version: 66.06
glider: 506
mission: 2
dive: 67
start: 12 16 109 14 19 19
data:
$ID,506
$MISSION,2
$DIVE,67
$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,-8312.5918
$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
$GPS1,141231,4806.387,-12222.359,6,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.7
$GPS2,141913,4806.428,-12222.412,11,1.5,28,18.3
$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,307.7,3511,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.54,-215.0,0.0,0.0,0,77,0.00,0.00,-63.00,0.000,2,0.000,0.000,151,2197,2833,0,0,0,0,0,0
$GC,78,-0.54,-215.0,3.6,-5.3,15,122,12.68,2.88,-23.65,0.000,4,0.272,0.071,2996,470,3899,0,0,0,0,0,0
$GC,281,-0.54,-215.0,19.5,-7.3,62,287,0.00,2.85,0.00,0.000,6,0.000,0.058,2996,2227,3899,0,0,0,0,0,0
$GC,321,-0.54,-215.0,22.1,-6.6,71,326,0.00,2.75,0.00,0.000,4,0.000,0.076,2985,3874,3900,0,0,0,0,0,0
$GC,343,-0.54,-215.0,23.6,-6.4,76,348,0.00,2.65,0.00,0.000,6,0.000,0.051,2985,2228,3899,0,0,0,0,0,0
$GC,382,-0.54,-215.0,26.2,-6.9,85,388,0.00,2.83,0.00,0.000,4,0.000,0.058,2985,470,3899,0,0,0,0,0,0
$GC,400,-0.54,-215.0,27.5,-6.9,89,405,0.00,2.85,0.00,0.000,6,0.000,0.055,2983,2233,3899,0,0,0,0,0,0
$GC,439,-0.54,-215.0,30.2,-7.0,98,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2233,3899,0,0,0,0,0,0
$GC,477,-0.54,-215.0,32.8,-6.9,107,482,0.00,2.72,0.00,0.000,4,0.000,0.077,2973,3872,3899,0,0,0,0,0,0
$GC,494,-0.54,-215.0,34.2,-6.9,111,500,0.08,2.62,0.00,0.000,6,0.124,0.051,3000,2234,3899,0,0,0,0,0,0
$GC,534,-0.54,-215.0,36.6,-6.5,120,539,0.00,2.83,0.00,0.000,4,0.000,0.060,3000,469,3899,0,0,0,0,0,0
$GC,555,-0.54,-215.0,38.0,-6.1,125,561,0.00,2.80,0.00,0.000,6,0.000,0.054,2998,2232,3899,0,0,1,0,0,0
$GC,595,-0.54,-215.0,40.3,-6.1,134,600,0.00,2.72,0.00,0.000,4,0.000,0.081,2989,3878,3899,0,0,0,0,0,0
$GC,621,-0.54,-215.0,42.0,-6.1,140,627,0.00,2.62,0.00,0.000,6,0.000,0.049,2989,2228,3899,0,0,0,0,0,0
$GC,660,-0.54,-215.0,44.6,-6.5,149,666,0.00,2.83,0.00,0.000,4,0.000,0.063,2990,475,3899,0,0,0,0,0,0
$GC,678,-0.54,-215.0,45.8,-6.6,153,683,0.00,2.80,0.00,0.000,6,0.000,0.055,2984,2230,3899,0,0,0,0,0,0
$GC,717,-0.54,-215.0,48.5,-6.9,162,723,0.00,2.72,0.00,0.000,4,0.000,0.075,2973,3870,3899,0,0,0,0,0,0
$GC,743,-0.54,-215.0,50.4,-7.0,168,749,0.12,2.60,0.00,0.000,6,0.133,0.050,3009,2215,3899,0,0,0,0,0,0
$GC,783,-0.54,-215.0,52.8,-6.3,177,787,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2215,3899,0,0,0,0,0,0
$GC,821,-0.54,-215.0,55.0,-5.5,186,825,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2215,3899,0,0,0,0,0,0
$GC,859,-0.54,-215.0,57.1,-5.5,195,863,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2215,3899,0,0,0,0,0,0
$GC,897,-0.54,-215.0,59.2,-5.5,204,901,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2215,3899,0,0,0,0,0,0
$GC,935,-0.54,-215.0,61.3,-5.6,213,940,0.00,2.72,0.00,0.000,4,0.000,0.076,2999,3878,3899,0,0,0,0,0,0
$GC,961,-0.54,-215.0,62.8,-5.6,219,967,0.00,2.60,0.00,0.000,6,0.000,0.051,2999,2235,3899,0,0,0,0,0,0
$GC,1001,-0.54,-215.0,65.0,-6.0,228,1006,0.00,2.80,0.00,0.000,4,0.000,0.058,2999,467,3899,0,0,0,0,0,0
