version: 66.06
glider: 506
mission: 2
dive: 23
start: 12 15 109 16 37 37
data:
$ID,506
$MISSION,2
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,83
$T_MISSION,105
$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,220
$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,480
$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,-7740.5664
$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,45
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,163143,4807.116,-12222.994,6,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.2
$GPS2,163731,4807.157,-12223.049,11,1.2,11,18.3
$SPEED_LIMITS,0.104,0.252
$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,129.3,4731,-7.2,-6.024
$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,-0.54,-215.0,0.0,0.0,0,64,0.00,0.00,-50.78,0.000,2,0.000,0.000,149,2231,2618,0,0,0,0,0,0
$GC,65,-0.54,-215.0,3.2,-4.8,12,109,12.48,2.50,-26.92,0.000,4,0.269,0.060,2982,655,3897,0,0,0,0,0,0
$GC,117,-0.54,-215.0,10.6,-11.7,24,122,0.00,2.55,0.00,0.000,6,0.000,0.047,2973,2227,3899,0,0,0,0,0,0
$GC,156,-0.54,-215.0,14.4,-10.0,33,162,0.00,2.62,0.00,0.000,4,0.000,0.066,2961,3805,3899,0,0,0,0,0,0
$GC,199,-0.54,-215.0,18.4,-9.2,43,205,0.00,2.50,0.00,0.000,6,0.000,0.040,2961,2225,3899,0,0,0,0,0,0
$GC,239,-0.54,-215.0,22.0,-9.2,52,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,277,-0.54,-215.0,25.2,-8.6,61,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2226,3899,0,0,0,0,0,0
$GC,311,-0.54,-215.0,28.2,-8.7,69,317,0.00,2.67,0.00,0.000,4,0.000,0.068,2950,3812,3899,0,0,0,0,0,0
$GC,337,-0.54,-215.0,30.5,-8.5,75,343,0.10,2.47,0.00,0.000,6,0.127,0.041,2984,2239,3899,0,0,0,0,0,0
$GC,377,-0.54,-215.0,33.5,-7.8,84,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2239,3899,0,0,0,0,0,0
$GC,411,-0.54,-215.0,35.9,-7.1,92,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2239,3899,0,0,0,0,0,0
$GC,449,-0.54,-215.0,38.5,-6.9,101,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2239,3899,0,0,0,0,0,0
$GC,484,-0.54,-215.0,40.9,-7.1,109,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2238,3899,0,0,0,0,0,0
$GC,521,-0.54,-215.0,43.6,-7.1,118,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2238,3898,0,0,0,0,0,0
$GC,556,-0.54,-215.0,46.1,-7.1,126,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2238,3899,0,0,0,0,0,0
$GC,590,-0.54,-215.0,48.5,-7.0,134,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2239,3898,0,0,0,0,0,0
$GC,625,-0.54,-215.0,51.0,-7.3,142,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2239,3899,0,0,0,0,0,0
$GC,663,-0.54,-215.0,53.7,-7.2,151,669,0.00,2.62,0.00,0.000,4,0.000,0.067,2973,3819,3898,0,0,0,0,0,0
$GC,689,-0.54,-215.0,55.7,-7.3,157,695,0.00,2.45,0.00,0.000,6,0.000,0.040,2973,2245,3898,0,0,0,0,0,0
$GC,728,-0.54,-215.0,58.7,-7.6,166,734,0.00,2.47,0.00,0.000,4,0.000,0.046,2973,659,3898,0,0,0,0,0,0
$GC,750,-0.54,-215.0,60.4,-7.6,171,756,0.00,2.53,0.00,0.000,6,0.000,0.048,2964,2252,3898,0,0,0,0,0,0
$GC,789,-0.54,-215.0,63.6,-8.0,180,795,0.00,2.55,0.00,0.000,4,0.000,0.065,2952,3807,3898,0,0,0,0,0,0
$GC,816,-0.54,-215.0,65.8,-8.2,186,822,0.08,2.40,0.00,0.000,6,0.123,0.039,2979,2264,3898,0,0,0,0,0,0
$GC,856,-0.54,-215.0,68.7,-7.6,195,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2264,3898,0,0,0,0,0,0
$GC,893,-0.54,-215.0,71.3,-6.8,204,899,0.00,2.50,0.00,0.000,4,0.000,0.046,2979,658,3898,0,0,0,0,0,0
$GC,915,-0.54,-215.0,73.0,-7.2,209,921,0.00,2.55,0.00,0.000,6,0.000,0.048,2971,2263,3897,0,0,0,0,0,0
$GC,954,-0.54,-215.0,75.8,-7.1,218,960,0.00,2.55,0.00,0.000,4,0.000,0.065,2960,3815,3898,0,0,0,0,0,0
$GC,981,-0.54,-215.0,77.7,-7.5,224,986,0.00,2.38,0.00,0.000,6,0.000,0.040,2960,2282,3897,0,0,0,0,0,0
$GC,1020,-0.54,-215.0,80.9,-7.9,233,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2283,3898,0,0,0,0,0,0
$GC,1058,-0.54,-215.0,83.9,-8.0,242,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2282,3898,0,0,0,0,0,0
$GC,1092,-0.54,-215.0,86.8,-8.1,250,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2282,3897,0,0,0,0,0,0
$GC,1130,-0.54,-215.0,89.9,-8.1,259,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2282,3898,0,0,0,0,0,0
$GC,1165,-0.54,-215.0,92.7,-8.2,267,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2282,3898,0,0,0,0,0,0
$GC,1199,-0.54,-215.0,95.4,-8.0,275,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2282,3897,0,0,0,0,0,0
