version: 66.07
glider: 505
mission: 2
dive: 23
start: 12 15 109 14 14 24
data:
$ID,505
$MISSION,2
$DIVE,23
$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,-22417.344
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,151209,140702,4808.185,-12224.281,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.0
$GPS2,151209,141326,4808.252,-12224.362,13,1.2,13,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.217,-0.081
$KALMAN_X,-5164.2,319.6,-454.3,1346.3,-785.5
$KALMAN_Y,1769.6,766.9,526.4,3030.0,193.8
$MHEAD_RNG_PITCHd_Wd,92.1,7320,-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,-214.2,0.0,0.0,0,85,0.00,0.00,-66.95,0.000,2,0.000,0.000,112,1900,2206,0,0,0,0,0,0
$GC,87,-0.42,-214.2,3.0,-3.2,16,141,11.75,2.33,-32.90,0.000,4,0.281,0.064,2685,3311,3682,0,0,0,0,0,0
$GC,163,-0.42,-214.2,15.4,-16.5,33,169,0.00,2.25,0.00,0.000,6,0.000,0.042,2685,1892,3683,0,0,0,0,0,0
$GC,206,-0.42,-214.2,20.0,-11.2,42,212,0.00,2.25,0.00,0.000,4,0.000,0.051,2685,483,3683,0,0,0,0,0,0
$GC,240,-0.42,-214.2,23.5,-10.9,49,246,0.00,2.28,0.00,0.000,6,0.000,0.044,2685,1910,3683,0,0,0,0,0,0
$GC,283,-0.42,-214.2,27.8,-10.3,58,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3682,0,0,0,0,0,0
$GC,325,-0.42,-214.2,32.1,-10.2,67,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3683,0,0,0,0,0,0
$GC,367,-0.42,-214.2,36.3,-10.3,76,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3682,0,0,0,0,0,0
$GC,409,-0.42,-214.2,40.6,-9.9,85,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3683,0,0,0,0,0,0
$GC,451,-0.42,-214.2,44.6,-9.9,94,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3682,0,0,0,0,0,0
$GC,492,-0.42,-214.2,48.4,-9.0,103,498,0.00,2.28,0.00,0.000,4,0.000,0.051,2685,486,3683,0,0,0,0,0,0
$GC,517,-0.42,-214.2,50.6,-9.0,108,522,0.00,2.25,0.00,0.000,6,0.000,0.043,2685,1909,3682,0,0,0,0,0,0
$GC,559,-0.42,-214.2,54.4,-8.8,117,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1910,3683,0,0,0,0,0,0
$GC,601,-0.42,-214.2,57.9,-8.6,126,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1910,3682,0,0,0,0,0,0
$GC,643,-0.42,-214.2,61.5,-8.4,135,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1910,3683,0,0,0,0,0,0
$GC,685,-0.42,-214.2,65.1,-8.2,144,691,0.00,2.28,0.00,0.000,4,0.000,0.051,2685,481,3682,0,0,0,0,0,0
$GC,709,-0.42,-214.2,66.8,-8.4,149,715,0.00,2.25,0.00,0.000,6,0.000,0.043,2685,1910,3683,0,0,0,0,0,0
$GC,752,-0.42,-214.2,70.5,-8.4,158,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3682,0,0,0,0,0,0
$GC,795,-0.42,-214.2,73.8,-8.0,167,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3682,0,0,0,0,0,0
$GC,837,-0.42,-214.2,77.4,-8.0,176,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3682,0,0,0,0,0,0
