version: 66.06
glider: 506
mission: 2
dive: 118
start: 12 17 109 10 15 20
data:
$ID,506
$MISSION,2
$DIVE,118
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,5
$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,83
$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,-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,480
$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,-8956.4551
$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,50
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$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,3060
$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,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,2
$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
$GPS1,101004,4808.180,-12223.973,10,2.3,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.9
$GPS2,101514,4808.190,-12223.966,10,1.6,10,18.3
$SPEED_LIMITS,0.104,0.252
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$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,133.3,2508,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.54,-215.0,0.0,0.0,0,69,0.00,0.00,-54.80,0.000,2,0.000,0.000,158,2236,2712,0,0,0,0,0,0
$GC,70,-0.54,-215.0,3.1,-4.2,13,114,13.30,2.78,-25.95,0.000,4,0.283,0.086,2985,3866,3938,0,0,0,0,0,0
$GC,244,-0.54,-215.0,21.6,-8.1,53,249,0.00,2.70,0.00,0.000,6,0.000,0.061,2985,2235,3940,0,0,0,0,0,0
$GC,283,-0.54,-215.0,24.7,-7.9,62,288,0.00,2.92,0.00,0.000,4,0.000,0.068,2985,467,3940,0,0,0,0,0,0
$GC,313,-0.54,-215.0,27.1,-7.9,69,319,0.10,2.85,0.00,0.000,6,0.163,0.057,2999,2223,3940,0,0,1,0,0,0
$GC,353,-0.54,-215.0,30.0,-7.1,78,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2223,3939,0,0,0,0,0,0
$GC,391,-0.54,-215.0,32.3,-6.4,87,397,0.00,2.75,0.00,0.000,4,0.000,0.074,2993,3870,3939,0,0,0,0,0,0
$GC,413,-0.54,-215.0,33.8,-6.3,92,419,0.00,2.67,0.00,0.000,6,0.000,0.048,2993,2208,3939,0,0,0,0,0,0
$GC,453,-0.54,-215.0,36.4,-6.7,101,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2208,3939,0,0,0,0,0,0
$GC,491,-0.54,-215.0,38.9,-6.6,110,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2208,3939,0,0,0,0,0,0
$GC,528,-0.54,-215.0,41.4,-6.7,119,534,0.00,2.78,0.00,0.000,4,0.000,0.074,2982,3873,3939,0,0,0,0,0,0
$GC,555,-0.54,-215.0,43.4,-7.0,125,560,0.00,2.67,0.00,0.000,6,0.000,0.054,2982,2201,3939,0,0,0,0,0,0
$GC,594,-0.54,-215.0,46.1,-6.8,134,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,632,-0.54,-215.0,48.5,-6.7,143,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,3939,0,0,0,0,0,0
$GC,670,-0.54,-215.0,51.0,-6.5,152,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2200,3939,0,0,0,0,0,0
$GC,708,-0.54,-215.0,53.6,-6.7,161,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,746,-0.54,-215.0,56.2,-6.8,170,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,784,-0.54,-215.0,58.9,-7.0,179,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,822,-0.54,-215.0,61.4,-6.7,188,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3938,0,0,0,0,0,0
$GC,860,-0.54,-215.0,64.0,-7.1,197,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,898,-0.54,-215.0,66.7,-6.8,206,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,936,-0.54,-215.0,69.2,-6.6,215,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3938,0,0,0,0,0,0
$GC,974,-0.54,-215.0,71.7,-6.8,224,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2201,3939,0,0,0,0,0,0
$GC,1012,-0.54,-215.0,74.2,-6.5,233,1018,0.00,2.78,0.00,0.000,4,0.000,0.077,2972,3872,3939,0,0,0,0,0,0
$GC,1034,-0.54,-215.0,75.7,-6.6,238,1040,0.12,2.67,0.00,0.000,6,0.131,0.058,3008,2215,3939,0,0,0,0,0,0
$GC,1074,-0.54,-215.0,78.1,-6.0,247,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2215,3939,0,0,0,0,0,0
$GC,1115,-0.54,-215.0,80.0,-5.2,256,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2215,3939,0,0,0,0,0,0
$GC,1153,-0.54,-215.0,82.2,-5.4,265,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2215,3939,0,0,0,0,0,0
$GC,1191,-0.54,-215.0,84.4,-5.4,274,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2215,3939,0,0,0,0,0,0
$GC,1229,-0.54,-215.0,86.3,-5.0,283,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2215,3939,0,0,0,0,0,0
$GC,1268,-0.54,-215.0,88.3,-5.3,292,1273,0.00,2.75,0.00,0.000,4,0.000,0.077,2998,3873,3939,0,0,0,0,0,0
$GC,1294,-0.54,-215.0,89.9,-5.4,298,1304,0.00,2.67,0.00,0.000,6,0.000,0.061,2998,2214,3939,0,0,0,0,0,0
