version: 66.06
glider: 506
mission: 2
dive: 20
start: 12 15 109 13 44 26
data:
$ID,506
$MISSION,2
$DIVE,20
$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,-7697.1191
$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,35
$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
$GPS1,133732,4807.820,-12223.254,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-69.6
$GPS2,134420,4807.907,-12223.375,65,1.6,65,18.3
$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,133.1,6134,-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,-215.0,0.0,0.0,0,89,0.00,0.00,-75.55,0.000,2,0.000,0.000,152,2233,2600,0,0,0,0,0,0
$GC,91,-0.54,-215.0,3.3,-4.9,18,139,12.32,2.60,-27.67,0.000,4,0.269,0.064,2982,638,3899,0,0,0,0,0,0
$GC,151,-0.54,-215.0,9.8,-5.6,32,156,0.00,2.58,0.00,0.000,6,0.000,0.051,2972,2237,3900,0,0,0,0,0,0
$GC,190,-0.54,-215.0,12.6,-7.2,41,195,0.00,2.67,0.00,0.000,4,0.000,0.071,2960,3819,3900,0,0,0,0,0,0
$GC,233,-0.54,-215.0,16.4,-8.6,51,239,0.00,2.53,0.00,0.000,6,0.000,0.044,2960,2236,3900,0,0,0,0,0,0
$GC,272,-0.54,-215.0,19.7,-8.6,60,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2236,3899,0,0,0,0,0,0
$GC,307,-0.54,-215.0,22.7,-8.5,68,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,342,-0.54,-215.0,25.8,-8.9,76,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3899,0,0,0,0,0,0
$GC,376,-0.54,-215.0,28.9,-9.0,84,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,410,-0.54,-215.0,32.0,-8.9,92,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,445,-0.54,-215.0,35.0,-8.8,100,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,480,-0.54,-215.0,38.0,-8.7,108,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,518,-0.54,-215.0,41.4,-8.8,117,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,552,-0.54,-215.0,44.3,-8.8,125,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2236,3899,0,0,0,0,0,0
$GC,587,-0.54,-215.0,47.3,-8.6,133,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3900,0,0,0,0,0,0
$GC,622,-0.54,-215.0,50.3,-8.5,141,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3899,0,0,0,0,0,0
$GC,656,-0.54,-215.0,53.2,-8.6,149,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2236,3900,0,0,0,0,0,0
$GC,690,-0.54,-215.0,55.9,-8.0,157,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2235,3899,0,0,0,0,0,0
$GC,725,-0.54,-215.0,58.7,-8.2,165,731,0.00,2.62,0.00,0.000,4,0.000,0.071,2949,3807,3900,0,0,0,0,0,0
$GC,751,-0.54,-215.0,61.0,-8.3,171,757,0.10,2.47,0.00,0.000,6,0.126,0.044,2983,2231,3899,0,0,0,0,0,0
$GC,791,-0.54,-215.0,63.9,-7.6,180,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2230,3900,0,0,0,0,0,0
$GC,825,-0.54,-215.0,66.2,-7.0,188,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2230,3899,0,0,0,0,0,0
$GC,859,-0.54,-215.0,68.5,-6.7,196,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2230,3899,0,0,0,0,0,0
$GC,894,-0.54,-215.0,70.9,-6.7,204,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2231,3899,0,0,0,0,0,0
$GC,932,-0.54,-215.0,73.6,-7.2,213,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2230,3899,0,0,0,0,0,0
$GC,966,-0.54,-215.0,75.9,-6.8,221,972,0.00,2.62,0.00,0.000,4,0.000,0.071,2973,3808,3900,0,0,0,0,0,0
$GC,1001,-0.54,-215.0,78.4,-7.0,229,1007,0.00,2.47,0.00,0.000,6,0.000,0.046,2973,2234,3899,0,0,0,0,0,0
$GC,1040,-0.54,-215.0,81.2,-7.1,238,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2234,3899,0,0,0,0,0,0
$GC,1078,-0.54,-215.0,83.8,-6.9,247,1084,0.00,2.50,0.00,0.000,4,0.000,0.051,2973,642,3899,0,0,0,0,0,0
$GC,1104,-0.54,-215.0,85.8,-7.3,253,1110,0.00,2.55,0.00,0.000,6,0.000,0.053,2964,2234,3900,0,0,0,0,0,0
$GC,1144,-0.54,-215.0,88.8,-7.7,262,1149,0.00,2.60,0.00,0.000,4,0.000,0.071,2952,3817,3899,0,0,0,0,0,0
$GC,1170,-0.54,-215.0,90.8,-7.7,268,1176,0.08,2.47,0.00,0.000,6,0.125,0.044,2979,2236,3900,0,0,0,0,0,0
$GC,1210,-0.54,-215.0,93.7,-7.0,277,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2235,3899,0,0,0,0,0,0
$GC,1244,-0.54,-215.0,95.9,-6.7,285,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2235,3899,0,0,0,0,0,0
$GC,1282,-0.54,-215.0,98.3,-6.4,294,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2235,3899,0,0,0,0,0,0