$GC,882,-0.42,-214.2,80.7,-7.8,185,887,0.00,2.25,0.00,0.000,4,0.000,0.051,2685,489,3682,0,0,0,0,0,0
$GC,920,-0.42,-214.2,83.9,-8.0,193,925,0.00,2.20,0.00,0.000,6,0.000,0.043,2685,1903,3683,0,0,0,0,0,0
$GC,962,-0.42,-214.2,87.3,-7.8,202,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1904,3683,0,0,0,0,0,0
$GC,1004,-0.42,-214.2,90.4,-7.5,211,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1903,3683,0,0,0,0,0,0
$GC,1046,-0.42,-214.2,93.5,-7.3,220,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1904,3683,0,0,0,0,0,0
$GC,1088,-0.42,-214.2,96.5,-7.3,229,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1904,3683,0,0,0,0,0,0
$GC,1130,-0.42,-214.2,99.8,-7.5,238,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1903,3683,0,0,0,0,0,0
$STATE,1148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1148,begin apogee
$GC,1152,-0.17,0.0,101.0,7.3,242,1235,0.25,0.00,75.40,1.248,6,0.126,0.000,2773,1691,2806,0,0,0,0,0,0
$STATE,1235,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1237,0.42,214.2,103.3,0.0,261,1319,0.57,0.00,77.60,1.209,6,0.108,0.000,2964,1691,1932,0,0,0,0,0,0
$GC,1357,0.42,214.2,94.2,9.7,288,1362,0.00,2.35,0.00,0.000,4,0.000,0.046,2964,3106,1929,0,0,0,0,0,0
$GC,1386,0.42,214.2,91.1,9.8,294,1392,0.00,2.30,0.00,0.000,6,0.000,0.043,2969,1710,1929,0,0,0,0,0,0
$GC,1429,0.42,214.2,86.8,10.2,303,1435,0.00,2.33,0.00,0.000,4,0.000,0.053,2977,285,1928,0,0,0,0,0,0
$GC,1458,0.42,214.2,83.7,10.3,309,1464,0.00,2.30,0.00,0.000,6,0.000,0.039,2978,1709,1929,0,0,0,0,0,0
$GC,1501,0.42,214.2,79.1,10.7,318,1507,0.00,2.25,0.00,0.000,4,0.000,0.045,2978,3115,1928,0,0,0,0,0,0
$GC,1535,0.42,214.2,75.1,11.4,325,1540,0.00,2.30,0.00,0.000,6,0.000,0.043,2978,1691,1928,0,0,0,0,0,0
$GC,1577,0.42,214.2,70.3,11.4,334,1583,0.00,2.25,0.00,0.000,4,0.000,0.053,2978,284,1928,0,0,0,0,0,0
$GC,1602,0.42,214.2,67.6,11.2,339,1607,0.00,2.25,0.00,0.000,6,0.000,0.039,2978,1700,1928,0,0,0,0,0,0
$GC,1644,0.42,214.2,63.1,10.7,348,1650,0.00,2.22,0.00,0.000,4,0.000,0.045,2978,3110,1928,0,0,0,0,0,0
$GC,1673,0.42,214.2,59.7,11.2,354,1679,0.00,2.25,0.00,0.000,6,0.000,0.042,2978,1696,1928,0,0,0,0,0,0
$GC,1716,0.42,214.2,54.9,11.3,363,1722,0.00,2.25,0.00,0.000,4,0.000,0.052,2978,290,1928,0,0,0,0,0,0
$GC,1736,0.42,214.2,52.9,11.0,367,1742,0.00,2.22,0.00,0.000,6,0.000,0.038,2978,1704,1928,0,0,0,0,0,0
$GC,1779,0.42,214.2,48.6,10.2,376,1784,0.00,2.20,0.00,0.000,4,0.000,0.045,2979,3106,1928,0,0,0,0,0,0
$GC,1808,0.42,214.2,45.3,10.5,382,1814,0.00,2.22,0.00,0.000,6,0.000,0.042,2978,1699,1929,0,0,0,0,0,0
$GC,1851,0.42,214.2,41.0,10.2,391,1857,0.00,2.25,0.00,0.000,4,0.000,0.053,2979,289,1928,0,0,0,0,0,0
$GC,1875,0.42,214.2,38.9,9.6,396,1881,0.00,2.22,0.00,0.000,6,0.000,0.038,2979,1708,1928,0,0,0,0,0,0
