version: 66.07
glider: 505
mission: 2
dive: 68
start: 12 16 109 10 18 34
data:
$ID,505
$MISSION,2
$DIVE,68
$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,-23131.408
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,161209,101137,4807.069,-12223.490,9,1.6,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.2
$GPS2,161209,101737,4807.154,-12223.553,9,1.6,14,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,-0.111
$KALMAN_X,-12162.2,480.9,-972.5,9707.1,-173.5
$KALMAN_Y,6747.2,-11003.6,21999.3,-13659.8,-2378.3
$MHEAD_RNG_PITCHd_Wd,97.9,5088,-7.2,-6.024
$D_GRID,99
$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,-54.70,0.000,2,0.000,0.000,102,1674,2205,0,0,0,0,0,0
$GC,74,-0.50,-214.2,3.1,-4.3,13,127,11.60,2.92,-33.60,0.000,4,0.278,0.061,2663,3463,3683,0,0,0,0,0,0
$GC,206,-0.50,-214.2,19.0,-9.7,42,212,0.00,2.78,0.00,0.000,6,0.000,0.041,2664,1701,3684,0,0,0,0,0,0
$GC,249,-0.50,-214.2,23.6,-10.5,51,255,0.00,2.47,0.00,0.000,4,0.000,0.051,2664,171,3684,0,0,0,0,0,0
$GC,278,-0.50,-214.2,27.1,-11.5,57,284,0.00,2.42,0.00,0.000,6,0.000,0.041,2663,1695,3684,0,0,0,0,0,0
$GC,321,-0.50,-214.2,31.8,-11.0,66,327,0.00,2.83,0.00,0.000,4,0.000,0.050,2664,3463,3684,0,0,0,0,0,0
$GC,346,-0.50,-214.2,34.4,-10.9,71,351,0.00,2.80,0.00,0.000,6,0.000,0.041,2664,1692,3684,0,0,0,0,0,0
$GC,389,-0.50,-214.2,39.1,-11.0,80,394,0.00,2.42,0.00,0.000,4,0.000,0.051,2664,172,3684,0,0,0,0,0,0
$GC,399,-0.50,-214.2,40.4,-11.2,82,405,0.00,2.42,0.00,0.000,6,0.000,0.039,2664,1713,3684,0,0,0,0,0,0
$GC,442,-0.50,-214.2,45.0,-11.1,91,448,0.00,2.78,0.00,0.000,4,0.000,0.049,2664,3470,3684,0,0,0,0,0,0
$GC,457,-0.50,-214.2,46.7,-10.8,94,463,0.00,2.80,0.00,0.000,6,0.000,0.039,2664,1697,3684,0,0,0,0,0,0
$GC,500,-0.50,-214.2,51.1,-10.1,103,506,0.00,2.40,0.00,0.000,4,0.000,0.051,2664,178,3683,0,0,0,0,0,0
$GC,512,-0.50,-214.2,52.3,-10.4,105,518,0.00,2.40,0.00,0.000,6,0.000,0.040,2663,1700,3683,0,0,0,0,0,0
$GC,555,-0.50,-214.2,56.8,-10.4,114,560,0.00,2.83,0.00,0.000,4,0.000,0.049,2664,3468,3683,0,0,0,0,0,0
$GC,584,-0.50,-214.2,59.6,-9.5,120,589,0.00,2.78,0.00,0.000,6,0.000,0.038,2664,1690,3683,0,0,0,0,0,0
$GC,627,-0.50,-214.2,63.6,-9.4,129,632,0.00,2.40,0.00,0.000,4,0.000,0.050,2664,180,3683,0,0,0,0,0,0
$GC,637,-0.50,-214.2,64.7,-9.7,131,643,0.00,2.40,0.00,0.000,6,0.000,0.038,2664,1707,3683,0,0,0,0,0,0
$GC,680,-0.50,-214.2,68.9,-9.8,140,686,0.00,2.78,0.00,0.000,4,0.000,0.049,2664,3470,3683,0,0,0,0,0,0
$GC,704,-0.50,-214.2,71.2,-9.5,145,710,0.00,2.80,0.00,0.000,6,0.000,0.040,2664,1694,3683,0,0,0,0,0,0
$GC,748,-0.50,-214.2,75.2,-9.2,154,753,0.00,2.40,0.00,0.000,4,0.000,0.051,2664,171,3683,0,0,0,0,0,0
$GC,763,-0.50,-214.2,76.5,-9.4,157,768,0.00,2.40,0.00,0.000,6,0.000,0.040,2664,1702,3683,0,0,0,0,0,0
$GC,808,-0.50,-214.2,80.5,-9.2,166,813,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3469,3683,0,0,0,0,0,0
$GC,832,-0.50,-214.2,82.9,-9.1,171,838,0.00,2.78,0.00,0.000,6,0.000,0.037,2664,1696,3683,0,0,0,0,0,0
$GC,875,-0.50,-214.2,86.7,-8.9,180,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1694,3683,0,0,0,0,0,0
$GC,917,-0.50,-214.2,90.4,-8.8,189,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1694,3683,0,0,0,0,0,0
$GC,959,-0.50,-214.2,94.1,-8.8,198,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1694,3683,0,0,0,0,0,0
$GC,1001,-0.50,-214.2,97.8,-8.6,207,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1694,3683,0,0,0,0,0,0
$STATE,1014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1014,begin apogee
