version: 66.06
glider: 506
mission: 2
dive: 111
start: 12 17 109 4 35 2
data:
$ID,506
$MISSION,2
$DIVE,111
$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,-4
$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,-8831.7139
$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,37
$R_STBD_OVSHOOT,23
$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
$GPS1,042844,4808.908,-12223.752,12,1.5,12,18.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.7
$GPS2,043456,4808.908,-12223.747,14,1.7,14,18.4
$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,139.7,5804,-13.2,-6.024
$D_GRID,79
$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,-97.7,0.0,0.0,0,64,0.00,0.00,-51.03,0.000,2,0.000,0.000,154,2232,1903,0,0,0,0,0,0
$GC,65,-0.63,-97.7,2.2,-2.0,12,134,13.07,2.85,-48.12,0.000,4,0.281,0.088,2958,3865,3461,0,0,0,0,0,0
$GC,164,-0.63,-97.7,12.1,-17.1,35,170,0.00,2.72,0.00,0.000,6,0.000,0.061,2958,2246,3461,0,0,0,0,0,0
$GC,204,-0.63,-97.7,18.5,-17.9,44,209,0.00,2.78,0.00,0.000,4,0.000,0.078,2946,3869,3461,0,0,0,0,0,0
$GC,456,-0.63,-97.7,34.0,-6.5,102,462,0.12,2.75,0.00,0.000,6,0.172,0.061,2977,2197,3461,0,0,0,0,0,0
$GC,496,-0.63,-97.7,36.1,-5.6,111,501,0.00,2.85,0.00,0.000,4,0.000,0.081,2966,3877,3461,0,0,0,0,0,0
$GC,657,-0.63,-97.7,46.2,-6.8,148,662,0.00,2.75,0.00,0.000,6,0.000,0.062,2966,2188,3460,0,0,0,0,0,0
$GC,696,-0.63,-97.7,48.7,-6.4,157,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2188,3460,0,0,0,0,0,0
$GC,734,-0.63,-97.7,51.3,-6.5,166,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2188,3461,0,0,0,0,0,0
$GC,772,-0.63,-97.7,53.6,-6.5,175,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2188,3460,0,0,0,0,0,0
$GC,810,-0.63,-97.7,56.2,-6.5,184,816,0.00,2.83,0.00,0.000,4,0.000,0.070,2966,467,3460,0,0,0,0,0,0
$GC,859,-0.63,-97.7,59.8,-7.4,195,864,0.00,2.78,0.00,0.000,6,0.000,0.055,2953,2209,3460,0,0,1,0,0,0
$GC,898,-0.63,-97.7,62.5,-6.9,204,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2209,3460,0,0,0,0,0,0
$GC,936,-0.63,-97.7,65.1,-7.0,213,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2209,3460,0,0,0,0,0,0
$GC,973,-0.63,-97.7,67.7,-6.8,222,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2209,3460,0,0,0,0,0,0
$GC,1012,-0.63,-97.7,70.2,-6.7,231,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2209,3460,0,0,0,0,0,0
$GC,1050,-0.63,-97.7,72.8,-6.5,240,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2209,3460,0,0,0,0,0,0
$GC,1088,-0.63,-97.7,75.2,-6.5,249,1093,0.00,2.75,0.00,0.000,4,0.000,0.077,2941,3873,3461,0,0,0,0,0,0
$GC,1118,-0.63,-97.7,77.4,-6.8,256,1124,0.12,2.67,0.00,0.000,6,0.161,0.064,2973,2223,3460,0,0,0,0,0,0
$STATE,1144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1144,begin apogee
$GC,1147,-0.19,0.0,79.2,6.9,262,1228,0.43,0.00,77.03,0.639,6,0.137,0.000,3113,2222,3060,0,0,0,0,0,0
$STATE,1229,end apogee,CONTROL_FINISHED_OK
$STATE,1229,begin climb
$GC,1230,0.63,97.7,80.1,0.0,281,1315,0.77,0.00,78.07,0.612,6,0.091,0.000,3377,2222,2659,0,0,0,0,0,0
$GC,1348,0.63,97.7,70.9,10.1,309,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2222,2659,0,0,0,0,0,0
$GC,1386,0.63,97.7,66.8,10.5,318,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2222,2659,0,0,0,0,0,0
$GC,1424,0.63,97.7,62.6,10.8,327,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2222,2659,0,0,0,0,0,0
$GC,1462,0.63,97.7,58.7,10.4,336,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2222,2659,0,0,0,0,0,0
$GC,1500,0.63,97.7,54.7,10.6,345,1506,0.00,3.03,0.00,0.000,4,0.000,0.069,3390,430,2659,0,0,0,0,0,0
$GC,1535,0.63,97.7,50.8,10.9,353,1541,0.00,2.90,0.00,0.000,6,0.000,0.054,3390,2214,2659,0,0,1,0,0,0
$GC,1575,0.63,97.7,46.4,11.5,362,1580,0.00,2.80,0.00,0.000,4,0.000,0.076,3390,3870,2659,0,0,0,0,0,0
$GC,1597,0.63,97.7,43.5,11.9,367,1602,0.00,2.72,0.00,0.000,6,0.000,0.059,3403,2224,2659,0,0,0,0,0,0
$GC,1636,0.63,97.7,38.8,12.5,376,1642,0.00,2.97,0.00,0.000,4,0.000,0.067,3417,430,2659,0,0,0,0,0,0
$GC,1662,0.63,97.7,35.4,12.3,382,1668,0.12,2.90,0.00,0.000,6,0.179,0.055,3387,2219,2658,0,0,1,0,0,0
$GC,1702,0.63,97.7,30.8,11.8,391,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2219,2658,0,0,0,0,0,0
$GC,1740,0.63,97.7,26.8,10.6,400,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2219,2658,0,0,0,0,0,0
$GC,1778,0.63,97.7,22.9,10.5,409,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2219,2658,0,0,0,0,0,0
$GC,1816,0.63,97.7,19.2,9.6,418,1822,0.00,2.75,0.00,0.000,4,0.000,0.076,3386,3872,2658,0,0,0,0,0,0
$GC,1855,0.63,97.7,14.8,11.0,427,1861,0.00,2.70,0.00,0.000,6,0.000,0.059,3397,2221,2659,0,0,0,0,0,0
$GC,1895,0.63,97.7,12.6,6.8,436,1900,0.00,2.78,0.00,0.000,4,0.000,0.077,3397,3875,2659,0,0,0,0,0,0
$STATE,2094,end climb,NO_VERTICAL_VELOCITY
$STATE,2094,begin surface
$SM_CCo,2095,407.27,0.556,0,0,429,645.13
$SM_GC,0.94,9.23,0.00,0.00,0.052,0.000,0.000,160,2232,423,-9.40,0.06,646.85
$IRIDIUM_FIX,4751.72,-12225.30,130399,030347
$TT8_MAMPS,0.052156
$HUMID,21.13
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.9,14.272
$10V_AH,10.3,4.098
$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,23.875,56.150,155.100,407.275,0.000,27.045,31.642,237.194,0.250,0.000,17.064,0.000,1023.220,707.690,887.189,360.301,0.000,1133.827,0.000,693.716,0.000,0.992,0.000
$DEVICE_MAMPS,280.722,88.205,638.911,556.075,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,15845,482
$CAP_FILE_SIZE,68085,0
$CFSIZE,260165632,255668224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,171209,051922,4808.787,-12223.636,12,4.7,31,18.4