version: 66.07
glider: 505
mission: 2
dive: 22
start: 12 15 109 13 19 34
data:
$ID,505
$MISSION,2
$DIVE,22
$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,-22403.152
$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,29
$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,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
$GPS1,151209,131228,4808.232,-12224.409,12,2.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.4
$GPS2,151209,131837,4808.322,-12224.528,36,1.2,36,18.4
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.210,-0.098
$KALMAN_X,-4512.2,388.4,-550.2,517.8,-799.0
$KALMAN_Y,1267.7,619.0,917.3,3416.6,334.3
$MHEAD_RNG_PITCHd_Wd,96.6,7543,-4.6,-5.000
$D_GRID,100
$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,-0.42,-214.2,0.0,0.0,0,76,0.00,0.00,-59.17,0.000,2,0.000,0.000,109,1915,2522,0,0,0,0,0,0
$GC,78,-0.42,-214.2,3.5,-4.4,14,119,12.05,0.00,-23.77,0.000,6,0.288,0.000,2693,1912,3681,0,0,0,0,0,0
$GC,158,-0.42,-214.2,14.7,-10.1,31,163,0.00,2.30,0.00,0.000,4,0.000,0.051,2692,486,3682,0,0,0,0,0,0
$GC,205,-0.42,-214.2,19.5,-10.0,41,210,0.00,2.22,0.00,0.000,6,0.000,0.044,2693,1886,3682,0,0,0,0,0,0
$GC,249,-0.42,-214.2,23.5,-9.6,50,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,291,-0.42,-214.2,27.5,-9.3,59,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,333,-0.42,-214.2,31.1,-8.9,68,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,375,-0.42,-214.2,34.9,-8.9,77,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,417,-0.42,-214.2,38.6,-8.6,86,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,458,-0.42,-214.2,42.0,-8.4,95,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,500,-0.42,-214.2,45.4,-8.3,104,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1887,3682,0,0,0,0,0,0
$GC,542,-0.42,-214.2,48.7,-7.9,113,548,0.00,2.22,0.00,0.000,4,0.000,0.051,2693,479,3682,0,0,0,0,0,0
$GC,566,-0.42,-214.2,50.6,-7.9,118,572,0.00,2.25,0.00,0.000,6,0.000,0.042,2693,1905,3682,0,0,0,0,0,0
$GC,609,-0.42,-214.2,54.0,-7.8,127,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1905,3682,0,0,0,0,0,0
$GC,651,-0.42,-214.2,57.3,-7.7,136,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1905,3682,0,0,0,0,0,0
$GC,693,-0.42,-214.2,60.4,-7.6,145,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1905,3682,0,0,0,0,0,0
$GC,735,-0.42,-214.2,63.5,-7.5,154,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1905,3682,0,0,0,0,0,0
$GC,777,-0.42,-214.2,66.6,-7.4,163,783,0.00,2.25,0.00,0.000,4,0.000,0.051,2693,488,3682,0,0,0,0,0,0
$GC,806,-0.42,-214.2,68.8,-7.8,169,811,0.00,2.22,0.00,0.000,6,0.000,0.043,2693,1902,3682,0,0,0,0,0,0
$GC,849,-0.42,-214.2,72.1,-7.9,178,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1902,3682,0,0,0,0,0,0
$GC,890,-0.42,-214.2,75.1,-7.3,187,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1902,3682,0,0,0,0,0,0
$GC,932,-0.42,-214.2,78.2,-7.3,196,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1903,3682,0,0,0,0,0,0
$GC,975,-0.42,-214.2,81.2,-7.2,205,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1902,3682,0,0,0,0,0,0
$GC,1017,-0.42,-214.2,84.4,-7.4,214,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1902,3682,0,0,0,0,0,0
$GC,1062,-0.42,-214.2,87.7,-7.2,223,1067,0.00,2.22,0.00,0.000,4,0.000,0.051,2693,485,3682,0,0,0,0,0,0
$GC,1091,-0.42,-214.2,89.9,-7.4,229,1096,0.00,2.22,0.00,0.000,6,0.000,0.043,2693,1902,3682,0,0,0,0,0,0
$GC,1133,-0.42,-214.2,92.9,-7.2,238,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1902,3682,0,0,0,0,0,0
$GC,1175,-0.42,-214.2,95.8,-7.0,247,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1902,3682,0,0,0,0,0,0
$GC,1217,-0.42,-214.2,98.8,-7.0,256,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1902,3682,0,0,0,0,0,0
