version: 66.06
glider: 506
mission: 2
dive: 61
start: 12 16 109 9 2 42
data:
$ID,506
$MISSION,2
$DIVE,61
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,0
$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,90
$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,-8204.833
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3940
$C_PITCH,3180
$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,50
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,21
$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,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
$GPS1,085152,4804.734,-12220.856,14,4.1,33,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-67.5
$GPS2,090236,4804.735,-12220.864,16,1.6,26,18.3
$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,322.8,519,-18.2,-6.024
$D_GRID,108
$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,-0.77,-58.0,0.0,0.0,0,77,0.00,0.00,-63.55,0.000,2,0.000,0.000,160,2226,2796,0,0,0,0,0,0
$GC,78,-0.79,-75.1,3.2,-4.8,15,109,12.88,2.83,-11.02,0.000,4,0.285,0.081,2907,3874,3328,0,0,0,0,0,0
$GC,356,-0.80,-84.0,30.6,-5.4,79,362,0.00,2.58,-0.45,0.000,6,0.000,0.041,2907,2229,3367,0,0,0,0,0,0
$GC,396,-0.82,-93.7,32.7,-5.3,88,402,0.00,2.75,-0.45,0.000,4,0.000,0.082,2894,3873,3406,0,0,0,0,0,0
$GC,553,-0.82,-93.7,45.9,-9.2,124,558,0.00,2.60,0.00,0.000,6,0.000,0.043,2894,2230,3407,0,0,0,0,0,0
$GC,592,-0.82,-93.7,49.4,-8.8,133,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2229,3407,0,0,0,0,0,0
$GC,630,-0.82,-93.7,52.5,-8.4,142,635,0.00,2.75,0.00,0.000,4,0.000,0.048,2894,476,3407,0,0,0,0,0,0
$GC,647,-0.82,-93.7,54.0,-8.3,146,653,0.12,2.80,0.00,0.000,6,0.196,0.048,2910,2233,3407,0,0,0,0,0,0
$GC,687,-0.82,-93.7,57.2,-8.2,155,693,0.00,2.67,0.00,0.000,4,0.000,0.068,2899,3872,3406,0,0,0,0,0,0
$GC,743,-0.82,-93.7,62.0,-8.9,168,749,0.00,2.58,0.00,0.000,6,0.000,0.042,2899,2235,3407,0,0,0,0,0,0
$GC,783,-0.82,-93.7,65.2,-8.5,177,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2235,3407,0,0,0,0,0,0
$GC,821,-0.82,-93.7,68.3,-7.9,186,826,0.00,2.67,0.00,0.000,4,0.000,0.068,2887,3869,3406,0,0,0,0,0,0
$GC,856,-0.82,-93.7,71.6,-9.0,194,862,0.08,2.58,0.00,0.000,6,0.170,0.042,2909,2225,3406,0,0,0,0,0,0
$GC,895,-0.82,-93.7,75.0,-8.5,203,901,0.00,2.75,0.00,0.000,4,0.000,0.050,2909,473,3407,0,0,0,0,0,0
$GC,917,-0.82,-93.7,76.7,-7.9,208,923,0.00,2.78,0.00,0.000,6,0.000,0.048,2898,2231,3407,0,0,0,0,0,0
$GC,956,-0.82,-93.7,79.6,-7.5,217,962,0.00,2.65,0.00,0.000,4,0.000,0.067,2885,3870,3407,0,0,0,0,0,0
$GC,978,-0.82,-93.7,81.3,-7.8,222,984,0.08,2.58,0.00,0.000,6,0.173,0.042,2911,2227,3407,0,0,0,0,0,0
$GC,1018,-0.82,-93.7,84.2,-7.3,231,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2227,3406,0,0,0,0,0,0
$GC,1056,-0.82,-93.7,86.7,-6.6,240,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2227,3407,0,0,0,0,0,0
$GC,1094,-0.82,-93.7,89.0,-6.2,249,1099,0.00,2.67,0.00,0.000,4,0.000,0.068,2900,3869,3407,0,0,0,0,0,0
$GC,1124,-0.82,-93.7,91.0,-6.6,256,1130,0.00,2.55,0.00,0.000,6,0.000,0.042,2900,2222,3407,0,0,0,0,0,0
$GC,1163,-0.82,-93.7,93.7,-6.6,265,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2222,3407,0,0,0,0,0,0
$GC,1201,-0.82,-93.7,96.2,-6.5,274,1207,0.00,2.72,0.00,0.000,4,0.000,0.050,2900,474,3407,0,0,0,0,0,0
$GC,1362,-0.82,-94.5,106.3,-6.0,311,1368,0.00,2.78,0.00,0.000,6,0.000,0.050,2888,2233,3406,0,0,0,0,0,0
