version: 66.07
glider: 505
mission: 2
dive: 17
start: 12 15 109 9 2 59
data:
$ID,505
$MISSION,2
$DIVE,17
$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,-22295.936
$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,46
$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
$GPS1,151209,085458,4808.134,-12224.154,9,2.8,28,18.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-70.5
$GPS2,151209,090204,4808.281,-12224.253,14,2.7,33,18.3
$SPEED_LIMITS,0.119,0.255
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.233
$KALMAN_X,-2013.4,167.5,182.0,-2147.2,-337.9
$KALMAN_Y,43.7,-509.9,-218.3,6821.6,729.8
$MHEAD_RNG_PITCHd_Wd,137.3,7288,-9.6,-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,-194.7,0.0,0.0,0,63,0.00,0.00,-46.28,0.000,2,0.000,0.000,104,1912,2004,0,0,0,0,0,0
$GC,65,-0.56,-194.7,3.1,-5.3,11,122,11.73,0.00,-38.45,0.000,6,0.286,0.000,2644,1910,3601,0,0,0,0,0,0
$GC,161,-0.56,-194.7,12.2,-9.9,32,166,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1910,3602,0,0,0,0,0,0
$GC,203,-0.56,-194.7,17.9,-13.4,41,208,0.00,2.30,0.00,0.000,4,0.000,0.053,2645,485,3602,0,0,0,0,0,0
$GC,227,-0.56,-194.7,21.3,-13.7,46,233,0.00,2.25,0.00,0.000,6,0.000,0.044,2645,1891,3602,0,0,0,0,0,0
$GC,270,-0.56,-194.7,27.2,-13.9,55,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1893,3602,0,0,0,0,0,0
$GC,312,-0.56,-194.7,33.1,-14.2,64,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1893,3602,0,0,0,0,0,0
$GC,354,-0.56,-194.7,38.9,-13.7,73,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1893,3602,0,0,0,0,0,0
$GC,396,-0.56,-194.7,44.5,-13.2,82,401,0.00,2.28,0.00,0.000,4,0.000,0.053,2645,3321,3602,0,0,0,0,0,0
$GC,406,-0.56,-194.7,45.8,-13.2,84,412,0.00,2.25,0.00,0.000,6,0.000,0.043,2645,1889,3602,0,0,0,0,0,0
$GC,450,-0.56,-194.7,51.2,-12.3,93,456,0.00,2.22,0.00,0.000,4,0.000,0.054,2645,492,3602,0,0,0,0,0,0
$GC,460,-0.56,-194.7,52.7,-12.4,95,466,0.00,2.25,0.00,0.000,6,0.000,0.043,2645,1912,3602,0,0,0,0,0,0
$GC,503,-0.56,-194.7,58.2,-13.0,104,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1913,3602,0,0,0,0,0,0
$GC,545,-0.56,-194.7,63.2,-11.9,113,551,0.00,2.28,0.00,0.000,4,0.000,0.052,2645,491,3602,0,0,0,0,0,0
$GC,565,-0.56,-194.7,65.7,-12.0,117,570,0.00,2.25,0.00,0.000,6,0.000,0.044,2645,1908,3602,0,0,0,0,0,0
$GC,608,-0.56,-194.7,70.7,-11.6,126,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1909,3602,0,0,0,0,0,0
$GC,650,-0.56,-194.7,75.3,-11.3,135,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1909,3602,0,0,0,0,0,0
$GC,691,-0.56,-194.7,80.0,-11.1,144,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1909,3602,0,0,0,0,0,0
