version: 66.07
glider: 505
mission: 2
dive: 69
start: 12 16 109 11 1 29
data:
$ID,505
$MISSION,2
$DIVE,69
$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,-23146.455
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,161209,105455,4807.065,-12223.321,12,1.2,17,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.6
$GPS2,161209,110032,4807.143,-12223.360,14,1.2,14,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,0.164
$KALMAN_X,-12539.4,766.9,-1368.0,10434.1,-198.0
$KALMAN_Y,7503.8,-15561.7,25962.1,-13906.4,-6612.9
$MHEAD_RNG_PITCHd_Wd,30.9,4927,-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,-54.72,0.000,2,0.000,0.000,101,1695,2313,0,0,0,0,0,0
$GC,74,-0.50,-214.2,3.3,-4.7,13,123,11.45,2.90,-30.62,0.000,4,0.274,0.063,2666,3464,3682,0,0,0,0,0,0
$GC,239,-0.50,-214.2,21.7,-9.7,49,244,0.00,2.80,0.00,0.000,6,0.000,0.041,2666,1698,3683,0,0,0,0,0,0
$GC,282,-0.50,-214.2,26.2,-10.2,58,287,0.00,2.45,0.00,0.000,4,0.000,0.051,2666,170,3683,0,0,0,0,0,0
$GC,297,-0.50,-214.2,28.0,-10.5,61,303,0.00,2.40,0.00,0.000,6,0.000,0.041,2666,1695,3683,0,0,0,0,0,0
$GC,340,-0.50,-214.2,32.7,-11.2,70,345,0.00,2.83,0.00,0.000,4,0.000,0.049,2666,3466,3683,0,0,0,0,0,0
$GC,374,-0.50,-214.2,36.4,-10.9,77,379,0.00,2.78,0.00,0.000,6,0.000,0.038,2666,1700,3682,0,0,0,0,0,0
$GC,417,-0.50,-214.2,40.8,-10.2,86,422,0.00,2.40,0.00,0.000,4,0.000,0.048,2666,175,3683,0,0,0,0,0,0
$GC,441,-0.50,-214.2,43.6,-10.9,91,447,0.00,2.42,0.00,0.000,6,0.000,0.041,2666,1706,3683,0,0,0,0,0,0
$GC,484,-0.50,-214.2,48.2,-10.7,100,489,0.00,2.78,0.00,0.000,4,0.000,0.048,2666,3467,3683,0,0,0,0,0,0
$GC,522,-0.50,-214.2,51.8,-9.8,108,528,0.00,2.78,0.00,0.000,6,0.000,0.038,2666,1699,3683,0,0,0,0,0,0
$GC,565,-0.50,-214.2,56.0,-9.8,117,571,0.00,2.40,0.00,0.000,4,0.000,0.048,2666,173,3683,0,0,0,0,0,0
$GC,594,-0.50,-214.2,59.3,-10.7,123,600,0.00,2.40,0.00,0.000,6,0.000,0.040,2666,1709,3683,0,0,0,0,0,0
$GC,637,-0.50,-214.2,63.6,-10.1,132,643,0.00,2.75,0.00,0.000,4,0.000,0.048,2666,3462,3682,0,0,0,0,0,0
$GC,666,-0.50,-214.2,66.3,-9.7,138,672,0.00,2.78,0.00,0.000,6,0.000,0.041,2666,1700,3683,0,0,0,0,0,0
$GC,709,-0.50,-214.2,70.3,-9.3,147,715,0.00,2.40,0.00,0.000,4,0.000,0.049,2666,172,3683,0,0,0,0,0,0
$GC,729,-0.50,-214.2,72.3,-9.7,151,734,0.00,2.40,0.00,0.000,6,0.000,0.039,2666,1700,3682,0,0,0,0,0,0
$GC,772,-0.50,-214.2,76.4,-9.8,160,777,0.00,2.80,0.00,0.000,4,0.000,0.048,2666,3470,3682,0,0,0,0,0,0
$GC,796,-0.50,-214.2,78.9,-10.0,165,801,0.00,2.78,0.00,0.000,6,0.000,0.038,2666,1696,3682,0,0,0,0,0,0
$GC,841,-0.50,-214.2,83.1,-8.7,174,847,0.00,2.40,0.00,0.000,4,0.000,0.049,2665,178,3683,0,0,0,0,0,0
$GC,861,-0.50,-214.2,85.2,-9.5,178,866,0.00,2.38,0.00,0.000,6,0.000,0.041,2666,1702,3682,0,0,0,0,0,0
$GC,904,-0.50,-214.2,89.1,-9.4,187,909,0.00,2.78,0.00,0.000,4,0.000,0.048,2666,3462,3683,0,0,0,0,0,0
$GC,924,-0.50,-214.2,90.9,-9.0,191,930,0.00,2.78,0.00,0.000,6,0.000,0.039,2666,1692,3682,0,0,0,0,0,0
$GC,967,-0.50,-214.2,94.6,-8.4,200,973,0.00,2.40,0.00,0.000,4,0.000,0.049,2666,174,3683,0,0,0,0,0,0
$GC,987,-0.50,-214.2,96.3,-8.7,204,992,0.00,2.40,0.00,0.000,6,0.000,0.040,2666,1703,3682,0,0,0,0,0,0
$GC,1030,-0.50,-214.2,100.1,-8.7,213,1035,0.00,2.78,0.00,0.000,4,0.000,0.048,2666,3462,3682,0,0,0,0,0,0
$STATE,1044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1044,begin apogee
