version: 66.06
glider: 506
mission: 2
dive: 120
start: 12 17 109 12 13 26
data:
$ID,506
$MISSION,2
$DIVE,120
$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,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,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,-8984.2539
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,120626,4807.681,-12223.635,7,1.7,7,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.0
$GPS2,121320,4807.704,-12223.646,12,1.3,12,18.3
$SPEED_LIMITS,0.104,0.252
$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,130.2,1529,-7.2,-6.024
$D_GRID,105
$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,-0.54,-215.0,0.0,0.0,0,68,0.00,0.00,-54.97,0.000,2,0.000,0.000,157,2238,2727,0,0,0,0,0,0
$GC,70,-0.54,-215.0,3.1,-3.8,13,114,13.02,2.72,-26.42,0.000,4,0.280,0.085,2986,3858,3936,0,0,0,0,0,0
$GC,169,-0.54,-215.0,13.9,-7.3,36,175,0.00,2.65,0.00,0.000,6,0.000,0.051,2986,2232,3938,0,0,0,0,0,0
$GC,209,-0.54,-215.0,16.7,-7.0,45,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2231,3938,0,0,0,0,0,0
$GC,247,-0.54,-215.0,19.4,-7.1,54,252,0.00,2.88,0.00,0.000,4,0.000,0.064,2986,478,3938,0,0,0,0,0,0
$GC,290,-0.54,-215.0,23.0,-7.8,64,296,0.10,2.83,0.00,0.000,6,0.160,0.059,3001,2210,3938,0,0,1,0,0,0
$GC,330,-0.54,-215.0,25.9,-7.6,73,335,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2210,3938,0,0,0,0,0,0
$GC,368,-0.54,-215.0,28.2,-6.3,82,374,0.00,2.80,0.00,0.000,4,0.000,0.079,2991,3878,3937,0,0,0,0,0,0
$GC,390,-0.54,-215.0,29.9,-7.1,87,396,0.00,2.65,0.00,0.000,6,0.000,0.058,2991,2233,3937,0,0,0,0,0,0
$GC,429,-0.54,-215.0,32.7,-7.4,96,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3937,0,0,0,0,0,0
$GC,468,-0.54,-215.0,35.5,-7.1,105,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3938,0,0,0,0,0,0
$GC,505,-0.54,-215.0,38.2,-7.2,114,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3937,0,0,0,0,0,0
$GC,543,-0.54,-215.0,41.0,-7.0,123,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3937,0,0,0,0,0,0
$GC,581,-0.54,-215.0,43.4,-6.6,132,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3937,0,0,0,0,0,0
$GC,620,-0.54,-215.0,46.0,-6.6,141,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3936,0,0,0,0,0,0
$GC,657,-0.54,-215.0,48.4,-6.4,150,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2233,3937,0,0,0,0,0,0
$GC,695,-0.54,-215.0,51.1,-6.7,159,701,0.00,2.75,0.00,0.000,4,0.000,0.080,2984,3876,3937,0,0,0,0,0,0
$GC,717,-0.54,-215.0,52.4,-6.5,164,723,0.00,2.65,0.00,0.000,6,0.000,0.061,2984,2249,3936,0,0,0,0,0,0
$GC,757,-0.54,-215.0,55.1,-6.8,173,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2249,3937,0,0,0,0,0,0
$GC,795,-0.54,-215.0,57.6,-6.6,182,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2249,3936,0,0,0,0,0,0
$GC,833,-0.54,-215.0,60.2,-6.7,191,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2249,3936,0,0,0,0,0,0
$GC,871,-0.54,-215.0,62.7,-6.6,200,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2249,3936,0,0,0,0,0,0
$GC,909,-0.54,-215.0,65.3,-6.6,209,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2249,3937,0,0,0,0,0,0
$GC,947,-0.54,-215.0,67.7,-6.5,218,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2249,3937,0,0,0,0,0,0
$GC,985,-0.54,-215.0,70.2,-6.5,227,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2249,3936,0,0,0,0,0,0
$GC,1023,-0.54,-215.0,72.6,-6.4,236,1029,0.00,2.70,0.00,0.000,4,0.000,0.077,2974,3879,3936,0,0,0,0,0,0
$GC,1045,-0.54,-215.0,74.1,-6.6,241,1051,0.10,2.60,0.00,0.000,6,0.138,0.058,3002,2252,3936,0,0,0,0,0,0
