version: 66.06
glider: 506
mission: 2
dive: 114
start: 12 17 109 7 10 2
data:
$ID,506
$MISSION,2
$DIVE,114
$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,290
$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,-8878.6289
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,070408,4808.509,-12223.376,6,1.4,6,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.6
$GPS2,070956,4808.492,-12223.297,13,1.4,13,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,HEADING
$TGT_LATLONG,4812.186,-12238.522
$TGT_RADIUS,1852.000
$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,271.7,20000,-13.2,-6.024
$D_GRID,90
$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,-97.7,0.0,0.0,0,60,0.00,0.00,-46.72,0.000,2,0.000,0.000,153,2242,1804,0,0,0,0,0,0
$GC,61,-0.63,-97.7,2.2,-2.1,11,134,12.73,2.80,-52.60,0.000,4,0.272,0.087,2959,3863,3460,0,0,0,0,0,0
$GC,203,-0.63,-97.7,16.9,-15.7,44,209,0.00,2.70,0.00,0.000,6,0.000,0.058,2960,2222,3461,0,0,0,0,0,0
$GC,243,-0.63,-97.7,19.5,-6.9,53,248,0.00,2.90,0.00,0.000,4,0.000,0.067,2959,468,3461,0,0,0,0,0,0
$GC,260,-0.63,-97.7,20.4,-5.6,57,266,0.12,2.85,0.00,0.000,6,0.174,0.059,2977,2208,3461,0,0,1,0,0,0
$GC,300,-0.63,-97.7,22.0,-4.4,66,306,0.00,2.78,0.00,0.000,4,0.000,0.076,2966,3869,3461,0,0,0,0,0,0
$GC,405,-0.63,-97.7,26.9,-4.7,90,410,0.00,2.70,0.00,0.000,6,0.000,0.060,2966,2222,3461,0,0,0,0,0,0
$GC,444,-0.63,-97.7,28.9,-5.0,99,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2221,3462,0,0,0,0,0,0
$GC,482,-0.63,-97.7,30.8,-5.0,108,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2222,3461,0,0,0,0,0,0
$GC,520,-0.63,-97.7,32.8,-5.3,117,526,0.00,2.88,0.00,0.000,4,0.000,0.068,2966,467,3461,0,0,0,0,0,0
$GC,569,-0.63,-97.7,36.0,-6.6,128,574,0.00,2.83,0.00,0.000,6,0.000,0.061,2953,2223,3461,0,0,1,0,0,0
$GC,608,-0.63,-97.7,38.6,-6.6,137,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2223,3460,0,0,0,0,0,0
$GC,646,-0.63,-97.7,41.1,-6.7,146,651,0.00,2.75,0.00,0.000,4,0.000,0.077,2940,3873,3460,0,0,0,0,0,0
$GC,703,-0.63,-97.7,45.3,-7.7,159,708,0.12,2.65,0.00,0.000,6,0.166,0.058,2971,2232,3460,0,0,0,0,0,0
$GC,742,-0.63,-97.7,48.1,-6.8,168,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2232,3460,0,0,0,0,0,0
$GC,780,-0.63,-97.7,50.4,-6.2,177,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2232,3460,0,0,0,0,0,0
$GC,818,-0.63,-97.7,52.7,-6.1,186,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2233,3460,0,0,0,0,0,0
$GC,856,-0.63,-97.7,55.1,-6.1,195,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2233,3460,0,0,0,0,0,0
$GC,894,-0.63,-97.7,57.4,-6.1,204,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2232,3460,0,0,0,0,0,0
$GC,932,-0.63,-97.7,59.7,-6.0,213,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2232,3460,0,0,0,0,0,0
$GC,970,-0.63,-97.7,62.0,-6.1,222,976,0.00,2.88,0.00,0.000,4,0.000,0.067,2972,466,3460,0,0,0,0,0,0
$GC,1018,-0.63,-97.7,65.3,-6.9,233,1024,0.00,2.83,0.00,0.000,6,0.000,0.054,2960,2245,3460,0,0,1,0,0,0
$GC,1058,-0.63,-97.7,68.0,-7.0,242,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2244,3460,0,0,0,0,0,0
$GC,1096,-0.63,-97.7,70.4,-6.4,251,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2244,3460,0,0,0,0,0,0
$GC,1134,-0.63,-97.7,72.9,-6.5,260,1139,0.00,2.85,0.00,0.000,4,0.000,0.060,2960,464,3460,0,0,0,0,0,0
$GC,1190,-0.63,-97.7,76.9,-7.3,273,1196,0.10,2.83,0.00,0.000,6,0.179,0.056,2972,2242,3460,0,0,1,0,0,0
$GC,1230,-0.63,-97.7,79.5,-6.3,282,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2242,3460,0,0,0,0,0,0
