version: 66.06
glider: 506
mission: 2
dive: 22
start: 12 15 109 15 42 49
data:
$ID,506
$MISSION,2
$DIVE,22
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,-7726.708
$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,29
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$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
$GPS1,153654,4807.416,-12223.209,22,0.9,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-71.1
$GPS2,154243,4807.458,-12223.266,8,1.0,13,18.3
$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,130.1,5347,-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,11,-0.54,-215.0,0.0,0.0,0,64,0.00,0.00,-50.88,0.000,2,0.000,0.000,155,2227,2609,0,0,0,0,0,0
$GC,65,-0.54,-215.0,3.3,-4.9,12,109,12.50,2.58,-25.17,0.000,4,0.272,0.065,2981,637,3900,0,0,0,0,0,0
$GC,147,-0.54,-215.0,15.3,-9.3,31,153,0.00,2.60,0.00,0.000,6,0.000,0.052,2971,2226,3901,0,0,0,0,0,0
$GC,186,-0.54,-215.0,18.7,-9.2,40,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2226,3901,0,0,0,0,0,0
$GC,220,-0.54,-215.0,21.7,-8.8,48,226,0.00,2.67,0.00,0.000,4,0.000,0.071,2959,3810,3901,0,0,0,0,0,0
$GC,247,-0.54,-215.0,24.2,-8.9,54,253,0.00,2.55,0.00,0.000,6,0.000,0.044,2959,2214,3901,0,0,0,0,0,0
$GC,286,-0.54,-215.0,27.7,-9.1,63,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2213,3901,0,0,0,0,0,0
$GC,321,-0.54,-215.0,30.8,-8.9,71,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2213,3900,0,0,0,0,0,0
$GC,356,-0.54,-215.0,33.9,-8.8,79,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2214,3901,0,0,0,0,0,0
$GC,393,-0.54,-215.0,37.2,-8.7,88,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2213,3900,0,0,0,0,0,0
$GC,428,-0.54,-215.0,40.0,-8.4,96,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2213,3900,0,0,0,0,0,0
$GC,463,-0.54,-215.0,42.7,-8.0,104,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2214,3900,0,0,0,0,0,0
$GC,497,-0.54,-215.0,45.6,-8.1,112,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2214,3900,0,0,0,0,0,0
$GC,535,-0.54,-215.0,48.7,-8.1,121,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2213,3900,0,0,0,0,0,0
$GC,569,-0.54,-215.0,51.3,-7.8,129,575,0.00,2.70,0.00,0.000,4,0.000,0.072,2948,3818,3900,0,0,0,0,0,0
$GC,591,-0.54,-215.0,53.1,-8.0,134,597,0.10,2.55,0.00,0.000,6,0.123,0.044,2982,2203,3900,0,0,0,0,0,0
$GC,631,-0.54,-215.0,55.8,-6.9,143,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3900,0,0,0,0,0,0
$GC,669,-0.54,-215.0,58.0,-6.0,152,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3900,0,0,0,0,0,0
$GC,707,-0.54,-215.0,60.4,-6.2,161,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3900,0,0,0,0,0,0
$GC,741,-0.54,-215.0,62.5,-6.0,169,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3900,0,0,0,0,0,0
$GC,779,-0.54,-215.0,65.0,-6.4,178,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2203,3900,0,0,0,0,0,0
$GC,817,-0.54,-215.0,67.2,-5.9,187,823,0.00,2.65,0.00,0.000,4,0.000,0.071,2972,3819,3900,0,0,0,0,0,0
$GC,839,-0.54,-215.0,68.6,-6.1,192,845,0.00,2.53,0.00,0.000,6,0.000,0.044,2972,2209,3900,0,0,0,0,0,0
$GC,878,-0.54,-215.0,71.2,-6.8,201,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2208,3900,0,0,0,0,0,0
$GC,916,-0.54,-215.0,73.7,-6.7,210,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2208,3900,0,0,0,0,0,0
$GC,950,-0.54,-215.0,76.0,-6.7,218,956,0.00,2.65,0.00,0.000,4,0.000,0.071,2962,3812,3900,0,0,0,0,0,0
$GC,977,-0.54,-215.0,77.8,-6.9,224,982,0.00,2.53,0.00,0.000,6,0.000,0.044,2961,2203,3900,0,0,0,0,0,0
$GC,1016,-0.54,-215.0,80.6,-7.1,233,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2203,3900,0,0,0,0,0,0
$GC,1054,-0.54,-215.0,83.2,-6.8,242,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2202,3900,0,0,0,0,0,0
$GC,1088,-0.54,-215.0,85.6,-6.8,250,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2202,3900,0,0,0,0,0,0
$GC,1123,-0.54,-215.0,87.9,-7.1,258,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2203,3900,0,0,0,0,0,0
$GC,1162,-0.54,-215.0,90.5,-6.7,267,1167,0.00,2.65,0.00,0.000,4,0.000,0.072,2950,3822,3900,0,0,1,0,0,0
$GC,1187,-0.54,-215.0,92.5,-7.0,273,1194,0.10,2.50,0.00,0.000,6,0.122,0.044,2986,2220,3900,0,0,0,0,0,0
$GC,1227,-0.54,-215.0,94.9,-6.2,282,1238,0.00,2.45,0.00,0.000,4,0.000,0.050,2986,649,3900,0,0,0,0,0,0
$GC,1250,-0.54,-215.0,96.3,-5.8,286,1255,0.00,2.50,0.00,0.000,6,0.000,0.051,2985,2219,3900,0,0,0,0,0,0
