version: 66.07
glider: 505
mission: 2
dive: 24
start: 12 15 109 15 7 46
data:
$ID,505
$MISSION,2
$DIVE,24
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$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,-22449.021
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$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
$GPS1,151209,150038,4808.163,-12224.038,13,1.7,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.3
$GPS2,151209,150649,4808.202,-12224.122,13,1.2,30,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.211,-0.095
$KALMAN_X,-5823.7,195.5,-238.0,2210.4,-856.0
$KALMAN_Y,2580.7,815.5,-100.0,2701.9,368.6
$MHEAD_RNG_PITCHd_Wd,95.9,7077,-4.6,-5.000
$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,-0.42,-214.2,0.0,0.0,0,68,0.00,0.00,-50.58,0.000,2,0.000,0.000,113,1903,2199,0,0,0,0,0,0
$GC,70,-0.42,-214.2,3.3,-5.0,12,123,11.95,2.55,-34.67,0.000,4,0.287,0.061,2685,3484,3682,0,0,0,0,0,0
$GC,170,-0.42,-214.2,15.8,-13.3,34,175,0.00,2.53,0.00,0.000,6,0.000,0.043,2685,1896,3682,0,0,0,0,0,0
$GC,213,-0.42,-214.2,19.9,-9.3,43,218,0.00,2.55,0.00,0.000,4,0.000,0.051,2685,309,3682,0,0,0,0,0,0
$GC,242,-0.42,-214.2,22.9,-10.2,49,248,0.00,2.55,0.00,0.000,6,0.000,0.043,2685,1908,3682,0,0,0,0,0,0
$GC,285,-0.42,-214.2,27.2,-10.2,58,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1908,3682,0,0,0,0,0,0
$GC,327,-0.42,-214.2,31.5,-9.9,67,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1908,3682,0,0,0,0,0,0
$GC,369,-0.42,-214.2,35.6,-9.9,76,374,0.00,2.53,0.00,0.000,4,0.000,0.052,2685,3492,3683,0,0,0,0,0,0
$GC,398,-0.42,-214.2,38.5,-9.9,82,403,0.00,2.50,0.00,0.000,6,0.000,0.041,2685,1907,3682,0,0,0,0,0,0
$GC,441,-0.42,-214.2,42.5,-9.3,91,446,0.00,2.55,0.00,0.000,4,0.000,0.052,2685,312,3682,0,0,0,0,0,0
$GC,484,-0.42,-214.2,46.7,-10.0,100,489,0.00,2.50,0.00,0.000,6,0.000,0.042,2685,1901,3683,0,0,0,0,0,0
$GC,527,-0.42,-214.2,50.8,-9.4,109,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1902,3682,0,0,0,0,0,0
$GC,569,-0.42,-214.2,54.6,-9.3,118,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1901,3682,0,0,0,0,0,0
$GC,611,-0.42,-214.2,58.3,-8.9,127,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1902,3682,0,0,0,0,0,0
$GC,652,-0.42,-214.2,62.0,-8.8,136,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1901,3682,0,0,0,0,0,0
$GC,694,-0.42,-214.2,65.7,-8.6,145,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1902,3682,0,0,0,0,0,0
$GC,736,-0.42,-214.2,69.2,-8.5,154,742,0.00,2.50,0.00,0.000,4,0.000,0.051,2685,315,3682,0,0,0,0,0,0
$GC,770,-0.42,-214.2,72.1,-8.6,161,775,0.00,2.47,0.00,0.000,6,0.000,0.041,2685,1897,3682,0,0,0,0,0,0
$GC,813,-0.42,-214.2,75.7,-8.5,170,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1898,3682,0,0,0,0,0,0
$GC,855,-0.42,-214.2,78.9,-7.8,179,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1898,3682,0,0,0,0,0,0