$STATE,1240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1240,begin apogee
$GC,1244,-0.17,0.0,100.3,6.8,261,1323,0.25,0.00,75.12,1.240,6,0.120,0.000,2783,1689,2806,0,0,0,0,0,0
$STATE,1323,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1325,0.42,214.2,102.6,0.0,279,1408,0.52,0.00,77.03,1.198,6,0.102,0.000,2961,1690,1932,0,0,0,0,0,0
$GC,1445,0.42,214.2,93.7,9.3,306,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1689,1931,0,0,0,0,0,0
$GC,1487,0.42,214.2,89.8,9.5,315,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1690,1930,0,0,0,0,0,0
$GC,1529,0.42,214.2,86.0,9.3,324,1534,0.00,2.30,0.00,0.000,4,0.000,0.046,2960,3114,1930,0,0,0,0,0,0
$GC,1553,0.42,214.2,83.6,9.6,329,1559,0.00,2.28,0.00,0.000,6,0.000,0.042,2966,1710,1929,0,0,0,0,0,0
$GC,1596,0.42,214.2,79.2,10.0,338,1602,0.00,2.33,0.00,0.000,4,0.000,0.053,2973,284,1929,0,0,0,0,0,0
$GC,1625,0.42,214.2,76.3,10.0,344,1631,0.00,2.28,0.00,0.000,6,0.000,0.039,2973,1706,1929,0,0,0,0,0,0
$GC,1668,0.42,214.2,71.9,10.2,353,1673,0.00,2.22,0.00,0.000,4,0.000,0.045,2973,3106,1929,0,0,0,0,0,0
$GC,1706,0.42,214.2,67.7,11.0,361,1711,0.00,2.25,0.00,0.000,6,0.000,0.042,2978,1701,1929,0,0,0,0,0,0
$GC,1749,0.42,214.2,63.1,10.9,370,1754,0.00,2.28,0.00,0.000,4,0.000,0.053,2978,286,1929,0,0,0,0,0,0
$GC,1768,0.42,214.2,60.9,10.9,374,1774,0.00,2.22,0.00,0.000,6,0.000,0.039,2978,1707,1929,0,0,0,0,0,0
$GC,1811,0.42,214.2,56.4,10.7,383,1816,0.00,2.20,0.00,0.000,4,0.000,0.046,2978,3106,1929,0,0,0,0,0,0
$GC,1849,0.42,214.2,52.1,11.0,391,1855,0.00,2.25,0.00,0.000,6,0.000,0.043,2978,1691,1929,0,0,0,0,0,0
$GC,1892,0.42,214.2,47.7,10.6,400,1898,0.00,2.25,0.00,0.000,4,0.000,0.052,2978,282,1929,0,0,0,0,0,0
$GC,1921,0.42,214.2,44.7,10.3,406,1927,0.00,2.25,0.00,0.000,6,0.000,0.039,2978,1713,1929,0,0,0,0,0,0
$GC,1964,0.42,214.2,40.5,9.9,415,1970,0.00,2.17,0.00,0.000,4,0.000,0.044,2978,3105,1929,0,0,0,0,0,0
$GC,1998,0.42,214.2,37.0,10.2,422,2003,0.00,2.20,0.00,0.000,6,0.000,0.043,2978,1700,1929,0,0,0,0,0,0
$GC,2042,0.42,214.2,33.1,9.7,431,2048,0.00,2.25,0.00,0.000,4,0.000,0.052,2978,284,1929,0,0,0,0,0,0
$GC,2066,0.42,214.2,30.7,9.3,436,2072,0.00,2.20,0.00,0.000,6,0.000,0.039,2978,1703,1929,0,0,0,0,0,0
$GC,2109,0.42,214.2,26.8,9.1,445,2114,0.00,2.20,0.00,0.000,4,0.000,0.045,2979,3114,1929,0,0,0,0,0,0
$GC,2147,0.42,214.2,23.0,9.7,453,2153,0.00,2.22,0.00,0.000,6,0.000,0.042,2978,1698,1929,0,0,0,0,0,0
$GC,2190,0.42,214.2,19.0,9.5,462,2196,0.00,2.22,0.00,0.000,4,0.000,0.052,2978,291,1929,0,0,0,0,0,0
$GC,2228,0.42,214.2,15.6,8.9,470,2234,0.00,2.17,0.00,0.000,6,0.000,0.039,2978,1698,1929,0,0,0,0,0,0
$GC,2273,0.42,214.2,11.8,8.8,479,2279,0.00,2.17,0.00,0.000,4,0.000,0.045,2978,3107,1929,0,0,0,0,0,0
$GC,2293,0.42,214.2,10.2,8.7,483,2298,0.00,2.22,0.00,0.000,6,0.000,0.042,2978,1692,1929,0,0,0,0,0,0
$GC,2337,0.42,214.2,7.3,7.8,492,2342,0.00,2.22,0.00,0.000,4,0.000,0.051,2978,280,1929,0,0,0,0,0,0
$FREEZE,7.58,6.902,-1.329,0,1,0
$STATE,2569,end climb,NO_VERTICAL_VELOCITY
$STATE,2569,begin surface
$SM_CCo,2571,127.95,0.755,0,0,447,578.16
$SM_GC,1.11,7.75,0.00,0.00,0.050,0.000,0.000,113,1900,439,-8.47,0.00,580.86
$IRIDIUM_FIX,4751.72,-12225.30,100611,060656
$TT8_MAMPS,0.029146
$HUMID,1077334821
$INTERNAL_PRESSURE,8.94647
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,33.2
$24V_AH,23.6,15.606
$10V_AH,10.5,5.200
$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,20.575,72.300,152.150,127.950,0.000,28.280,25.317,215.512,1.000,0.000,36.532,866.046,723.719,445.591,1091.080,64.279,33.313,965.826,0.000,785.096,0.000,9.909,0.000
$DEVICE_MAMPS,288.392,59.059,1240.239,754.728,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,16750,542
$CAP_FILE_SIZE,82368,0
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,140702,4808.185,-12224.281,10,1.3,10,18.3