$GC,1289,-0.54,-215.0,98.6,-5.8,295,1294,0.00,2.60,0.00,0.000,4,0.000,0.067,2973,3822,3900,0,0,0,0,0,0
$GC,1319,-0.54,-215.0,100.4,-5.9,302,1325,0.00,2.45,0.00,0.000,6,0.000,0.041,2974,2221,3900,0,0,0,0,0,0
$GC,1359,-0.54,-215.0,102.7,-5.9,311,1364,0.00,2.42,0.00,0.000,4,0.000,0.047,2973,643,3900,0,0,0,0,0,0
$GC,1376,-0.54,-215.0,103.7,-5.7,315,1382,0.00,2.53,0.00,0.000,6,0.000,0.048,2970,2236,3900,0,0,0,0,0,0
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1402,-0.19,0.0,105.0,5.9,320,1572,0.38,0.00,166.27,0.641,6,0.124,0.000,3098,2236,3019,0,0,0,0,0,0
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1573,begin climb
$GC,1574,0.54,215.0,107.7,0.0,360,1752,0.70,2.72,169.65,0.607,4,0.091,0.048,3344,622,2141,0,0,1,0,0,0
$GC,1769,0.54,215.0,90.7,10.6,406,1775,0.00,2.62,0.00,0.000,6,0.000,0.044,3345,2193,2140,0,0,0,0,0,0
$GC,1808,0.54,215.0,86.3,11.3,415,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,1846,0.54,215.0,82.0,11.4,424,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,1880,0.54,215.0,78.2,10.9,432,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,1915,0.54,215.0,74.3,11.4,440,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2192,2140,0,0,0,0,0,0
$GC,1953,0.54,215.0,70.1,11.2,449,1959,0.00,2.58,0.00,0.000,4,0.000,0.048,3356,616,2140,0,0,0,0,0,0
$GC,1970,0.54,215.0,68.2,11.0,453,1976,0.00,2.53,0.00,0.000,6,0.000,0.044,3356,2180,2140,0,0,0,0,0,0
$GC,2010,0.54,215.0,63.7,11.5,462,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2180,2139,0,0,0,0,0,0
$GC,2048,0.54,215.0,59.3,11.3,471,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2179,2140,0,0,0,0,0,0
$GC,2082,0.54,215.0,55.5,11.1,479,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2180,2140,0,0,0,0,0,0
$GC,2117,0.54,215.0,51.8,10.9,487,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2180,2140,0,0,0,0,0,0
$GC,2152,0.54,215.0,48.0,10.9,495,2157,0.00,2.47,0.00,0.000,4,0.000,0.048,3368,613,2140,0,0,1,0,0,0
$GC,2173,0.54,215.0,45.8,10.6,500,2179,0.08,2.47,0.00,0.000,6,0.135,0.044,3342,2163,2140,0,0,0,0,0,0
$GC,2213,0.54,215.0,41.8,10.3,509,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2140,0,0,0,0,0,0
$GC,2251,0.54,215.0,38.1,9.6,518,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2140,0,0,0,0,0,0
$GC,2285,0.54,215.0,35.0,9.2,526,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2140,0,0,0,0,0,0
$GC,2323,0.54,215.0,31.4,9.4,535,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2139,0,0,0,0,0,0
$GC,2358,0.54,215.0,28.6,8.6,543,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2139,0,0,0,0,0,0
$GC,2392,0.54,215.0,25.6,8.4,551,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2139,0,0,0,0,0,0
$GC,2427,0.54,215.0,22.9,8.2,559,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2140,0,0,0,0,0,0
$GC,2464,0.54,215.0,20.0,7.9,568,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2140,0,0,0,0,0,0
$GC,2499,0.54,215.0,17.2,7.7,576,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2140,0,0,0,0,0,0
$GC,2534,0.54,215.0,14.4,8.2,584,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2139,0,0,0,0,0,0
$GC,2572,0.54,215.0,11.3,8.3,593,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2163,2139,0,0,0,0,0,0
$GC,2606,0.61,272.7,9.9,4.9,601,2654,0.00,0.00,44.83,0.570,6,0.000,0.000,3342,2163,1908,0,0,0,0,0,0
$GC,2688,0.94,543.2,8.0,0.8,620,2766,0.35,0.00,75.07,0.558,2,0.081,0.000,3467,2163,1517,0,0,0,0,0,0
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,0.1,1.018570
$STATE,2834,end surface coast,CONTROL_FINISHED_OK
$STATE,2834,begin surface
$SM_CCo,2847,52.72,0.411,1,0,1144,460.18
$SM_GC,0.95,0.00,0.00,52.72,0.000,0.000,0.411,150,2230,1144,-9.41,0.03,460.18
$IRIDIUM_FIX,4748.51,-12221.84,110399,141400
$TT8_MAMPS,0.052923
$HUMID,20.58
$INTERNAL_PRESSURE,9.34319
$TCM_TEMP,19.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,105.0,17.7
$24V_AH,24.1,7.290
$10V_AH,10.3,2.708
$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,23.275,61.600,455.825,52.725,0.000,30.589,23.903,225.704,3.500,0.000,14.989,0.000,1122.509,569.321,1211.254,345.143,0.000,1191.522,0.000,937.058,0.000,24.486,0.000
$DEVICE_MAMPS,271.518,109.681,641.212,411.112,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,22124,654
$CAP_FILE_SIZE,99584,0
$CFSIZE,260165632,257720320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,151209,163143,4807.116,-12222.994,6,1.2,12,18.3