$GC,900,-0.42,-214.2,82.6,-8.1,188,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1898,3682,0,0,0,0,0,0
$GC,941,-0.42,-214.2,85.9,-7.8,197,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1898,3682,0,0,0,0,0,0
$GC,983,-0.42,-214.2,89.2,-7.9,206,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1898,3682,0,0,0,0,0,0
$GC,1025,-0.42,-214.2,92.4,-7.8,215,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1898,3682,0,0,0,0,0,0
$GC,1067,-0.42,-214.2,95.8,-7.9,224,1073,0.00,2.53,0.00,0.000,4,0.000,0.051,2685,310,3682,0,0,0,0,0,0
$GC,1092,-0.42,-214.2,97.8,-7.9,229,1097,0.00,2.50,0.00,0.000,6,0.000,0.042,2685,1895,3682,0,0,0,0,0,0
$GC,1135,-0.42,-214.2,101.1,-7.8,238,1140,0.00,2.50,0.00,0.000,4,0.000,0.051,2685,3485,3682,0,0,0,0,0,0
$GC,1159,-0.42,-214.2,102.8,-7.4,243,1165,0.00,2.50,0.00,0.000,6,0.000,0.039,2685,1877,3682,0,0,0,0,0,0
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1169,begin apogee
$GC,1172,-0.17,0.0,103.4,7.2,245,1250,0.25,0.00,72.82,0.505,6,0.127,0.000,2771,1687,2806,0,0,0,0,0,0
$STATE,1252,end apogee,CONTROL_FINISHED_OK
$STATE,1252,begin climb
$GC,1253,0.42,214.2,105.8,0.0,263,1335,0.55,2.65,74.45,0.497,4,0.109,0.045,2960,3291,1931,0,0,0,0,0,0
$GC,1354,0.42,214.2,98.4,9.2,286,1360,0.00,2.60,0.00,0.000,6,0.000,0.041,2968,1701,1930,0,0,0,0,0,0
$GC,1398,0.42,214.2,94.1,10.2,295,1403,0.00,2.50,0.00,0.000,4,0.000,0.052,2977,175,1930,0,0,0,0,0,0
$GC,1426,0.42,214.2,91.1,10.3,301,1432,0.00,2.42,0.00,0.000,6,0.000,0.038,2977,1688,1930,0,0,0,0,0,0
$GC,1470,0.42,214.2,86.6,10.1,310,1475,0.00,2.58,0.00,0.000,4,0.000,0.046,2977,3294,1930,0,0,0,0,0,0
$GC,1503,0.42,214.2,82.7,11.0,317,1509,0.00,2.55,0.00,0.000,6,0.000,0.042,2978,1703,1928,0,0,0,0,0,0
$GC,1546,0.42,214.2,78.2,11.0,326,1552,0.00,2.47,0.00,0.000,4,0.000,0.052,2978,171,1929,0,0,0,0,0,0
$GC,1571,0.42,214.2,75.6,10.8,331,1576,0.00,2.40,0.00,0.000,6,0.000,0.038,2979,1702,1929,0,0,0,0,0,0
$GC,1614,0.42,214.2,71.1,10.2,340,1619,0.00,2.50,0.00,0.000,4,0.000,0.046,2979,3290,1929,0,0,0,0,0,0
$GC,1647,0.42,214.2,67.5,10.8,347,1653,0.00,2.47,0.00,0.000,6,0.000,0.042,2979,1722,1928,0,0,0,0,0,0
$GC,1690,0.42,214.2,62.8,10.9,356,1696,0.00,2.47,0.00,0.000,4,0.000,0.052,2979,180,1928,0,0,0,0,0,0
$GC,1719,0.42,214.2,59.8,10.7,362,1725,0.00,2.42,0.00,0.000,6,0.000,0.038,2979,1722,1928,0,0,0,0,0,0
$GC,1762,0.42,214.2,55.3,10.3,371,1768,0.00,2.45,0.00,0.000,4,0.000,0.046,2979,3291,1929,0,0,0,0,0,0
$GC,1796,0.42,214.2,51.6,10.9,378,1802,0.00,2.45,0.00,0.000,6,0.000,0.043,2979,1732,1929,0,0,0,0,0,0
$GC,1839,0.42,214.2,46.9,10.8,387,1845,0.00,2.47,0.00,0.000,4,0.000,0.052,2979,180,1928,0,0,0,0,0,0
$GC,1868,0.42,214.2,44.0,10.5,393,1874,0.00,2.42,0.00,0.000,6,0.000,0.038,2979,1730,1928,0,0,0,0,0,0
$GC,1911,0.42,214.2,39.6,10.1,402,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1731,1929,0,0,0,0,0,0
