version: 66.06
glider: 506
mission: 2
dive: 121
start: 12 17 109 13 1 28
data:
$ID,506
$MISSION,2
$DIVE,121
$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,-9021.6533
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,125458,4807.497,-12223.399,10,4.3,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.7
$GPS2,130122,4807.523,-12223.415,14,4.7,33,18.3
$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,133.8,1097,-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,-55.00,0.000,2,0.000,0.000,156,2229,2727,0,0,0,0,0,0
$GC,70,-0.54,-215.0,3.1,-3.7,13,113,13.02,0.00,-27.40,0.000,6,0.281,0.000,2996,2229,3938,0,0,0,0,0,0
$GC,147,-0.54,-215.0,11.8,-9.3,31,152,0.00,2.75,0.00,0.000,4,0.000,0.074,2986,3866,3940,0,0,0,0,0,0
$GC,177,-0.54,-215.0,13.8,-6.6,38,183,0.00,2.58,0.00,0.000,6,0.000,0.049,2986,2273,3939,0,0,0,0,0,0
$GC,217,-0.54,-215.0,16.6,-7.1,47,222,0.00,2.92,0.00,0.000,4,0.000,0.059,2986,466,3940,0,0,0,0,0,0
$GC,247,-0.54,-215.0,19.0,-7.2,54,253,0.10,2.90,0.00,0.000,6,0.158,0.056,3001,2257,3940,0,0,1,0,0,0
$GC,287,-0.54,-215.0,21.6,-7.0,63,291,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2257,3940,0,0,0,0,0,0
$GC,325,-0.54,-215.0,23.9,-6.1,72,329,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2257,3939,0,0,0,0,0,0
$GC,363,-0.54,-215.0,26.4,-6.6,81,369,0.00,2.70,0.00,0.000,4,0.000,0.077,2992,3875,3940,0,0,0,0,0,0
$GC,389,-0.54,-215.0,28.2,-6.7,87,395,0.00,2.60,0.00,0.000,6,0.000,0.058,2992,2269,3939,0,0,0,0,0,0
$GC,429,-0.54,-215.0,30.8,-6.8,96,434,0.00,2.95,0.00,0.000,4,0.000,0.065,2992,462,3939,0,0,0,0,0,0
$GC,450,-0.54,-215.0,32.5,-7.1,101,456,0.00,2.88,0.00,0.000,6,0.000,0.059,2983,2258,3939,0,0,1,0,0,0
$GC,490,-0.54,-215.0,35.5,-7.5,110,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2258,3939,0,0,0,0,0,0
$GC,528,-0.54,-215.0,38.4,-7.3,119,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2258,3939,0,0,0,0,0,0
$GC,566,-0.54,-215.0,41.0,-7.4,128,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2258,3938,0,0,0,0,0,0
$GC,604,-0.54,-215.0,43.8,-7.2,137,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2258,3938,0,0,0,0,0,0
$GC,642,-0.54,-215.0,46.6,-7.2,146,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2258,3938,0,0,0,0,0,0
$GC,680,-0.54,-215.0,49.1,-6.8,155,686,0.00,2.67,0.00,0.000,4,0.000,0.078,2977,3872,3939,0,0,0,0,0,0
$GC,715,-0.54,-215.0,51.6,-7.1,163,720,0.00,2.65,0.00,0.000,6,0.000,0.058,2977,2249,3938,0,0,0,0,0,0
$GC,754,-0.54,-215.0,54.5,-7.2,172,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,793,-0.54,-215.0,57.1,-6.9,181,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3939,0,0,0,0,0,0
$GC,831,-0.54,-215.0,59.9,-7.1,190,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,868,-0.54,-215.0,62.4,-6.8,199,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3939,0,0,0,0,0,0
