version: 66.06
glider: 506
mission: 2
dive: 19
start: 12 15 109 12 43 32
data:
$ID,506
$MISSION,2
$DIVE,19
$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,-7627.8501
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,123725,4807.974,-12223.246,36,1.3,36,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.4
$GPS2,124326,4808.054,-12223.319,12,1.1,12,18.3
$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,134.8,6342,-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,-215.0,0.0,0.0,0,85,0.00,0.00,-71.60,0.000,2,0.000,0.000,149,2229,2501,0,0,0,0,0,0
$GC,86,-0.54,-215.0,3.2,-4.8,17,135,12.40,2.55,-30.65,0.000,4,0.268,0.063,2980,647,3897,0,0,0,0,0,0
$GC,160,-0.54,-215.0,10.2,-5.9,34,165,0.00,2.55,0.00,0.000,6,0.000,0.050,2971,2234,3897,0,0,0,0,0,0
$GC,198,-0.54,-215.0,13.2,-7.6,43,204,0.00,2.67,0.00,0.000,4,0.000,0.070,2959,3815,3897,0,0,0,0,0,0
$GC,229,-0.54,-215.0,15.8,-8.1,50,235,0.00,2.53,0.00,0.000,6,0.000,0.044,2959,2236,3897,0,0,0,0,0,0
$GC,268,-0.54,-215.0,19.0,-8.2,59,269,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,303,-0.54,-215.0,22.0,-8.4,67,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,338,-0.54,-215.0,25.0,-8.9,75,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,372,-0.54,-215.0,28.1,-8.9,83,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,406,-0.54,-215.0,31.2,-8.7,91,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,441,-0.54,-215.0,34.1,-8.9,99,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,476,-0.54,-215.0,37.1,-8.5,107,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,510,-0.54,-215.0,40.1,-8.6,115,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2236,3897,0,0,0,0,0,0
$GC,545,-0.54,-215.0,43.1,-8.7,123,551,0.00,2.65,0.00,0.000,4,0.000,0.072,2948,3807,3897,0,0,0,0,0,0
$GC,567,-0.54,-215.0,45.1,-8.8,128,573,0.10,2.50,0.00,0.000,6,0.123,0.044,2982,2224,3897,0,0,0,0,0,0
$GC,606,-0.54,-215.0,47.9,-7.5,137,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,641,-0.54,-215.0,50.2,-6.8,145,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,675,-0.54,-215.0,52.6,-6.8,153,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,709,-0.54,-215.0,54.8,-6.7,161,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,744,-0.54,-215.0,57.3,-7.1,169,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,778,-0.54,-215.0,59.8,-7.1,177,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,816,-0.54,-215.0,62.4,-7.0,186,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2224,3897,0,0,0,0,0,0
$GC,851,-0.54,-215.0,64.9,-7.3,194,857,0.00,2.62,0.00,0.000,4,0.000,0.072,2972,3807,3897,0,0,0,0,0,0
$GC,873,-0.54,-215.0,66.5,-7.0,199,879,0.00,2.47,0.00,0.000,6,0.000,0.045,2972,2231,3897,0,0,0,0,0,0
$GC,912,-0.54,-215.0,69.3,-7.3,208,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2231,3897,0,0,0,0,0,0
$GC,950,-0.54,-215.0,72.1,-7.3,217,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2231,3897,0,0,0,0,0,0
$GC,984,-0.54,-215.0,74.4,-6.8,225,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2232,3897,0,0,0,0,0,0
$GC,1019,-0.54,-215.0,76.7,-6.9,233,1025,0.00,2.62,0.00,0.000,4,0.000,0.072,2961,3815,3897,0,0,0,0,0,0
$GC,1041,-0.54,-215.0,78.3,-6.7,238,1047,0.00,2.47,0.00,0.000,6,0.000,0.044,2961,2235,3897,0,0,0,0,0,0
$GC,1080,-0.54,-215.0,81.0,-7.0,247,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$GC,1115,-0.54,-215.0,83.6,-7.1,255,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$GC,1149,-0.54,-215.0,85.9,-7.1,263,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2235,3897,0,0,0,0,0,0
$GC,1187,-0.54,-215.0,88.5,-6.8,272,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3897,0,0,0,0,0,0
$GC,1222,-0.54,-215.0,91.1,-7.3,280,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$GC,1256,-0.54,-215.0,93.6,-7.3,288,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$GC,1291,-0.54,-215.0,96.0,-7.2,296,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$GC,1329,-0.54,-215.0,98.8,-7.2,305,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$GC,1363,-0.54,-215.0,101.3,-7.3,313,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2235,3897,0,0,0,0,0,0
