version: 66.06
glider: 506
mission: 2
dive: 66
start: 12 16 109 13 19 9
data:
$ID,506
$MISSION,2
$DIVE,66
$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,-8281.3154
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,131402,4806.026,-12222.040,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-68.8
$GPS2,131902,4806.063,-12222.079,11,1.2,11,18.3
$SPEED_LIMITS,0.104,0.252
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,308.2,4302,-7.2,-6.024
$D_GRID,107
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.54,-215.0,0.0,0.0,0,76,0.00,0.00,-62.88,0.000,2,0.000,0.000,159,2237,2855,0,0,0,0,0,0
$GC,77,-0.54,-215.0,3.5,-5.6,15,117,12.88,2.75,-21.80,0.000,4,0.275,0.087,2990,3861,3896,0,0,0,0,0,0
$GC,342,-0.54,-215.0,25.1,-7.0,76,347,0.00,2.62,0.00,0.000,6,0.000,0.053,2990,2225,3898,0,0,0,0,0,0
$GC,381,-0.54,-215.0,27.7,-6.6,85,387,0.00,2.83,0.00,0.000,4,0.000,0.059,2989,473,3898,0,0,0,0,0,0
$GC,403,-0.54,-215.0,29.3,-6.8,90,409,0.00,2.83,0.00,0.000,6,0.000,0.056,2984,2226,3898,0,0,0,0,0,0
$GC,442,-0.54,-215.0,32.1,-7.1,99,448,0.00,2.75,0.00,0.000,4,0.000,0.079,2972,3874,3898,0,0,0,0,0,0
$GC,468,-0.54,-215.0,34.1,-7.2,105,474,0.08,2.65,0.00,0.000,6,0.117,0.050,2999,2222,3898,0,0,0,0,0,0
$GC,508,-0.54,-215.0,36.8,-6.8,114,514,0.00,2.80,0.00,0.000,4,0.000,0.058,2999,471,3898,0,0,0,0,0,0
$GC,521,-0.54,-215.0,37.6,-6.4,117,527,0.00,2.83,0.00,0.000,6,0.000,0.053,2998,2230,3897,0,0,0,0,0,0
$GC,560,-0.54,-215.0,40.1,-6.4,126,566,0.00,2.75,0.00,0.000,4,0.000,0.074,2987,3874,3897,0,0,0,0,0,0
$GC,578,-0.54,-215.0,41.4,-6.6,130,584,0.00,2.60,0.00,0.000,6,0.000,0.048,2987,2239,3898,0,0,0,0,0,0
$GC,617,-0.54,-215.0,44.1,-6.9,139,623,0.00,2.83,0.00,0.000,4,0.000,0.057,2987,469,3897,0,0,0,0,0,0
$GC,630,-0.54,-215.0,45.0,-6.8,142,636,0.00,2.80,0.00,0.000,6,0.000,0.053,2984,2231,3897,0,0,0,0,0,0
$GC,670,-0.54,-215.0,47.7,-7.0,151,675,0.00,2.72,0.00,0.000,4,0.000,0.075,2976,3878,3897,0,0,0,0,0,0
$GC,687,-0.54,-215.0,49.0,-7.2,155,693,0.00,2.62,0.00,0.000,6,0.000,0.048,2976,2226,3897,0,0,0,0,0,0
$GC,727,-0.54,-215.0,51.9,-7.2,164,732,0.00,2.80,0.00,0.000,4,0.000,0.058,2976,473,3898,0,0,0,0,0,0
$GC,739,-0.54,-215.0,53.0,-7.2,167,746,0.12,2.83,0.00,0.000,6,0.151,0.053,3002,2239,3897,0,0,0,0,0,0
$GC,779,-0.54,-215.0,55.4,-6.4,176,780,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2238,3897,0,0,0,0,0,0
$GC,814,-0.54,-215.0,57.3,-5.8,184,819,0.00,2.70,0.00,0.000,4,0.000,0.076,2998,3871,3897,0,0,0,0,0,0
$GC,831,-0.54,-215.0,58.3,-5.7,188,837,0.00,2.60,0.00,0.000,6,0.000,0.048,2998,2230,3897,0,0,0,0,0,0
$GC,870,-0.54,-215.0,61.0,-6.4,197,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2231,3897,0,0,0,0,0,0
$GC,908,-0.54,-215.0,63.2,-6.1,206,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2230,3897,0,0,0,0,0,0
$GC,946,-0.54,-215.0,65.5,-5.9,215,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2230,3897,0,0,0,0,0,0
$GC,984,-0.54,-215.0,67.8,-5.8,224,990,0.00,2.80,0.00,0.000,4,0.000,0.059,2997,476,3897,0,0,0,0,0,0