$GC,733,-0.56,-194.7,84.6,-10.9,153,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1909,3602,0,0,0,0,0,0
$GC,775,-0.56,-194.7,89.2,-10.8,162,780,0.00,2.25,0.00,0.000,4,0.000,0.052,2645,484,3601,0,0,0,0,0,0
$GC,795,-0.56,-194.7,91.4,-11.4,166,800,0.00,2.25,0.00,0.000,6,0.000,0.044,2645,1908,3602,0,0,0,0,0,0
$GC,837,-0.56,-194.7,96.1,-10.8,175,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1908,3602,0,0,0,0,0,0
$GC,879,-0.56,-194.7,100.4,-10.5,184,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1908,3602,0,0,0,0,0,0
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,909,-0.17,0.0,103.3,10.3,190,982,0.38,0.00,68.72,1.258,6,0.135,0.000,2771,1689,2806,0,0,0,0,0,0
$STATE,983,end apogee,CONTROL_FINISHED_OK
$STATE,983,begin climb
$GC,985,0.56,194.7,106.2,0.0,207,1062,0.73,0.00,70.85,1.220,6,0.110,0.000,3008,1689,2011,0,0,0,0,0,0
$GC,1099,0.56,194.7,94.2,14.0,233,1105,0.00,2.38,0.00,0.000,4,0.000,0.047,3008,3113,2009,0,0,0,0,0,0
$GC,1133,0.56,194.7,89.1,15.0,240,1139,0.00,2.33,0.00,0.000,6,0.000,0.045,3018,1707,2008,0,0,0,0,0,0
$GC,1176,0.56,194.7,82.2,15.4,249,1181,0.00,2.35,0.00,0.000,4,0.000,0.054,3026,286,2008,0,0,0,0,0,0
$GC,1196,0.56,194.7,79.8,15.0,253,1201,0.00,2.30,0.00,0.000,6,0.000,0.040,3027,1708,2008,0,0,0,0,0,0
$GC,1238,0.56,194.7,73.1,15.7,262,1244,0.00,2.25,0.00,0.000,4,0.000,0.046,3026,3113,2008,0,0,0,0,0,0
$GC,1267,0.56,194.7,68.3,16.2,268,1273,0.08,2.30,0.00,0.000,6,0.221,0.045,3021,1695,2008,0,0,0,0,0,0
$GC,1311,0.56,194.7,61.5,15.9,277,1316,0.00,2.28,0.00,0.000,4,0.000,0.054,3029,290,2007,0,0,0,0,0,0
$GC,1335,0.56,194.7,58.0,15.1,282,1341,0.00,2.25,0.00,0.000,6,0.000,0.040,3029,1705,2008,0,0,0,0,0,0
$GC,1378,0.56,194.7,51.3,15.6,291,1384,0.00,2.22,0.00,0.000,4,0.000,0.045,3029,3113,2008,0,0,0,0,0,0
$GC,1421,0.56,194.7,44.2,16.8,300,1427,0.10,2.28,0.00,0.000,6,0.200,0.045,3016,1693,2008,0,0,0,0,0,0
$GC,1464,0.56,194.7,37.8,14.7,309,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1693,2008,0,0,0,0,0,0
$GC,1506,0.56,194.7,32.1,13.5,318,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1692,2008,0,0,0,0,0,0
$GC,1548,0.56,194.7,26.9,12.6,327,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1692,2008,0,0,0,0,0,0
$GC,1590,0.56,194.7,21.7,12.6,336,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1692,2008,0,0,0,0,0,0
$GC,1632,0.56,194.7,16.5,12.1,345,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1693,2008,0,0,0,0,0,0
$GC,1674,0.56,194.7,11.6,12.0,354,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1693,2008,0,0,0,0,0,0
