version: 66.06
glider: 506
mission: 2
dive: 116
start: 12 17 109 8 50 25
data:
$ID,506
$MISSION,2
$DIVE,116
$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,-8908.8203
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,084406,4808.466,-12223.807,8,1.3,24,18.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.0
$GPS2,085019,4808.463,-12223.776,10,2.0,15,18.3
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,HEADING
$TGT_LATLONG,4800.190,-12234.151
$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,101
$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,-215.0,0.0,0.0,0,85,0.00,0.00,-70.97,0.000,2,0.000,0.000,152,2231,2515,0,0,0,0,0,0
$GC,86,-0.81,-215.0,3.1,-3.6,17,138,12.93,2.80,-33.85,0.000,4,0.285,0.087,2900,3877,3937,0,0,0,0,0,0
$GC,376,-0.81,-215.0,42.4,-13.1,84,381,0.00,2.67,0.00,0.000,6,0.000,0.058,2900,2230,3938,0,0,0,0,0,0
$GC,415,-0.81,-215.0,47.3,-12.4,93,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2230,3938,0,0,0,0,0,0
$GC,453,-0.81,-215.0,51.9,-12.1,102,458,0.00,2.92,0.00,0.000,4,0.000,0.067,2900,463,3938,0,0,0,0,0,0
$GC,479,-0.81,-215.0,55.4,-13.2,108,485,0.12,2.88,0.00,0.000,6,0.176,0.058,2918,2220,3938,0,0,0,0,0,0
$GC,519,-0.81,-215.0,59.8,-11.1,117,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,3938,0,0,0,0,0,0
$GC,557,-0.81,-215.0,63.9,-10.7,126,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,3938,0,0,0,0,0,0
$GC,595,-0.81,-215.0,67.9,-10.9,135,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,3937,0,0,0,0,0,0
$GC,633,-0.81,-215.0,71.8,-10.4,144,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2220,3937,0,0,0,0,0,0
$GC,671,-0.81,-215.0,75.7,-10.2,153,676,0.00,2.78,0.00,0.000,4,0.000,0.079,2908,3874,3937,0,0,0,0,0,0
$GC,692,-0.81,-215.0,78.2,-10.8,158,698,0.00,2.70,0.00,0.000,6,0.000,0.058,2908,2203,3937,0,0,0,0,0,0
$GC,732,-0.81,-215.0,82.5,-11.2,167,737,0.00,2.83,0.00,0.000,4,0.000,0.067,2907,469,3937,0,0,0,0,0,0
$GC,753,-0.81,-215.0,84.9,-11.3,172,762,0.00,2.80,0.00,0.000,6,0.000,0.061,2897,2196,3937,0,0,1,0,0,0
$GC,795,-0.81,-215.0,89.7,-11.0,181,801,0.00,2.80,0.00,0.000,4,0.000,0.081,2885,3875,3937,0,0,0,0,0,0
$GC,848,-0.81,-215.0,96.4,-12.6,193,854,0.08,2.62,0.00,0.000,6,0.133,0.049,2918,2223,3937,0,0,0,0,0,0
$GC,888,-0.81,-215.0,100.3,-9.4,202,893,0.00,2.83,0.00,0.000,4,0.000,0.067,2918,481,3937,0,0,0,0,0,0
$STATE,895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,895,begin apogee
$GC,900,-0.19,0.0,101.2,9.0,204,1076,0.62,0.00,169.52,0.644,6,0.137,0.000,3107,2197,3059,0,0,0,0,0,0
$STATE,1077,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1078,0.81,215.0,104.3,0.0,246,1260,0.98,3.10,172.35,0.608,4,0.084,0.067,3448,445,2182,0,0,1,0,0,0
$GC,1289,0.81,215.0,76.0,17.2,296,1295,0.00,2.95,0.00,0.000,6,0.000,0.053,3448,2190,2182,0,0,1,0,0,0
$GC,1329,0.81,215.0,69.0,17.8,305,1334,0.00,2.95,0.00,0.000,4,0.000,0.073,3448,3873,2181,0,0,0,0,0,0
$GC,1342,0.81,215.0,66.5,18.0,308,1348,0.00,2.75,0.00,0.000,6,0.000,0.046,3461,2204,2181,0,0,0,0,0,0
$GC,1381,0.81,215.0,58.7,19.2,317,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2202,2181,0,0,0,0,0,0
$GC,1419,0.81,215.0,51.6,18.9,326,1425,0.00,2.97,0.00,0.000,4,0.000,0.066,3474,441,2181,0,0,0,0,0,0
$GC,1450,0.81,215.0,45.7,19.0,333,1456,0.12,2.95,0.00,0.000,6,0.180,0.058,3445,2209,2181,0,0,1,0,0,0
$GC,1489,0.81,215.0,38.7,17.5,342,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2180,0,0,0,0,0,0
$GC,1527,0.81,215.0,32.2,17.3,351,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2181,0,0,0,0,0,0
$GC,1565,0.81,215.0,25.7,16.9,360,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2181,0,0,0,0,0,0
$GC,1603,0.81,215.0,19.5,16.3,369,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2209,2180,0,0,0,0,0,0
$GC,1641,0.81,215.0,13.2,16.8,378,1647,0.00,2.80,0.00,0.000,4,0.000,0.071,3444,3879,2180,0,0,0,0,0,0
$GC,1659,0.81,215.0,10.2,17.5,382,1664,0.00,2.75,0.00,0.000,6,0.000,0.054,3456,2180,2180,0,0,0,0,0,0
$GC,1698,0.94,326.1,6.9,6.5,391,1791,0.00,0.00,87.43,0.560,6,0.000,0.000,3456,2178,1728,0,0,0,0,0,0
$STATE,1793,end climb,SURFACE_DEPTH_REACHED
$STATE,1793,begin surface coast
$FINISH,1.3,1.017221
$STATE,1877,end surface coast,CONTROL_FINISHED_OK
$STATE,1877,begin surface
$SM_CCo,1891,92.38,0.070,0,0,1103,480.04
$SM_GC,1.34,0.00,0.00,92.38,0.000,0.000,0.070,161,2237,1103,-9.43,0.20,480.04
$IRIDIUM_FIX,4748.51,-12217.40,130399,080810
$TT8_MAMPS,0.052923
$HUMID,21.01
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.5,28.4
$24V_AH,23.8,14.804
$10V_AH,10.4,4.234
$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,24.275,56.725,429.300,92.375,0.000,27.049,26.066,243.230,1.500,0.000,16.897,0.000,643.613,557.689,792.444,361.702,0.000,1008.829,0.000,624.558,0.000,9.864,0.000
$DEVICE_MAMPS,284.557,111.982,643.513,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324852
$DATA_FILE_SIZE,12754,433
$CAP_FILE_SIZE,64130,0
$CFSIZE,260165632,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,171209,092416,4808.319,-12224.072,9,2.9,28,18.3