version: 66.07
glider: 505
mission: 2
dive: 67
start: 12 16 109 9 34 30
data:
$ID,505
$MISSION,2
$DIVE,67
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,83
$T_MISSION,90
$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,480
$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,-23116.229
$T_RSLEEP,3
$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,50
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$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,10
$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
$GPS1,161209,092634,4807.151,-12223.436,10,5.1,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.5
$GPS2,161209,093334,4807.252,-12223.499,10,2.3,29,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.228
$KALMAN_X,-12063.4,158.0,-327.0,9354.2,-170.9
$KALMAN_Y,7932.2,-6080.7,15324.6,-12868.2,2752.3
$MHEAD_RNG_PITCHd_Wd,136.7,5192,-7.2,-6.024
$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,-0.50,-214.2,0.0,0.0,0,72,0.00,0.00,-54.33,0.000,2,0.000,0.000,99,1689,2175,0,0,0,0,0,0
$GC,74,-0.50,-214.2,3.1,-4.0,13,128,11.45,2.90,-34.35,0.000,4,0.275,0.062,2663,3465,3683,0,0,0,0,0,0
$GC,133,-0.50,-214.2,11.1,-11.8,26,139,0.00,2.83,0.00,0.000,6,0.000,0.040,2663,1698,3684,0,0,0,0,0,0
$GC,176,-0.50,-214.2,16.2,-12.0,35,182,0.00,2.45,0.00,0.000,4,0.000,0.051,2663,177,3684,0,0,0,0,0,0
$GC,205,-0.50,-214.2,19.7,-12.2,41,211,0.00,2.42,0.00,0.000,6,0.000,0.042,2663,1693,3684,0,0,0,0,0,0
$GC,248,-0.50,-214.2,24.8,-11.9,50,254,0.00,2.83,0.00,0.000,4,0.000,0.051,2663,3465,3684,0,0,0,0,0,0
$GC,259,-0.50,-214.2,26.1,-11.7,52,264,0.00,2.80,0.00,0.000,6,0.000,0.039,2663,1691,3684,0,0,0,0,0,0
$GC,302,-0.50,-214.2,31.0,-11.7,61,307,0.00,2.42,0.00,0.000,4,0.000,0.051,2663,176,3684,0,0,0,0,0,0
$GC,314,-0.50,-214.2,32.2,-11.7,63,319,0.00,2.42,0.00,0.000,6,0.000,0.041,2663,1702,3684,0,0,0,0,0,0
$GC,357,-0.50,-214.2,37.5,-11.7,72,362,0.00,2.83,0.00,0.000,4,0.000,0.050,2664,3469,3684,0,0,0,0,0,0
$GC,381,-0.50,-214.2,40.1,-11.3,77,387,0.00,2.80,0.00,0.000,6,0.000,0.038,2663,1693,3684,0,0,0,0,0,0
$GC,424,-0.50,-214.2,44.9,-10.9,86,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1692,3684,0,0,0,0,0,0
$GC,468,-0.50,-214.2,49.5,-11.0,95,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1692,3683,0,0,0,0,0,0
$GC,510,-0.50,-214.2,54.2,-10.8,104,515,0.00,2.42,0.00,0.000,4,0.000,0.052,2663,175,3684,0,0,0,0,0,0
$GC,520,-0.50,-214.2,55.4,-10.9,106,526,0.00,2.42,0.00,0.000,6,0.000,0.041,2663,1709,3684,0,0,0,0,0,0
$GC,563,-0.50,-214.2,59.9,-10.6,115,569,0.00,2.78,0.00,0.000,4,0.000,0.050,2663,3466,3684,0,0,0,0,0,0
$GC,574,-0.50,-214.2,61.0,-10.4,117,579,0.00,2.78,0.00,0.000,6,0.000,0.038,2663,1698,3683,0,0,0,0,0,0
$GC,617,-0.50,-214.2,65.4,-10.3,126,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1697,3684,0,0,0,0,0,0
$GC,659,-0.50,-214.2,69.6,-10.0,135,664,0.00,2.80,0.00,0.000,4,0.000,0.049,2663,3461,3684,0,0,0,0,0,0
$GC,669,-0.50,-214.2,70.6,-10.0,137,675,0.00,2.78,0.00,0.000,6,0.000,0.038,2663,1692,3684,0,0,0,0,0,0
$GC,712,-0.50,-214.2,75.0,-9.9,146,718,0.00,2.40,0.00,0.000,4,0.000,0.051,2663,181,3684,0,0,0,0,0,0
$GC,723,-0.50,-214.2,76.0,-9.9,148,728,0.00,2.40,0.00,0.000,6,0.000,0.040,2663,1706,3684,0,0,0,0,0,0
$GC,769,-0.50,-214.2,80.1,-9.6,157,775,0.00,2.78,0.00,0.000,4,0.000,0.049,2663,3469,3684,0,0,0,0,0,0
$GC,794,-0.50,-214.2,82.5,-9.0,162,799,0.00,2.78,0.00,0.000,6,0.000,0.038,2663,1700,3683,0,0,0,0,0,0
$GC,836,-0.50,-214.2,86.4,-8.9,171,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3684,0,0,0,0,0,0
$GC,878,-0.50,-214.2,90.2,-9.1,180,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3684,0,0,0,0,0,0
$GC,920,-0.50,-214.2,94.1,-9.2,189,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3684,0,0,0,0,0,0
