version: 66.06
glider: 506
mission: 2
dive: 112
start: 12 17 109 5 24 50
data:
$ID,506
$MISSION,2
$DIVE,112
$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,-8849.6641
$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,22
$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
$GPS1,051922,4808.787,-12223.636,12,4.7,31,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.4
$GPS2,052444,4808.800,-12223.592,15,1.9,15,18.4
$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,140.8,5547,-13.2,-6.024
$D_GRID,81
$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,-0.63,-97.7,0.0,0.0,0,60,0.00,0.00,-46.38,0.000,2,0.000,0.000,159,2231,1792,0,0,0,0,0,0
$GC,61,-0.63,-97.7,2.2,-2.2,11,135,13.02,2.83,-53.20,0.000,4,0.280,0.087,2960,3873,3460,0,0,0,0,0,0
$GC,382,-0.63,-97.7,28.3,-5.7,85,387,0.00,2.70,0.00,0.000,6,0.000,0.061,2960,2224,3461,0,0,0,0,0,0
$GC,421,-0.63,-97.7,30.4,-5.4,94,427,0.00,2.78,0.00,0.000,4,0.000,0.075,2947,3872,3461,0,0,0,0,0,0
$GC,669,-0.63,-97.7,47.0,-7.4,151,675,0.10,2.65,0.00,0.000,6,0.173,0.062,2971,2246,3460,0,0,0,0,0,0
$GC,709,-0.63,-97.7,49.7,-7.0,160,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2246,3460,0,0,0,0,0,0
$GC,747,-0.63,-97.7,52.2,-6.4,169,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2246,3460,0,0,0,0,0,0
$GC,785,-0.63,-97.7,54.6,-6.4,178,790,0.00,2.90,0.00,0.000,4,0.000,0.068,2971,467,3460,0,0,0,0,0,0
$GC,833,-0.63,-97.7,57.9,-6.9,189,838,0.00,2.85,0.00,0.000,6,0.000,0.055,2960,2240,3460,0,0,0,0,0,0
$GC,872,-0.63,-97.7,60.2,-6.1,198,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2240,3460,0,0,0,0,0,0
$GC,910,-0.63,-97.7,62.9,-6.9,207,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2240,3460,0,0,0,0,0,0
$GC,948,-0.63,-97.7,65.2,-6.3,216,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2240,3460,0,0,0,0,0,0
$GC,986,-0.63,-97.7,67.7,-6.6,225,992,0.00,2.90,0.00,0.000,4,0.000,0.068,2960,468,3460,0,0,0,0,0,0
$GC,1017,-0.63,-97.7,69.8,-6.8,232,1023,0.10,2.83,0.00,0.000,6,0.178,0.054,2971,2233,3460,0,0,0,0,0,0
$GC,1057,-0.63,-97.7,72.0,-5.8,241,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2233,3460,0,0,0,0,0,0
$GC,1095,-0.63,-97.7,74.2,-5.2,250,1100,0.00,2.70,0.00,0.000,4,0.000,0.074,2960,3876,3460,0,0,0,0,0,0
$GC,1134,-0.63,-97.7,76.6,-6.1,259,1139,0.00,2.65,0.00,0.000,6,0.000,0.061,2960,2255,3460,0,0,0,0,0,0
$GC,1173,-0.63,-97.7,78.8,-5.8,268,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2255,3460,0,0,0,0,0,0
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1213,-0.19,0.0,81.1,5.8,277,1295,0.47,0.00,77.00,0.641,6,0.139,0.000,3113,2189,3060,0,0,0,0,0,0
$STATE,1295,end apogee,CONTROL_FINISHED_OK
$STATE,1295,begin climb
$GC,1296,0.63,97.7,82.3,0.0,296,1381,0.77,0.00,77.78,0.614,6,0.088,0.000,3379,2189,2660,0,0,0,0,0,0
$GC,1415,0.63,97.7,73.0,10.1,324,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2189,2660,0,0,0,0,0,0
$GC,1452,0.63,97.7,69.0,10.7,333,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2189,2659,0,0,0,0,0,0
$GC,1491,0.63,97.7,64.9,11.0,342,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2189,2659,0,0,0,0,0,0
$GC,1529,0.63,97.7,60.6,11.0,351,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2189,2659,0,0,0,0,0,0
$GC,1567,0.63,97.7,56.5,10.8,360,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2189,2659,0,0,0,0,0,0
$GC,1605,0.63,97.7,52.6,10.8,369,1610,0.00,2.95,0.00,0.000,4,0.000,0.067,3392,426,2659,0,0,0,0,0,0
$GC,1631,0.63,97.7,49.7,10.6,375,1637,0.00,2.88,0.00,0.000,6,0.000,0.052,3392,2196,2659,0,0,1,0,0,0
$GC,1670,0.63,97.7,45.5,10.7,384,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1708,0.63,97.7,41.2,11.1,393,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1746,0.63,97.7,37.0,11.3,402,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1784,0.63,97.7,32.8,10.7,411,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1822,0.63,97.7,28.7,11.1,420,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1860,0.63,97.7,24.6,10.6,429,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1898,0.63,97.7,20.7,10.5,438,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1936,0.63,97.7,17.0,9.8,447,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2196,2659,0,0,0,0,0,0
$GC,1974,0.63,97.7,13.3,9.8,456,1980,0.00,2.78,0.00,0.000,4,0.000,0.074,3392,3871,2659,0,0,0,0,0,0
$STATE,2213,end climb,NO_VERTICAL_VELOCITY
$STATE,2213,begin surface
$SM_CCo,2214,408.80,0.557,0,0,429,645.13
$SM_GC,0.94,9.07,0.00,0.00,0.044,0.000,0.000,157,2225,424,-9.39,-0.14,646.60
$IRIDIUM_FIX,4748.51,-12233.46,130399,040450
$TT8_MAMPS,0.051389
$HUMID,20.93
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,16.7
$24V_AH,23.9,14.378
$10V_AH,10.4,4.126
$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,23.550,39.325,154.775,408.800,0.000,27.627,27.843,192.760,0.500,0.000,17.320,0.000,1102.857,699.556,935.725,310.864,0.000,1140.731,0.000,734.726,0.000,5.445,0.000
$DEVICE_MAMPS,279.955,112.749,641.212,556.842,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324660
$DATA_FILE_SIZE,15904,511
$CAP_FILE_SIZE,67057,0
$CFSIZE,260165632,255635456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,171209,061104,4808.660,-12223.507,7,2.8,26,18.3