version: 66.06
glider: 506
mission: 2
dive: 126
start: 12 17 109 17 24 22
data:
$ID,506
$MISSION,2
$DIVE,126
$D_SURF,4
$D_FLARE,3
$D_TGT,60
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,20
$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,520
$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,-10023.376
$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,24
$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,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
$GPS1,171807,4807.882,-12223.075,14,2.0,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.8
$GPS2,172416,4807.920,-12223.091,17,2.1,36,18.3
$SPEED_LIMITS,0.173,0.308
$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,18.9,186,-27.2,-10.000
$D_GRID,103
$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,-1.13,-63.1,0.0,0.0,0,47,0.00,0.00,-34.25,0.000,2,0.000,0.000,154,2287,2183,0,0,0,0,0,0
$GC,49,-1.16,-87.7,3.1,-7.4,8,109,11.95,2.62,-39.62,0.000,4,0.272,0.074,2811,711,3459,0,0,0,0,0,0
$GC,355,-1.16,-92.8,33.3,-9.5,79,361,0.00,2.58,-0.28,0.000,6,0.000,0.058,2801,2297,3482,0,0,0,0,0,0
$GC,395,-1.16,-92.8,37.2,-10.0,88,400,0.00,2.60,0.00,0.000,4,0.000,0.064,2802,705,3482,0,0,0,0,0,0
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,582,-0.31,0.0,60.2,13.3,130,660,0.98,0.00,73.35,0.621,6,0.187,0.000,3070,2090,3100,0,0,0,0,0,0
$STATE,662,end apogee,CONTROL_FINISHED_OK
$STATE,662,begin climb
$GC,663,1.16,92.8,63.7,0.0,149,747,1.45,2.83,73.95,0.597,4,0.106,0.073,3548,3672,2720,0,0,0,0,0,0
$GC,798,1.16,92.8,44.3,21.0,181,804,0.00,2.62,0.00,0.000,6,0.000,0.057,3560,2085,2719,0,0,1,0,0,0
$GC,837,1.16,92.8,36.6,18.6,190,842,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2084,2720,0,0,0,0,0,0
$GC,875,1.16,92.8,29.2,19.1,199,881,0.00,2.65,0.00,0.000,4,0.000,0.065,3572,493,2719,0,0,0,0,0,0
$GC,928,1.16,92.8,18.9,19.9,211,933,0.00,2.62,0.00,0.000,6,0.000,0.058,3572,2089,2719,0,0,1,0,0,0
$GC,967,1.16,92.8,11.7,17.8,220,971,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2088,2719,0,0,0,0,0,0
$GC,1005,1.16,92.8,7.4,10.6,229,1010,0.00,2.65,0.00,0.000,4,0.000,0.070,3572,3676,2719,0,0,0,0,0,0
$STATE,1052,end climb,SURFACE_DEPTH_REACHED
$STATE,1052,begin surface coast
$FINISH,5.4,1.020614
$STATE,1121,end surface coast,CONTROL_FINISHED_OK
$STATE,1121,begin surface
$SM_CCo,1123,394.90,0.549,0,0,429,654.94
$SM_GC,1.26,9.70,0.00,0.00,0.051,0.000,0.000,159,2293,424,-9.40,0.08,656.41
$IRIDIUM_FIX,4751.72,-12223.57,130399,161636
$TT8_MAMPS,0.052923
$HUMID,20.74
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.9,15.767
$10V_AH,10.5,4.544
$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,24.075,25.850,147.300,394.900,0.000,27.057,22.195,218.166,0.000,0.000,39.028,0.000,565.089,601.158,506.379,317.121,0.000,841.121,0.000,373.796,0.000,0.995,0.000
$DEVICE_MAMPS,272.285,73.632,621.270,549.172,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324652
$DATA_FILE_SIZE,6490,256
$CAP_FILE_SIZE,38104,0
$CFSIZE,260165632,255156224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,171209,175216,4808.012,-12223.134,11,3.7,30,18.3