version: 66.06
glider: 506
mission: 2
dive: 125
start: 12 17 109 16 31 38
data:
$ID,506
$MISSION,2
$DIVE,125
$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,-9983.7188
$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,24
$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,0
$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,3
$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
$GPS1,162528,4807.527,-12223.118,23,2.9,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.7
$GPS2,163132,4807.570,-12223.130,16,1.6,16,18.3
$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,353.1,813,-8.8,-6.024
$D_GRID,107
$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,-0.55,-169.6,0.0,0.0,0,68,0.00,0.00,-54.83,0.000,2,0.000,0.000,151,2283,2764,0,0,0,0,0,0
$GC,70,-0.60,-215.0,3.0,-3.3,13,122,13.07,2.65,-30.98,0.000,4,0.280,0.074,2977,701,3961,0,0,0,0,0,0
$GC,369,-0.60,-215.0,30.4,-8.8,82,374,0.00,2.60,0.00,0.000,6,0.000,0.058,2968,2293,3962,0,0,0,0,0,0
$GC,408,-0.60,-215.0,33.9,-8.7,91,413,0.00,2.60,0.00,0.000,4,0.000,0.064,2968,703,3961,0,0,0,0,0,0
$GC,451,-0.60,-215.0,37.9,-9.3,101,457,0.00,2.60,0.00,0.000,6,0.000,0.058,2957,2286,3961,0,0,0,0,0,0
$GC,491,-0.60,-215.0,41.3,-8.6,110,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2285,3961,0,0,0,0,0,0
$GC,529,-0.60,-215.0,44.9,-9.1,119,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2285,3961,0,0,0,0,0,0
$GC,567,-0.60,-215.0,48.3,-8.9,128,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2285,3961,0,0,0,0,0,0
$GC,605,-0.60,-215.0,51.4,-8.6,137,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2285,3961,0,0,0,0,0,0
$GC,643,-0.60,-215.0,54.7,-8.6,146,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2286,3961,0,0,0,0,0,0
$GC,681,-0.60,-215.0,57.9,-8.3,155,686,0.00,2.65,0.00,0.000,4,0.000,0.077,2945,3878,3960,0,0,0,0,0,0
$GC,711,-0.60,-215.0,60.7,-8.9,162,717,0.08,2.60,0.00,0.000,6,0.123,0.059,2981,2283,3960,0,0,0,0,0,0
$GC,751,-0.60,-215.0,63.8,-7.9,171,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,789,-0.60,-215.0,66.4,-7.0,180,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,827,-0.60,-215.0,69.1,-7.0,189,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,865,-0.60,-215.0,71.6,-6.7,198,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,903,-0.60,-215.0,74.2,-6.7,207,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,942,-0.60,-215.0,76.8,-6.9,216,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,979,-0.60,-215.0,79.5,-7.0,225,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,1017,-0.60,-215.0,82.1,-7.0,234,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,1055,-0.60,-215.0,84.6,-6.7,243,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,1093,-0.60,-215.0,87.2,-6.4,252,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,1131,-0.60,-215.0,89.7,-6.7,261,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,1169,-0.60,-215.0,92.2,-6.4,270,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,1208,-0.60,-215.0,94.5,-6.1,279,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,1246,-0.60,-215.0,97.0,-6.5,288,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$GC,1284,-0.60,-215.0,99.4,-6.3,297,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,1322,-0.60,-215.0,101.7,-6.2,306,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,1360,-0.60,-215.0,104.2,-6.4,315,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2283,3960,0,0,0,0,0,0
