version: 66.06
glider: 506
mission: 2
dive: 124
start: 12 17 109 15 34 2
data:
$ID,506
$MISSION,2
$DIVE,124
$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,-8
$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,-9964.6426
$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,45
$C_ROLL_DIVE,2290
$C_ROLL_CLIMB,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,25
$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,3100
$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
$GPS1,151328,4807.025,-12223.005,13,3.1,32,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.7
$GPS2,151328,4807.025,-12223.005,901,99.0,901,18.3
$SPEED_LIMITS,0.104,0.252
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$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,341.9,1805,-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,12,-0.54,-215.0,0.0,0.0,0,73,0.00,0.00,-59.03,0.000,2,0.000,0.000,160,2199,2791,0,0,0,0,0,0
$GC,74,-0.54,-215.0,3.1,-3.1,14,122,12.68,2.47,-28.08,0.000,4,0.285,0.081,2996,704,3961,0,0,0,0,0,0
$GC,351,-0.54,-215.0,26.1,-7.8,78,357,0.00,2.58,0.00,0.000,6,0.000,0.061,2987,2312,3962,0,0,0,0,0,0
$GC,391,-0.54,-215.0,29.1,-7.4,87,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,429,-0.54,-215.0,32.0,-7.5,96,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,467,-0.54,-215.0,34.7,-7.0,105,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,505,-0.54,-215.0,37.3,-7.0,114,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,543,-0.54,-215.0,39.9,-6.8,123,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,581,-0.54,-215.0,42.5,-6.8,132,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,619,-0.54,-215.0,45.2,-6.9,141,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2313,3961,0,0,0,0,0,0
$GC,657,-0.54,-215.0,47.7,-6.8,150,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,695,-0.54,-215.0,50.5,-7.0,159,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,733,-0.54,-215.0,53.1,-6.8,168,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2313,3961,0,0,0,0,0,0
$GC,771,-0.54,-215.0,55.6,-6.8,177,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,809,-0.54,-215.0,58.2,-6.9,186,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,847,-0.54,-215.0,60.7,-6.5,195,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2313,3961,0,0,0,0,0,0
$GC,885,-0.54,-215.0,63.3,-6.7,204,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,923,-0.54,-215.0,65.6,-6.2,213,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2312,3961,0,0,0,0,0,0
$GC,961,-0.54,-215.0,68.0,-6.4,222,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,999,-0.54,-215.0,70.3,-5.9,231,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1037,-0.54,-215.0,72.5,-6.0,240,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1075,-0.54,-215.0,75.0,-6.3,249,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1113,-0.54,-215.0,77.3,-6.2,258,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1151,-0.54,-215.0,79.8,-6.4,267,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2313,3961,0,0,0,0,0,0
$GC,1189,-0.54,-215.0,82.0,-6.1,276,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1227,-0.54,-215.0,84.3,-6.0,285,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1266,-0.54,-215.0,86.5,-5.9,294,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2312,3961,0,0,0,0,0,0
$GC,1304,-0.54,-215.0,89.0,-6.2,303,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3961,0,0,0,0,0,0
$GC,1342,-0.54,-215.0,91.4,-6.3,312,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,1380,-0.54,-215.0,93.7,-6.0,321,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2313,3961,0,0,0,0,0,0
$GC,1418,-0.54,-215.0,96.1,-6.1,330,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,1456,-0.54,-215.0,98.2,-5.8,339,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,1494,-0.54,-215.0,100.4,-5.6,348,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,1532,-0.54,-215.0,102.6,-5.6,357,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$GC,1571,-0.54,-215.0,104.6,-5.7,366,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2312,3962,0,0,0,0,0,0
$STATE,1577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1577,begin apogee
$GC,1580,-0.31,0.0,105.1,5.6,368,1751,0.25,0.00,164.45,0.649,6,0.121,0.000,3074,2077,3100,0,0,0,0,0,0
$STATE,1751,end apogee,CONTROL_FINISHED_OK
$STATE,1751,begin climb
$GC,1752,0.54,215.0,109.5,0.0,408,1936,0.82,2.80,171.62,0.614,4,0.095,0.064,3361,510,2222,0,0,0,0,0,0
$GC,1952,0.54,215.0,92.1,10.7,455,1958,0.00,2.67,0.00,0.000,6,0.000,0.053,3361,2094,2220,0,0,0,0,0,0
$GC,1991,0.54,215.0,87.7,11.5,464,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2093,2220,0,0,0,0,0,0
$GC,2029,0.54,215.0,83.4,11.2,473,2035,0.00,2.72,0.00,0.000,4,0.000,0.072,3361,3676,2220,0,0,0,0,0,0
$GC,2051,0.54,215.0,80.6,11.8,478,2057,0.00,2.62,0.00,0.000,6,0.000,0.056,3373,2086,2220,0,0,1,0,0,0
$GC,2091,0.54,215.0,75.9,12.3,487,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2129,0.54,215.0,71.2,12.1,496,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2167,0.54,215.0,66.6,12.1,505,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2086,2220,0,0,0,0,0,0
$GC,2205,0.54,215.0,62.1,11.7,514,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2086,2220,0,0,0,0,0,0
$GC,2243,0.54,215.0,57.7,11.9,523,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2281,0.54,215.0,53.1,11.7,532,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2319,0.54,215.0,48.7,11.7,541,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2357,0.54,215.0,44.4,11.5,550,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2086,2220,0,0,0,0,0,0
$GC,2395,0.54,215.0,40.1,11.6,559,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2433,0.54,215.0,35.6,11.4,568,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2471,0.54,215.0,31.3,11.6,577,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2510,0.54,215.0,27.0,11.3,586,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2548,0.54,215.0,22.8,11.0,595,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2086,2220,0,0,0,0,0,0
$GC,2586,0.54,215.0,18.6,11.3,604,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2624,0.54,215.0,14.6,10.5,613,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2086,2220,0,0,0,0,0,0
$GC,2662,0.54,215.0,10.5,10.6,622,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2700,0.54,215.0,7.6,8.1,631,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2085,2220,0,0,0,0,0,0
$GC,2738,0.54,215.0,5.3,6.0,640,2743,0.00,2.62,0.00,0.000,4,0.000,0.070,3373,3677,2220,0,0,0,0,0,0
$STATE,2759,end climb,SURFACE_DEPTH_REACHED
$STATE,2759,begin surface coast
$FINISH,2.2,1.018060
$STATE,2833,end surface coast,CONTROL_FINISHED_OK
$STATE,2833,begin surface
$SM_CCo,2849,170.88,0.535,1,0,1142,480.04
$SM_GC,1.38,0.00,0.00,170.88,0.000,0.000,0.535,151,2283,1142,-9.47,-0.20,480.04
$IRIDIUM_FIX,4748.51,-12224.57,130399,141430
$TT8_MAMPS,0.052923
$HUMID,21.25
$INTERNAL_PRESSURE,9.34319
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.4,36.9
$24V_AH,23.9,15.561
$10V_AH,10.4,4.494
$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,22.600,21.150,336.075,170.875,0.000,28.960,24.437,216.449,1.250,0.000,903.384,0.000,1182.543,631.382,2086.081,353.025,0.000,1241.505,0.000,947.995,0.000,10.387,0.000
$DEVICE_MAMPS,285.324,80.535,648.882,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324840
$DATA_FILE_SIZE,22154,662
$CAP_FILE_SIZE,89126,0
$CFSIZE,260165632,255164416
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,171209,162528,4807.527,-12223.118,23,2.9,42,18.3