4,-9.3,148,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,685,-0.69,-195.4,69.6,-9.1,156,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3818,0,0,0,0,0,0
$GC,720,-0.69,-195.4,72.8,-9.5,164,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,757,-0.69,-195.4,76.3,-9.0,173,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3818,0,0,0,0,0,0
$GC,792,-0.69,-195.4,79.5,-9.4,181,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3818,0,0,0,0,0,0
$GC,826,-0.69,-195.4,82.5,-8.6,189,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3818,0,0,0,0,0,0
$GC,861,-0.69,-195.4,85.7,-9.1,197,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2233,3818,0,0,0,0,0,0
$GC,895,-0.69,-195.4,88.6,-8.6,205,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,930,-0.69,-195.4,91.6,-8.7,213,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,965,-0.69,-195.4,94.5,-8.5,221,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2233,3819,0,0,0,0,0,0
$GC,999,-0.69,-195.4,97.5,-8.9,229,1005,0.00,2.30,0.00,0.000,4,0.000,0.068,2924,3639,3818,0,0,0,0,0,0
$GC,1047,-0.69,-195.4,101.9,-9.3,240,1053,0.00,2.20,0.00,0.000,6,0.000,0.044,2924,2232,3818,0,0,0,0,0,0
$STATE,1059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1059,begin apogee
$GC,1062,-0.19,0.0,103.1,9.0,243,1218,0.52,0.00,150.98,0.650,6,0.130,0.000,3097,2231,3019,0,0,0,0,0,0
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1219,0.69,195.4,105.4,0.0,280,1380,0.85,2.40,153.93,0.614,4,0.093,0.064,3380,3605,2223,0,0,0,0,0,0
$GC,1392,0.69,195.4,88.3,13.1,321,1398,0.00,2.33,0.00,0.000,6,0.000,0.041,3391,2193,2222,0,0,1,0,0,0
$GC,1431,0.69,195.4,82.7,14.1,330,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2192,2222,0,0,0,0,0,0
$GC,1469,0.69,195.4,77.4,13.9,339,1475,0.00,2.30,0.00,0.000,4,0.000,0.050,3401,786,2222,0,0,0,0,0,0
$GC,1486,0.69,195.4,74.9,14.2,343,1492,0.00,2.30,0.00,0.000,6,0.000,0.046,3401,2189,2221,0,0,0,0,0,0
$GC,1526,0.69,195.4,69.1,14.8,352,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2188,2221,0,0,0,0,0,0
$GC,1560,0.69,195.4,64.2,14.6,360,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2189,2221,0,0,0,0,0,0
$GC,1598,0.69,195.4,58.7,14.5,369,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2189,2221,0,0,0,0,0,0
$GC,1633,0.69,195.4,53.7,14.1,377,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2189,2221,0,0,0,0,0,0
$GC,1667,0.69,195.4,48.8,14.3,385,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2189,2221,0,0,0,0,0,0
$GC,1702,0.69,195.4,44.2,13.5,393,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2189,2221,0,0,0,0,0,0
$GC,1739,0.69,195.4,39.3,13.2,402,1745,0.00,2.25,0.00,0.000,4,0.000,0.050,3412,785,2221,0,0,0,0,0,0
$GC,1757,0.69,195.4,36.9,13.3,406,1763,0.00,2.25,0.00,0.000,6,0.000,0.048,3411,2180,2221,0,0,0,0,0,0
$GC,1796,0.69,195.4,31.7,13.1,415,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2180,2221,0,0,0,0,0,0
$GC,1831,0.69,195.4,27.0,13.7,423,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2179,2221,0,0,0,0,0,0
$GC,1868,0.69,195.4,21.8,13.7,432,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2179,2221,0,0,0,0,0,0
$GC,1903,0.69,195.4,17.1,13.8,440,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2180,2221,0,0,0,0,0,0
$GC,1937,0.69,195.4,12.6,12.9,448,1943,0.00,2.22,0.00,0.000,4,0.000,0.050,3422,782,2221,0,0,1,0,0,0
$GC,1959,0.69,195.4,9.8,12.6,453,1965,0.10,2.22,0.00,0.000,6,0.141,0.046,3389,2180,2221,0,0,0,0,0,0
$GC,1999,0.69,195.4,6.1,8.8,462,2004,0.00,2.33,0.00,0.000,4,0.000,0.061,3389,3596,2221,0,0,0,0,0,0
$GC,2251,1.07,502.9,6.4,-0.6,520,2258,0.25,2.17,2.65,0.275,2,0.048,0.041,3514,2185,2218,0,0,1,0,0,0
$STATE,2258,end climb,NO_VERTICAL_VELOCITY
$STATE,2258,begin surface
$SM_CCo,2259,300.62,0.531,12,0,430,635.32
$SM_GC,1.01,9.40,0.00,0.00,0.049,0.000,0.000,156,2227,424,-9.34,-0.06,636.79
$IRIDIUM_FIX,4748.51,-12221.84,110399,080827
$TT8_MAMPS,0.052156
$HUMID,20.23
$INTERNAL_PRESSURE,9.21623
$TCM_TEMP,19.40
$XPDR_PINGS,3
$24V_AH,24.1,6.512
$10V_AH,10.5,2.478
$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,23.450,41.000,307.550,300.625,0.000,27.385,30.183,306.531,0.750,0.000,32.556,0.000,1045.570,726.427,978.440,417.576,0.000,1207.756,0.000,748.807,0.000,0.536,0.000
$DEVICE_MAMPS,267.683,122.720,649.649,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324888
$DATA_FILE_SIZE,15872,521
$CAP_FILE_SIZE,80357,0
$CFSIZE,260165632,258031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,12,0
$GPS,151209,094134,4808.106,-12223.243,12,5.8,31,18.3