version: 66.06
glider: 506
mission: 2
dive: 110
start: 12 17 109 3 41 2
data:
$ID,506
$MISSION,2
$DIVE,110
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-8814.0225
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,19
$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,5
$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
$GPS1,033656,4809.045,-12223.834,8,1.4,8,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.8
$GPS2,034056,4809.043,-12223.809,13,1.2,13,18.4
$SPEED_LIMITS,0.104,0.182
$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,140.0,6064,-13.2,-6.024
$D_GRID,150
$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,-0.63,-97.7,0.0,0.0,0,47,0.00,0.00,-34.40,0.000,2,0.000,0.000,157,2229,2093,0,0,0,0,0,0
$GC,49,-0.63,-97.7,2.3,-5.0,8,101,13.52,2.83,-33.78,0.000,4,0.288,0.085,2954,3876,3460,0,0,0,0,0,0
$GC,348,-0.63,-97.7,29.6,-6.4,77,354,0.00,2.72,0.00,0.000,6,0.000,0.058,2954,2214,3461,0,0,0,0,0,0
$GC,387,-0.63,-97.7,32.0,-6.2,86,393,0.00,2.80,0.00,0.000,4,0.000,0.074,2942,3872,3461,0,0,0,0,0,0
$GC,487,-0.63,-97.7,39.1,-7.4,109,493,0.12,2.70,0.00,0.000,6,0.170,0.059,2972,2223,3460,0,0,0,0,0,0
$GC,527,-0.63,-97.7,41.7,-6.4,118,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2223,3460,0,0,0,0,0,0
$GC,565,-0.63,-97.7,43.9,-6.0,127,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2223,3460,0,0,0,0,0,0
$GC,603,-0.63,-97.7,46.3,-6.0,136,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2223,3460,0,0,0,0,0,0
$GC,641,-0.63,-97.7,48.7,-6.5,145,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2223,3460,0,0,0,0,0,0
$GC,679,-0.63,-97.7,51.1,-6.5,154,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2223,3460,0,0,0,0,0,0
$GC,717,-0.63,-97.7,53.5,-6.2,163,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2223,3460,0,0,0,0,0,0
$GC,755,-0.63,-97.7,55.9,-6.2,172,761,0.00,2.90,0.00,0.000,4,0.000,0.070,2973,460,3460,0,0,0,0,0,0
$GC,794,-0.63,-97.7,58.6,-6.8,181,800,0.00,2.85,0.00,0.000,6,0.000,0.058,2962,2217,3460,0,0,0,0,0,0
$GC,834,-0.63,-97.7,61.0,-6.2,190,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2216,3460,0,0,0,0,0,0
$GC,872,-0.63,-97.7,63.3,-6.1,199,877,0.00,2.88,0.00,0.000,4,0.000,0.066,2961,463,3460,0,0,0,0,0,0
$GC,902,-0.63,-97.7,65.4,-6.5,206,908,0.00,2.83,0.00,0.000,6,0.000,0.060,2949,2196,3460,0,0,0,0,0,0
$GC,942,-0.63,-97.7,68.0,-6.7,215,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2196,3460,0,0,0,0,0,0
$GC,980,-0.63,-97.7,70.5,-6.8,224,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2196,3460,0,0,0,0,0,0
$GC,1018,-0.63,-97.7,73.1,-6.8,233,1023,0.00,2.80,0.00,0.000,4,0.000,0.080,2936,3876,3459,0,0,0,0,0,0
$GC,1053,-0.63,-97.7,75.8,-7.3,241,1058,0.15,2.72,0.00,0.000,6,0.164,0.064,2975,2205,3460,0,0,0,0,0,0
$GC,1092,-0.63,-97.7,78.3,-6.3,250,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2204,3459,0,0,0,0,0,0
$GC,1130,-0.63,-97.7,80.5,-5.8,259,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3460,0,0,0,0,0,0
$GC,1169,-0.63,-97.7,82.6,-5.6,268,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2204,3460,0,0,0,0,0,0
$GC,1207,-0.63,-97.7,83.7,-3.8,277,1212,0.00,2.78,0.00,0.000,4,0.000,0.077,2970,3875,3460,0,0,0,0,0,0