$GC,1317,-0.54,-215.0,100.4,-6.3,302,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2235,3899,0,0,0,0,0,0
$GC,1351,-0.54,-215.0,102.4,-6.1,310,1357,0.00,2.62,0.00,0.000,4,0.000,0.072,2970,3813,3899,0,0,0,0,0,0
$GC,1369,-0.54,-215.0,103.6,-5.9,314,1374,0.00,2.47,0.00,0.000,6,0.000,0.046,2970,2237,3899,0,0,0,0,0,0
$STATE,1394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1394,begin apogee
$GC,1397,-0.19,0.0,105.2,6.2,320,1567,0.38,0.00,165.68,0.644,6,0.121,0.000,3099,2194,3020,0,0,0,0,0,0
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1568,0.54,215.0,108.0,0.0,360,1747,0.70,2.67,169.48,0.610,4,0.091,0.054,3344,605,2143,0,0,0,0,0,0
$GC,1793,0.54,215.0,88.9,10.1,413,1799,0.00,2.65,0.00,0.000,6,0.000,0.049,3343,2191,2141,0,0,0,0,0,0
$GC,1833,0.54,215.0,84.9,10.4,422,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2192,2140,0,0,0,0,0,0
$GC,1870,0.54,215.0,80.9,10.5,431,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2192,2140,0,0,0,0,0,0
$GC,1905,0.54,215.0,77.4,10.1,439,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,1939,0.54,215.0,73.9,10.1,447,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2191,2140,0,0,0,0,0,0
$GC,1974,0.54,215.0,70.5,9.9,455,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2191,2140,0,0,0,0,0,0
$GC,2012,0.54,215.0,66.7,10.1,464,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2192,2140,0,0,0,0,0,0
$GC,2050,0.54,215.0,63.0,9.9,473,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,2085,0.54,215.0,59.7,9.5,481,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,2120,0.54,215.0,56.3,9.6,489,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,2157,0.54,215.0,52.7,9.5,498,2163,0.00,2.58,0.00,0.000,4,0.000,0.053,3355,601,2140,0,0,0,0,0,0
$GC,2175,0.54,215.0,51.2,9.3,502,2181,0.00,2.55,0.00,0.000,6,0.000,0.048,3355,2186,2140,0,0,0,0,0,0
$GC,2214,0.54,215.0,47.1,10.3,511,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2186,2140,0,0,0,0,0,0
$GC,2249,0.54,215.0,43.7,9.6,519,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2186,2140,0,0,0,0,0,0
$GC,2287,0.54,215.0,40.0,9.7,528,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2186,2140,0,0,0,0,0,0
$GC,2321,0.54,215.0,36.7,9.8,536,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2186,2140,0,0,0,0,0,0
$GC,2355,0.54,215.0,33.2,10.0,544,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2186,2140,0,0,0,0,0,0
$GC,2390,0.54,215.0,29.9,10.0,552,2396,0.00,2.53,0.00,0.000,4,0.000,0.052,3367,593,2140,0,0,1,0,0,0
$GC,2412,0.54,215.0,27.5,10.1,557,2418,0.08,2.55,0.00,0.000,6,0.130,0.049,3341,2186,2140,0,0,0,0,0,0
$GC,2451,0.54,215.0,23.7,9.9,566,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2186,2140,0,0,0,0,0,0
$GC,2486,0.54,215.0,20.6,9.1,574,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2186,2140,0,0,0,0,0,0
$GC,2524,0.54,215.0,17.1,8.9,583,2529,0.00,2.53,0.00,0.000,4,0.000,0.051,3351,600,2140,0,0,0,0,0,0
$GC,2541,0.54,215.0,15.6,8.8,587,2547,0.00,2.53,0.00,0.000,6,0.000,0.048,3351,2190,2140,0,0,0,0,0,0
$GC,2580,0.54,215.0,11.8,9.5,596,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2190,2140,0,0,0,0,0,0
$GC,2615,0.54,215.0,8.7,9.1,604,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2190,2140,0,0,0,0,0,0
$GC,2653,0.54,215.0,6.5,6.5,613,2659,0.00,2.55,0.00,0.000,4,0.000,0.051,3359,600,2140,0,0,0,0,0,0
$STATE,2831,end climb,NO_VERTICAL_VELOCITY
$STATE,2831,begin surface
$SM_CCo,2832,271.25,0.534,9,0,430,635.32
$SM_GC,1.02,8.93,0.00,0.00,0.048,0.000,0.000,155,2228,423,-9.34,-0.06,637.03
$IRIDIUM_FIX,4751.72,-12219.12,110399,121224
$TT8_MAMPS,0.05369
$HUMID,21.09
$INTERNAL_PRESSURE,9.2553
$TCM_TEMP,19.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,95.1,29.3
$24V_AH,24.1,7.085
$10V_AH,10.4,2.644
$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,22.575,61.725,335.150,271.250,0.000,27.656,29.118,229.365,2.750,0.000,68.639,0.000,1292.182,753.278,1261.292,349.138,0.000,1347.205,0.000,936.987,0.000,18.668,0.000
$DEVICE_MAMPS,269.217,154.167,644.280,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,22161,654
$CAP_FILE_SIZE,97961,0
$CFSIZE,260165632,257806336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,13
$GPS,151209,143908,4807.657,-12223.308,12,1.5,12,18.3