$GC,963,-0.50,-214.2,97.9,-9.1,198,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3684,0,0,0,0,0,0
$STATE,999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,999,begin apogee
$GC,1002,-0.17,0.0,101.1,8.6,206,1085,0.32,0.00,76.80,1.239,6,0.130,0.000,2775,1698,2806,0,0,0,0,0,0
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1087,0.50,214.2,103.4,0.0,225,1174,0.65,3.03,78.78,1.189,4,0.105,0.045,2990,3437,1931,0,0,0,0,0,0
$GC,1184,0.50,214.2,94.2,12.5,247,1189,0.00,2.97,0.00,0.000,6,0.000,0.040,2998,1686,1929,0,0,0,0,0,0
$GC,1227,0.50,214.2,88.4,13.6,256,1232,0.00,2.55,0.00,0.000,4,0.000,0.051,3006,172,1928,0,0,0,0,0,0
$GC,1251,0.50,214.2,85.3,13.2,261,1257,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1677,1928,0,0,0,0,0,0
$GC,1294,0.50,214.2,79.4,13.7,270,1300,0.00,2.88,0.00,0.000,4,0.000,0.046,3006,3444,1928,0,0,0,0,0,0
$GC,1323,0.50,214.2,75.3,14.0,276,1329,0.00,2.90,0.00,0.000,6,0.000,0.042,3010,1676,1927,0,0,0,0,0,0
$GC,1367,0.50,214.2,69.5,13.6,285,1373,0.00,2.45,0.00,0.000,4,0.000,0.051,3020,176,1927,0,0,0,0,0,0
$GC,1387,0.50,214.2,66.6,13.4,289,1393,0.10,2.42,0.00,0.000,6,0.168,0.038,2996,1687,1927,0,0,0,0,0,0
$GC,1431,0.50,214.2,61.0,13.1,298,1436,0.00,2.80,0.00,0.000,4,0.000,0.046,2995,3440,1927,0,0,0,0,0,0
$GC,1460,0.50,214.2,57.2,12.8,304,1465,0.00,2.85,0.00,0.000,6,0.000,0.042,3003,1676,1927,0,0,0,0,0,0
$GC,1503,0.50,214.2,51.9,12.7,313,1508,0.00,2.42,0.00,0.000,4,0.000,0.052,3006,178,1926,0,0,0,0,0,0
$GC,1532,0.50,214.2,47.9,12.8,319,1537,0.00,2.40,0.00,0.000,6,0.000,0.038,3006,1689,1927,0,0,0,0,0,0
$GC,1575,0.50,214.2,42.7,12.4,328,1580,0.00,2.80,0.00,0.000,4,0.000,0.046,3006,3446,1927,0,0,0,0,0,0
$GC,1599,0.50,214.2,39.4,13.0,333,1606,0.08,2.83,0.00,0.000,6,0.201,0.041,2998,1678,1927,0,0,0,0,0,0
$GC,1643,0.50,214.2,33.9,12.5,342,1649,0.00,2.42,0.00,0.000,4,0.000,0.051,3005,168,1927,0,0,0,0,0,0
$GC,1667,0.50,214.2,31.1,11.9,347,1673,0.00,2.40,0.00,0.000,6,0.000,0.038,3005,1688,1927,0,0,0,0,0,0
$GC,1711,0.50,214.2,25.8,12.1,356,1716,0.00,2.78,0.00,0.000,4,0.000,0.046,3005,3438,1927,0,0,0,0,0,0
$GC,1740,0.50,214.2,22.0,13.0,362,1746,0.08,2.80,0.00,0.000,6,0.196,0.041,2997,1679,1926,0,0,0,0,0,0
$GC,1785,0.50,214.2,16.9,11.8,371,1791,0.00,2.40,0.00,0.000,4,0.000,0.051,3000,179,1927,0,0,0,0,0,0
$GC,1810,0.50,214.2,14.0,11.2,376,1815,0.00,2.38,0.00,0.000,6,0.000,0.038,3000,1689,1927,0,0,0,0,0,0
$GC,1853,0.50,214.2,9.7,10.2,385,1858,0.00,2.75,0.00,0.000,4,0.000,0.046,3000,3440,1927,0,0,0,0,0,0
$GC,1868,0.50,214.2,8.3,9.9,388,1874,0.00,2.80,0.00,0.000,6,0.000,0.042,3001,1673,1927,0,0,0,0,0,0
$GC,1911,0.62,313.5,6.9,4.1,397,1952,0.10,2.88,32.20,0.173,4,0.114,0.045,3047,3438,1521,0,0,0,0,0,0
$GC,1967,0.88,519.4,5.7,2.0,409,2038,0.20,2.80,63.55,0.166,2,0.102,0.041,3118,1677,755,0,0,0,0,0,0
$STATE,2039,end climb,SURFACE_DEPTH_REACHED
$STATE,2039,begin surface coast
$FINISH,0.2,1.009458
$STATE,2108,end surface coast,CONTROL_FINISHED_OK
$STATE,2108,begin surface
$SM_CCo,2182,0.00,0.000,0,0,745,505.80
$SM_GC,1.09,7.90,0.00,0.00,0.045,0.000,0.000,102,1676,745,-8.48,-0.68,505.80
$IRIDIUM_FIX,4748.51,-12224.57,110611,030329
$TT8_MAMPS,0.028379
$HUMID,1077342563
$INTERNAL_PRESSURE,8.95623
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,37.8
$24V_AH,23.4,18.329
$10V_AH,10.4,5.936
$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,20.875,117.200,251.325,0.000,0.000,28.977,27.412,259.806,0.500,0.000,30.218,678.351,491.807,383.748,986.621,73.862,33.371,860.085,0.000,641.032,0.000,5.525,0.000
$DEVICE_MAMPS,274.586,62.127,1239.472,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324140
$DATA_FILE_SIZE,13425,440
$CAP_FILE_SIZE,79848,0
$CFSIZE,260165632,256159744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,101137,4807.069,-12223.490,9,1.6,14,18.3