$GC,1268,-0.63,-97.7,81.8,-6.2,291,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2242,3460,0,0,0,0,0,0
$GC,1306,-0.63,-97.7,84.1,-5.8,300,1312,0.00,2.67,0.00,0.000,4,0.000,0.075,2960,3872,3460,0,0,0,0,0,0
$GC,1341,-0.63,-97.7,86.3,-6.3,308,1347,0.00,2.60,0.00,0.000,6,0.000,0.051,2960,2234,3460,0,0,0,0,0,0
$GC,1381,-0.63,-97.7,88.8,-6.3,317,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2234,3460,0,0,0,0,0,0
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1407,-0.19,0.0,90.2,5.8,323,1489,0.47,0.00,77.10,0.646,6,0.137,0.000,3114,2234,3060,0,0,0,0,0,0
$STATE,1489,end apogee,CONTROL_FINISHED_OK
$STATE,1489,begin climb
$GC,1490,0.63,97.7,91.2,0.0,342,1575,0.75,0.00,77.95,0.617,6,0.088,0.000,3374,2234,2660,0,0,0,0,0,0
$GC,1609,0.63,97.7,81.8,10.1,370,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2234,2659,0,0,0,0,0,0
$GC,1647,0.63,97.7,77.7,10.6,379,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2234,2659,0,0,0,0,0,0
$GC,1685,0.63,97.7,73.7,10.8,388,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2234,2659,0,0,0,0,0,0
$GC,1723,0.63,97.7,69.6,10.7,397,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2234,2658,0,0,0,0,0,0
$GC,1761,0.63,97.7,65.6,10.6,406,1766,0.00,3.00,0.00,0.000,4,0.000,0.066,3387,441,2658,0,0,0,0,0,0
$GC,1800,0.63,97.7,61.3,10.9,415,1806,0.00,2.85,0.00,0.000,6,0.000,0.054,3387,2184,2658,0,0,1,0,0,0
$GC,1840,0.63,97.7,56.7,11.6,424,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2184,2658,0,0,0,0,0,0
$GC,1878,0.63,97.7,52.2,11.8,433,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2185,2658,0,0,0,0,0,0
$GC,1916,0.63,97.7,47.9,11.5,442,1921,0.00,2.83,0.00,0.000,4,0.000,0.072,3387,3872,2658,0,0,0,0,0,0
$GC,1938,0.63,97.7,45.1,11.8,447,1943,0.00,2.72,0.00,0.000,6,0.000,0.056,3400,2201,2658,0,0,0,0,0,0
$GC,1977,0.63,97.7,40.3,12.5,456,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2200,2658,0,0,0,0,0,0
$GC,2015,0.63,97.7,35.8,12.0,465,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2201,2658,0,0,0,0,0,0
$GC,2053,0.63,97.7,31.3,11.9,474,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2200,2658,0,0,0,0,0,0
$GC,2091,0.63,97.7,26.8,12.0,483,2097,0.00,2.90,0.00,0.000,4,0.000,0.065,3413,427,2658,0,0,0,0,0,0
$GC,2117,0.63,97.7,23.4,12.2,489,2123,0.12,2.83,0.00,0.000,6,0.176,0.054,3383,2179,2658,0,0,1,0,0,0
$GC,2157,0.63,97.7,19.1,11.4,498,2162,0.00,2.83,0.00,0.000,4,0.000,0.073,3383,3882,2658,0,0,0,0,0,0
$GC,2196,0.63,97.7,14.5,11.7,507,2202,0.00,2.70,0.00,0.000,6,0.000,0.057,3394,2212,2658,0,0,0,0,0,0
$GC,2235,0.63,97.7,11.6,8.3,516,2241,0.00,2.92,0.00,0.000,4,0.000,0.064,3407,421,2658,0,0,0,0,0,0
$STATE,2465,end climb,NO_VERTICAL_VELOCITY
$STATE,2465,begin surface
$SM_CCo,2466,403.98,0.556,0,0,430,645.13
$SM_GC,0.95,9.12,0.00,0.00,0.046,0.000,0.000,160,2231,424,-9.39,0.03,646.60
$IRIDIUM_FIX,4751.72,-12226.29,130399,060601
$TT8_MAMPS,0.052923
$HUMID,21.56
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,26.0
$24V_AH,23.9,14.590
$10V_AH,10.4,4.185
$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,23.550,73.175,155.050,403.975,0.000,31.011,25.591,215.724,0.500,0.000,15.647,0.000,1178.876,744.829,1052.150,346.929,0.000,1247.669,0.000,816.767,0.000,5.471,0.000
$DEVICE_MAMPS,272.285,86.671,645.814,556.075,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324828
$DATA_FILE_SIZE,18999,569
$CAP_FILE_SIZE,82831,0
$CFSIZE,260165632,255545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,171209,080008,4808.577,-12223.597,10,2.0,10,18.3