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1394,-0.19,0.0,108.1,5.8,318,1471,0.73,0.00,74.03,0.650,6,0.163,0.000,3109,2233,3020,0,0,0,0,0,0
$STATE,1472,end apogee,CONTROL_FINISHED_OK
$STATE,1472,begin climb
$GC,1473,0.82,94.5,108.6,0.0,336,1559,0.95,3.00,75.25,0.621,4,0.091,0.048,3450,438,2633,0,0,0,0,0,0
$GC,1601,0.82,94.5,93.1,15.8,366,1607,0.00,2.88,0.00,0.000,6,0.000,0.046,3450,2191,2632,0,0,1,0,0,0
$GC,1641,0.82,94.5,86.4,16.8,375,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2191,2632,0,0,0,0,0,0
$GC,1679,0.82,94.5,80.2,16.6,384,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2191,2632,0,0,0,0,0,0
$GC,1717,0.82,94.5,74.1,16.1,393,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2191,2632,0,0,0,0,0,0
$GC,1755,0.82,94.5,68.1,15.9,402,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2191,2632,0,0,0,0,0,0
$GC,1793,0.82,94.5,62.4,15.2,411,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2191,2632,0,0,0,0,0,0
$GC,1831,0.82,94.5,56.4,15.6,420,1836,0.00,2.78,0.00,0.000,4,0.000,0.064,3450,3873,2632,0,0,0,0,0,0
$GC,1853,0.82,94.5,52.8,15.8,425,1858,0.00,2.67,0.00,0.000,6,0.000,0.040,3463,2195,2632,0,0,0,0,0,0
$GC,1892,0.82,94.5,46.2,16.8,434,1898,0.00,2.80,0.00,0.000,4,0.000,0.048,3477,428,2632,0,0,0,0,0,0
$GC,1905,0.82,94.5,44.2,16.3,437,1911,0.12,2.80,0.00,0.000,6,0.192,0.044,3448,2199,2632,0,0,1,0,0,0
$GC,1945,0.82,94.5,38.1,15.5,446,1950,0.00,2.83,0.00,0.000,4,0.000,0.049,3459,434,2632,0,0,0,0,0,0
$GC,1963,0.82,94.5,35.3,15.0,450,1968,0.00,2.80,0.00,0.000,6,0.000,0.046,3460,2197,2632,0,0,1,0,0,0
$GC,2002,0.82,94.5,29.5,15.2,459,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2198,2632,0,0,0,0,0,0
$GC,2040,0.82,94.5,23.8,14.8,468,2045,0.00,2.72,0.00,0.000,4,0.000,0.064,3460,3869,2632,0,0,0,0,0,0
$GC,2057,0.82,94.5,21.1,15.0,472,2063,0.00,2.65,0.00,0.000,6,0.000,0.041,3473,2193,2632,0,0,0,0,0,0
$GC,2097,0.82,94.5,14.5,16.7,481,2102,0.00,2.83,0.00,0.000,4,0.000,0.056,3486,430,2632,0,0,0,0,0,0
$GC,2105,0.82,94.5,13.1,16.6,483,2111,0.15,2.80,0.00,0.000,6,0.188,0.051,3449,2193,2633,0,0,1,0,0,0
$GC,2145,0.82,94.5,9.2,10.8,492,2151,0.00,2.78,0.00,0.000,4,0.000,0.073,3448,3869,2632,0,0,0,0,0,0
$GC,2397,0.93,186.7,10.2,-0.4,550,2475,0.00,2.65,70.60,0.572,6,0.000,0.051,3460,2187,2258,0,0,0,0,0,0
$GC,2509,0.99,234.0,7.2,2.7,576,2553,0.10,2.92,37.67,0.553,4,0.107,0.058,3517,438,2065,0,0,0,0,0,0
$STATE,2586,end climb,SURFACE_DEPTH_REACHED
$STATE,2586,begin surface coast
$FINISH,-0.0,1.019070
$STATE,2634,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2650,142.23,0.475,1,0,1063,480.04
$SM_GC,0.75,0.00,0.00,142.23,0.000,0.000,0.475,151,2225,1063,-9.46,-0.14,480.04
$IRIDIUM_FIX,4748.51,-12221.84,120399,070745
$TT8_MAMPS,0.05369
$HUMID,20.97
$INTERNAL_PRESSURE,9.32366
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,43.2
$24V_AH,24.2,10.468
$10V_AH,10.4,3.357
$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,24.425,93.175,257.550,142.225,0.000,27.094,23.101,490.203,1.000,0.000,28.449,0.000,1160.031,537.379,1113.321,637.485,0.000,1069.851,0.000,867.773,0.000,5.512,0.000
$DEVICE_MAMPS,284.557,82.069,649.649,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,19032,605
$CAP_FILE_SIZE,88820,0
$CFSIZE,260165632,256806912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,161209,095004,4804.954,-12220.983,6,2.2,25,18.3