$GC,907,-0.54,-215.0,64.9,-6.6,208,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,945,-0.54,-215.0,67.6,-6.8,217,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,982,-0.54,-215.0,70.3,-7.0,226,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,1020,-0.54,-215.0,72.8,-6.6,235,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,1059,-0.54,-215.0,75.2,-6.6,244,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2249,3938,0,0,0,0,0,0
$GC,1097,-0.54,-215.0,77.8,-6.5,253,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2249,3938,0,0,0,0,0,0
$GC,1135,-0.54,-215.0,80.3,-6.6,262,1140,0.00,2.67,0.00,0.000,4,0.000,0.077,2967,3872,3938,0,0,0,0,0,0
$GC,1165,-0.54,-215.0,82.6,-6.9,269,1171,0.12,2.60,0.00,0.000,6,0.130,0.061,3004,2269,3938,0,0,0,0,0,0
$GC,1205,-0.54,-215.0,84.7,-5.9,278,1215,0.00,2.90,0.00,0.000,4,0.000,0.066,3004,468,3938,0,0,0,0,0,0
$GC,1223,-0.54,-215.0,85.9,-5.7,281,1229,0.00,2.85,0.00,0.000,6,0.000,0.054,3001,2264,3938,0,0,0,0,0,0
$GC,1262,-0.54,-215.0,88.2,-5.7,290,1268,0.00,2.62,0.00,0.000,4,0.000,0.074,2998,3869,3938,0,0,0,0,0,0
$GC,1289,-0.54,-215.0,89.6,-5.4,296,1294,0.00,2.50,0.00,0.000,6,0.000,0.048,2998,2256,3938,0,0,0,0,0,0
$GC,1328,-0.54,-215.0,91.6,-5.4,305,1333,0.00,2.85,0.00,0.000,4,0.000,0.065,2998,483,3938,0,0,0,0,0,0
$GC,1345,-0.54,-215.0,92.6,-5.3,309,1351,0.00,2.83,0.00,0.000,6,0.000,0.051,2998,2277,3938,0,0,0,0,0,0
$GC,1385,-0.54,-215.0,94.7,-5.4,318,1390,0.00,2.60,0.00,0.000,4,0.000,0.074,2998,3868,3939,0,0,0,0,0,0
$GC,1406,-0.54,-215.0,95.8,-5.1,323,1412,0.00,2.55,0.00,0.000,6,0.000,0.059,2998,2269,3938,0,0,0,0,0,0
$GC,1446,-0.54,-215.0,97.8,-5.4,332,1451,0.00,2.90,0.00,0.000,4,0.000,0.067,2998,470,3938,0,0,0,0,0,0
$GC,1468,-0.54,-215.0,99.1,-5.2,337,1473,0.00,2.85,0.00,0.000,6,0.000,0.053,2998,2270,3938,0,0,0,0,0,0
$GC,1507,-0.54,-215.0,101.4,-5.7,346,1513,0.00,2.62,0.00,0.000,4,0.000,0.074,2997,3871,3938,0,0,0,0,0,0
$GC,1542,-0.54,-215.0,103.0,-4.8,354,1548,0.00,2.53,0.00,0.000,6,0.000,0.054,2997,2267,3938,0,0,0,0,0,0
$GC,1582,-0.54,-215.0,104.8,-4.8,363,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2267,3938,0,0,0,0,0,0
$STATE,1588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1588,begin apogee
$GC,1591,-0.19,0.0,105.1,4.6,365,1766,0.32,0.00,168.00,0.641,6,0.112,0.000,3111,2198,3059,0,0,0,0,0,0
$STATE,1767,end apogee,CONTROL_FINISHED_OK
$STATE,1767,begin climb
$GC,1768,0.54,215.0,108.1,0.0,406,1947,0.70,2.95,171.48,0.607,4,0.084,0.070,3350,3866,2182,0,0,0,0,0,0
$GC,1968,0.54,215.0,89.6,11.5,453,1974,0.00,2.85,0.00,0.000,6,0.000,0.060,3362,2198,2181,0,0,0,0,0,0
$GC,2008,0.54,215.0,85.0,12.0,462,2013,0.00,3.05,0.00,0.000,4,0.000,0.067,3376,428,2180,0,0,0,0,0,0
$GC,2038,0.54,215.0,81.3,11.8,469,2044,0.00,2.90,0.00,0.000,6,0.000,0.054,3375,2172,2180,0,0,1,0,0,0
$GC,2077,0.54,215.0,76.5,12.2,478,2083,0.00,2.88,0.00,0.000,4,0.000,0.068,3376,3867,2180,0,0,0,0,0,0
$GC,2099,0.54,215.0,73.5,13.0,483,2105,0.12,2.78,0.00,0.000,6,0.161,0.055,3357,2190,2180,0,0,0,0,0,0