$GC,1953,0.42,214.2,35.5,9.9,411,1959,0.00,2.42,0.00,0.000,4,0.000,0.046,2979,3291,1929,0,0,0,0,0,0
$GC,1978,0.42,214.2,33.0,9.9,416,1983,0.00,2.50,0.00,0.000,6,0.000,0.041,2979,1706,1928,0,0,0,0,0,0
$GC,2021,0.42,214.2,28.7,10.2,425,2026,0.00,2.42,0.00,0.000,4,0.000,0.052,2980,182,1929,0,0,0,0,0,0
$GC,2045,0.42,214.2,26.5,9.7,430,2051,0.00,2.38,0.00,0.000,6,0.000,0.038,2980,1706,1929,0,0,0,0,0,0
$GC,2088,0.42,214.2,22.4,9.4,439,2094,0.00,2.47,0.00,0.000,4,0.000,0.045,2980,3290,1929,0,0,0,0,0,0
$GC,2117,0.42,214.2,19.2,10.0,445,2123,0.00,2.47,0.00,0.000,6,0.000,0.042,2980,1718,1929,0,0,0,0,0,0
$GC,2162,0.42,214.2,15.3,9.9,454,2167,0.00,2.45,0.00,0.000,4,0.000,0.052,2979,175,1929,0,0,0,0,0,0
$GC,2186,0.42,214.2,12.8,9.2,459,2191,0.00,2.35,0.00,0.000,6,0.000,0.038,2980,1698,1929,0,0,0,0,0,0
$GC,2229,0.42,214.2,10.1,7.3,468,2235,0.00,2.47,0.00,0.000,4,0.000,0.045,2980,3279,1929,0,0,0,0,0,0
$GC,2296,0.54,316.7,7.9,3.3,482,2336,0.10,2.38,33.12,0.172,6,0.114,0.041,3024,1758,1512,0,0,0,0,0,0
$GC,2376,0.71,447.9,5.8,2.8,499,2426,0.10,2.55,43.12,0.170,4,0.121,0.049,3063,179,977,0,0,0,0,0,0
$FREEZE,4.91,6.321,-1.293,0,1,0
$FREEZE,4.73,6.320,-1.291,0,1,0
$FREEZE,4.60,6.313,-1.291,0,1,0
$FREEZE,4.45,6.308,-1.292,0,1,0
$FREEZE,4.14,6.303,-1.292,0,1,0
$FREEZE,3.85,6.284,-1.293,0,1,0
$STATE,2452,end climb,SURFACE_DEPTH_REACHED
$STATE,2453,begin surface coast
$FREEZE,3.62,6.264,-1.295,0,1,0
$FREEZE,3.31,6.262,-1.295,0,1,0
$FREEZE,2.86,6.243,-1.295,0,1,0
$FREEZE,2.54,6.196,-1.295,0,1,0
$FREEZE,2.43,6.127,-1.294,0,1,0
$FREEZE,1.98,6.051,-1.288,0,1,0
$FREEZE,1.91,5.768,-1.297,0,1,0
$FREEZE,1.69,5.624,-1.307,0,1,0
$FREEZE,1.44,5.484,-1.309,0,1,0
$FREEZE,1.35,5.528,-1.294,0,1,0
$FREEZE,1.09,5.878,-1.283,0,1,0
$FREEZE,0.90,5.636,-1.275,0,1,0
$FREEZE,0.54,5.429,-1.261,0,1,0
$FREEZE,0.25,5.435,-1.224,0,1,0
$FREEZE,0.17,5.372,-0.190,0,1,0
$FREEZE,0.26,5.375,-0.489,0,1,0
$FREEZE,0.19,5.387,-0.619,0,1,0
$FREEZE,0.29,5.442,-1.213,0,1,0
$FREEZE,0.23,5.371,-0.469,0,1,0
$FINISH,0.2,1.006806
$STATE,2531,end surface coast,CONTROL_FINISHED_OK
$STATE,2531,begin surface
$SM_CCo,2547,3.28,0.156,0,0,928,460.18
$SM_GC,2.29,0.00,0.00,3.28,0.000,0.000,0.156,111,1915,928,-8.51,0.42,460.18
$IRIDIUM_FIX,4751.72,-12228.02,100611,080802
$TT8_MAMPS,0.028379
$HUMID,1077358047
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,39.0
$24V_AH,24.6,15.740
$10V_AH,10.4,5.262
$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,20.825,105.025,223.525,3.275,0.000,29.811,24.246,223.342,0.500,0.000,31.049,855.641,557.601,378.355,1080.007,67.443,33.309,911.367,0.000,774.294,0.000,5.529,0.000
$DEVICE_MAMPS,286.858,61.360,504.686,155.701,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324056
$DATA_FILE_SIZE,16747,535
$CAP_FILE_SIZE,87689,0
$CFSIZE,260165632,257105920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,155121,4808.033,-12223.808,9,3.3,28,18.3