version: 66.07
glider: 505
mission: 2
dive: 18
start: 12 15 109 9 45 29
data:
$ID,505
$MISSION,2
$DIVE,18
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,100
$T_MISSION,105
$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,220
$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,460
$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,-22312.629
$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,38
$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,80
$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
$GPS1,151209,093844,4808.211,-12224.315,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.3
$GPS2,151209,094431,4808.358,-12224.413,10,1.5,15,18.4
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.206
$KALMAN_X,-2624.1,347.9,85.9,-1820.9,-767.0
$KALMAN_Y,626.3,-496.8,39.7,6117.5,1328.5
$MHEAD_RNG_PITCHd_Wd,134.3,7518,-4.6,-5.000
$D_GRID,101
$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,-0.42,-214.2,0.0,0.0,0,68,0.00,0.00,-50.22,0.000,2,0.000,0.000,108,1908,2132,0,0,0,0,0,0
$GC,70,-0.42,-214.2,3.4,-4.8,12,123,11.75,0.00,-35.92,0.000,6,0.281,0.000,2691,1907,3681,0,0,0,0,0,0
$GC,162,-0.42,-214.2,11.6,-7.0,32,167,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1908,3682,0,0,0,0,0,0
$GC,204,-0.42,-214.2,15.0,-7.6,41,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1908,3682,0,0,0,0,0,0
$GC,246,-0.42,-214.2,18.3,-7.6,50,252,0.00,2.30,0.00,0.000,4,0.000,0.053,2692,478,3682,0,0,0,0,0,0
$GC,261,-0.42,-214.2,19.5,-7.7,53,267,0.00,2.28,0.00,0.000,6,0.000,0.044,2692,1905,3682,0,0,0,0,0,0
$GC,304,-0.42,-214.2,23.4,-8.8,62,310,0.00,2.25,0.00,0.000,4,0.000,0.053,2692,3317,3682,0,0,0,0,0,0
$GC,338,-0.42,-214.2,26.3,-9.3,69,343,0.00,2.25,0.00,0.000,6,0.000,0.045,2692,1896,3682,0,0,0,0,0,0
$GC,382,-0.42,-214.2,30.3,-9.2,78,388,0.00,2.25,0.00,0.000,4,0.000,0.053,2692,483,3682,0,0,0,0,0,0
$GC,392,-0.42,-214.2,31.6,-9.3,80,398,0.00,2.22,0.00,0.000,6,0.000,0.042,2692,1904,3682,0,0,0,0,0,0
$GC,435,-0.42,-214.2,35.6,-9.6,89,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1904,3682,0,0,0,0,0,0
$GC,479,-0.42,-214.2,39.3,-9.0,98,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1904,3682,0,0,0,0,0,0
$GC,521,-0.42,-214.2,43.2,-8.8,107,526,0.00,2.28,0.00,0.000,4,0.000,0.052,2692,485,3682,0,0,0,0,0,0
$GC,536,-0.42,-214.2,44.5,-8.8,110,541,0.00,2.25,0.00,0.000,6,0.000,0.043,2692,1909,3682,0,0,0,0,0,0
$GC,578,-0.42,-214.2,48.0,-8.4,119,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1910,3682,0,0,0,0,0,0
