version: 66.06
glider: 506
mission: 2
dive: 117
start: 12 17 109 9 42 22
data:
$ID,506
$MISSION,2
$DIVE,117
$D_SURF,4
$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,-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,-8943.3652
$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,36
$R_STBD_OVSHOOT,27
$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,2
$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
$GPS1,092416,4808.319,-12224.072,9,2.9,28,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.3
$GPS2,094216,4808.328,-12224.007,12,2.2,31,18.3
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$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,134.8,2756,-14.1,-10.000
$D_GRID,103
$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,-0.81,-215.0,0.0,0.0,0,81,0.00,0.00,-67.53,0.000,2,0.000,0.000,161,2237,3014,0,0,0,0,0,0
$GC,82,-0.81,-215.0,3.5,-4.6,16,117,12.68,2.72,-17.50,0.000,4,0.284,0.084,2900,3865,3938,0,0,0,0,0,0
$GC,364,-0.81,-215.0,44.4,-12.2,81,370,0.00,2.67,0.00,0.000,6,0.000,0.058,2900,2232,3939,0,0,0,0,0,0
$GC,403,-0.81,-215.0,49.2,-11.7,90,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2232,3939,0,0,0,0,0,0
$GC,441,-0.81,-215.0,54.0,-12.6,99,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2232,3939,0,0,0,0,0,0
$GC,479,-0.81,-215.0,58.5,-11.8,108,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2232,3939,0,0,0,0,0,0
$GC,517,-0.81,-215.0,63.2,-12.1,117,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2232,3938,0,0,0,0,0,0
$GC,555,-0.81,-215.0,67.8,-12.1,126,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2232,3938,0,0,0,0,0,0
$GC,593,-0.81,-215.0,72.4,-11.9,135,599,0.00,2.88,0.00,0.000,4,0.000,0.067,2900,467,3938,0,0,0,0,0,0
$GC,624,-0.81,-215.0,76.1,-12.6,142,630,0.12,2.83,0.00,0.000,6,0.176,0.058,2918,2232,3938,0,0,1,0,0,0
$STATE,665,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,665,begin apogee
$GC,668,-0.19,0.0,80.4,10.7,151,844,0.60,0.00,168.68,0.641,6,0.137,0.000,3113,2192,3060,0,0,0,0,0,0
$STATE,844,end apogee,CONTROL_FINISHED_OK
$STATE,844,begin climb
$GC,846,0.81,215.0,84.7,0.0,193,1025,0.95,0.00,171.88,0.604,6,0.083,0.000,3432,2192,2183,0,0,0,0,0,0
$GC,1059,0.81,215.0,58.5,16.6,244,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2192,2181,0,0,0,0,0,0
$GC,1097,0.81,215.0,52.1,16.6,253,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2192,2181,0,0,0,0,0,0
$GC,1135,0.81,215.0,45.7,16.7,262,1140,0.00,3.00,0.00,0.000,4,0.000,0.066,3446,433,2181,0,0,0,0,0,0
$GC,1152,0.81,215.0,42.7,16.5,266,1158,0.00,2.92,0.00,0.000,6,0.000,0.052,3446,2197,2181,0,0,1,0,0,0
$GC,1192,0.81,215.0,35.7,17.5,275,1198,0.00,2.85,0.00,0.000,4,0.000,0.071,3446,3871,2181,0,0,0,0,0,0
$GC,1214,0.81,215.0,31.6,18.7,280,1220,0.00,2.75,0.00,0.000,6,0.000,0.051,3459,2204,2181,0,0,0,0,0,0
$GC,1253,0.81,215.0,24.5,17.3,289,1259,0.00,3.00,0.00,0.000,4,0.000,0.066,3473,420,2181,0,0,0,0,0,0
$GC,1284,0.81,215.0,19.4,17.1,296,1290,0.12,2.88,0.00,0.000,6,0.176,0.051,3443,2184,2181,0,0,1,0,0,0
$GC,1323,0.81,215.0,13.2,14.9,305,1329,0.00,2.83,0.00,0.000,4,0.000,0.069,3442,3866,2181,0,0,0,0,0,0
$GC,1398,0.98,355.6,5.2,5.6,322,1425,0.12,2.78,22.52,0.555,2,0.091,0.054,3509,2163,2071,0,0,0,0,0,0
$STATE,1426,end climb,SURFACE_DEPTH_REACHED
$STATE,1426,begin surface coast
$FINISH,3.2,1.018835
$STATE,1441,end surface coast,CONTROL_FINISHED_OK
$STATE,1441,begin surface
$SM_CCo,1455,152.95,0.527,1,0,1102,480.04
$SM_GC,1.15,0.00,0.00,152.95,0.000,0.000,0.527,158,2235,1102,-9.44,0.14,480.04
$IRIDIUM_FIX,4751.72,-12220.85,130399,090941
$TT8_MAMPS,0.052156
$HUMID,21.33
$INTERNAL_PRESSURE,9.34319
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,9.1
$24V_AH,23.8,14.926
$10V_AH,10.4,4.262
$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,24.325,34.300,363.075,152.950,0.000,148.884,196.310,361.797,0.500,0.000,33.917,0.000,724.357,533.566,632.471,802.840,0.000,885.536,0.000,481.621,0.000,5.419,0.000
$DEVICE_MAMPS,283.790,121.953,641.212,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,9608,332
$CAP_FILE_SIZE,58944,0
$CFSIZE,260165632,255479808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,171209,101004,4808.180,-12223.973,10,2.3,29,18.3