version: 66.06
glider: 506
mission: 2
dive: 93
start: 12 16 109 22 10 46
data:
$ID,506
$MISSION,2
$DIVE,93
$D_SURF,2
$D_FLARE,2
$D_TGT,30
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,5
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$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,-7
$MAX_BUOY,180
$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,-5
$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,-8593.9395
$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,45
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,430
$VBD_MAX,3959
$C_VBD,3060
$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
$GPS1,214308,4808.708,-12223.906,13,1.6,13,18.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,10.98
$_SM_ANGLEo,-3.8
$GPS2,214308,4808.708,-12223.906,13,1.6,13,18.4
$SPEED_LIMITS,0.115,0.242
$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,136.4,5542,-10.0,-6.667
$D_GRID,92
$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,-0.60,-175.9,0.0,0.0,0,19,0.00,0.00,-5.75,0.000,2,0.000,0.000,3183,3778,3382,0,0,0,0,0,0
$GC,20,-0.60,-175.9,11.2,-0.0,1,38,0.57,5.30,-7.03,0.000,4,0.104,0.071,2990,648,3781,0,0,1,0,0,0
$GC,71,-0.60,-175.9,14.4,-6.2,13,77,0.00,2.62,0.00,0.000,6,0.000,0.057,2983,2235,3782,0,0,0,0,0,0
$GC,111,-0.60,-175.9,17.2,-6.8,22,116,0.00,2.70,0.00,0.000,4,0.000,0.075,2972,3814,3782,0,0,0,0,0,0
$GC,150,-0.60,-175.9,20.2,-7.7,31,155,0.00,2.58,0.00,0.000,6,0.000,0.049,2972,2236,3782,0,0,0,0,0,0
$GC,189,-0.60,-175.9,23.3,-7.9,40,195,0.00,2.62,0.00,0.000,4,0.000,0.069,2972,657,3782,0,0,0,0,0,0
$GC,211,-0.60,-175.9,25.2,-8.0,45,217,0.00,2.58,0.00,0.000,6,0.000,0.056,2963,2215,3782,0,0,0,0,0,0
$GC,250,-0.60,-175.9,28.1,-7.6,54,256,0.00,2.72,0.00,0.000,4,0.000,0.074,2951,3815,3782,0,0,0,0,0,0
$GC,267,-0.60,-175.9,29.7,-8.1,58,273,0.10,2.62,0.00,0.000,6,0.129,0.059,2984,2226,3783,0,0,0,0,0,0
$STATE,276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,276,begin apogee
$GC,278,-0.27,0.0,30.4,8.5,60,422,0.32,0.00,138.75,0.578,6,0.134,0.000,3090,2226,3059,0,0,0,0,0,0
$STATE,423,end apogee,CONTROL_FINISHED_OK
$STATE,423,begin climb
$GC,424,0.60,175.9,33.4,0.0,94,567,0.85,0.00,139.50,0.559,6,0.102,0.000,3364,2226,2341,0,0,0,0,0,0
$GC,601,0.60,175.9,19.7,9.9,136,607,0.00,2.80,0.00,0.000,4,0.000,0.071,3376,618,2340,0,0,0,0,0,0
$GC,623,0.60,175.9,17.5,10.2,141,629,0.00,2.62,0.00,0.000,6,0.000,0.056,3376,2161,2340,0,0,0,0,0,0
$GC,662,0.60,175.9,13.4,10.6,150,668,0.00,2.80,0.00,0.000,4,0.000,0.073,3376,3780,2340,0,0,0,0,0,0
$STATE,692,end climb,FINISH_DEPTH_REACHED
$STATE,692,begin subsurface finish
$FINISH1,9.9,1.019692,0
$GC,697,0.00,0.0,9.9,-10.7,157,719,0.65,2.78,-14.20,0.000,4,0.115,0.085,3180,3777,3063,0,0,1,0,0,0
$FINISH2,9.6
$STATE,720,end subsurface finish,CONTROL_FINISHED_OK
$STATE,720,begin surface
$IRIDIUM_FIX,4748.51,-12221.84,120399,212102
$TT8_MAMPS,0.051389
$HUMID,22.12
$INTERNAL_PRESSURE,9.53851
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.8,12.839
$10V_AH,10.4,3.835
$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,2.500,37.450,278.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,167.505,251.742,310.617,14.509,0.000,453.934,0.000,240.959,0.000,0.989,0.000
$DEVICE_MAMPS,134.225,85.137,578.318,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,102.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324860
$DATA_FILE_SIZE,3329,162
$CAP_FILE_SIZE,24095,0
$CFSIZE,260165632,256114688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,161209,214308,4808.708,-12223.906,13,1.6,13,18.4