version: 66.07
glider: 505
mission: 2
dive: 16
start: 12 15 109 8 19 23
data:
$ID,505
$MISSION,2
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,250
$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,50
$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,-22260.932
$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,28
$R_STBD_OVSHOOT,40
$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
$GPS1,151209,081316,4808.156,-12224.063,10,2.1,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.7
$GPS2,151209,081826,4808.232,-12224.108,15,1.5,15,18.3
$SPEED_LIMITS,0.119,0.255
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.238
$KALMAN_X,-1396.3,-42.2,192.0,-2388.7,-100.8
$KALMAN_Y,-893.3,-338.6,-271.4,7548.7,292.7
$MHEAD_RNG_PITCHd_Wd,143.6,450,-10.0,-6.867
$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,15,-0.56,-184.9,0.0,0.0,0,76,0.00,0.00,-58.80,0.000,2,0.000,0.000,111,1898,2030,0,0,0,0,0,0
$GC,78,-0.57,-194.7,3.1,-5.8,14,135,11.65,2.30,-37.12,0.000,4,0.286,0.067,2641,3294,3603,0,0,0,0,0,0
$GC,141,-0.57,-194.7,10.0,-7.8,28,146,0.00,2.22,0.00,0.000,6,0.000,0.044,2641,1895,3603,0,0,0,0,0,0
$GC,184,-0.57,-194.7,16.1,-13.8,37,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1893,3603,0,0,0,0,0,0
$GC,225,-0.57,-194.7,22.0,-14.0,46,230,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1893,3603,0,0,0,0,0,0
$GC,267,-0.57,-194.7,27.9,-14.0,55,273,0.00,2.25,0.00,0.000,4,0.000,0.053,2641,489,3603,0,0,0,0,0,0
$GC,282,-0.57,-194.7,30.1,-14.3,58,288,0.00,2.25,0.00,0.000,6,0.000,0.044,2641,1902,3603,0,0,0,0,0,0
$GC,325,-0.57,-194.7,36.4,-14.7,67,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,367,-0.57,-194.7,42.2,-13.8,76,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,409,-0.57,-194.7,47.9,-13.4,85,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,451,-0.57,-194.7,53.2,-12.7,94,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,492,-0.57,-194.7,58.5,-12.6,103,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,534,-0.57,-194.7,63.6,-12.2,112,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,576,-0.57,-194.7,68.5,-11.7,121,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,617,-0.57,-194.7,73.4,-11.5,130,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1902,3603,0,0,0,0,0,0
$GC,659,-0.57,-194.7,78.4,-11.7,139,665,0.00,2.25,0.00,0.000,4,0.000,0.052,2641,493,3603,0,0,0,0,0,0
$GC,684,-0.57,-194.7,81.4,-12.0,144,689,0.00,2.22,0.00,0.000,6,0.000,0.044,2641,1900,3603,0,0,0,0,0,0
$GC,726,-0.57,-194.7,86.2,-11.6,153,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1901,3603,0,0,0,0,0,0
$GC,768,-0.57,-194.7,91.2,-11.9,162,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1901,3603,0,0,0,0,0,0
$GC,810,-0.57,-194.7,95.7,-10.9,171,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1901,3603,0,0,0,0,0,0
$GC,852,-0.57,-194.7,100.5,-11.4,180,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1901,3603,0,0,0,0,0,0
$STATE,874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,874,begin apogee
$GC,878,-0.17,0.0,103.1,11.1,185,951,0.40,0.00,68.43,1.261,6,0.136,0.000,2774,1694,2806,0,0,0,0,0,0
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,954,0.57,194.7,105.9,0.0,202,1032,0.73,2.42,70.53,1.219,4,0.106,0.046,3013,3106,2012,0,0,0,0,0,0
$GC,1065,0.57,194.7,93.8,14.8,227,1071,0.00,2.33,0.00,0.000,6,0.000,0.044,3021,1712,2008,0,0,0,0,0,0
$GC,1108,0.57,194.7,87.3,15.2,236,1113,0.00,2.38,0.00,0.000,4,0.000,0.053,3032,281,2008,0,0,0,0,0,0