$GC,1002,-0.54,-215.0,68.9,-6.2,228,1008,0.00,2.80,0.00,0.000,6,0.000,0.054,2998,2231,3897,0,0,0,0,0,0
$GC,1041,-0.54,-215.0,71.3,-6.3,237,1047,0.00,2.70,0.00,0.000,4,0.000,0.074,2995,3876,3897,0,0,0,0,0,0
$GC,1067,-0.54,-215.0,73.0,-6.1,243,1073,0.00,2.60,0.00,0.000,6,0.000,0.049,2995,2229,3896,0,0,0,0,0,0
$GC,1107,-0.54,-215.0,75.4,-6.1,252,1112,0.00,2.78,0.00,0.000,4,0.000,0.058,2995,473,3897,0,0,0,0,0,0
$GC,1125,-0.54,-215.0,76.5,-6.2,256,1130,0.00,2.80,0.00,0.000,6,0.000,0.053,2991,2236,3897,0,0,0,0,0,0
$GC,1164,-0.54,-215.0,79.1,-6.5,265,1169,0.00,2.67,0.00,0.000,4,0.000,0.074,2984,3871,3897,0,0,0,0,0,0
$GC,1190,-0.54,-215.0,80.9,-6.7,271,1195,0.00,2.60,0.00,0.000,6,0.000,0.049,2984,2228,3897,0,0,0,0,0,0
$GC,1229,-0.54,-215.0,83.4,-6.7,280,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2228,3897,0,0,0,0,0,0
$GC,1267,-0.54,-215.0,86.0,-6.6,289,1272,0.00,2.70,0.00,0.000,4,0.000,0.074,2973,3869,3897,0,0,0,0,0,0
$GC,1284,-0.54,-215.0,87.2,-6.7,293,1290,0.08,2.58,0.00,0.000,6,0.107,0.048,3002,2235,3897,0,0,0,0,0,0
$GC,1324,-0.54,-215.0,89.4,-6.0,302,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3897,0,0,0,0,0,0
$GC,1362,-0.54,-215.0,91.5,-5.5,311,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3897,0,0,0,0,0,0
$GC,1400,-0.54,-215.0,93.7,-5.5,320,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3897,0,0,0,0,0,0
$GC,1438,-0.54,-215.0,95.6,-5.3,329,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3897,0,0,0,0,0,0
$GC,1476,-0.54,-215.0,97.6,-5.1,338,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3897,0,0,0,0,0,0
$GC,1514,-0.54,-215.0,99.5,-5.0,347,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3897,0,0,0,0,0,0
$GC,1552,-0.54,-215.0,101.4,-4.8,356,1558,0.00,2.67,0.00,0.000,4,0.000,0.075,2997,3868,3897,0,0,0,0,0,0
$GC,1574,-0.54,-215.0,102.4,-4.7,361,1580,0.00,2.58,0.00,0.000,6,0.000,0.050,2997,2233,3897,0,0,0,0,0,0
$GC,1614,-0.54,-215.0,104.4,-5.0,370,1619,0.00,2.78,0.00,0.000,4,0.000,0.058,2997,475,3897,0,0,0,0,0,0
$GC,1631,-0.54,-215.0,105.4,-5.1,374,1637,0.00,2.78,0.00,0.000,6,0.000,0.054,2997,2230,3897,0,0,0,0,0,0
$STATE,1665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1665,begin apogee
$GC,1668,-0.19,0.0,107.1,5.2,382,1838,0.32,0.00,166.50,0.634,6,0.117,0.000,3111,2230,3020,0,0,0,0,0,0
$STATE,1839,end apogee,CONTROL_FINISHED_OK
$STATE,1839,begin climb
$GC,1840,0.54,215.0,110.0,0.0,422,2018,0.70,3.08,170.45,0.602,4,0.085,0.058,3362,441,2142,0,0,0,0,0,0
$GC,2100,0.54,215.0,84.4,11.7,483,2105,0.00,2.90,0.00,0.000,6,0.000,0.052,3362,2190,2140,0,0,1,0,0,0
$GC,2139,0.54,215.0,80.0,11.6,492,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2190,2140,0,0,0,0,0,0
$GC,2173,0.54,215.0,76.0,11.3,500,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2190,2139,0,0,0,0,0,0
$GC,2208,0.54,215.0,72.3,10.9,508,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2190,2140,0,0,0,0,0,0
$GC,2246,0.54,215.0,68.0,11.3,517,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2190,2140,0,0,0,0,0,0