$GC,1018,-0.17,0.0,99.1,8.8,210,1100,0.32,0.00,76.53,1.227,6,0.128,0.000,2777,1694,2806,0,0,0,0,0,0
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1102,0.50,214.2,101.6,0.0,229,1189,0.65,2.65,77.68,1.180,4,0.103,0.051,3000,175,1932,0,0,0,0,0,0
$GC,1194,0.50,214.2,93.3,11.4,250,1199,0.00,2.53,0.00,0.000,6,0.000,0.035,3000,1680,1932,0,0,0,0,0,0
$GC,1237,0.50,214.2,87.8,13.0,259,1242,0.00,2.92,0.00,0.000,4,0.000,0.045,3000,3438,1930,0,0,0,0,0,0
$GC,1270,0.50,214.2,82.9,13.9,266,1276,0.00,2.90,0.00,0.000,6,0.000,0.040,3009,1682,1928,0,0,0,0,0,0
$GC,1313,0.50,214.2,77.1,13.6,275,1319,0.00,2.47,0.00,0.000,4,0.000,0.051,3020,179,1928,0,0,0,0,0,0
$GC,1333,0.50,214.2,74.3,14.1,279,1339,0.10,2.42,0.00,0.000,6,0.165,0.037,2995,1681,1928,0,0,0,0,0,0
$GC,1378,0.50,214.2,68.3,13.9,288,1384,0.00,2.85,0.00,0.000,4,0.000,0.045,2995,3441,1929,0,0,0,0,0,0
$GC,1398,0.50,214.2,65.4,13.4,292,1404,0.00,2.85,0.00,0.000,6,0.000,0.040,3004,1678,1928,0,0,0,0,0,0
$GC,1441,0.50,214.2,59.7,13.4,301,1446,0.00,2.45,0.00,0.000,4,0.000,0.051,3007,170,1928,0,0,0,0,0,0
$GC,1456,0.50,214.2,57.8,13.0,304,1462,0.00,2.40,0.00,0.000,6,0.000,0.037,3007,1693,1929,0,0,0,0,0,0
$GC,1499,0.50,214.2,52.3,12.9,313,1505,0.00,2.80,0.00,0.000,4,0.000,0.045,3007,3444,1928,0,0,0,0,0,0
$GC,1528,0.50,214.2,48.2,13.2,319,1534,0.08,2.83,0.00,0.000,6,0.195,0.041,3000,1681,1928,0,0,0,0,0,0
$GC,1572,0.50,214.2,42.7,13.0,328,1577,0.00,2.45,0.00,0.000,4,0.000,0.051,3005,175,1928,0,0,0,0,0,0
$GC,1591,0.50,214.2,40.4,12.3,332,1597,0.00,2.40,0.00,0.000,6,0.000,0.038,3005,1689,1928,0,0,0,0,0,0
$GC,1634,0.50,214.2,35.1,12.3,341,1640,0.00,2.78,0.00,0.000,4,0.000,0.046,3005,3447,1928,0,0,0,0,0,0
$GC,1663,0.50,214.2,31.2,13.0,347,1669,0.08,2.83,0.00,0.000,6,0.198,0.041,2997,1678,1928,0,0,0,0,0,0
$GC,1707,0.50,214.2,25.9,12.4,356,1712,0.00,2.38,0.00,0.000,4,0.000,0.051,3000,180,1928,0,0,0,0,0,0
$GC,1722,0.50,214.2,24.0,12.0,359,1728,0.00,2.38,0.00,0.000,6,0.000,0.037,3000,1689,1928,0,0,0,0,0,0
$GC,1765,0.50,214.2,19.3,11.4,368,1771,0.00,2.78,0.00,0.000,4,0.000,0.045,3000,3442,1928,0,0,0,0,0,0
$GC,1785,0.50,214.2,16.8,11.5,372,1791,0.00,2.80,0.00,0.000,6,0.000,0.041,3007,1681,1928,0,0,0,0,0,0
$GC,1828,0.50,214.2,11.6,12.1,381,1834,0.00,2.40,0.00,0.000,4,0.000,0.051,3016,178,1929,0,0,0,0,0,0
$GC,1899,0.57,268.2,6.8,5.0,396,1922,0.00,2.38,17.27,0.170,6,0.000,0.038,3016,1690,1708,0,0,0,0,0,0
$GC,1960,0.77,430.6,5.1,2.9,409,2013,0.17,0.00,49.70,0.163,2,0.089,0.000,3090,1690,1092,0,0,0,0,0,0
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,0.2,1.014084
$STATE,2097,end surface coast,CONTROL_FINISHED_OK
$STATE,2097,begin surface
$SM_CCo,2111,20.23,0.156,0,0,849,480.04
$SM_GC,0.96,0.00,0.00,20.23,0.000,0.000,0.156,101,1694,849,-8.55,-0.17,480.04
$IRIDIUM_FIX,4748.51,-12221.84,110611,030336
$TT8_MAMPS,0.028379
$HUMID,1077409659
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,39.4
$24V_AH,23.5,18.403
$10V_AH,10.4,5.962
$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,20.825,115.400,221.175,20.225,0.000,28.417,23.184,224.594,0.500,0.000,14.553,684.236,450.072,377.064,928.384,69.129,33.341,839.321,0.000,639.115,0.000,5.533,0.000
$DEVICE_MAMPS,278.421,61.360,1227.200,155.701,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324076
$DATA_FILE_SIZE,13447,439
$CAP_FILE_SIZE,77640,0
$CFSIZE,260165632,256126976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,105455,4807.065,-12223.321,12,1.2,17,18.3