version: 66.06
glider: 506
mission: 2
dive: 62
start: 12 16 109 9 56 20
data:
$ID,506
$MISSION,2
$DIVE,62
$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,-8222.2764
$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,37
$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,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
$GPS1,095004,4804.954,-12220.983,6,2.2,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.4
$GPS2,095614,4804.966,-12221.014,14,1.3,14,18.3
$SPEED_LIMITS,0.104,0.252
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,309.2,2271,-7.2,-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,12,-0.54,-215.0,0.0,0.0,0,72,0.00,0.00,-59.05,0.000,2,0.000,0.000,151,2226,2709,0,0,0,0,0,0
$GC,74,-0.54,-215.0,3.0,-4.4,14,118,12.77,2.83,-25.40,0.000,4,0.273,0.089,2985,3873,3899,0,0,0,0,0,0
$GC,364,-0.54,-215.0,30.1,-7.6,81,370,0.00,2.65,0.00,0.000,6,0.000,0.054,2985,2236,3900,0,0,0,0,0,0
$GC,404,-0.54,-215.0,32.8,-7.0,90,409,0.00,2.75,0.00,0.000,4,0.000,0.081,2974,3871,3899,0,0,0,0,0,0
$GC,452,-0.54,-215.0,36.6,-8.0,101,458,0.10,2.62,0.00,0.000,6,0.150,0.054,3001,2225,3899,0,0,0,0,0,0
$GC,491,-0.54,-215.0,39.3,-6.9,110,496,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2226,3899,0,0,0,0,0,0
$GC,529,-0.54,-215.0,41.6,-6.1,119,534,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3900,0,0,0,0,0,0
$GC,567,-0.54,-215.0,43.9,-6.1,128,568,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3900,0,0,0,0,0,0
$GC,602,-0.54,-215.0,45.8,-5.5,136,606,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3900,0,0,0,0,0,0
$GC,640,-0.54,-215.0,48.1,-5.9,145,644,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3899,0,0,0,0,0,0
$GC,678,-0.54,-215.0,50.2,-5.7,154,682,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3900,0,0,0,0,0,0
$GC,716,-0.54,-215.0,52.5,-5.9,163,720,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3899,0,0,0,0,0,0
$GC,754,-0.54,-215.0,54.8,-6.2,172,759,0.00,2.75,0.00,0.000,4,0.000,0.078,2994,3872,3899,0,0,0,0,0,0
$GC,771,-0.54,-215.0,55.9,-6.2,176,777,0.00,2.62,0.00,0.000,6,0.000,0.052,2994,2210,3899,0,0,0,0,0,0
$GC,811,-0.54,-215.0,58.5,-6.7,185,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2210,3899,0,0,0,0,0,0
$GC,849,-0.54,-215.0,61.2,-6.8,194,854,0.00,2.75,0.00,0.000,4,0.000,0.076,2985,3870,3899,0,0,0,0,0,0
$GC,866,-0.54,-215.0,62.2,-6.7,198,872,0.00,2.60,0.00,0.000,6,0.000,0.050,2984,2234,3899,0,0,0,0,0,0
$GC,906,-0.54,-215.0,64.9,-7.0,207,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2234,3899,0,0,0,0,0,0
$GC,943,-0.54,-215.0,67.5,-6.8,216,949,0.00,2.80,0.00,0.000,4,0.000,0.059,2984,470,3899,0,0,0,0,0,0
$GC,961,-0.54,-215.0,68.8,-6.9,220,967,0.00,2.83,0.00,0.000,6,0.000,0.054,2984,2234,3899,0,0,0,0,0,0
$GC,1000,-0.54,-215.0,71.5,-7.1,229,1006,0.00,2.70,0.00,0.000,4,0.000,0.074,2973,3878,3899,0,0,0,0,0,0
$GC,1022,-0.54,-215.0,73.1,-7.1,234,1028,0.12,2.60,0.00,0.000,6,0.137,0.051,3009,2223,3899,0,0,0,0,0,0
