version: 66.06
glider: 506
mission: 2
dive: 113
start: 12 17 109 6 16 20
data:
$ID,506
$MISSION,2
$DIVE,113
$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,-8862.3545
$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,26
$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
$GPS1,061104,4808.660,-12223.507,7,2.8,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.5
$GPS2,061614,4808.658,-12223.452,10,1.6,10,18.3
$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,141.7,5240,-13.2,-6.024
$D_GRID,86
$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,-46.45,0.000,2,0.000,0.000,156,2224,1798,0,0,0,0,0,0
$GC,61,-0.63,-97.7,2.2,-2.3,11,135,12.82,2.85,-53.12,0.000,4,0.275,0.085,2957,3873,3461,0,0,0,0,0,0
$GC,382,-0.63,-97.7,28.1,-5.7,85,388,0.00,2.67,0.00,0.000,6,0.000,0.057,2957,2220,3461,0,0,0,0,0,0
$GC,422,-0.63,-97.7,30.8,-6.4,94,427,0.00,2.78,0.00,0.000,4,0.000,0.074,2945,3879,3461,0,0,0,0,0,0
$GC,608,-0.63,-97.7,44.1,-7.3,137,614,0.05,2.70,0.00,0.000,6,0.140,0.055,2970,2227,3461,0,0,0,0,0,0
$GC,648,-0.63,-97.7,46.6,-6.3,146,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,686,-0.63,-97.7,49.0,-6.2,155,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,724,-0.63,-97.7,51.4,-6.5,164,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,762,-0.63,-97.7,53.9,-6.8,173,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,801,-0.63,-97.7,56.4,-6.2,182,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,839,-0.63,-97.7,58.8,-6.3,191,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,877,-0.63,-97.7,61.1,-6.3,200,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2226,3461,0,0,0,0,0,0
$GC,915,-0.63,-97.7,63.6,-6.0,209,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2227,3461,0,0,0,0,0,0
$GC,953,-0.63,-97.7,65.7,-6.1,218,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,991,-0.63,-97.7,68.0,-5.8,227,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2227,3461,0,0,0,0,0,0
$GC,1029,-0.63,-97.7,70.2,-5.8,236,1035,0.00,2.85,0.00,0.000,4,0.000,0.064,2971,458,3460,0,0,0,0,0,0
$GC,1060,-0.63,-97.7,72.1,-5.9,243,1065,0.00,2.83,0.00,0.000,6,0.000,0.054,2959,2240,3460,0,0,1,0,0,0
$GC,1099,-0.63,-97.7,74.4,-6.0,252,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2240,3460,0,0,0,0,0,0
$GC,1137,-0.63,-97.7,76.8,-5.9,261,1143,0.00,2.67,0.00,0.000,4,0.000,0.074,2947,3872,3460,0,0,0,0,0,0
$GC,1164,-0.63,-97.7,78.4,-6.3,267,1169,0.00,2.62,0.00,0.000,6,0.000,0.057,2947,2251,3460,0,0,0,0,0,0
$GC,1203,-0.63,-97.7,81.0,-6.4,276,1208,0.10,0.00,0.00,0.000,6,0.181,0.000,2971,2250,3460,0,0,0,0,0,0
$GC,1241,-0.63,-97.7,83.0,-5.7,285,1247,0.00,2.88,0.00,0.000,4,0.000,0.066,2972,464,3460,0,0,0,0,0,0
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1298,-0.19,0.0,86.2,6.2,297,1379,0.45,0.00,77.07,0.644,6,0.139,0.000,3106,2192,3059,0,0,0,0,0,0
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1381,0.63,97.7,87.7,0.0,316,1466,0.77,3.10,77.88,0.616,4,0.091,0.069,3386,422,2661,0,0,0,0,0,0
$GC,1491,0.63,97.7,79.3,9.9,342,1497,0.00,3.00,0.00,0.000,6,0.000,0.061,3386,2185,2659,0,0,1,0,0,0
$GC,1531,0.63,97.7,74.8,11.2,351,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2659,0,0,0,0,0,0
$GC,1569,0.63,97.7,70.5,11.4,360,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2185,2659,0,0,0,0,0,0
$GC,1607,0.63,97.7,65.9,12.0,369,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2659,0,0,0,0,0,0
$GC,1645,0.63,97.7,61.5,11.6,378,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2658,0,0,0,0,0,0
$GC,1683,0.63,97.7,57.3,11.3,387,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2659,0,0,0,0,0,0
$GC,1721,0.63,97.7,53.2,10.9,396,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2185,2659,0,0,0,0,0,0
$GC,1759,0.63,97.7,49.3,10.4,405,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2185,2659,0,0,0,0,0,0
$GC,1797,0.63,97.7,45.2,10.7,414,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2658,0,0,0,0,0,0
$GC,1835,0.63,97.7,41.2,10.6,423,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2659,0,0,0,0,0,0
$GC,1873,0.63,97.7,37.3,10.3,432,1879,0.00,2.92,0.00,0.000,4,0.000,0.069,3400,428,2659,0,0,0,0,0,0
$GC,1895,0.63,97.7,34.9,10.1,437,1901,0.00,2.85,0.00,0.000,6,0.000,0.056,3399,2196,2659,0,0,1,0,0,0
$GC,1934,0.63,97.7,30.6,11.2,446,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2196,2659,0,0,0,0,0,0
$GC,1973,0.63,97.7,26.3,11.4,455,1978,0.00,2.80,0.00,0.000,4,0.000,0.074,3399,3876,2659,0,0,0,0,0,0
$GC,1994,0.63,97.7,23.6,11.7,460,2000,0.00,2.72,0.00,0.000,6,0.000,0.060,3412,2204,2659,0,0,0,0,0,0
$GC,2034,0.63,97.7,19.1,11.5,469,2039,0.00,2.92,0.00,0.000,4,0.000,0.067,3426,423,2659,0,0,0,0,0,0
$GC,2051,0.63,97.7,17.1,11.0,473,2057,0.15,2.90,0.00,0.000,6,0.181,0.060,3388,2209,2659,0,0,1,0,0,0
$GC,2091,0.63,97.7,12.9,10.9,482,2097,0.00,2.75,0.00,0.000,4,0.000,0.071,3387,3876,2659,0,0,0,0,0,0
$GC,2335,0.80,239.8,13.0,0.1,538,2354,0.12,2.60,14.73,0.567,2,0.094,0.056,3454,2244,2590,0,0,0,0,0,0
$STATE,2355,end climb,NO_VERTICAL_VELOCITY
$STATE,2355,begin surface
$SM_CCo,2356,383.98,0.555,0,0,430,645.13
$SM_GC,1.04,9.27,0.00,0.00,0.045,0.000,0.000,153,2243,424,-9.41,0.37,646.60
$IRIDIUM_FIX,4751.72,-12219.12,130399,050523
$TT8_MAMPS,0.050622
$HUMID,20.78
$INTERNAL_PRESSURE,9.23577
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.9,14.482
$10V_AH,10.4,4.155
$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,23.750,56.225,169.675,383.975,0.000,27.364,23.510,190.958,1.000,0.000,12.062,0.000,1141.456,707.229,991.273,312.058,0.000,1182.539,0.000,778.560,0.000,9.643,0.000
$DEVICE_MAMPS,274.586,85.137,644.280,554.541,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,15867,542
$CAP_FILE_SIZE,74894,0
$CFSIZE,260165632,255594496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,171209,070408,4808.509,-12223.376,6,1.4,6,18.3