version: 66.07
glider: 505
mission: 2
dive: 9
start: 12 15 109 3 41 47
data:
$ID,505
$MISSION,2
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,250
$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,43
$T_MISSION,70
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$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,500
$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,-22129.051
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2835
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,2807
$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,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,-66.661293
$PRESSURE_SLOPE,0.00011485742
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0042964104
$SEABIRD_T_H,0.00061985431
$SEABIRD_T_I,2.235871e-05
$SEABIRD_T_J,2.3254006e-06
$SEABIRD_C_G,-9.7945118
$SEABIRD_C_H,1.1383005
$SEABIRD_C_I,-0.0013506444
$SEABIRD_C_J,0.00018750974
$GPS1,151209,033608,4806.848,-12222.959,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.2
$GPS2,151209,034050,4806.885,-12223.012,11,1.3,11,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.258
$KALMAN_X,-861.4,-361.9,43.9,-1099.0,-3.1
$KALMAN_Y,-673.6,-3.9,-65.0,4300.5,-290.2
$MHEAD_RNG_PITCHd_Wd,323.5,2399,-11.7,-7.984
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.63,-194.7,0.0,0.0,0,75,0.00,0.00,-58.10,0.000,2,0.000,0.000,103,1889,2020,0,0,0,0,0,0
$GC,77,-0.63,-194.7,3.3,-6.5,14,143,11.55,2.35,-44.62,0.000,4,0.283,0.067,2625,3305,3602,0,0,0,0,0,0
$GC,379,-0.63,-194.7,39.7,-13.6,80,384,0.00,2.25,0.00,0.000,6,0.000,0.046,2625,1891,3602,0,0,0,0,0,0
$GC,422,-0.63,-194.7,46.2,-14.9,89,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1890,3602,0,0,0,0,0,0
$GC,464,-0.63,-194.7,52.5,-14.8,98,469,0.00,2.25,0.00,0.000,4,0.000,0.054,2626,484,3602,0,0,0,0,0,0
$GC,520,-0.63,-194.7,61.1,-14.8,110,526,0.00,2.25,0.00,0.000,6,0.000,0.046,2626,1897,3602,0,0,0,0,0,0
$GC,563,-0.63,-194.7,67.2,-14.4,119,569,0.00,2.25,0.00,0.000,4,0.000,0.053,2626,3314,3603,0,0,0,0,0,0
$GC,597,-0.63,-194.7,71.9,-14.0,126,602,0.00,2.25,0.00,0.000,6,0.000,0.046,2626,1895,3602,0,0,0,0,0,0
$GC,639,-0.63,-194.7,77.6,-13.6,135,645,0.00,2.25,0.00,0.000,4,0.000,0.054,2626,482,3603,0,0,0,0,0,0
$GC,677,-0.63,-194.7,82.9,-14.1,143,683,0.00,2.25,0.00,0.000,6,0.000,0.045,2626,1900,3602,0,0,0,0,0,0
$GC,720,-0.63,-194.7,88.2,-12.8,152,725,0.00,2.22,0.00,0.000,4,0.000,0.053,2626,3308,3602,0,0,0,0,0,0
$GC,744,-0.63,-194.7,91.2,-12.1,157,750,0.00,2.22,0.00,0.000,6,0.000,0.044,2625,1895,3602,0,0,0,0,0,0
$GC,787,-0.63,-194.7,96.4,-11.9,166,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1894,3603,0,0,0,0,0,0
$GC,829,-0.63,-194.7,101.4,-11.8,175,834,0.00,2.22,0.00,0.000,4,0.000,0.054,2626,492,3602,0,0,0,0,0,0
$STATE,843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,843,begin apogee
$GC,848,-0.17,0.0,103.3,12.1,178,922,0.45,0.00,68.40,1.248,6,0.150,0.000,2771,1710,2807,0,0,0,0,0,0
$STATE,923,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,925,0.63,194.7,106.6,0.0,195,1003,0.80,2.35,70.45,1.213,4,0.107,0.046,3034,3103,2013,0,0,0,0,0,0
$GC,1013,0.63,194.7,96.6,16.1,215,1018,0.00,2.38,0.00,0.000,6,0.000,0.044,3043,1698,2010,0,0,0,0,0,0
$GC,1055,0.63,194.7,88.9,18.4,224,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1698,2010,0,0,0,0,0,0