$GC,1398,-0.60,-215.0,106.3,-5.7,324,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2284,3960,0,0,0,0,0,0
$STATE,1413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1413,begin apogee
$GC,1416,-0.31,0.0,107.3,5.9,328,1586,0.28,0.00,164.48,0.642,6,0.118,0.000,3077,2087,3099,0,0,0,0,0,0
$STATE,1587,end apogee,CONTROL_FINISHED_OK
$STATE,1587,begin climb
$GC,1588,0.60,215.0,111.1,0.0,368,1767,0.88,2.72,171.18,0.608,4,0.093,0.063,3382,514,2222,0,0,0,0,0,0
$GC,1805,0.60,215.0,89.3,12.7,419,1811,0.00,2.65,0.00,0.000,6,0.000,0.052,3381,2097,2220,0,0,0,0,0,0
$GC,1845,0.60,215.0,84.3,12.7,428,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2097,2220,0,0,0,0,0,0
$GC,1883,0.60,215.0,79.3,12.8,437,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2097,2220,0,0,0,0,0,0
$GC,1921,0.60,215.0,74.5,12.8,446,1926,0.00,2.70,0.00,0.000,4,0.000,0.071,3381,3680,2220,0,0,0,0,0,0
$GC,1947,0.60,215.0,71.0,13.2,452,1953,0.00,2.60,0.00,0.000,6,0.000,0.058,3393,2092,2220,0,0,1,0,0,0
$GC,1986,0.60,215.0,65.4,14.1,461,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2091,2220,0,0,0,0,0,0
$GC,2024,0.60,215.0,60.2,13.8,470,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2091,2220,0,0,0,0,0,0
$GC,2062,0.60,215.0,55.3,13.3,479,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2091,2220,0,0,0,0,0,0
$GC,2100,0.60,215.0,50.1,13.5,488,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2092,2220,0,0,0,0,0,0
$GC,2138,0.60,215.0,45.1,13.3,497,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2091,2220,0,0,0,0,0,0
$GC,2176,0.60,215.0,40.2,13.1,506,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2091,2220,0,0,0,0,0,0
$GC,2214,0.60,215.0,35.3,12.7,515,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2092,2220,0,0,0,0,0,0
$GC,2253,0.60,215.0,30.4,12.8,524,2258,0.00,2.60,0.00,0.000,4,0.000,0.066,3406,505,2220,0,0,0,0,0,0
$GC,2283,0.60,215.0,26.4,13.2,531,2289,0.08,2.55,0.00,0.000,6,0.130,0.054,3372,2074,2220,0,0,1,0,0,0
$GC,2323,0.60,215.0,21.8,11.9,540,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2074,2220,0,0,0,0,0,0
$GC,2361,0.60,215.0,17.8,10.6,549,2366,0.00,2.67,0.00,0.000,4,0.000,0.074,3372,3682,2220,0,0,0,0,0,0
$GC,2387,0.60,215.0,14.7,11.0,555,2393,0.00,2.62,0.00,0.000,6,0.000,0.058,3382,2053,2220,0,0,0,0,0,0
$GC,2426,0.60,215.0,10.6,10.9,564,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2053,2220,0,0,0,0,0,0
$GC,2464,0.60,215.0,7.5,8.4,573,2470,0.00,2.67,0.00,0.000,4,0.000,0.071,3382,3683,2220,0,0,0,0,0,0
$STATE,2511,end climb,SURFACE_DEPTH_REACHED
$STATE,2511,begin surface coast
$FINISH,2.6,1.017436
$STATE,2546,end surface coast,CONTROL_FINISHED_OK
$STATE,2547,begin surface
$SM_CCo,2562,188.98,0.532,1,0,1143,480.04
$SM_GC,1.52,0.00,0.00,188.98,0.000,0.000,0.532,154,2288,1143,-9.46,-0.06,480.04
$IRIDIUM_FIX,4748.51,-12221.84,130399,151527
$TT8_MAMPS,0.052156
$HUMID,21.76
$INTERNAL_PRESSURE,9.35296
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,85.1,37.0
$24V_AH,23.8,15.665
$10V_AH,10.4,4.525
$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,23.250,42.100,335.650,188.975,0.000,28.100,24.362,227.993,1.500,0.000,18.447,0.000,1040.013,633.238,1080.221,362.823,0.000,1186.086,0.000,848.969,0.000,9.886,0.000
$DEVICE_MAMPS,279.955,76.700,641.979,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,19021,592
$CAP_FILE_SIZE,81966,0
$CFSIZE,260165632,255131648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,171209,171807,4807.882,-12223.075,14,2.0,14,18.3