$GC,2284,0.54,215.0,63.8,11.2,526,2290,0.00,2.90,0.00,0.000,4,0.000,0.061,3375,437,2139,0,0,1,0,0,0
$GC,2302,0.54,215.0,61.8,11.2,530,2307,0.00,2.85,0.00,0.000,6,0.000,0.051,3374,2197,2139,0,0,1,0,0,0
$GC,2341,0.54,215.0,57.0,12.3,539,2347,0.00,2.80,0.00,0.000,4,0.000,0.071,3375,3873,2139,0,0,0,0,0,0
$GC,2358,0.54,215.0,54.5,12.6,543,2364,0.12,2.65,0.00,0.000,6,0.159,0.048,3355,2192,2139,0,0,0,0,0,0
$GC,2398,0.54,215.0,49.9,12.4,552,2404,0.00,2.85,0.00,0.000,4,0.000,0.060,3367,437,2139,0,0,0,0,0,0
$GC,2420,0.54,215.0,47.3,11.2,557,2426,0.00,2.80,0.00,0.000,6,0.000,0.050,3367,2191,2139,0,0,1,0,0,0
$GC,2460,0.54,215.0,42.7,11.6,566,2465,0.00,2.78,0.00,0.000,4,0.000,0.071,3367,3868,2139,0,0,0,0,0,0
$GC,2477,0.54,215.0,40.6,11.7,570,2483,0.00,2.70,0.00,0.000,6,0.000,0.047,3380,2190,2139,0,0,0,0,0,0
$GC,2516,0.54,215.0,35.9,12.2,579,2522,0.00,2.83,0.00,0.000,4,0.000,0.057,3393,433,2139,0,0,0,0,0,0
$GC,2542,0.54,215.0,32.6,12.2,585,2548,0.15,2.83,0.00,0.000,6,0.152,0.051,3352,2198,2139,0,0,1,0,0,0
$GC,2582,0.54,215.0,28.1,11.4,594,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2199,2139,0,0,0,0,0,0
$GC,2620,0.54,215.0,24.3,10.1,603,2626,0.00,2.85,0.00,0.000,4,0.000,0.061,3364,437,2139,0,0,0,0,0,0
$GC,2637,0.54,215.0,22.5,9.9,607,2643,0.00,2.83,0.00,0.000,6,0.000,0.051,3364,2197,2139,0,0,0,0,0,0
$GC,2677,0.54,215.0,18.3,10.7,616,2682,0.00,2.75,0.00,0.000,4,0.000,0.070,3364,3870,2139,0,0,0,0,0,0
$GC,2699,0.54,215.0,15.7,10.9,621,2704,0.00,2.67,0.00,0.000,6,0.000,0.049,3376,2197,2139,0,0,0,0,0,0
$GC,2738,0.54,215.0,11.3,11.5,630,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2196,2139,0,0,0,0,0,0
$GC,2776,0.54,215.0,7.0,11.2,639,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2196,2139,0,0,0,0,0,0
$GC,2814,0.54,215.0,4.9,7.0,648,2819,0.00,2.83,0.00,0.000,4,0.000,0.059,3388,430,2139,0,0,0,0,0,0
$GC,2870,0.83,448.1,4.2,1.5,661,2911,0.17,2.78,35.58,0.559,2,0.076,0.051,3473,2195,1956,0,0,1,0,0,0
$STATE,2912,end climb,SURFACE_DEPTH_REACHED
$STATE,2912,begin surface coast
$FINISH,0.2,1.011281
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3031,begin surface
$SM_CCo,3044,124.22,0.495,1,0,1062,480.04
$SM_GC,0.96,0.00,0.00,124.22,0.000,0.000,0.495,152,2197,1062,-9.46,-0.93,480.04
$IRIDIUM_FIX,4748.51,-12224.57,120399,121245
$TT8_MAMPS,0.052923
$HUMID,21.13
$INTERNAL_PRESSURE,9.34319
$TCM_TEMP,19.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.1,40.4
$24V_AH,23.9,10.945
$10V_AH,10.5,3.510
$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,23.675,137.775,372.525,124.225,0.000,30.263,25.311,179.621,2.250,0.000,13.993,0.000,1213.028,664.975,1282.855,312.720,0.000,1319.281,0.000,999.421,0.000,9.914,0.000
$DEVICE_MAMPS,274.586,86.671,634.309,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,22194,698
$CAP_FILE_SIZE,105846,0
$CFSIZE,260165632,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,161209,141231,4806.387,-12222.359,6,1.5,11,18.3