$GC,620,-0.42,-214.2,51.3,-8.0,128,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1910,3682,0,0,0,0,0,0
$GC,662,-0.42,-214.2,54.8,-8.0,137,668,0.00,2.28,0.00,0.000,4,0.000,0.053,2692,488,3682,0,0,0,0,0,0
$GC,691,-0.42,-214.2,57.0,-8.0,143,697,0.00,2.25,0.00,0.000,6,0.000,0.044,2692,1909,3682,0,0,0,0,0,0
$GC,735,-0.42,-214.2,60.4,-7.9,152,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1910,3682,0,0,0,0,0,0
$GC,777,-0.42,-214.2,63.7,-7.7,161,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1910,3682,0,0,0,0,0,0
$GC,819,-0.42,-214.2,66.9,-7.7,170,825,0.00,2.28,0.00,0.000,4,0.000,0.053,2692,486,3682,0,0,0,0,0,0
$GC,830,-0.42,-214.2,67.8,-7.8,172,835,0.00,2.22,0.00,0.000,6,0.000,0.044,2692,1902,3682,0,0,0,0,0,0
$GC,872,-0.42,-214.2,71.2,-8.0,181,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1903,3682,0,0,0,0,0,0
$GC,914,-0.42,-214.2,74.5,-7.8,190,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1902,3682,0,0,0,0,0,0
$GC,957,-0.42,-214.2,77.7,-7.8,199,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1903,3682,0,0,0,0,0,0
$GC,1000,-0.42,-214.2,81.1,-7.5,208,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1903,3682,0,0,0,0,0,0
$GC,1043,-0.42,-214.2,84.2,-7.4,217,1049,0.00,2.25,0.00,0.000,4,0.000,0.052,2692,488,3682,0,0,0,0,0,0
$GC,1068,-0.42,-214.2,86.2,-7.3,222,1073,0.00,2.22,0.00,0.000,6,0.000,0.044,2692,1901,3682,0,0,0,0,0,0
$GC,1111,-0.42,-214.2,89.2,-7.7,231,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1901,3682,0,0,0,0,0,0
$GC,1152,-0.42,-214.2,92.3,-7.2,240,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1901,3682,0,0,0,0,0,0
$GC,1194,-0.42,-214.2,95.3,-7.1,249,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1901,3683,0,0,0,0,0,0
$GC,1238,-0.42,-214.2,98.1,-6.8,258,1243,0.00,2.25,0.00,0.000,4,0.000,0.052,2692,486,3682,0,0,0,0,0,0
$GC,1248,-0.42,-214.2,98.9,-6.8,260,1254,0.00,2.22,0.00,0.000,6,0.000,0.044,2692,1903,3683,0,0,0,0,0,0
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1284,-0.17,0.0,101.2,7.0,267,1367,0.25,0.00,75.80,1.246,6,0.126,0.000,2782,1695,2805,0,0,0,0,0,0
$STATE,1368,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1369,0.42,214.2,103.3,0.0,286,1452,0.55,0.00,77.75,1.204,6,0.107,0.000,2965,1694,1931,0,0,0,0,0,0
$GC,1489,0.42,214.2,93.9,9.7,313,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1695,1929,0,0,0,0,0,0
$GC,1531,0.42,214.2,89.9,9.4,322,1536,0.00,2.33,0.00,0.000,4,0.000,0.047,2965,3104,1929,0,0,0,0,0,0
$GC,1555,0.42,214.2,87.5,9.7,327,1561,0.00,2.30,0.00,0.000,6,0.000,0.044,2969,1706,1928,0,0,0,0,0,0