$GC,1338,-0.54,-215.0,92.3,-5.6,307,1344,0.00,2.83,0.00,0.000,4,0.000,0.066,2998,463,3939,0,0,0,0,0,0
$GC,1360,-0.54,-215.0,93.6,-5.5,312,1366,0.00,2.80,0.00,0.000,6,0.000,0.056,2998,2226,3939,0,0,1,0,0,0
$GC,1400,-0.54,-215.0,95.8,-5.7,321,1405,0.00,2.70,0.00,0.000,4,0.000,0.074,2998,3873,3939,0,0,0,0,0,0
$GC,1434,-0.54,-215.0,97.7,-5.4,329,1440,0.00,2.60,0.00,0.000,6,0.000,0.054,2998,2218,3939,0,0,0,0,0,0
$GC,1474,-0.54,-215.0,99.8,-5.2,338,1479,0.00,2.80,0.00,0.000,4,0.000,0.064,2998,476,3939,0,0,0,0,0,0
$GC,1500,-0.54,-215.0,101.3,-5.3,344,1506,0.00,2.75,0.00,0.000,6,0.000,0.054,2997,2211,3939,0,0,0,0,0,0
$STATE,1534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1534,begin apogee
$GC,1537,-0.19,0.0,103.1,5.5,352,1712,0.32,0.00,168.00,0.638,6,0.116,0.000,3111,2210,3059,0,0,0,0,0,0
$STATE,1712,end apogee,CONTROL_FINISHED_OK
$STATE,1713,begin climb
$GC,1714,0.54,215.0,106.6,0.0,393,1892,0.70,3.12,170.95,0.606,4,0.083,0.065,3363,440,2182,0,0,0,0,0,0
$GC,1948,0.54,215.0,85.0,10.9,448,1954,0.00,2.95,0.00,0.000,6,0.000,0.056,3363,2189,2181,0,0,1,0,0,0
$GC,1988,0.54,215.0,80.5,11.7,457,1993,0.00,2.88,0.00,0.000,4,0.000,0.070,3362,3869,2181,0,0,0,0,0,0
$GC,2005,0.54,215.0,78.4,11.6,461,2011,0.00,2.72,0.00,0.000,6,0.000,0.044,3375,2196,2181,0,0,0,0,0,0
$GC,2044,0.54,215.0,73.6,12.3,470,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2195,2181,0,0,0,0,0,0
$GC,2083,0.54,215.0,69.0,12.0,479,2088,0.00,2.95,0.00,0.000,4,0.000,0.064,3388,434,2181,0,0,0,0,0,0
$GC,2118,0.54,215.0,64.6,12.4,487,2124,0.12,2.85,0.00,0.000,6,0.158,0.051,3357,2192,2181,0,0,1,0,0,0
$GC,2157,0.54,215.0,60.0,11.7,496,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2192,2181,0,0,0,0,0,0
$GC,2196,0.54,215.0,55.8,10.7,505,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2192,2181,0,0,0,0,0,0
$GC,2234,0.54,215.0,51.9,10.7,514,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2192,2181,0,0,0,0,0,0
$GC,2272,0.54,215.0,47.8,10.7,523,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2192,2181,0,0,0,0,0,0
$GC,2310,0.54,215.0,43.8,10.4,532,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2191,2181,0,0,0,0,0,0
$GC,2348,0.54,215.0,39.8,10.7,541,2353,0.00,2.78,0.00,0.000,4,0.000,0.070,3357,3866,2180,0,0,0,0,0,0
$GC,2369,0.54,215.0,37.1,11.0,546,2375,0.00,2.67,0.00,0.000,6,0.000,0.049,3368,2179,2181,0,0,0,0,0,0
$GC,2409,0.54,215.0,32.7,11.4,555,2414,0.00,2.85,0.00,0.000,4,0.000,0.064,3381,441,2181,0,0,0,0,0,0
$GC,2431,0.54,215.0,30.2,10.9,560,2436,0.00,2.75,0.00,0.000,6,0.000,0.051,3381,2162,2181,0,0,1,0,0,0
$GC,2470,0.54,215.0,25.6,11.9,569,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2162,2181,0,0,0,0,0,0
$GC,2508,0.54,215.0,21.2,11.7,578,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2162,2181,0,0,0,0,0,0
$GC,2546,0.54,215.0,16.9,11.3,587,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2162,2181,0,0,0,0,0,0
$GC,2584,0.54,215.0,12.7,11.0,596,2590,0.00,2.83,0.00,0.000,4,0.000,0.065,3393,441,2181,0,0,0,0,0,0
$GC,2606,0.54,215.0,10.1,11.3,601,2612,0.15,2.78,0.00,0.000,6,0.142,0.051,3352,2167,2181,0,0,0,0,0,0
$GC,2645,0.54,215.0,7.7,7.3,610,2651,0.00,2.78,0.00,0.000,4,0.000,0.071,3351,3867,2181,0,0,0,0,0,0
$GC,2746,0.78,413.1,5.1,2.2,633,2808,0.20,2.58,56.50,0.565,2,0.070,0.044,3454,2217,1887,0,0,0,0,0,0
$STATE,2809,end climb,SURFACE_DEPTH_REACHED
$STATE,2809,begin surface coast
$FINISH,1.7,1.017981
$STATE,3020,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3020,begin surface
$SM_CCo,3033,113.12,0.071,0,0,1103,480.04
$SM_GC,1.17,0.00,0.00,113.12,0.000,0.000,0.071,156,2218,1103,-9.45,-0.34,480.04
$IRIDIUM_FIX,4751.72,-12221.84,130399,090913
$TT8_MAMPS,0.052156
$HUMID,21.21
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.0,28.3
$24V_AH,23.8,15.012
$10V_AH,10.4,4.295
$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,24.250,88.950,395.450,113.125,0.000,30.644,26.489,184.140,1.750,0.000,12.461,0.000,1231.554,629.487,1266.802,328.882,0.000,1279.333,0.000,996.364,0.000,14.085,0.000
$DEVICE_MAMPS,283.023,85.904,638.144,70.564,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324664
$DATA_FILE_SIZE,22120,696
$CAP_FILE_SIZE,97827,0
$CFSIZE,260165632,255397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,171209,110814,4807.925,-12223.852,9,1.1,9,18.3