$GC,1132,0.57,194.7,83.5,15.3,241,1138,0.00,2.33,0.00,0.000,6,0.000,0.039,3032,1711,2008,0,0,0,0,0,0
$GC,1175,0.57,194.7,76.4,16.4,250,1180,0.00,2.25,0.00,0.000,4,0.000,0.046,3032,3110,2008,0,0,0,0,0,0
$GC,1204,0.57,194.7,71.2,17.9,256,1210,0.10,2.30,0.00,0.000,6,0.203,0.045,3019,1696,2007,0,0,0,0,0,0
$GC,1247,0.57,194.7,64.0,16.8,265,1253,0.00,2.30,0.00,0.000,4,0.000,0.054,3027,283,2007,0,0,0,0,0,0
$GC,1272,0.57,194.7,60.2,15.7,270,1277,0.00,2.28,0.00,0.000,6,0.000,0.039,3027,1709,2007,0,0,0,0,0,0
$GC,1314,0.57,194.7,53.5,15.9,279,1320,0.00,2.22,0.00,0.000,4,0.000,0.046,3027,3113,2007,0,0,0,0,0,0
$GC,1362,0.57,194.7,45.5,17.0,289,1368,0.08,2.28,0.00,0.000,6,0.222,0.044,3022,1695,2007,0,0,0,0,0,0
$GC,1405,0.57,194.7,39.1,14.9,298,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1695,2007,0,0,0,0,0,0
$GC,1447,0.57,194.7,33.2,13.9,307,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1695,2007,0,0,0,0,0,0
$GC,1489,0.57,194.7,27.4,13.5,316,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1695,2007,0,0,0,0,0,0
$GC,1531,0.57,194.7,21.8,13.2,325,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1695,2007,0,0,0,0,0,0
$GC,1573,0.57,194.7,16.3,13.2,334,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1695,2007,0,0,0,0,0,0
$GC,1615,0.57,194.7,11.2,12.3,343,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1695,2007,0,0,0,0,0,0
$GC,1657,0.57,194.7,6.7,10.7,352,1662,0.00,2.22,0.00,0.000,4,0.000,0.054,3021,290,2007,0,0,0,0,0,0
$FREEZE,4.93,6.075,-1.287,0,1,0
$FREEZE,4.92,6.075,-1.286,0,1,0
$FREEZE,4.91,6.079,-1.286,0,1,0
$FREEZE,4.97,6.070,-1.285,0,1,0
$FREEZE,4.72,6.123,-1.326,0,1,0
$FREEZE,4.53,5.998,-1.316,0,1,0
$FREEZE,4.26,5.891,-1.302,0,1,0
$FREEZE,3.82,5.608,-1.286,0,1,0
$GC,1844,0.95,501.9,6.8,-0.9,393,1938,0.32,2.20,86.68,0.746,2,0.061,0.040,3160,1699,961,0,0,0,0,0,0
$STATE,1939,end climb,SURFACE_DEPTH_REACHED
$STATE,1939,begin surface coast
$FREEZE,3.16,5.540,-1.261,0,1,0
$FREEZE,2.92,5.515,-1.254,0,1,0
$FREEZE,2.47,5.485,-1.247,0,1,0
$FREEZE,2.05,5.444,-1.241,0,1,0
$FREEZE,1.67,5.432,-1.233,0,1,0
$FREEZE,1.33,5.408,-1.229,0,1,0
$FREEZE,1.02,5.390,-1.225,0,1,0
$FREEZE,0.75,5.392,-1.222,0,1,0
$FREEZE,0.53,5.390,-1.222,0,1,0
$FREEZE,0.31,5.388,-1.220,0,1,0
$FREEZE,0.18,5.311,-1.128,0,1,0
$FREEZE,0.26,5.376,-0.837,0,1,0
$FREEZE,0.22,5.395,-1.218,0,1,0
$FREEZE,0.16,5.348,-0.941,0,1,0
$FREEZE,0.22,5.360,-0.659,0,1,0
$FREEZE,0.19,5.414,-1.193,0,1,0
$FREEZE,0.37,5.374,-0.638,0,1,0
$FREEZE,0.30,5.424,-1.168,0,1,0
$FREEZE,0.16,5.325,-0.648,0,1,0
$FREEZE,0.20,5.365,-0.815,0,1,0
$FREEZE,0.14,5.379,-0.574,0,1,0
$FREEZE,0.10,5.360,-0.729,0,1,0
$FREEZE,0.37,5.408,-0.993,0,1,0
$FREEZE,0.15,5.375,-1.219,0,1,0
$FINISH,0.2,1.017727
$STATE,2041,end surface coast,CONTROL_FINISHED_OK
$STATE,2041,begin surface
$SM_CCo,2055,16.55,0.694,0,0,766,500.16
$SM_GC,1.80,0.00,0.00,16.55,0.000,0.000,0.694,104,1915,766,-8.54,0.42,500.16
$IRIDIUM_FIX,4751.72,-12226.29,100611,010132
$TT8_MAMPS,0.028379
$HUMID,1077342563
$INTERNAL_PRESSURE,8.94647
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.6,15.071
$10V_AH,10.4,5.013
$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,21.450,41.625,225.625,16.550,0.000,25.588,25.053,187.682,0.000,0.000,15.731,670.974,447.923,349.561,885.546,48.680,33.334,789.204,0.000,636.672,0.000,0.537,0.000
$DEVICE_MAMPS,286.091,67.496,1260.948,694.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,13435,437
$CAP_FILE_SIZE,66021,0
$CFSIZE,260165632,257441792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,085458,4808.134,-12224.154,9,2.8,28,18.3