$GC,1598,0.42,214.2,83.3,10.0,336,1604,0.00,2.33,0.00,0.000,4,0.000,0.054,2978,282,1928,0,0,0,0,0,0
$GC,1636,0.42,214.2,79.5,9.9,344,1642,0.00,2.30,0.00,0.000,6,0.000,0.041,2978,1708,1928,0,0,0,0,0,0
$GC,1681,0.42,214.2,75.1,10.1,353,1686,0.00,2.25,0.00,0.000,4,0.000,0.047,2978,3117,1928,0,0,0,0,0,0
$GC,1727,0.42,214.2,69.7,11.1,363,1733,0.00,2.30,0.00,0.000,6,0.000,0.045,2978,1693,1927,0,0,0,0,0,0
$GC,1769,0.42,214.2,65.2,10.9,372,1775,0.00,2.25,0.00,0.000,4,0.000,0.054,2981,286,1927,0,0,0,0,0,0
$GC,1798,0.42,214.2,62.0,10.9,378,1804,0.00,2.25,0.00,0.000,6,0.000,0.040,2981,1704,1928,0,0,0,0,0,0
$GC,1841,0.42,214.2,57.5,10.6,387,1847,0.00,2.22,0.00,0.000,4,0.000,0.047,2981,3111,1928,0,0,0,0,0,0
$GC,1879,0.42,214.2,53.3,10.9,395,1886,0.08,2.25,0.00,0.000,6,0.212,0.045,2973,1699,1927,0,0,0,0,0,0
$GC,1924,0.42,214.2,48.9,10.4,404,1930,0.00,2.28,0.00,0.000,4,0.000,0.054,2978,280,1928,0,0,0,0,0,0
$GC,1949,0.42,214.2,46.5,9.7,409,1955,0.00,2.25,0.00,0.000,6,0.000,0.040,2978,1709,1928,0,0,0,0,0,0
$GC,1991,0.42,214.2,42.3,9.8,418,1997,0.00,2.17,0.00,0.000,4,0.000,0.046,2978,3108,1927,0,0,0,0,0,0
$GC,2029,0.42,214.2,38.2,10.4,426,2035,0.00,2.25,0.00,0.000,6,0.000,0.044,2978,1692,1927,0,0,0,0,0,0
$GC,2074,0.42,214.2,34.1,9.9,435,2079,0.00,2.25,0.00,0.000,4,0.000,0.054,2979,283,1927,0,0,0,0,0,0
$GC,2098,0.42,214.2,31.7,9.4,440,2104,0.00,2.22,0.00,0.000,6,0.000,0.039,2978,1701,1928,0,0,0,0,0,0
$GC,2141,0.42,214.2,27.8,9.2,449,2146,0.00,2.17,0.00,0.000,4,0.000,0.045,2979,3107,1928,0,0,0,0,0,0
$GC,2174,0.42,214.2,24.5,9.5,456,2180,0.00,2.25,0.00,0.000,6,0.000,0.045,2978,1691,1928,0,0,0,0,0,0
$GC,2217,0.42,214.2,20.4,9.7,465,2223,0.00,2.22,0.00,0.000,4,0.000,0.054,2978,280,1928,0,0,0,0,0,0
$GC,2251,0.42,214.2,17.4,9.3,472,2256,0.00,2.22,0.00,0.000,6,0.000,0.040,2978,1702,1928,0,0,0,0,0,0
$GC,2295,0.42,214.2,13.6,8.8,481,2300,0.00,2.20,0.00,0.000,4,0.000,0.046,2978,3113,1928,0,0,0,0,0,0
$GC,2315,0.42,214.2,11.8,9.0,485,2320,0.00,2.22,0.00,0.000,6,0.000,0.044,2978,1698,1928,0,0,0,0,0,0
$GC,2359,0.42,214.2,8.1,8.9,494,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1698,1928,0,0,0,0,0,0
$GC,2401,0.42,214.2,5.8,6.4,503,2406,0.00,2.25,0.00,0.000,4,0.000,0.052,2978,278,1928,0,0,0,0,0,0
$FREEZE,4.98,7.058,-1.356,0,1,0
$FREEZE,4.95,6.948,-1.344,0,1,0
$FREEZE,4.76,6.823,-1.340,0,1,0
$FREEZE,4.61,6.662,-1.338,0,1,0
$FREEZE,4.42,6.468,-1.326,0,1,0
$FREEZE,4.25,6.448,-1.315,0,1,0
$FREEZE,3.99,6.368,-1.309,0,1,0