$GC,1061,-0.54,-215.0,75.4,-6.2,243,1067,0.00,2.78,0.00,0.000,4,0.000,0.058,3009,473,3899,0,0,0,0,0,0
$GC,1079,-0.54,-215.0,76.5,-5.7,247,1085,0.00,2.80,0.00,0.000,6,0.000,0.055,3009,2232,3899,0,0,0,0,0,0
$GC,1119,-0.54,-215.0,78.8,-5.7,256,1124,0.00,2.70,0.00,0.000,4,0.000,0.078,2999,3873,3899,0,0,0,0,0,0
$GC,1147,-0.54,-215.0,80.2,-5.6,262,1152,0.00,2.58,0.00,0.000,6,0.000,0.050,2999,2229,3899,0,0,0,0,0,0
$GC,1186,-0.54,-215.0,82.6,-5.8,271,1191,0.00,2.78,0.00,0.000,4,0.000,0.058,3000,474,3899,0,0,0,0,0,0
$GC,1212,-0.54,-215.0,84.3,-6.1,277,1218,0.00,2.80,0.00,0.000,6,0.000,0.054,2999,2229,3899,0,0,0,0,0,0
$GC,1251,-0.54,-215.0,86.6,-6.1,286,1257,0.00,2.70,0.00,0.000,4,0.000,0.075,2998,3876,3899,0,0,0,0,0,0
$GC,1282,-0.54,-215.0,88.4,-5.6,293,1287,0.00,2.60,0.00,0.000,6,0.000,0.050,2998,2235,3899,0,0,0,0,0,0
$GC,1321,-0.54,-215.0,90.6,-5.6,302,1326,0.00,2.78,0.00,0.000,4,0.000,0.057,2998,474,3899,0,0,0,0,0,0
$GC,1342,-0.54,-215.0,91.9,-5.7,307,1348,0.00,2.80,0.00,0.000,6,0.000,0.054,2998,2234,3899,0,0,0,0,0,0
$GC,1382,-0.54,-215.0,94.2,-5.8,316,1387,0.00,2.70,0.00,0.000,4,0.000,0.076,2997,3878,3899,0,0,0,0,0,0
$GC,1408,-0.54,-215.0,95.6,-5.5,322,1414,0.00,2.58,0.00,0.000,6,0.000,0.050,2996,2228,3899,0,0,0,0,0,0
$GC,1447,-0.54,-215.0,97.9,-5.6,331,1453,0.00,2.78,0.00,0.000,4,0.000,0.058,2996,471,3899,0,0,0,0,0,0
$GC,1469,-0.54,-215.0,99.2,-5.7,336,1475,0.00,2.80,0.00,0.000,6,0.000,0.054,2996,2229,3899,0,0,0,0,0,0
$GC,1509,-0.54,-215.0,101.4,-5.6,345,1514,0.00,2.72,0.00,0.000,4,0.000,0.076,2986,3875,3899,0,0,0,0,0,0
$GC,1526,-0.54,-215.0,102.2,-5.7,349,1532,0.00,2.60,0.00,0.000,6,0.000,0.049,2986,2208,3899,0,0,0,0,0,0
$GC,1565,-0.54,-215.0,104.6,-5.8,358,1571,0.00,2.72,0.00,0.000,4,0.000,0.057,2986,476,3899,0,0,0,0,0,0
$GC,1578,-0.54,-215.0,105.5,-5.9,361,1584,0.00,2.78,0.00,0.000,6,0.000,0.054,2985,2232,3899,0,0,0,0,0,0
$GC,1618,-0.54,-215.0,107.8,-5.9,370,1623,0.00,2.67,0.00,0.000,4,0.000,0.075,2974,3868,3899,0,0,0,0,0,0
$STATE,1626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1626,begin apogee
$GC,1631,-0.19,0.0,108.2,5.6,372,1805,0.40,0.00,167.27,0.636,6,0.117,0.000,3111,2186,3019,0,0,0,0,0,0
$STATE,1805,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1807,0.54,215.0,111.2,0.0,413,1985,0.70,3.03,170.65,0.604,4,0.087,0.061,3361,443,2142,0,0,0,0,0,0
$GC,2011,0.54,215.0,91.8,11.4,461,2017,0.00,2.95,0.00,0.000,6,0.000,0.053,3361,2191,2141,0,0,1,0,0,0
$GC,2050,0.54,215.0,87.2,11.9,470,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2192,2140,0,0,0,0,0,0
$GC,2088,0.54,215.0,82.6,12.0,479,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2191,2141,0,0,0,0,0,0
$GC,2126,0.54,215.0,78.3,11.6,488,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2192,2140,0,0,0,0,0,0
$GC,2164,0.54,215.0,74.1,11.3,497,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2192,2141,0,0,0,0,0,0
$GC,2202,0.54,215.0,69.8,11.2,506,2208,0.00,2.90,0.00,0.000,4,0.000,0.060,3373,444,2140,0,0,0,0,0,0
