version: 66.06
glider: 506
mission: 2
dive: 123
start: 12 17 109 14 42 50
data:
$ID,506
$MISSION,2
$DIVE,123
$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,-9060.6299
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,143732,4807.127,-12223.104,7,1.5,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-75.7
$GPS2,144243,4807.162,-12223.116,9,1.4,14,18.3
$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,136.1,333,-26.4,-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,-1.05,-29.6,0.0,0.0,0,72,0.00,0.00,-58.83,0.000,2,0.000,0.000,155,2234,2855,0,0,0,0,0,0
$GC,73,-1.08,-48.5,3.1,-3.4,14,100,12.75,2.78,-9.52,0.000,4,0.289,0.081,2814,3872,3258,0,0,0,0,0,0
$GC,225,-1.14,-100.1,11.7,1.0,49,235,0.00,2.70,-3.92,0.000,6,0.000,0.059,2815,2222,3469,0,0,0,0,0,0
$GC,269,-1.17,-123.6,13.0,-2.8,59,275,0.00,2.78,-1.70,0.000,4,0.000,0.083,2804,3869,3565,0,0,0,0,0,0
$GC,322,-1.17,-123.6,18.4,-10.7,71,328,0.00,2.58,0.00,0.000,6,0.000,0.054,2804,2275,3566,0,0,0,0,0,0
$GC,361,-1.17,-123.6,23.7,-13.0,80,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2275,3566,0,0,0,0,0,0
$GC,400,-1.17,-123.6,28.8,-13.5,89,405,0.00,2.97,0.00,0.000,4,0.000,0.065,2804,462,3566,0,0,0,0,0,0
$GC,426,-1.17,-123.6,32.6,-14.1,95,431,0.00,2.92,0.00,0.000,6,0.000,0.054,2790,2280,3566,0,0,1,0,0,0
$GC,465,-1.17,-123.6,38.3,-14.5,104,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2280,3566,0,0,0,0,0,0
$GC,503,-1.17,-123.6,43.9,-14.7,113,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2280,3566,0,0,0,0,0,0
$GC,541,-1.17,-123.6,49.4,-14.5,122,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2280,3566,0,0,0,0,0,0
$GC,579,-1.17,-123.6,55.2,-15.1,131,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2280,3565,0,0,0,0,0,0
$GC,617,-1.17,-123.6,61.1,-15.3,140,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2280,3566,0,0,0,0,0,0
$GC,655,-1.17,-123.6,66.8,-15.3,149,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2280,3565,0,0,0,0,0,0
$GC,693,-1.17,-123.6,72.1,-14.4,158,699,0.00,2.97,0.00,0.000,4,0.000,0.065,2790,461,3565,0,0,0,0,0,0
$GC,720,-1.17,-123.6,76.3,-14.8,164,725,0.00,2.92,0.00,0.000,6,0.000,0.054,2777,2295,3565,0,0,1,0,0,0
$GC,759,-1.17,-123.6,82.3,-15.2,173,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2295,3565,0,0,0,0,0,0
$GC,797,-1.17,-123.6,88.1,-15.4,182,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2295,3565,0,0,0,0,0,0
$GC,835,-1.17,-123.6,93.7,-14.6,191,840,0.00,2.60,0.00,0.000,4,0.000,0.072,2765,3877,3565,0,0,0,0,0,0
$GC,861,-1.17,-123.6,97.8,-15.7,197,867,0.15,2.53,0.00,0.000,6,0.202,0.058,2800,2297,3565,0,0,0,0,0,0
$GC,900,-1.17,-123.6,103.9,-15.3,206,906,0.00,2.95,0.00,0.000,4,0.000,0.064,2803,463,3565,0,0,0,0,0,0
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,918,-0.19,0.0,105.5,14.1,209,1021,1.10,0.00,97.32,0.651,6,0.183,0.000,3111,2200,3060,0,0,0,0,0,0
$STATE,1021,end apogee,CONTROL_FINISHED_OK
$STATE,1021,begin climb
$GC,1022,1.17,123.6,107.0,0.0,233,1129,1.27,3.10,98.50,0.621,4,0.082,0.061,3565,426,2555,0,0,0,0,0,0
$GC,1150,1.17,123.6,86.1,21.6,263,1156,0.00,3.00,0.00,0.000,6,0.000,0.059,3564,2189,2554,0,0,1,0,0,0
$GC,1189,1.17,123.6,76.8,23.8,272,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2189,2554,0,0,0,0,0,0
$GC,1227,1.17,123.6,67.8,23.6,281,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2189,2554,0,0,0,0,0,0
$GC,1265,1.17,123.6,58.5,24.3,290,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2189,2554,0,0,0,0,0,0
$GC,1303,1.17,123.6,49.5,23.8,299,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2189,2554,0,0,0,0,0,0
$GC,1341,1.17,123.6,40.8,22.9,308,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2189,2554,0,0,0,0,0,0
$GC,1380,1.17,123.6,31.8,23.6,317,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2189,2554,0,0,0,0,0,0
$GC,1418,1.17,123.6,22.9,23.4,326,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2189,2554,0,0,0,0,0,0
$GC,1456,1.17,123.6,14.2,23.0,335,1461,0.00,2.92,0.00,0.000,4,0.000,0.063,3577,422,2554,0,0,0,0,0,0
$GC,1469,1.17,123.6,11.3,22.9,338,1474,0.00,2.88,0.00,0.000,6,0.000,0.054,3577,2196,2553,0,0,1,0,0,0
$STATE,1507,end climb,SURFACE_DEPTH_REACHED
$STATE,1507,begin surface coast
$FINISH,3.4,1.020233
$STATE,1525,end surface coast,CONTROL_FINISHED_OK
$STATE,1525,begin surface
$SM_CCo,1539,242.82,0.538,1,0,1103,480.04
$SM_GC,1.17,0.00,0.00,242.82,0.000,0.000,0.538,160,2199,1103,-9.44,-0.88,480.04
$IRIDIUM_FIX,4748.51,-12221.84,130399,141420
$TT8_MAMPS,0.052156
$HUMID,21.60
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,42.3
$24V_AH,24.0,15.460
$10V_AH,10.4,4.439
$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,25.275,45.425,195.825,242.825,0.000,25.574,25.970,186.136,0.750,0.000,16.506,0.000,590.289,541.967,668.400,297.261,0.000,884.360,0.000,508.331,0.000,5.515,0.000
$DEVICE_MAMPS,289.159,82.836,651.183,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.507,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324624
$DATA_FILE_SIZE,9603,351
$CAP_FILE_SIZE,56977,0
$CFSIZE,260165632,255242240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,171209,151328,4807.025,-12223.005,13,3.1,32,18.3