version: 66.07
glider: 500
mission: 2
dive: 25
start: 3 12 110 14 41 53
data:
$ID,500
$MISSION,2
$DIVE,25
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,63
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,155
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51642
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,7
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100517.3
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2918
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3325
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-65.908394
$PRESSURE_SLOPE,0.00011603366
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,120310,143422,4742.894,-12224.077,8,2.8,27,18.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-76.4
$GPS2,120310,144058,4742.943,-12224.045,11,3.1,30,18.2
$SPEED_LIMITS,0.137,0.243
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.241,0.030
$KALMAN_X,630.9,79.8,-22.2,-948.8,182.7
$KALMAN_Y,603.4,-439.7,13.0,-3970.8,518.5
$MHEAD_RNG_PITCHd_Wd,258.9,1574,-13.7,-7.937
$D_GRID,150
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.64,-150.9,0.0,0.0,0,73,0.00,0.00,-56.25,0.000,2,0.000,0.000,146,2202,3899,0,0,0,0,0,0
$GC,75,-0.64,-150.9,3.3,-4.6,11,92,10.70,2.45,-1.00,0.000,4,0.262,0.061,2709,607,3942,0,0,0,0,0,0
$GC,210,-0.64,-150.9,23.6,-11.7,35,216,0.00,2.40,0.00,0.000,6,0.000,0.048,2698,2200,3942,0,0,0,0,0,0
$GC,283,-0.64,-150.9,31.0,-9.8,48,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2200,3942,0,0,0,0,0,0
$GC,355,-0.64,-150.9,38.9,-11.8,61,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2200,3943,0,0,0,0,0,0
$GC,426,-0.64,-150.9,46.2,-9.6,74,432,0.00,2.47,0.00,0.000,4,0.000,0.058,2685,3789,3943,0,0,0,0,0,0
$GC,504,-0.64,-150.9,56.2,-14.1,88,511,0.00,2.40,0.00,0.000,6,0.000,0.042,2686,2193,3943,0,0,0,0,0,0
$GC,645,-0.64,-150.9,75.5,-10.4,113,650,0.00,2.45,0.00,0.000,4,0.000,0.057,2674,3798,3942,0,0,0,0,0,0
$GC,661,-0.64,-150.9,77.0,-10.7,116,668,0.10,2.40,0.00,0.000,6,0.142,0.042,2707,2198,3943,0,0,0,0,0,0
$GC,802,-0.64,-150.9,91.4,-13.2,141,807,0.00,2.38,0.00,0.000,4,0.000,0.054,2707,607,3942,0,0,0,0,0,0
$GC,869,-0.64,-150.9,100.3,-13.5,153,874,0.00,2.38,0.00,0.000,6,0.000,0.048,2696,2201,3942,0,0,0,0,0,0
$GC,1008,-0.64,-150.9,117.4,-12.5,178,1014,0.00,2.42,0.00,0.000,4,0.000,0.057,2684,3785,3943,0,0,0,0,0,0
$GC,1037,-0.64,-150.9,120.7,-12.3,183,1041,0.00,2.35,0.00,0.000,6,0.000,0.042,2684,2199,3942,0,0,0,0,0,0
$GC,1175,-0.64,-150.9,137.6,-11.8,208,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2198,3942,0,0,0,0,0,0
$STATE,1286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1286,begin apogee
$GC,1290,-0.23,0.0,150.2,11.6,228,1410,0.47,0.00,114.68,0.719,6,0.151,0.000,2834,2086,3324,0,0,0,0,0,0
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1413,0.64,150.9,155.1,0.0,252,1541,0.88,2.53,116.90,0.690,4,0.116,0.057,3131,537,2709,0,0,0,0,0,0
$GC,1568,0.64,150.9,142.5,10.6,282,1575,0.00,2.45,0.00,0.000,6,0.000,0.047,3131,2097,2707,0,0,0,0,0,0
$GC,1709,0.64,150.9,125.2,12.8,307,1714,0.00,2.47,0.00,0.000,4,0.000,0.056,3131,3687,2704,0,0,0,0,0,0
$GC,1753,0.64,150.9,118.9,14.7,315,1758,0.00,2.40,0.00,0.000,6,0.000,0.045,3142,2108,2703,0,0,0,0,0,0
$GC,1892,0.64,150.9,100.1,13.7,340,1899,0.00,2.45,0.00,0.000,4,0.000,0.057,3155,522,2703,0,0,0,0,0,0
$GC,1966,0.64,150.9,90.3,13.5,353,1971,0.00,2.40,0.00,0.000,6,0.000,0.048,3155,2114,2703,0,0,0,0,0,0
$GC,2104,0.64,150.9,70.2,15.0,378,2111,0.00,2.45,0.00,0.000,4,0.000,0.057,3166,521,2703,0,0,0,0,0,0
$GC,2160,0.64,150.9,62.3,13.8,388,2167,0.08,2.40,0.00,0.000,6,0.152,0.047,3126,2108,2703,0,0,0,0,0,0
$GC,2303,0.64,150.9,45.0,12.2,413,2308,0.00,2.42,0.00,0.000,4,0.000,0.057,3126,3684,2703,0,0,0,0,0,0
$GC,2329,0.64,150.9,41.6,11.9,418,2335,0.00,2.40,0.00,0.000,6,0.000,0.046,3135,2093,2703,0,0,0,0,0,0
$GC,2470,0.64,150.9,25.3,12.2,443,2476,0.00,2.38,0.00,0.000,4,0.000,0.057,3147,518,2703,0,0,0,0,0,0
$GC,2533,0.64,150.9,17.6,12.2,454,2539,0.00,2.38,0.00,0.000,6,0.000,0.048,3147,2113,2703,0,0,0,0,0,0
$GC,2608,0.64,150.9,8.6,12.5,467,2613,0.00,2.40,0.00,0.000,4,0.000,0.057,3159,521,2703,0,0,0,0,0,0
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,0.2,1.012292
$STATE,2681,end surface coast,CONTROL_FINISHED_OK
$STATE,2681,begin surface
$SM_CCo,2697,35.30,0.451,1,0,2508,200.16
$SM_GC,1.97,0.00,0.00,35.30,0.000,0.000,0.451,142,2212,2508,-8.68,0.34,200.16
$IRIDIUM_FIX,4722.92,-12223.37,050911,080852
$TT8_MAMPS,0.028379
$HUMID,1077709014
$INTERNAL_PRESSURE,9.09093
$TCM_TEMP,18.70
$XPDR_PINGS,112
$ALTIM_BOTTOM_PING,140.5,11.6
$24V_AH,24.0,6.867
$10V_AH,10.3,5.918
$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,20.175,58.300,231.575,35.300,0.000,28.348,23.271,232.798,31.500,0.000,32.727,680.907,1028.255,339.154,1031.680,61.223,33.329,766.709,0.000,697.014,0.000,24.038,0.000
$DEVICE_MAMPS,261.547,93.574,718.679,450.996,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,204.276,0.000,0.000,0.000,0.000,0.000,0.000,358.870,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335032
$DATA_FILE_SIZE,16801,480
$CAP_FILE_SIZE,93294,0
$CFSIZE,260165632,257765376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120310,152834,4743.198,-12224.572,9,3.5,28,18.2