$GC,1051,-0.17,0.0,101.3,8.4,216,1133,0.32,0.00,76.65,1.237,6,0.120,0.000,2779,1680,2806,0,0,0,0,0,0
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1135,0.50,214.2,104.0,0.0,235,1221,0.62,0.00,78.45,1.193,6,0.101,0.000,2988,1680,1932,0,0,0,0,0,0
$GC,1259,0.50,214.2,91.8,12.1,263,1264,0.00,3.00,0.00,0.000,4,0.000,0.046,2988,3445,1930,0,0,0,0,0,0
$GC,1269,0.50,214.2,90.6,11.9,265,1275,0.00,2.92,0.00,0.000,6,0.000,0.037,2997,1680,1930,0,0,0,0,0,0
$GC,1313,0.50,214.2,84.9,13.1,274,1318,0.00,2.50,0.00,0.000,4,0.000,0.049,3006,172,1929,0,0,0,0,0,0
$GC,1323,0.50,214.2,83.6,13.0,276,1329,0.00,2.45,0.00,0.000,6,0.000,0.035,3007,1675,1929,0,0,0,0,0,0
$GC,1365,0.50,214.2,77.8,13.6,285,1371,0.00,2.88,0.00,0.000,4,0.000,0.045,3006,3456,1929,0,0,0,0,0,0
$GC,1381,0.50,214.2,75.6,13.8,288,1387,0.10,2.90,0.00,0.000,6,0.175,0.039,2994,1670,1929,0,0,0,0,0,0
$GC,1424,0.50,214.2,69.9,13.5,297,1430,0.00,2.42,0.00,0.000,4,0.000,0.051,3002,168,1929,0,0,0,0,0,0
$GC,1439,0.50,214.2,68.1,12.5,300,1445,0.00,2.45,0.00,0.000,6,0.000,0.037,3001,1700,1929,0,0,0,0,0,0
$GC,1482,0.50,214.2,62.6,12.6,309,1488,0.00,2.78,0.00,0.000,4,0.000,0.045,3002,3443,1929,0,0,0,0,0,0
$GC,1511,0.50,214.2,58.7,13.2,315,1517,0.00,2.85,0.00,0.000,6,0.000,0.041,3007,1672,1928,0,0,0,0,0,0
$GC,1554,0.50,214.2,53.0,13.3,324,1560,0.00,2.42,0.00,0.000,4,0.000,0.050,3017,168,1928,0,0,0,0,0,0
$GC,1583,0.50,214.2,49.1,13.2,330,1589,0.08,2.38,0.00,0.000,6,0.183,0.038,2999,1679,1929,0,0,0,0,0,0
$GC,1627,0.50,214.2,43.5,12.8,339,1633,0.00,2.80,0.00,0.000,4,0.000,0.045,2999,3438,1928,0,0,0,0,0,0
$GC,1670,0.50,214.2,38.1,12.7,348,1676,0.00,2.80,0.00,0.000,6,0.000,0.041,3006,1680,1928,0,0,0,0,0,0
$GC,1713,0.50,214.2,32.8,12.4,357,1718,0.00,2.40,0.00,0.000,4,0.000,0.050,3017,166,1928,0,0,0,0,0,0
$GC,1742,0.50,214.2,29.0,12.8,363,1748,0.08,2.40,0.00,0.000,6,0.181,0.038,2998,1688,1928,0,0,0,0,0,0
$GC,1788,0.50,214.2,23.5,12.4,372,1793,0.00,2.78,0.00,0.000,4,0.000,0.045,2998,3442,1928,0,0,0,0,0,0
$GC,1821,0.50,214.2,19.3,12.1,379,1827,0.00,2.80,0.00,0.000,6,0.000,0.041,3006,1679,1928,0,0,0,0,0,0
$GC,1864,0.50,214.2,14.0,12.2,388,1870,0.00,2.40,0.00,0.000,4,0.000,0.051,3007,177,1928,0,0,0,0,0,0
$GC,1903,0.50,214.2,9.9,11.4,396,1908,0.00,2.38,0.00,0.000,6,0.000,0.038,3006,1689,1928,0,0,0,0,0,0
$GC,1946,0.50,214.2,7.2,6.8,405,1951,0.00,2.75,0.00,0.000,4,0.000,0.044,3007,3452,1928,0,0,0,0,0,0
$FREEZE,6.53,6.780,-1.344,0,1,0
$STATE,2122,end climb,NO_VERTICAL_VELOCITY
$STATE,2122,begin surface
$SM_CCo,2124,123.22,0.162,0,0,447,578.16
$SM_GC,1.16,7.60,0.00,0.00,0.044,0.000,0.000,108,1692,439,-8.47,-0.23,580.86
$IRIDIUM_FIX,4748.51,-12226.29,110611,040434
$TT8_MAMPS,0.029146
$HUMID,1077337401
$INTERNAL_PRESSURE,8.9367
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,41.0
$24V_AH,23.5,18.477
$10V_AH,10.5,5.989
$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,20.250,126.225,155.100,123.225,0.000,31.228,25.231,199.371,0.500,0.000,14.419,711.192,581.143,436.502,908.744,71.111,33.336,883.976,0.000,644.791,0.000,5.535,0.000
$DEVICE_MAMPS,273.819,62.894,1237.171,161.837,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,13499,443
$CAP_FILE_SIZE,76503,0
$CFSIZE,260165632,256090112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,114131,4807.396,-12223.109,10,1.4,15,18.3