$GC,2224,0.54,215.0,67.3,11.4,511,2230,0.00,2.85,0.00,0.000,6,0.000,0.053,3373,2196,2140,0,0,1,0,0,0
$GC,2263,0.54,215.0,62.4,12.3,520,2269,0.00,2.83,0.00,0.000,4,0.000,0.073,3374,3874,2140,0,0,0,0,0,0
$GC,2276,0.54,215.0,60.6,12.6,523,2282,0.08,2.72,0.00,0.000,6,0.146,0.047,3354,2193,2140,0,0,0,0,0,0
$GC,2316,0.54,215.0,56.0,12.3,532,2322,0.00,2.85,0.00,0.000,4,0.000,0.058,3366,435,2140,0,0,0,0,0,0
$GC,2338,0.54,215.0,53.4,11.2,537,2343,0.00,2.85,0.00,0.000,6,0.000,0.051,3365,2191,2140,0,0,0,0,0,0
$GC,2377,0.54,215.0,48.8,11.7,546,2383,0.00,2.80,0.00,0.000,4,0.000,0.071,3365,3872,2140,0,0,0,0,0,0
$GC,2390,0.54,215.0,47.1,11.9,549,2396,0.00,2.67,0.00,0.000,6,0.000,0.046,3378,2190,2139,0,0,0,0,0,0
$GC,2429,0.54,215.0,42.2,12.9,558,2435,0.00,2.85,0.00,0.000,4,0.000,0.057,3391,428,2140,0,0,0,0,0,0
$GC,2451,0.54,215.0,39.3,12.5,563,2457,0.12,2.83,0.00,0.000,6,0.155,0.051,3358,2188,2140,0,0,1,0,0,0
$GC,2491,0.54,215.0,34.8,11.8,572,2497,0.00,2.80,0.00,0.000,4,0.000,0.071,3359,3876,2140,0,0,0,0,0,0
$GC,2504,0.54,215.0,33.1,11.4,575,2510,0.00,2.67,0.00,0.000,6,0.000,0.046,3369,2188,2140,0,0,0,0,0,0
$GC,2543,0.54,215.0,28.7,11.5,584,2549,0.00,2.83,0.00,0.000,4,0.000,0.057,3382,431,2140,0,0,0,0,0,0
$GC,2565,0.54,215.0,26.1,11.4,589,2571,0.00,2.85,0.00,0.000,6,0.000,0.051,3382,2200,2140,0,0,0,0,0,0
$GC,2605,0.54,215.0,21.4,12.1,598,2610,0.00,2.75,0.00,0.000,4,0.000,0.071,3382,3868,2140,0,0,0,0,0,0
$GC,2631,0.54,215.0,17.9,12.6,604,2637,0.10,2.67,0.00,0.000,6,0.139,0.048,3354,2190,2140,0,0,0,0,0,0
$GC,2670,0.54,215.0,13.5,11.7,613,2676,0.00,2.85,0.00,0.000,4,0.000,0.057,3366,425,2140,0,0,0,0,0,0
$GC,2692,0.54,215.0,11.2,10.2,618,2698,0.00,2.83,0.00,0.000,6,0.000,0.049,3366,2192,2140,0,0,0,0,0,0
$GC,2732,0.54,215.0,8.0,8.6,627,2737,0.00,2.75,0.00,0.000,4,0.000,0.071,3365,3866,2140,0,0,0,0,0,0
$GC,2767,0.62,284.4,6.6,4.7,635,2828,0.00,2.67,53.95,0.559,6,0.000,0.048,3377,2171,1859,0,0,0,0,0,0
$GC,2862,0.79,416.2,3.4,3.5,657,2877,0.17,0.00,11.00,0.078,2,0.084,0.000,3448,2170,1823,0,0,0,0,1,0
$STATE,2877,end climb,SURFACE_DEPTH_REACHED
$STATE,2877,begin surface coast
$FINISH,0.1,1.004215
$STATE,2975,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,2988,104.78,0.481,1,0,1062,480.04
$SM_GC,0.94,0.00,0.00,104.78,0.000,0.000,0.481,154,2232,1062,-9.46,0.06,480.04
$IRIDIUM_FIX,4745.30,-12222.84,120399,090907
$TT8_MAMPS,0.05369
$HUMID,21.05
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,95.1,31.9
$24V_AH,23.9,10.569
$10V_AH,10.4,3.392
$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,23.650,148.700,402.875,104.775,0.000,24.150,26.419,241.388,3.500,0.000,16.816,0.000,1147.662,674.772,1267.333,374.343,0.000,1327.478,0.000,978.257,0.000,18.640,0.000
$DEVICE_MAMPS,273.052,113.516,635.843,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324688
$DATA_FILE_SIZE,22103,683
$CAP_FILE_SIZE,108237,0
$CFSIZE,260165632,256741376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,161209,104843,4805.362,-12221.366,9,1.2,26,18.3