$GC,1716,0.56,194.7,7.0,11.1,363,1721,0.00,2.22,0.00,0.000,4,0.000,0.054,3018,286,2008,0,0,0,0,0,0
$FREEZE,4.96,6.333,-1.310,0,1,0
$FREEZE,4.85,6.230,-1.303,0,1,0
$FREEZE,4.55,6.243,-1.302,0,1,0
$FREEZE,4.48,6.091,-1.293,0,1,0
$FREEZE,4.45,6.085,-1.289,0,1,0
$FREEZE,4.45,6.061,-1.286,0,1,0
$FREEZE,4.30,5.990,-1.283,0,1,0
$FREEZE,4.39,5.962,-1.283,0,1,0
$FREEZE,4.48,5.956,-1.280,0,1,0
$FREEZE,4.61,6.029,-1.277,0,1,0
$FREEZE,4.75,6.068,-1.279,0,1,0
$FREEZE,4.81,6.090,-1.281,0,1,0
$FREEZE,4.71,6.157,-1.283,0,1,0
$FREEZE,4.92,6.144,-1.286,0,1,0
$FREEZE,4.98,6.147,-1.286,0,1,0
$FREEZE,4.95,6.360,-1.325,0,1,0
$FREEZE,4.78,6.272,-1.327,0,1,0
$FREEZE,4.51,6.063,-1.335,0,1,0
$FREEZE,4.26,6.086,-1.332,0,1,0
$FREEZE,4.04,6.035,-1.328,0,1,0
$FREEZE,3.64,5.769,-1.339,0,1,0
$GC,1871,0.95,514.8,5.8,-0.9,398,1952,0.32,2.22,73.30,0.745,2,0.061,0.040,3162,1705,1120,0,0,0,0,0,0
$STATE,1953,end climb,SURFACE_DEPTH_REACHED
$STATE,1953,begin surface coast
$FREEZE,3.28,5.713,-1.318,0,1,0
$FREEZE,3.11,5.650,-1.308,0,1,0
$FREEZE,2.79,5.588,-1.293,0,1,0
$FREEZE,2.72,5.575,-1.282,0,1,0
$FREEZE,2.56,5.569,-1.268,0,1,0
$FREEZE,2.29,5.541,-1.265,0,1,0
$FREEZE,2.09,5.524,-1.256,0,1,0
$FREEZE,1.82,5.472,-1.248,0,1,0
$FREEZE,1.63,5.477,-1.247,0,1,0
$FREEZE,1.52,5.457,-1.240,0,1,0
$FREEZE,1.24,5.459,-1.240,0,1,0
$FREEZE,1.07,5.476,-1.234,0,1,0
$FREEZE,0.74,5.672,-1.227,0,1,0
$FREEZE,0.46,5.598,-1.227,0,1,0
$FREEZE,0.24,5.515,-1.228,0,1,0
$FREEZE,0.20,5.512,-0.158,0,1,0
$FREEZE,0.16,5.486,-0.363,0,1,0
$FREEZE,0.30,5.581,-0.854,0,1,0
$FREEZE,0.18,5.466,-0.692,0,1,0
$FREEZE,0.17,5.511,-0.659,0,1,0
$FREEZE,0.20,5.550,-0.901,0,1,0
$FREEZE,0.21,5.480,-0.868,0,1,0
$FREEZE,0.17,5.483,-1.213,0,1,0
$FREEZE,0.28,5.505,-0.946,0,1,0
$FINISH,0.3,1.013780
$STATE,2054,end surface coast,CONTROL_FINISHED_OK
$STATE,2054,begin surface
$SM_CCo,2068,30.90,0.717,0,0,765,500.16
$SM_GC,0.78,0.00,0.00,30.90,0.000,0.000,0.717,108,1908,765,-8.52,0.23,500.16
$IRIDIUM_FIX,4748.51,-12221.84,100611,020259
$TT8_MAMPS,0.028379
$HUMID,1077298692
$INTERNAL_PRESSURE,8.95623
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.6,15.161
$10V_AH,10.5,5.040
$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,21.550,50.600,212.875,30.900,0.000,25.138,32.367,274.784,0.000,0.000,34.376,697.969,435.235,356.221,996.341,57.345,33.323,796.281,0.000,637.337,0.000,0.537,0.000
$DEVICE_MAMPS,286.091,62.127,1257.880,717.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324364
$DATA_FILE_SIZE,13456,438
$CAP_FILE_SIZE,70810,0
$CFSIZE,260165632,257404928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,093844,4808.211,-12224.315,11,1.5,11,18.3