$GC,1234,-0.54,-215.0,98.0,-7.5,283,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2283,3898,0,0,0,0,0,0
$GC,1271,-0.54,-215.0,101.0,-7.8,292,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2283,3898,0,0,0,0,0,0
$GC,1306,-0.54,-215.0,103.6,-7.8,300,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2283,3898,0,0,0,0,0,0
$STATE,1326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1326,begin apogee
$GC,1329,-0.19,0.0,105.2,7.4,305,1499,0.40,0.00,165.73,0.640,6,0.123,0.000,3095,2186,3019,0,0,0,0,0,0
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1501,0.54,215.0,109.0,0.0,345,1679,0.70,2.65,169.50,0.606,4,0.092,0.048,3340,619,2142,0,0,0,0,0,0
$GC,1709,0.54,215.0,92.1,9.7,394,1715,0.00,2.60,0.00,0.000,6,0.000,0.043,3340,2189,2141,0,0,0,0,0,0
$GC,1748,0.54,215.0,88.2,10.0,403,1754,0.00,2.67,0.00,0.000,4,0.000,0.061,3340,3780,2140,0,0,0,0,0,0
$GC,1766,0.54,215.0,86.2,10.2,407,1771,0.00,2.53,0.00,0.000,6,0.000,0.037,3352,2213,2140,0,0,0,0,0,0
$GC,1805,0.54,215.0,82.0,11.0,416,1811,0.00,2.58,0.00,0.000,4,0.000,0.046,3364,603,2140,0,0,0,0,0,0
$GC,1827,0.54,215.0,79.5,10.9,421,1832,0.00,2.58,0.00,0.000,6,0.000,0.043,3364,2188,2140,0,0,0,0,0,0
$GC,1866,0.54,215.0,74.9,11.7,430,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2189,2140,0,0,0,0,0,0
$GC,1904,0.54,215.0,70.5,11.7,439,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2189,2140,0,0,0,0,0,0
$GC,1939,0.54,215.0,66.6,11.3,447,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2189,2140,0,0,0,0,0,0
$GC,1976,0.54,215.0,62.3,11.4,456,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2189,2140,0,0,0,0,0,0
$GC,2011,0.54,215.0,58.2,11.5,464,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2189,2140,0,0,0,0,0,0
$GC,2046,0.54,215.0,54.2,11.5,472,2051,0.00,2.53,0.00,0.000,4,0.000,0.046,3375,609,2140,0,0,0,0,0,0
$GC,2068,0.54,215.0,51.7,11.9,477,2073,0.10,2.55,0.00,0.000,6,0.134,0.044,3332,2202,2140,0,0,0,0,0,0
$GC,2107,0.54,215.0,47.5,10.8,486,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2202,2140,0,0,0,0,0,0
$GC,2141,0.54,215.0,44.3,9.5,494,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2202,2140,0,0,0,0,0,0
$GC,2176,0.54,215.0,41.0,9.3,502,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2202,2140,0,0,0,0,0,0
$GC,2214,0.54,215.0,37.5,9.5,511,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2202,2140,0,0,0,0,0,0
$GC,2249,0.54,215.0,34.2,9.3,519,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2202,2140,0,0,0,0,0,0
$GC,2283,0.54,215.0,30.9,9.7,527,2289,0.00,2.53,0.00,0.000,4,0.000,0.047,3343,605,2140,0,0,0,0,0,0
$GC,2305,0.54,215.0,28.8,9.7,532,2311,0.00,2.53,0.00,0.000,6,0.000,0.043,3342,2199,2140,0,0,0,0,0,0
$GC,2344,0.54,215.0,24.8,10.0,541,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2199,2140,0,0,0,0,0,0
$GC,2379,0.54,215.0,21.5,9.7,549,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2199,2140,0,0,0,0,0,0
$GC,2413,0.54,215.0,18.2,9.5,557,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2199,2140,0,0,0,0,0,0
$GC,2451,0.54,215.0,14.6,9.6,566,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2199,2140,0,0,0,0,0,0
$GC,2489,0.54,215.0,11.0,9.8,575,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2199,2140,0,0,0,0,0,0
$GC,2523,0.54,215.0,8.2,8.3,583,2529,0.00,2.58,0.00,0.000,4,0.000,0.062,3342,3773,2140,0,0,0,0,0,0
$GC,2598,0.81,435.5,6.2,1.8,600,2676,0.12,2.45,73.07,0.567,2,0.058,0.038,3430,2184,1756,0,0,0,0,0,0
$STATE,2677,end climb,SURFACE_DEPTH_REACHED
$STATE,2677,begin surface coast
$FINISH,0.2,1.018778
$STATE,2796,end surface coast,CONTROL_FINISHED_OK
$STATE,2796,begin surface
$SM_CCo,2809,93.15,0.071,0,0,1063,480.04
$SM_GC,0.97,0.00,0.00,93.15,0.000,0.000,0.071,157,2230,1063,-9.39,0.00,480.04
$IRIDIUM_FIX,4748.51,-12226.29,110399,151553
$TT8_MAMPS,0.052923
$HUMID,20.97
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.2,43.2
$24V_AH,24.1,7.380
$10V_AH,10.5,2.739
$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,22.900,71.275,408.300,93.150,0.000,28.359,23.345,229.119,1.250,0.000,13.230,0.000,1143.402,575.083,1183.306,343.384,0.000,1178.002,0.000,925.730,0.000,5.522,0.000
$DEVICE_MAMPS,269.217,120.419,640.445,70.564,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324652
$DATA_FILE_SIZE,22137,646
$CAP_FILE_SIZE,96871,0
$CFSIZE,260165632,257683456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,172626,4806.828,-12222.791,9,1.3,9,18.3