$STATE,1389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1389,begin apogee
$GC,1391,-0.19,0.0,103.1,7.2,319,1561,0.40,0.00,165.73,0.643,6,0.121,0.000,3096,2234,3020,0,0,0,0,0,0
$STATE,1561,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1563,0.54,215.0,106.4,0.0,359,1741,0.70,2.75,169.82,0.609,4,0.091,0.053,3342,612,2142,0,0,0,0,0,0
$GC,1771,0.54,215.0,89.6,9.9,408,1777,0.00,2.65,0.00,0.000,6,0.000,0.049,3342,2184,2140,0,0,0,0,0,0
$GC,1810,0.54,215.0,85.5,10.7,417,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2185,2140,0,0,0,0,0,0
$GC,1844,0.54,215.0,82.0,10.2,425,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2185,2140,0,0,0,0,0,0
$GC,1879,0.54,215.0,78.6,10.0,433,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2184,2139,0,0,0,0,0,0
$GC,1917,0.54,215.0,74.9,10.0,442,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2184,2139,0,0,0,0,0,0
$GC,1951,0.54,215.0,71.4,9.9,450,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2185,2139,0,0,0,0,0,0
$GC,1986,0.54,215.0,67.8,10.2,458,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2185,2139,0,0,0,0,0,0
$GC,2021,0.54,215.0,64.2,10.3,466,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2184,2139,0,0,0,0,0,0
$GC,2058,0.54,215.0,60.4,10.2,475,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2185,2139,0,0,0,0,0,0
$GC,2093,0.54,215.0,57.0,9.9,483,2099,0.00,2.55,0.00,0.000,4,0.000,0.053,3354,613,2139,0,0,1,0,0,0
$GC,2111,0.54,215.0,55.3,9.8,487,2116,0.00,2.55,0.00,0.000,6,0.000,0.048,3354,2207,2139,0,0,0,0,0,0
$GC,2150,0.54,215.0,51.1,10.2,496,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2208,2139,0,0,0,0,0,0
$GC,2188,0.54,215.0,47.2,10.3,505,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2208,2139,0,0,0,0,0,0
$GC,2222,0.54,215.0,43.8,10.2,513,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2208,2139,0,0,0,0,0,0
$GC,2257,0.54,215.0,40.5,9.5,521,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2207,2139,0,0,0,0,0,0
$GC,2291,0.54,215.0,37.1,9.9,529,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2207,2139,0,0,0,0,0,0
$GC,2329,0.54,215.0,33.4,9.8,538,2335,0.00,2.55,0.00,0.000,4,0.000,0.053,3366,612,2139,0,0,0,0,0,0
$GC,2346,0.54,215.0,31.6,10.0,542,2352,0.00,2.53,0.00,0.000,6,0.000,0.047,3366,2196,2139,0,0,0,0,0,0
$GC,2386,0.54,215.0,27.5,10.6,551,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2196,2139,0,0,0,0,0,0
$GC,2420,0.54,215.0,23.9,10.5,559,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2196,2139,0,0,0,0,0,0
$GC,2458,0.54,215.0,19.8,10.4,568,2464,0.00,2.53,0.00,0.000,4,0.000,0.052,3377,614,2139,0,0,1,0,0,0
$GC,2475,0.54,215.0,17.9,10.4,572,2482,0.10,2.53,0.00,0.000,6,0.133,0.048,3343,2194,2139,0,0,0,0,0,0
$GC,2515,0.54,215.0,14.1,10.0,581,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2194,2139,0,0,0,0,0,0
$GC,2553,0.54,215.0,10.7,9.1,590,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2194,2139,0,0,0,0,0,0
$GC,2587,0.54,215.0,7.9,8.3,598,2593,0.00,2.53,0.00,0.000,4,0.000,0.051,3353,614,2139,0,0,0,0,0,0
$STATE,2774,end climb,NO_VERTICAL_VELOCITY
$STATE,2774,begin surface
$SM_CCo,2775,282.27,0.532,10,0,430,635.32
$SM_GC,1.02,8.88,0.00,0.00,0.046,0.000,0.000,153,2232,424,-9.34,0.06,637.03
$IRIDIUM_FIX,4754.94,-11842.56,110399,111127
$TT8_MAMPS,0.052156
$HUMID,20.78
$INTERNAL_PRESSURE,9.24553
$TCM_TEMP,19.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.1,31.5
$24V_AH,24.1,6.968
$10V_AH,10.4,2.609
$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,22.575,51.525,335.550,282.275,0.000,31.190,23.613,238.067,1.500,0.000,14.732,0.000,1284.034,751.603,1179.108,354.441,0.000,1331.121,0.000,918.586,0.000,8.554,0.000
$DEVICE_MAMPS,268.450,72.098,642.746,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,19027,641
$CAP_FILE_SIZE,94664,0
$CFSIZE,260165632,257851392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,10,0
$GPS,151209,133732,4807.820,-12223.254,10,1.7,10,18.3