version: 66.06
glider: 506
mission: 2
dive: 122
start: 12 17 109 14 4 20
data:
$ID,506
$MISSION,2
$DIVE,122
$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,-9043.499
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,135424,4807.234,-12223.169,22,1.3,39,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-75.7
$GPS2,140414,4807.302,-12223.209,18,1.2,18,18.3
$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,136.9,616,-13.8,-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,12,-0.64,-91.2,0.0,0.0,0,68,0.00,0.00,-54.95,0.000,2,0.000,0.000,160,2223,2714,0,0,0,0,0,0
$GC,70,-0.71,-141.8,3.0,-3.8,13,113,12.77,2.83,-23.98,0.000,4,0.281,0.090,2935,3868,3641,0,0,0,0,0,0
$GC,278,-0.71,-141.8,22.5,-8.4,61,283,0.00,2.65,0.00,0.000,6,0.000,0.060,2935,2238,3641,0,0,0,0,0,0
$GC,317,-0.71,-141.8,25.7,-8.2,70,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2239,3641,0,0,0,0,0,0
$GC,355,-0.71,-141.8,28.8,-8.1,79,360,0.00,2.90,0.00,0.000,4,0.000,0.067,2936,465,3641,0,0,0,0,0,0
$GC,407,-0.71,-141.8,33.6,-9.1,91,413,0.00,2.83,0.00,0.000,6,0.000,0.059,2923,2218,3641,0,0,1,0,0,0
$GC,447,-0.71,-141.8,37.2,-9.3,100,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2217,3641,0,0,0,0,0,0
$GC,485,-0.71,-141.8,40.8,-9.3,109,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2217,3641,0,0,0,0,0,0
$GC,523,-0.71,-141.8,44.2,-9.1,118,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2217,3641,0,0,0,0,0,0
$GC,561,-0.71,-141.8,47.7,-9.3,127,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2217,3641,0,0,0,0,0,0
$GC,599,-0.71,-141.8,51.6,-9.8,136,604,0.00,2.78,0.00,0.000,4,0.000,0.081,2911,3873,3640,0,0,0,0,0,0
$GC,638,-0.71,-141.8,55.9,-10.8,145,644,0.15,2.67,0.00,0.000,6,0.162,0.060,2950,2220,3641,0,0,0,0,0,0
$GC,678,-0.71,-141.8,59.5,-9.3,154,683,0.00,2.85,0.00,0.000,4,0.000,0.067,2950,467,3641,0,0,0,0,0,0
$GC,704,-0.71,-141.8,61.7,-8.4,160,710,0.00,2.80,0.00,0.000,6,0.000,0.062,2939,2196,3640,0,0,1,0,0,0
$GC,743,-0.71,-141.8,65.1,-8.8,169,749,0.00,2.78,0.00,0.000,4,0.000,0.077,2926,3875,3641,0,0,0,0,0,0
$GC,765,-0.71,-141.8,67.2,-8.9,174,771,0.00,2.65,0.00,0.000,6,0.000,0.048,2926,2198,3640,0,0,0,0,0,0
$GC,805,-0.71,-141.8,70.6,-8.9,183,810,0.00,2.78,0.00,0.000,4,0.000,0.065,2926,481,3640,0,0,0,0,0,0
$GC,826,-0.71,-141.8,72.7,-9.1,188,832,0.12,2.75,0.00,0.000,6,0.174,0.054,2946,2206,3640,0,0,0,0,0,0
$GC,866,-0.71,-141.8,76.1,-8.6,197,872,0.00,2.75,0.00,0.000,4,0.000,0.077,2935,3876,3640,0,0,0,0,0,0
$GC,884,-0.71,-141.8,77.5,-7.8,201,889,0.00,2.67,0.00,0.000,6,0.000,0.060,2935,2218,3640,0,0,0,0,0,0
$STATE,916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,916,begin apogee
$GC,918,-0.19,0.0,80.0,8.4,208,1033,0.55,0.00,111.03,0.643,6,0.137,0.000,3111,2218,3059,0,0,0,0,0,0
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1035,0.71,141.8,82.0,0.0,235,1154,0.85,2.95,112.82,0.611,4,0.089,0.071,3399,3872,2480,0,0,0,0,0,0
$GC,1171,0.71,141.8,69.2,12.6,267,1176,0.00,2.83,0.00,0.000,6,0.000,0.045,3412,2174,2479,0,0,0,0,0,0
$GC,1210,0.71,141.8,63.5,14.6,276,1216,0.00,2.95,0.00,0.000,4,0.000,0.065,3425,441,2479,0,0,0,0,0,0
$GC,1232,0.71,141.8,60.4,14.0,281,1238,0.00,2.88,0.00,0.000,6,0.000,0.054,3425,2173,2479,0,0,1,0,0,0
$GC,1272,0.71,141.8,54.7,14.6,290,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2173,2478,0,0,0,0,0,0
$GC,1310,0.71,141.8,49.1,14.4,299,1315,0.00,2.90,0.00,0.000,4,0.000,0.073,3425,3873,2478,0,0,0,0,0,0
$GC,1327,0.71,141.8,46.5,14.6,303,1333,0.12,2.80,0.00,0.000,6,0.188,0.054,3409,2180,2478,0,0,0,0,0,0
$GC,1367,0.71,141.8,40.5,15.2,312,1372,0.00,2.95,0.00,0.000,4,0.000,0.067,3421,423,2478,0,0,0,0,0,0
$GC,1389,0.71,141.8,37.4,14.1,317,1394,0.00,2.85,0.00,0.000,6,0.000,0.057,3421,2157,2478,0,0,1,0,0,0
$GC,1428,0.71,141.8,31.9,14.3,326,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2157,2478,0,0,0,0,0,0
$GC,1466,0.71,141.8,26.4,14.3,335,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2157,2478,0,0,0,0,0,0
$GC,1504,0.71,141.8,21.1,14.2,344,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2156,2478,0,0,0,0,0,0
$GC,1542,0.71,141.8,15.8,13.9,353,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2157,2478,0,0,0,0,0,0
$GC,1580,0.71,141.8,10.7,13.4,362,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2156,2478,0,0,0,0,0,0
$GC,1618,0.71,141.8,5.7,13.8,371,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2156,2478,0,0,0,0,0,0
$GC,1657,0.76,186.0,4.5,4.0,380,1704,0.00,2.92,37.67,0.425,4,0.000,0.065,3435,420,2299,0,0,0,0,1,0
$STATE,1729,end climb,SURFACE_DEPTH_REACHED
$STATE,1729,begin surface coast
$FINISH,3.5,1.020136
$STATE,1750,end surface coast,CONTROL_FINISHED_OK
$STATE,1750,begin surface
$SM_CCo,1767,194.07,0.515,1,0,1102,480.04
$SM_GC,1.17,0.00,0.00,194.07,0.000,0.000,0.515,156,2234,1102,-9.45,0.11,480.04
$IRIDIUM_FIX,4751.72,-12226.29,130399,141432
$TT8_MAMPS,0.052156
$HUMID,21.92
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.0,10.2
$24V_AH,23.9,15.373
$10V_AH,10.4,4.418
$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,24.000,67.700,261.525,194.075,0.000,51.379,104.584,279.764,1.000,0.000,21.216,0.000,719.916,559.562,760.757,509.700,0.000,956.400,0.000,580.549,0.000,5.426,0.000
$DEVICE_MAMPS,281.489,89.739,642.746,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,12731,402
$CAP_FILE_SIZE,67524,0
$CFSIZE,260165632,255258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,1
$GPS,171209,143732,4807.127,-12223.104,7,1.5,7,18.3