$GC,1246,-0.63,-97.7,83.7,-0.2,286,1251,0.00,2.70,0.00,0.000,6,0.000,0.060,2970,2207,3460,0,0,0,0,0,0
$GC,1285,-0.63,-97.7,83.8,-0.0,295,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2207,3460,0,0,0,0,0,0
$GC,1324,-0.63,-97.7,83.9,-0.1,304,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2207,3460,0,0,0,0,0,0
$STATE,1348,end dive,NO_VERTICAL_VELOCITY
$STATE,1348,begin apogee
$GC,1350,-0.19,0.0,83.8,0.0,310,1431,0.40,0.00,76.57,0.641,6,0.114,0.000,3111,2207,3059,0,0,0,0,0,0
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1433,0.63,97.7,83.7,0.0,329,1518,0.77,2.97,77.82,0.614,4,0.092,0.077,3375,3873,2660,0,0,0,0,0,0
$GC,1556,0.63,97.7,73.6,11.6,358,1562,0.00,2.85,0.00,0.000,6,0.000,0.061,3387,2192,2660,0,0,0,0,0,0
$GC,1596,0.63,97.7,69.1,11.8,367,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2192,2659,0,0,0,0,0,0
$GC,1634,0.63,97.7,64.9,10.9,376,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2192,2659,0,0,0,0,0,0
$GC,1672,0.63,97.7,60.6,11.3,385,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2192,2659,0,0,0,0,0,0
$GC,1710,0.63,97.7,56.1,11.5,394,1715,0.00,3.00,0.00,0.000,4,0.000,0.071,3401,421,2659,0,0,0,0,0,0
$GC,1736,0.63,97.7,53.0,11.8,400,1741,0.00,2.95,0.00,0.000,6,0.000,0.060,3401,2205,2659,0,0,1,0,0,0
$GC,1775,0.63,97.7,48.3,11.9,409,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2205,2659,0,0,0,0,0,0
$GC,1813,0.63,97.7,44.0,11.7,418,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2205,2659,0,0,0,0,0,0
$GC,1851,0.63,97.7,39.6,11.7,427,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2205,2659,0,0,0,0,0,0
$GC,1889,0.63,97.7,35.1,11.7,436,1895,0.00,2.97,0.00,0.000,4,0.000,0.068,3414,426,2659,0,0,0,0,0,0
$GC,1907,0.63,97.7,33.0,11.7,440,1913,0.12,2.88,0.00,0.000,6,0.183,0.061,3385,2183,2659,0,0,1,0,0,0
$GC,1947,0.63,97.7,28.5,11.5,449,1952,0.00,2.80,0.00,0.000,4,0.000,0.071,3384,3870,2658,0,0,0,0,0,0
$GC,1973,0.63,97.7,25.4,11.2,455,1978,0.00,2.70,0.00,0.000,6,0.000,0.049,3395,2184,2659,0,0,0,0,0,0
$GC,2012,0.63,97.7,21.1,11.4,464,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2184,2659,0,0,0,0,0,0
$GC,2050,0.63,97.7,17.1,10.1,473,2056,0.00,2.83,0.00,0.000,4,0.000,0.073,3395,3872,2658,0,0,0,0,0,0
$GC,2303,0.82,257.0,14.3,-0.6,531,2344,0.10,2.60,35.95,0.584,2,0.104,0.054,3455,2234,2474,0,0,0,0,0,0
$STATE,2344,end climb,NO_VERTICAL_VELOCITY
$STATE,2344,begin surface
$SM_CCo,2346,382.33,0.552,0,0,430,645.13
$SM_GC,0.87,9.32,0.00,0.00,0.047,0.000,0.000,155,2233,424,-9.41,0.08,646.60
$IRIDIUM_FIX,4751.72,-12223.57,130399,030345
$TT8_MAMPS,0.051389
$HUMID,21.45
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.9,14.163
$10V_AH,10.4,4.071
$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,24.525,62.050,190.350,382.325,0.000,31.135,26.394,121.583,0.500,0.000,15.619,0.000,1135.196,703.322,994.586,242.905,0.000,1178.952,0.000,775.692,0.000,5.281,0.000
$DEVICE_MAMPS,288.392,85.137,641.212,552.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,15892,540
$CAP_FILE_SIZE,74365,0
$CFSIZE,260165632,255696896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,171209,042844,4808.908,-12223.752,12,1.5,12,18.4