version: 66.06
glider: 506
mission: 2
dive: 18
start: 12 15 109 11 42 44
data:
$ID,506
$MISSION,2
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,5
$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,105
$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,460
$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,-7612.4883
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3940
$C_PITCH,3162
$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,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,430
$VBD_MAX,3959
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,4
$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
$GPS1,113620,4808.057,-12223.215,11,1.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-72.6
$GPS2,114238,4808.155,-12223.316,29,1.7,29,18.3
$SPEED_LIMITS,0.104,0.252
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$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,135.6,6509,-7.2,-6.024
$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,-0.54,-215.0,0.0,0.0,0,60,0.00,0.00,-46.80,0.000,2,0.000,0.000,155,2231,2526,0,0,0,0,0,0
$GC,61,-0.54,-215.0,3.6,-5.9,11,109,12.25,2.65,-30.75,0.000,4,0.264,0.080,2970,3817,3897,0,0,0,0,0,0
$GC,121,-0.54,-215.0,8.8,-4.9,25,127,0.00,2.53,0.00,0.000,6,0.000,0.044,2970,2225,3897,0,0,0,0,0,0
$GC,160,-0.54,-215.0,12.0,-7.7,34,166,0.00,2.53,0.00,0.000,4,0.000,0.051,2970,653,3897,0,0,0,0,0,0
$GC,230,-0.54,-215.0,18.1,-8.9,50,236,0.00,2.58,0.00,0.000,6,0.000,0.052,2959,2232,3897,0,0,0,0,0,0
$GC,269,-0.54,-215.0,21.4,-8.4,59,275,0.00,2.67,0.00,0.000,4,0.000,0.071,2947,3822,3897,0,0,0,0,0,0
$GC,291,-0.54,-215.0,23.4,-8.8,64,297,0.10,2.53,0.00,0.000,6,0.129,0.043,2980,2235,3897,0,0,0,0,0,0
$GC,331,-0.54,-215.0,26.8,-8.6,73,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,365,-0.54,-215.0,29.5,-7.7,81,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,400,-0.54,-215.0,32.2,-8.0,89,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,434,-0.54,-215.0,34.9,-7.7,97,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,468,-0.54,-215.0,37.6,-8.0,105,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2235,3897,0,0,0,0,0,0
$GC,503,-0.54,-215.0,40.3,-7.8,113,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,537,-0.54,-215.0,43.0,-7.8,121,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,572,-0.54,-215.0,45.4,-7.3,129,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3897,0,0,0,0,0,0
$GC,607,-0.54,-215.0,48.1,-7.3,137,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2235,3896,0,0,0,0,0,0
$GC,641,-0.54,-215.0,50.7,-7.5,145,647,0.00,2.62,0.00,0.000,4,0.000,0.071,2970,3815,3897,0,0,0,0,0,0
$GC,658,-0.54,-215.0,52.0,-7.5,149,664,0.00,2.50,0.00,0.000,6,0.000,0.044,2971,2230,3897,0,0,0,0,0,0
$GC,698,-0.54,-215.0,55.1,-8.0,158,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2230,3897,0,0,0,0,0,0
$GC,732,-0.54,-215.0,57.9,-8.0,166,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2230,3896,0,0,0,0,0,0
$GC,770,-0.54,-215.0,60.8,-7.8,175,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2230,3897,0,0,0,0,0,0
$GC,805,-0.54,-215.0,63.4,-7.6,183,810,0.00,2.62,0.00,0.000,4,0.000,0.071,2960,3818,3897,0,0,0,0,0,0
$GC,831,-0.54,-215.0,65.4,-7.6,189,836,0.00,2.50,0.00,0.000,6,0.000,0.043,2960,2229,3897,0,0,0,0,0,0
$GC,870,-0.54,-215.0,68.7,-8.4,198,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3897,0,0,0,0,0,0
$GC,908,-0.54,-215.0,71.7,-8.0,207,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3897,0,0,0,0,0,0
$GC,942,-0.54,-215.0,74.4,-8.0,215,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3897,0,0,0,0,0,0
$GC,977,-0.54,-215.0,77.1,-7.9,223,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2229,3897,0,0,0,0,0,0
$GC,1011,-0.54,-215.0,79.7,-7.6,231,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2229,3896,0,0,0,0,0,0
$GC,1049,-0.54,-215.0,82.6,-7.5,240,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2229,3897,0,0,0,0,0,0
$GC,1083,-0.54,-215.0,85.0,-7.2,248,1092,0.00,2.65,0.00,0.000,4,0.000,0.071,2949,3819,3897,0,0,0,0,0,0
$GC,1104,-0.54,-215.0,86.5,-7.2,252,1110,0.10,2.50,0.00,0.000,6,0.123,0.044,2983,2225,3897,0,0,0,0,0,0
$GC,1143,-0.54,-215.0,89.1,-6.6,261,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2225,3896,0,0,0,0,0,0
$GC,1181,-0.54,-215.0,91.3,-6.1,270,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2225,3896,0,0,0,0,0,0