$GC,2539,0.74,477.2,5.0,0.7,533,2586,0.28,2.22,40.70,0.746,2,0.100,0.041,3076,1707,1432,0,0,0,0,0,0
$STATE,2587,end climb,SURFACE_DEPTH_REACHED
$STATE,2587,begin surface coast
$FREEZE,3.65,6.325,-1.301,0,1,0
$FREEZE,3.52,6.227,-1.294,0,1,0
$FREEZE,3.34,6.132,-1.286,0,1,0
$FREEZE,3.33,6.025,-1.279,0,1,0
$FREEZE,3.24,6.001,-1.277,0,1,0
$FREEZE,3.15,6.036,-1.276,0,1,0
$FREEZE,3.09,5.728,-1.254,0,1,0
$FREEZE,3.05,5.763,-1.259,0,1,0
$FREEZE,3.04,5.788,-1.251,0,1,0
$FREEZE,2.87,5.690,-1.248,0,1,0
$FREEZE,2.90,5.705,-1.249,0,1,0
$FREEZE,2.80,5.744,-1.250,0,1,0
$FREEZE,2.80,5.646,-1.244,0,1,0
$FREEZE,2.70,5.674,-1.245,0,1,0
$FREEZE,2.51,5.691,-1.246,0,1,0
$FREEZE,2.47,5.681,-1.244,0,1,0
$FREEZE,2.29,5.698,-1.244,0,1,0
$FREEZE,2.19,5.707,-1.245,0,1,0
$FREEZE,2.18,5.693,-1.245,0,1,0
$FREEZE,2.04,5.657,-1.244,0,1,0
$FREEZE,1.89,5.693,-1.243,0,1,0
$FREEZE,1.83,5.672,-1.242,0,1,0
$FREEZE,1.76,5.644,-1.242,0,1,0
$FREEZE,1.66,5.707,-1.242,0,1,0
$FREEZE,1.61,5.647,-1.242,0,1,0
$FREEZE,1.46,5.653,-1.241,0,1,0
$FREEZE,1.34,5.645,-1.240,0,1,0
$FREEZE,1.21,5.668,-1.240,0,1,0
$FREEZE,1.17,5.602,-1.240,0,1,0
$FREEZE,1.08,5.629,-1.233,0,1,0
$FREEZE,1.06,5.568,-1.237,0,1,0
$FREEZE,1.09,5.560,-1.233,0,1,0
$FREEZE,1.05,5.866,-1.223,0,1,0
$FREEZE,0.86,5.647,-1.232,0,1,0
$FREEZE,0.90,5.960,-1.223,0,1,0
$FREEZE,0.71,5.677,-1.236,0,1,0
$FREEZE,0.59,5.950,-1.223,0,1,0
$FREEZE,0.54,5.677,-1.233,0,1,0
$FREEZE,0.22,5.695,-0.762,0,1,0
$FREEZE,0.23,5.559,-0.654,0,1,0
$FREEZE,0.52,5.624,-1.232,0,1,0
$FREEZE,0.44,5.633,-1.232,0,1,0
$FREEZE,0.41,5.769,-1.227,0,1,0
$FREEZE,0.22,5.574,-0.647,0,1,0
$FREEZE,0.22,5.660,-1.194,0,1,0
$FINISH,0.2,1.017349
$STATE,2773,end surface coast,CONTROL_FINISHED_OK
$STATE,2773,begin surface
$SM_CCo,2787,42.47,0.732,0,0,929,460.18
$SM_GC,0.78,0.00,0.00,42.47,0.000,0.000,0.732,108,1915,929,-8.52,0.42,460.18
$IRIDIUM_FIX,4748.51,-12221.84,100611,030346
$TT8_MAMPS,0.029146
$HUMID,1077303853
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,37.0
$24V_AH,23.6,15.248
$10V_AH,10.5,5.073
$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,20.675,90.650,194.250,42.475,0.000,31.213,31.155,208.493,0.500,0.000,16.064,977.353,607.888,407.122,1137.816,66.633,33.324,970.775,0.000,846.513,0.000,5.524,0.000
$DEVICE_MAMPS,281.489,62.127,1246.375,732.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324060
$DATA_FILE_SIZE,20095,586
$CAP_FILE_SIZE,91350,0
$CFSIZE,260165632,257343488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151209,103326,4808.236,-12224.433,11,1.2,11,18.3