$GC,1027,-0.54,-215.0,66.7,-5.7,234,1032,0.00,2.83,0.00,0.000,6,0.000,0.057,2998,2234,3899,0,0,0,0,0,0
$GC,1066,-0.54,-215.0,68.9,-5.9,243,1071,0.00,2.70,0.00,0.000,4,0.000,0.075,2997,3877,3899,0,0,0,0,0,0
$GC,1097,-0.54,-215.0,70.7,-5.4,250,1102,0.00,2.58,0.00,0.000,6,0.000,0.049,2997,2230,3899,0,0,0,0,0,0
$GC,1136,-0.54,-215.0,72.9,-5.7,259,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2230,3899,0,0,0,0,0,0
$GC,1174,-0.54,-215.0,74.9,-5.3,268,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2230,3899,0,0,0,0,0,0
$GC,1212,-0.54,-215.0,77.0,-5.4,277,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2230,3898,0,0,0,0,0,0
$GC,1250,-0.54,-215.0,79.1,-5.5,286,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2230,3899,0,0,0,0,0,0
$GC,1288,-0.54,-215.0,81.1,-5.4,295,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2230,3899,0,0,0,0,0,0
$GC,1326,-0.54,-215.0,83.1,-5.1,304,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2230,3899,0,0,0,0,0,0
$GC,1367,-0.54,-215.0,85.1,-5.3,313,1372,0.00,2.70,0.00,0.000,4,0.000,0.077,2995,3870,3898,0,0,0,0,0,0
$GC,1388,-0.54,-215.0,86.4,-5.3,318,1394,0.00,2.58,0.00,0.000,6,0.000,0.049,2995,2236,3899,0,0,0,0,0,0
$GC,1427,-0.54,-215.0,88.5,-5.4,327,1433,0.00,2.78,0.00,0.000,4,0.000,0.058,2995,474,3899,0,0,0,0,0,0
$GC,1449,-0.54,-215.0,89.8,-5.5,332,1455,0.00,2.80,0.00,0.000,6,0.000,0.057,2988,2232,3899,0,0,0,0,0,0
$GC,1489,-0.54,-215.0,91.9,-5.6,341,1494,0.00,2.67,0.00,0.000,4,0.000,0.074,2984,3869,3899,0,0,0,0,0,0
$GC,1506,-0.54,-215.0,93.1,-5.6,345,1512,0.00,2.58,0.00,0.000,6,0.000,0.048,2984,2230,3899,0,0,0,0,0,0
$GC,1545,-0.54,-215.0,95.3,-5.7,354,1551,0.00,2.80,0.00,0.000,4,0.000,0.058,2984,470,3898,0,0,0,0,0,0
$GC,1567,-0.54,-215.0,96.6,-5.6,359,1573,0.00,2.80,0.00,0.000,6,0.000,0.054,2984,2234,3899,0,0,0,0,0,0
$GC,1607,-0.54,-215.0,99.0,-5.8,368,1612,0.00,2.67,0.00,0.000,4,0.000,0.074,2974,3878,3899,0,0,0,0,0,0
$GC,1633,-0.54,-215.0,100.5,-5.7,374,1639,0.10,2.58,0.00,0.000,6,0.147,0.048,3002,2220,3899,0,0,0,0,0,0
$GC,1672,-0.54,-215.0,102.6,-5.3,383,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2220,3899,0,0,0,0,0,0
$GC,1711,-0.54,-215.0,104.5,-4.9,392,1716,0.00,2.70,0.00,0.000,4,0.000,0.075,2998,3872,3899,0,0,0,0,0,0
$GC,1724,-0.54,-215.0,105.1,-4.7,395,1729,0.00,2.55,0.00,0.000,6,0.000,0.048,2998,2225,3898,0,0,0,0,0,0
$GC,1763,-0.54,-215.0,107.0,-5.0,404,1769,0.00,2.75,0.00,0.000,4,0.000,0.056,2998,472,3899,0,0,0,0,0,0
$STATE,1771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1771,begin apogee
$GC,1776,-0.19,0.0,107.5,5.0,406,1946,0.32,0.00,166.88,0.634,6,0.120,0.000,3110,2196,3020,0,0,0,0,0,0
$STATE,1947,end apogee,CONTROL_FINISHED_OK
$STATE,1947,begin climb
$GC,1948,0.54,215.0,110.4,0.0,446,2126,0.70,3.00,170.10,0.601,4,0.088,0.058,3359,441,2142,0,0,1,0,0,0
$GC,2186,0.54,215.0,87.8,11.1,502,2192,0.00,2.92,0.00,0.000,6,0.000,0.055,3359,2187,2141,0,0,1,0,0,0
$GC,2226,0.54,215.0,83.2,11.4,511,2232,0.00,2.88,0.00,0.000,4,0.000,0.071,3359,3872,2140,0,0,0,0,0,0
$GC,2243,0.54,215.0,81.0,11.8,515,2249,0.00,2.75,0.00,0.000,6,0.000,0.047,3371,2201,2140,0,0,0,0,0,0
$GC,2283,0.54,215.0,76.0,12.7,524,2288,0.00,2.95,0.00,0.000,4,0.000,0.063,3384,433,2140,0,0,0,0,0,0