$GC,1918,0.42,214.2,35.0,9.0,405,1924,0.00,2.17,0.00,0.000,4,0.000,0.045,2979,3114,1928,0,0,0,0,0,0
$GC,1956,0.42,214.2,31.4,9.3,413,1962,0.00,2.22,0.00,0.000,6,0.000,0.043,2979,1699,1928,0,0,0,0,0,0
$GC,2000,0.42,214.2,27.5,9.3,422,2006,0.00,2.22,0.00,0.000,4,0.000,0.052,2979,286,1928,0,0,0,0,0,0
$GC,2025,0.42,214.2,25.2,8.9,427,2030,0.00,2.20,0.00,0.000,6,0.000,0.038,2979,1708,1928,0,0,0,0,0,0
$GC,2067,0.42,214.2,21.6,8.6,436,2073,0.00,2.17,0.00,0.000,4,0.000,0.045,2979,3104,1928,0,0,0,0,0,0
$GC,2092,0.42,214.2,19.3,8.8,441,2097,0.00,2.22,0.00,0.000,6,0.000,0.042,2979,1692,1928,0,0,0,0,0,0
$GC,2134,0.42,214.2,15.2,9.5,450,2140,0.00,2.22,0.00,0.000,4,0.000,0.052,2981,287,1928,0,0,0,0,0,0
$GC,2163,0.42,214.2,12.8,9.1,456,2169,0.00,2.17,0.00,0.000,6,0.000,0.038,2981,1702,1928,0,0,0,0,0,0
$GC,2206,0.42,214.2,10.2,7.2,465,2212,0.00,2.17,0.00,0.000,4,0.000,0.046,2981,3103,1928,0,0,0,0,0,0
$FREEZE,5.00,6.283,-1.352,0,1,0
$FREEZE,4.59,6.291,-1.352,0,1,0
$GC,2475,0.75,485.6,7.9,0.5,523,2579,0.28,2.20,92.68,0.770,6,0.086,0.042,3085,1690,823,0,0,0,0,0,0
$FREEZE,3.51,6.249,-1.352,0,1,0
$STATE,2584,end climb,SURFACE_DEPTH_REACHED
$STATE,2584,begin surface coast
$FREEZE,3.27,6.168,-1.348,0,1,0
$FREEZE,3.04,6.082,-1.338,0,1,0
$FREEZE,2.72,5.977,-1.328,0,1,0
$FREEZE,2.31,5.870,-1.321,0,1,0
$FREEZE,2.10,5.719,-1.302,0,1,0
$FREEZE,1.84,5.533,-1.307,0,1,0
$FREEZE,1.51,5.267,-1.286,0,1,0
$FREEZE,1.36,5.448,-1.293,0,1,0
$FREEZE,1.06,5.438,-1.283,0,1,0
$FREEZE,0.80,5.322,-1.263,0,1,0
$FREEZE,0.56,5.334,-1.256,0,1,0
$FREEZE,0.40,5.210,-1.238,0,1,0
$FREEZE,0.20,5.164,-0.150,0,1,0
$FREEZE,0.25,5.205,-0.546,0,1,0
$FREEZE,0.23,5.245,-0.602,0,1,0
$FREEZE,0.28,5.203,-1.174,0,1,0
$FREEZE,0.20,5.268,-0.589,0,1,0
$FINISH,0.2,1.008578
$STATE,2654,end surface coast,CONTROL_FINISHED_OK
$STATE,2654,begin surface
$SM_CCo,2729,0.00,0.000,0,0,813,489.12
$SM_GC,1.50,8.02,0.00,0.00,0.055,0.000,0.000,113,1905,813,-8.47,0.11,489.12
$IRIDIUM_FIX,4751.72,-12223.57,100611,070721
$TT8_MAMPS,0.028379
$HUMID,1077394176
$INTERNAL_PRESSURE,8.966
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,43.5
$24V_AH,23.6,15.698
$10V_AH,10.4,5.231
$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,20.875,81.425,245.675,0.000,0.000,30.836,30.652,247.093,0.500,0.000,13.562,873.152,662.987,393.142,1139.705,60.207,33.312,947.476,0.000,815.676,0.000,5.541,0.000
$DEVICE_MAMPS,281.489,64.428,1247.909,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324072
$DATA_FILE_SIZE,16779,564
$CAP_FILE_SIZE,84976,0
$CFSIZE,260165632,257146880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,150038,4808.163,-12224.038,13,1.7,13,18.3