$GC,1097,0.63,194.7,81.6,17.7,233,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1698,2010,0,0,0,0,0,0
$GC,1139,0.63,194.7,74.0,17.2,242,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1698,2009,0,0,0,0,0,0
$GC,1181,0.63,194.7,67.1,16.8,251,1186,0.00,2.30,0.00,0.000,4,0.000,0.046,3043,3118,2009,0,0,0,0,0,0
$GC,1200,0.63,194.7,63.5,17.3,255,1206,0.08,2.30,0.00,0.000,6,0.222,0.046,3039,1699,2008,0,0,0,0,0,0
$GC,1243,0.63,194.7,56.0,17.4,264,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2009,0,0,0,0,0,0
$GC,1285,0.63,194.7,49.4,15.4,273,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2008,0,0,0,0,0,0
$GC,1327,0.63,194.7,43.1,15.1,282,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2008,0,0,0,0,0,0
$GC,1368,0.63,194.7,36.6,15.6,291,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2009,0,0,0,0,0,0
$GC,1410,0.63,194.7,30.1,15.7,300,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2008,0,0,0,0,0,0
$GC,1452,0.63,194.7,23.8,15.0,309,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2009,0,0,0,0,0,0
$GC,1493,0.63,194.7,17.2,15.9,318,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2009,0,0,0,0,0,0
$GC,1535,0.63,194.7,11.1,14.6,327,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2008,0,0,0,0,0,0
$GC,1577,0.63,194.7,6.0,12.9,336,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1699,2008,0,0,0,0,0,0
$FREEZE,4.97,5.374,-1.285,0,1,0
$FREEZE,4.70,5.378,-1.256,0,1,0
$FREEZE,4.41,5.368,-1.242,0,1,0
$FREEZE,3.91,5.357,-1.231,0,1,0
$GC,1619,1.06,545.7,6.6,-1.8,345,1733,0.32,0.00,109.82,0.729,2,0.065,0.000,3183,1698,696,0,0,0,0,0,0
$STATE,1733,end climb,SURFACE_DEPTH_REACHED
$STATE,1734,begin surface coast
$FREEZE,3.17,5.340,-1.221,0,1,0
$FREEZE,2.92,5.332,-1.218,0,1,0
$FREEZE,2.63,5.334,-1.216,0,1,0
$FREEZE,2.26,5.332,-1.214,0,1,0
$FREEZE,1.95,5.330,-1.212,0,1,0
$FREEZE,1.60,5.325,-1.210,0,1,0
$FREEZE,1.35,5.326,-1.209,0,1,0
$FREEZE,1.19,5.322,-1.208,0,1,0
$FREEZE,0.90,5.324,-1.207,0,1,0
$FREEZE,0.58,5.322,-1.206,0,1,0
$FREEZE,0.25,5.329,-1.205,0,1,0
$FREEZE,0.24,5.333,-1.205,0,1,0
$FREEZE,0.26,5.384,-0.966,0,1,0
$FREEZE,0.19,5.388,-0.084,0,1,0
$FREEZE,0.33,5.321,-0.502,0,1,0
$FREEZE,0.31,5.374,-1.203,0,1,0
$FREEZE,0.33,5.336,-1.097,0,1,0
$FREEZE,0.25,5.502,-0.102,0,1,0
$FREEZE,0.34,5.290,-0.529,0,1,0
$FREEZE,0.30,5.276,-0.032,0,1,0
$FREEZE,0.21,5.331,-0.073,0,1,0
$FREEZE,0.20,5.291,-1.196,0,1,0
$FREEZE,0.18,5.328,-1.160,0,1,0
$FINISH,0.2,1.016889
$STATE,1829,end surface coast,CONTROL_FINISHED_OK
$STATE,1829,begin surface
$SM_CCo,1903,0.00,0.000,0,0,687,520.03
$SM_GC,1.47,8.30,0.00,0.00,0.055,0.000,0.000,114,1907,687,-8.47,0.20,520.03
$IRIDIUM_FIX,4748.51,-12224.57,090611,212115
$TT8_MAMPS,0.028379
$HUMID,1077301272
$INTERNAL_PRESSURE,8.9367
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.6,14.527
$10V_AH,10.4,4.846
$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,21.500,36.375,248.675,0.000,0.000,22.568,28.666,166.890,0.000,0.000,11.592,580.390,452.791,330.910,802.438,38.564,33.339,733.062,0.000,573.405,0.000,0.536,0.000
$DEVICE_MAMPS,283.023,67.496,1247.909,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324156
$DATA_FILE_SIZE,13448,393
$CAP_FILE_SIZE,57002,0
$CFSIZE,260165632,257683456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,041414,4807.089,-12223.170,12,1.4,12,18.3