version: 66.06
glider: 506
mission: 2
dive: 115
start: 12 17 109 8 6 2
data:
$ID,506
$MISSION,2
$DIVE,115
$D_SURF,3
$D_FLARE,3
$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,50
$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,220
$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,220
$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,-8891.2949
$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,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
$GPS1,080008,4808.577,-12223.597,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.0
$GPS2,080556,4808.576,-12223.538,10,1.8,10,18.3
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,HEADING
$TGT_LATLONG,4800.304,-12233.913
$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,201.7,20000,-14.1,-10.000
$D_GRID,95
$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,-0.81,-215.0,0.0,0.0,0,68,0.00,0.00,-54.55,0.000,2,0.000,0.000,159,2231,2053,0,0,0,0,0,0
$GC,69,-0.81,-215.0,3.0,-7.6,13,138,12.73,2.80,-49.58,0.000,4,0.279,0.086,2903,3871,3938,0,0,0,0,0,0
$GC,385,-0.81,-215.0,43.1,-11.9,86,390,0.00,2.67,0.00,0.000,6,0.000,0.058,2903,2229,3939,0,0,0,0,0,0
$GC,424,-0.81,-215.0,47.8,-11.7,95,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2229,3939,0,0,0,0,0,0
$GC,462,-0.81,-215.0,52.4,-12.6,104,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2229,3939,0,0,0,0,0,0
$GC,500,-0.81,-215.0,57.0,-11.8,113,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2229,3939,0,0,0,0,0,0
$GC,538,-0.81,-215.0,61.6,-12.0,122,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2229,3939,0,0,0,0,0,0
$GC,576,-0.81,-215.0,66.1,-11.9,131,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2229,3939,0,0,0,0,0,0
$GC,614,-0.81,-215.0,70.5,-12.0,140,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2229,3939,0,0,0,0,0,0
$GC,652,-0.81,-215.0,75.0,-11.9,149,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2229,3938,0,0,0,0,0,0
$GC,690,-0.81,-215.0,79.5,-11.8,158,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2229,3938,0,0,0,0,0,0
$GC,727,-0.81,-215.0,83.9,-11.9,167,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2229,3938,0,0,0,0,0,0
$GC,765,-0.81,-215.0,88.2,-11.3,176,771,0.00,2.85,0.00,0.000,4,0.000,0.063,2902,463,3938,0,0,0,0,0,0
$GC,787,-0.81,-215.0,90.5,-11.1,181,793,0.10,2.85,0.00,0.000,6,0.181,0.056,2914,2240,3938,0,0,1,0,0,0
$GC,827,-0.81,-215.0,94.8,-10.3,190,832,0.00,2.70,0.00,0.000,4,0.000,0.076,2903,3870,3938,0,0,0,0,0,0
$STATE,834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,835,begin apogee
$GC,840,-0.19,0.0,95.7,10.0,192,1015,0.65,0.00,169.15,0.640,6,0.137,0.000,3111,2180,3061,0,0,0,0,0,0
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1016,0.81,215.0,99.4,0.0,234,1198,0.95,3.08,172.57,0.606,4,0.083,0.065,3444,438,2183,0,0,0,0,0,0
$GC,1253,0.81,215.0,68.3,16.3,290,1259,0.00,2.95,0.00,0.000,6,0.000,0.053,3445,2192,2181,0,0,1,0,0,0
$GC,1293,0.81,215.0,61.6,17.2,299,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2192,2181,0,0,0,0,0,0
$GC,1331,0.81,215.0,54.9,17.6,308,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2192,2181,0,0,0,0,0,0
$GC,1369,0.81,215.0,48.4,17.7,317,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2192,2181,0,0,0,0,0,0
$GC,1407,0.81,215.0,41.9,17.2,326,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2192,2181,0,0,0,0,0,0
$GC,1445,0.81,215.0,35.6,16.6,335,1450,0.00,2.95,0.00,0.000,4,0.000,0.064,3457,437,2181,0,0,0,0,0,0
$GC,1467,0.81,215.0,31.9,17.2,340,1472,0.00,2.88,0.00,0.000,6,0.000,0.053,3457,2194,2181,0,0,1,0,0,0
$GC,1506,0.81,215.0,24.6,17.9,349,1511,0.00,2.85,0.00,0.000,4,0.000,0.074,3458,3878,2181,0,0,0,0,0,0
$GC,1523,0.81,215.0,21.4,18.5,353,1529,0.12,2.75,0.00,0.000,6,0.190,0.056,3441,2210,2181,0,0,0,0,0,0
$GC,1563,0.81,215.0,14.5,16.9,362,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2210,2181,0,0,0,0,0,0
$GC,1601,0.81,215.0,9.5,12.3,371,1607,0.00,2.95,0.00,0.000,4,0.000,0.067,3453,431,2181,0,0,0,0,0,0
$STATE,1852,end climb,NO_VERTICAL_VELOCITY
$STATE,1852,begin surface
$SM_CCo,1854,281.50,0.551,0,0,429,645.13
$SM_GC,1.09,9.25,0.00,0.00,0.045,0.000,0.000,152,2231,424,-9.41,0.03,646.60
$IRIDIUM_FIX,4751.72,-12219.12,130399,070713
$TT8_MAMPS,0.051389
$HUMID,20.93
$INTERNAL_PRESSURE,9.2553
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.2,28.8
$24V_AH,23.8,14.710
$10V_AH,10.4,4.210
$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,23.800,40.150,341.725,281.500,0.000,27.768,23.445,224.327,1.000,0.000,12.038,0.000,800.839,674.846,775.750,334.563,0.000,1095.742,0.000,618.824,0.000,5.477,0.000
$DEVICE_MAMPS,279.188,85.904,639.678,551.473,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324828
$DATA_FILE_SIZE,12748,429
$CAP_FILE_SIZE,58872,0
$CFSIZE,260165632,255541248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,171209,084406,4808.466,-12223.807,8,1.3,24,18.3