$GC,1085,-0.54,-215.0,76.5,-6.2,250,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2252,3936,0,0,0,0,0,0
$GC,1123,-0.54,-215.0,78.5,-5.2,259,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2252,3937,0,0,0,0,0,0
$STATE,1153,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1154,begin apogee
$GC,1157,-0.19,0.0,80.0,5.4,266,1331,0.32,0.00,167.23,0.630,6,0.117,0.000,3117,2180,3060,0,0,0,0,0,0
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1333,0.54,215.0,84.2,0.0,307,1511,0.68,0.00,170.70,0.596,6,0.083,0.000,3348,2180,2182,0,0,0,0,0,0
$GC,1544,0.54,215.0,66.5,10.2,357,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2180,2181,0,0,0,0,0,0
$GC,1582,0.54,215.0,62.4,10.3,366,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2180,2181,0,0,0,0,0,0
$GC,1620,0.54,215.0,58.7,10.2,375,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2180,2181,0,0,0,0,0,0
$GC,1658,0.54,215.0,54.8,10.1,384,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2180,2181,0,0,0,0,0,0
$GC,1696,0.54,215.0,50.9,10.1,393,1702,0.00,2.92,0.00,0.000,4,0.000,0.067,3361,440,2181,0,0,0,0,0,0
$GC,1710,0.54,215.0,49.5,10.2,396,1715,0.00,2.88,0.00,0.000,6,0.000,0.054,3361,2195,2181,0,0,1,0,0,0
$GC,1749,0.54,215.0,45.3,10.7,405,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2195,2181,0,0,0,0,0,0
$GC,1787,0.54,215.0,41.3,10.7,414,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2195,2181,0,0,0,0,0,0
$GC,1825,0.54,215.0,37.3,10.3,423,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2195,2181,0,0,0,0,0,0
$GC,1863,0.54,215.0,33.5,10.3,432,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2195,2181,0,0,0,0,0,0
$GC,1901,0.54,215.0,29.5,10.5,441,1907,0.00,2.92,0.00,0.000,4,0.000,0.066,3374,440,2181,0,0,0,0,0,0
$GC,1919,0.54,215.0,27.7,10.3,445,1924,0.00,2.85,0.00,0.000,6,0.000,0.056,3373,2196,2181,0,0,1,0,0,0
$GC,1958,0.54,215.0,23.3,11.5,454,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2196,2181,0,0,0,0,0,0
$GC,1996,0.54,215.0,19.0,11.2,463,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2196,2181,0,0,0,0,0,0
$GC,2034,0.54,215.0,14.8,10.9,472,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2196,2181,0,0,0,0,0,0
$GC,2072,0.54,215.0,10.8,10.5,481,2078,0.00,2.90,0.00,0.000,4,0.000,0.066,3386,440,2181,0,0,0,0,0,0
$GC,2081,0.54,215.0,9.8,10.6,483,2087,0.12,2.80,0.00,0.000,6,0.152,0.051,3353,2191,2181,0,0,1,0,0,0
$GC,2121,0.54,215.0,6.9,8.1,492,2127,0.00,2.90,0.00,0.000,4,0.000,0.067,3365,433,2181,0,0,0,0,0,0
$GC,2160,0.73,371.4,5.9,3.0,501,2218,0.15,2.70,52.20,0.565,2,0.082,0.048,3438,2145,1911,0,0,1,0,0,0
$STATE,2219,end climb,SURFACE_DEPTH_REACHED
$STATE,2219,begin surface coast
$FINISH,1.9,1.018077
$STATE,2304,end surface coast,CONTROL_FINISHED_OK
$STATE,2304,begin surface
$SM_CCo,2318,126.15,0.070,0,0,1103,480.04
$SM_GC,1.56,0.00,0.00,126.15,0.000,0.000,0.070,156,2229,1103,-9.45,-0.06,480.04
$IRIDIUM_FIX,4735.69,-12142.97,130399,111127
$TT8_MAMPS,0.052923
$HUMID,21.29
$INTERNAL_PRESSURE,9.34319
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,10.2
$24V_AH,23.9,15.192
$10V_AH,10.5,4.357
$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,23.725,50.325,390.125,126.150,0.000,29.008,24.991,275.203,0.500,0.000,14.444,0.000,864.207,596.437,980.755,410.362,0.000,1122.070,0.000,767.337,0.000,5.430,0.000
$DEVICE_MAMPS,279.955,109.681,629.707,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,15877,534
$CAP_FILE_SIZE,80924,0
$CFSIZE,260165632,255332352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,171209,125458,4807.497,-12223.399,10,4.3,29,18.3