$GC,2139,0.54,215.0,68.8,12.4,492,2145,0.00,3.00,0.00,0.000,4,0.000,0.067,3369,423,2180,0,0,0,0,0,0
$GC,2161,0.54,215.0,66.3,11.3,497,2166,0.00,2.88,0.00,0.000,6,0.000,0.052,3369,2178,2180,0,0,1,0,0,0
$GC,2200,0.54,215.0,61.6,11.7,506,2206,0.00,2.83,0.00,0.000,4,0.000,0.067,3369,3869,2180,0,0,0,0,0,0
$GC,2218,0.54,215.0,59.5,12.0,510,2223,0.00,2.70,0.00,0.000,6,0.000,0.044,3382,2175,2179,0,0,0,0,0,0
$GC,2257,0.54,215.0,54.5,12.8,519,2263,0.00,2.90,0.00,0.000,4,0.000,0.066,3395,432,2180,0,0,0,0,0,0
$GC,2274,0.54,215.0,52.3,12.2,523,2281,0.15,2.80,0.00,0.000,6,0.153,0.048,3356,2174,2180,0,0,1,0,0,0
$GC,2314,0.54,215.0,47.8,11.4,532,2320,0.00,2.83,0.00,0.000,4,0.000,0.068,3355,3871,2180,0,0,0,0,0,0
$GC,2336,0.54,215.0,45.3,11.0,537,2342,0.00,2.72,0.00,0.000,6,0.000,0.049,3367,2175,2180,0,0,0,0,0,0
$GC,2375,0.54,215.0,40.5,11.9,546,2381,0.00,2.85,0.00,0.000,4,0.000,0.065,3379,435,2180,0,0,0,0,0,0
$GC,2402,0.54,215.0,37.5,11.4,552,2408,0.00,2.78,0.00,0.000,6,0.000,0.049,3379,2167,2180,0,0,1,0,0,0
$GC,2442,0.54,215.0,32.8,12.0,561,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2168,2180,0,0,0,0,0,0
$GC,2480,0.54,215.0,28.2,11.9,570,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2168,2180,0,0,0,0,0,0
$GC,2518,0.54,215.0,23.9,11.5,579,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2168,2180,0,0,0,0,0,0
$GC,2556,0.54,215.0,19.5,11.7,588,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2168,2180,0,0,0,0,0,0
$GC,2594,0.54,215.0,15.1,11.4,597,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2168,2180,0,0,0,0,0,0
$GC,2632,0.54,215.0,10.8,11.4,606,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2168,2180,0,0,0,0,0,0
$GC,2670,0.54,215.0,6.9,10.8,615,2675,0.00,2.85,0.00,0.000,4,0.000,0.066,3392,435,2180,0,0,0,0,0,0
$GC,2713,0.57,241.4,4.7,5.5,625,2753,0.00,2.78,28.40,0.369,6,0.000,0.055,3392,2174,2075,0,0,1,0,1,0
$STATE,2755,end climb,SURFACE_DEPTH_REACHED
$STATE,2755,begin surface coast
$FINISH,2.2,1.017817
$STATE,2956,end surface coast,CONTROL_FINISHED_OK
$STATE,2956,begin surface
$SM_CCo,2969,149.10,0.071,0,0,1103,480.04
$SM_GC,1.46,0.00,0.00,149.10,0.000,0.000,0.071,161,2223,1103,-9.44,-0.20,480.04
$IRIDIUM_FIX,4751.72,-12219.12,130399,121239
$TT8_MAMPS,0.05369
$HUMID,21.53
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,95.0,27.0
$24V_AH,23.9,15.276
$10V_AH,10.4,4.392
$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,23.450,116.950,367.875,149.100,0.000,28.253,27.584,229.812,2.500,0.000,36.770,0.000,1162.893,679.160,1282.182,374.891,0.000,1327.510,0.000,975.279,0.000,18.569,0.000
$DEVICE_MAMPS,280.722,137.293,641.212,70.564,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,22176,681
$CAP_FILE_SIZE,105596,0
$CFSIZE,260165632,255262720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,171209,135424,4807.234,-12223.169,22,1.3,39,18.3