$GC,2305,0.54,215.0,73.3,12.4,529,2310,0.00,2.88,0.00,0.000,6,0.000,0.050,3384,2196,2140,0,0,1,0,0,0
$GC,2344,0.54,215.0,68.2,13.1,538,2350,0.00,2.83,0.00,0.000,4,0.000,0.070,3385,3874,2140,0,0,0,0,0,0
$GC,2361,0.54,215.0,65.6,13.3,542,2367,0.10,2.72,0.00,0.000,6,0.138,0.046,3357,2190,2140,0,0,0,0,0,0
$GC,2401,0.54,215.0,60.9,12.5,551,2407,0.00,2.88,0.00,0.000,4,0.000,0.062,3369,434,2140,0,0,0,0,0,0
$GC,2423,0.54,215.0,58.3,11.2,556,2429,0.00,2.83,0.00,0.000,6,0.000,0.048,3368,2194,2140,0,0,1,0,0,0
$GC,2463,0.54,215.0,53.7,11.9,565,2468,0.00,2.78,0.00,0.000,4,0.000,0.068,3369,3867,2140,0,0,0,0,0,0
$GC,2471,0.54,215.0,52.5,11.8,567,2477,0.00,2.70,0.00,0.000,6,0.000,0.045,3381,2186,2140,0,0,0,0,0,0
$GC,2511,0.54,215.0,47.5,12.8,576,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2185,2140,0,0,0,0,0,0
$GC,2549,0.54,215.0,43.0,12.1,585,2554,0.00,2.85,0.00,0.000,4,0.000,0.064,3394,441,2140,0,0,0,0,0,0
$GC,2562,0.54,215.0,41.3,12.1,588,2568,0.15,2.80,0.00,0.000,6,0.153,0.049,3354,2197,2139,0,0,1,0,0,0
$GC,2602,0.54,215.0,36.8,11.8,597,2607,0.00,2.75,0.00,0.000,4,0.000,0.069,3354,3866,2140,0,0,0,0,0,0
$GC,2615,0.54,215.0,35.3,11.0,600,2620,0.00,2.70,0.00,0.000,6,0.000,0.049,3365,2190,2140,0,0,0,0,0,0
$GC,2654,0.54,215.0,30.8,11.4,609,2660,0.00,2.88,0.00,0.000,4,0.000,0.064,3378,428,2140,0,0,0,0,0,0
$GC,2676,0.54,215.0,28.4,11.2,614,2681,0.00,2.80,0.00,0.000,6,0.000,0.050,3378,2189,2140,0,0,1,0,0,0
$GC,2715,0.54,215.0,23.7,11.9,623,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2189,2140,0,0,0,0,0,0
$GC,2753,0.54,215.0,19.2,11.9,632,2759,0.00,2.88,0.00,0.000,4,0.000,0.064,3391,438,2140,0,0,0,0,0,0
$GC,2775,0.54,215.0,16.6,12.0,637,2781,0.12,2.80,0.00,0.000,6,0.156,0.048,3359,2197,2140,0,0,0,0,0,0
$GC,2814,0.54,215.0,12.3,11.1,646,2820,0.00,2.72,0.00,0.000,4,0.000,0.067,3358,3866,2140,0,0,0,0,0,0
$GC,2841,0.54,215.0,9.4,10.7,652,2846,0.00,2.67,0.00,0.000,6,0.000,0.054,3369,2187,2140,0,0,0,0,0,0
$GC,2880,0.54,215.0,5.5,10.3,661,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2186,2140,0,0,0,0,0,0
$GC,2918,0.70,347.5,4.5,3.5,670,2975,0.10,0.00,55.35,0.560,2,0.111,0.000,3421,2186,1852,0,0,0,0,0,0
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,0.2,1.016405
$STATE,3091,end surface coast,CONTROL_FINISHED_OK
$STATE,3091,begin surface
$SM_CCo,3104,108.30,0.483,1,0,1062,480.04
$SM_GC,0.84,0.00,0.00,108.30,0.000,0.000,0.483,158,2227,1062,-9.44,-0.08,480.04
$IRIDIUM_FIX,4751.72,-12221.84,120399,131358
$TT8_MAMPS,0.052923
$HUMID,21.41
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,85.1,40.2
$24V_AH,24.0,11.047
$10V_AH,10.5,3.545
$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,23.350,160.025,392.325,108.300,0.000,23.919,27.323,256.981,2.250,0.000,30.649,0.000,1200.007,691.904,1330.771,390.812,0.000,1370.150,0.000,1016.420,0.000,9.855,0.000
$DEVICE_MAMPS,272.285,131.924,634.309,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,22151,710
$CAP_FILE_SIZE,115639,0
$CFSIZE,260165632,256512000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,161209,151346,4806.721,-12222.730,11,4.5,30,18.3