$GC,1216,-0.54,-215.0,93.4,-5.8,278,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2225,3897,0,0,0,0,0,0
$GC,1254,-0.54,-215.0,95.6,-5.8,287,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2225,3897,0,0,0,0,0,0
$GC,1292,-0.54,-215.0,97.8,-5.8,296,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2225,3896,0,0,0,0,0,0
$GC,1330,-0.54,-215.0,100.0,-5.8,305,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2226,3896,0,0,0,0,0,0
$GC,1372,-0.54,-215.0,102.6,-6.0,314,1378,0.00,2.62,0.00,0.000,4,0.000,0.076,2973,3834,3897,0,0,0,0,0,0
$STATE,1380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1385,-0.19,0.0,103.1,6.0,316,1555,0.35,0.00,165.73,0.643,6,0.117,0.000,3093,2184,3020,0,0,0,0,0,0
$STATE,1555,end apogee,CONTROL_FINISHED_OK
$STATE,1555,begin climb
$GC,1556,0.54,215.0,106.7,0.0,356,1735,0.70,2.65,169.80,0.609,4,0.094,0.053,3339,615,2142,0,0,0,0,0,0
$GC,1743,0.54,215.0,93.3,8.5,400,1749,0.00,2.67,0.00,0.000,6,0.000,0.048,3339,2195,2142,0,0,0,0,0,0
$GC,1782,0.54,215.0,89.5,9.7,409,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2194,2141,0,0,0,0,0,0
$GC,1817,0.54,215.0,86.0,9.9,417,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2195,2141,0,0,0,0,0,0
$GC,1854,0.54,215.0,82.2,10.1,426,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2195,2140,0,0,0,0,0,0
$GC,1889,0.54,215.0,78.7,9.9,434,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2195,2140,0,0,0,0,0,0
$GC,1923,0.54,215.0,75.4,9.9,442,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2195,2140,0,0,0,0,0,0
$GC,1958,0.54,215.0,72.0,10.1,450,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2195,2140,0,0,0,0,0,0
$GC,1996,0.54,215.0,68.0,10.1,459,2002,0.00,2.58,0.00,0.000,4,0.000,0.053,3351,611,2140,0,0,0,0,0,0
$GC,2018,0.54,215.0,65.8,10.0,464,2024,0.00,2.55,0.00,0.000,6,0.000,0.048,3351,2184,2139,0,0,0,0,0,0
$GC,2057,0.54,215.0,61.7,10.7,473,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2184,2139,0,0,0,0,0,0
$GC,2092,0.54,215.0,58.0,10.5,481,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2184,2140,0,0,0,0,0,0
$GC,2129,0.54,215.0,54.2,10.4,490,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2184,2140,0,0,0,0,0,0
$GC,2164,0.54,215.0,50.4,10.6,498,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2185,2140,0,0,0,0,0,0
$GC,2198,0.54,215.0,46.8,10.3,506,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2184,2140,0,0,0,0,0,0
$GC,2233,0.54,215.0,43.2,10.3,514,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2184,2139,0,0,0,0,0,0
$GC,2271,0.54,215.0,39.2,10.5,523,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2185,2139,0,0,0,0,0,0
$GC,2306,0.54,215.0,35.8,10.0,531,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2185,2140,0,0,0,0,0,0
$GC,2340,0.54,215.0,32.2,10.3,539,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2185,2140,0,0,0,0,0,0
$GC,2378,0.54,215.0,28.4,10.1,548,2384,0.00,2.50,0.00,0.000,4,0.000,0.051,3362,615,2140,0,0,0,0,0,0
$GC,2400,0.54,215.0,26.4,9.8,553,2406,0.00,2.53,0.00,0.000,6,0.000,0.048,3362,2197,2140,0,0,0,0,0,0
$GC,2439,0.54,215.0,22.1,10.6,562,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2197,2140,0,0,0,0,0,0
$GC,2474,0.54,215.0,18.7,10.2,570,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2197,2140,0,0,0,0,0,0
$GC,2511,0.54,215.0,14.8,10.3,579,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2197,2140,0,0,0,0,0,0
$GC,2546,0.54,215.0,11.1,10.2,587,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2197,2139,0,0,0,0,0,0
$GC,2580,0.54,215.0,8.0,9.7,595,2586,0.00,2.53,0.00,0.000,4,0.000,0.051,3374,611,2140,0,0,1,0,0,0
$STATE,2832,end climb,NO_VERTICAL_VELOCITY
$STATE,2832,begin surface
$SM_CCo,2833,264.52,0.544,5,0,430,635.32
$SM_GC,0.99,9.00,0.00,0.00,0.049,0.000,0.000,152,2227,423,-9.36,-0.08,637.03
$IRIDIUM_FIX,4751.72,-12223.57,110399,101040
$TT8_MAMPS,0.052923
$HUMID,20.70
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.40
$XPDR_PINGS,3
$24V_AH,24.1,6.849
$10V_AH,10.4,2.576
$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,22.500,56.800,335.525,264.525,0.000,29.149,34.667,227.865,2.500,0.000,32.639,0.000,1319.078,708.456,1220.323,352.829,0.000,1299.657,0.000,935.515,0.000,14.366,0.000
$DEVICE_MAMPS,263.848,79.768,642.746,543.803,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,22133,653
$CAP_FILE_SIZE,96363,0
$CFSIZE,260165632,257888256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,5,9
$GPS,151209,123725,4807.974,-12223.246,36,1.3,36,18.3