version: 66.07
glider: 505
mission: 2
dive: 70
start: 12 16 109 11 48 21
data:
$ID,505
$MISSION,2
$DIVE,70
$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,-23170.037
$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,26
$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
$GPS1,161209,114131,4807.396,-12223.109,10,1.4,15,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.0
$GPS2,161209,114725,4807.471,-12223.143,11,1.5,22,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.251,-0.009
$KALMAN_X,-13137.7,1081.9,-1448.3,11063.9,-272.7
$KALMAN_Y,17102.2,-20706.1,21203.4,-13030.1,-4397.9
$MHEAD_RNG_PITCHd_Wd,73.7,5288,-7.2,-6.024
$D_GRID,107
$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,-214.2,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,2,0.000,0.000,108,1691,2339,0,0,0,0,0,0
$GC,91,-0.50,-214.2,3.3,-4.6,17,141,11.45,2.92,-29.52,0.000,4,0.275,0.061,2663,3463,3684,0,0,0,0,0,0
$GC,187,-0.50,-214.2,15.6,-10.8,38,192,0.00,2.83,0.00,0.000,6,0.000,0.041,2663,1691,3685,0,0,0,0,0,0
$GC,230,-0.50,-214.2,20.2,-10.9,47,235,0.00,2.42,0.00,0.000,4,0.000,0.051,2663,178,3685,0,0,0,0,0,0
$GC,259,-0.50,-214.2,23.6,-11.5,53,264,0.00,2.42,0.00,0.000,6,0.000,0.041,2663,1703,3685,0,0,0,0,0,0
$GC,302,-0.50,-214.2,28.5,-11.3,62,307,0.00,2.83,0.00,0.000,4,0.000,0.048,2663,3472,3684,0,0,0,0,0,0
$GC,331,-0.50,-214.2,31.7,-11.0,68,337,0.00,2.80,0.00,0.000,6,0.000,0.038,2663,1697,3685,0,0,0,0,0,0
$GC,373,-0.50,-214.2,36.6,-11.4,77,379,0.00,2.42,0.00,0.000,4,0.000,0.049,2663,175,3685,0,0,0,0,0,0
$GC,389,-0.50,-214.2,38.5,-12.1,80,394,0.00,2.42,0.00,0.000,6,0.000,0.041,2663,1705,3685,0,0,0,0,0,0
$GC,431,-0.50,-214.2,43.7,-12.2,89,437,0.00,2.72,0.00,0.000,4,0.000,0.048,2663,3463,3684,0,0,0,0,0,0
$GC,456,-0.50,-214.2,46.3,-11.2,94,462,0.00,2.80,0.00,0.000,6,0.000,0.039,2663,1690,3684,0,0,0,0,0,0
$GC,499,-0.50,-214.2,51.0,-10.5,103,504,0.00,2.40,0.00,0.000,4,0.000,0.050,2663,181,3684,0,0,0,0,0,0
$GC,514,-0.50,-214.2,52.6,-10.5,106,520,0.00,2.40,0.00,0.000,6,0.000,0.041,2663,1706,3684,0,0,0,0,0,0
$GC,557,-0.50,-214.2,57.3,-11.0,115,562,0.00,2.80,0.00,0.000,4,0.000,0.048,2663,3469,3684,0,0,0,0,0,0
$GC,586,-0.50,-214.2,60.2,-10.2,121,592,0.00,2.75,0.00,0.000,6,0.000,0.038,2663,1698,3684,0,0,0,0,0,0
$GC,629,-0.50,-214.2,64.5,-9.7,130,635,0.00,2.40,0.00,0.000,4,0.000,0.047,2663,181,3684,0,0,0,0,0,0
$GC,654,-0.50,-214.2,67.2,-10.5,135,659,0.00,2.40,0.00,0.000,6,0.000,0.040,2663,1703,3684,0,0,0,0,0,0
$GC,696,-0.50,-214.2,71.5,-10.3,144,702,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3470,3684,0,0,0,0,0,0
$GC,721,-0.50,-214.2,73.9,-9.9,149,726,0.00,2.75,0.00,0.000,6,0.000,0.038,2663,1701,3684,0,0,0,0,0,0
$GC,764,-0.50,-214.2,78.0,-9.6,158,769,0.00,2.42,0.00,0.000,4,0.000,0.049,2663,181,3684,0,0,0,0,0,0
$GC,788,-0.50,-214.2,80.1,-10.5,162,793,0.00,2.40,0.00,0.000,6,0.000,0.040,2663,1707,3684,0,0,0,0,0,0
$GC,831,-0.50,-214.2,84.4,-9.5,171,836,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3462,3684,0,0,0,0,0,0
$GC,860,-0.50,-214.2,87.1,-9.2,177,865,0.00,2.75,0.00,0.000,6,0.000,0.039,2663,1696,3684,0,0,0,0,0,0
$GC,902,-0.50,-214.2,90.7,-8.7,186,908,0.00,2.40,0.00,0.000,4,0.000,0.050,2663,182,3684,0,0,0,0,0,0
$GC,927,-0.50,-214.2,93.2,-9.2,191,932,0.00,2.40,0.00,0.000,6,0.000,0.041,2663,1707,3684,0,0,0,0,0,0
$GC,970,-0.50,-214.2,97.1,-9.2,200,975,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3465,3684,0,0,0,0,0,0
$GC,1003,-0.50,-214.2,99.8,-8.4,207,1009,0.00,2.75,0.00,0.000,6,0.000,0.039,2663,1694,3684,0,0,0,0,0,0
$GC,1046,-0.50,-214.2,103.3,-8.1,216,1052,0.00,2.40,0.00,0.000,4,0.000,0.050,2662,178,3684,0,0,0,0,0,0
$GC,1080,-0.50,-214.2,106.3,-8.8,223,1085,0.00,2.40,0.00,0.000,6,0.000,0.041,2663,1706,3684,0,0,0,0,0,0
$STATE,1089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1089,begin apogee
$GC,1093,-0.17,0.0,107.2,8.7,225,1175,0.32,0.00,77.18,1.269,6,0.127,0.000,2776,1707,2806,0,0,0,0,0,0
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1176,begin climb
$GC,1177,0.50,214.2,109.3,0.0,244,1263,0.65,0.00,79.05,1.222,6,0.100,0.000,2992,1707,1931,0,0,0,0,0,0
$GC,1301,0.50,214.2,96.5,13.0,272,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1707,1929,0,0,0,0,0,0
$GC,1342,0.50,214.2,91.2,12.8,281,1348,0.00,2.88,0.00,0.000,4,0.000,0.045,2992,3444,1928,0,0,0,0,0,0
$GC,1358,0.50,214.2,89.2,12.8,284,1364,0.00,2.88,0.00,0.000,6,0.000,0.039,3002,1683,1927,0,0,0,0,0,0
$GC,1401,0.50,214.2,83.2,13.9,293,1407,0.00,2.45,0.00,0.000,4,0.000,0.050,3006,180,1927,0,0,0,0,0,0
$GC,1422,0.50,214.2,80.5,13.6,297,1428,0.00,2.42,0.00,0.000,6,0.000,0.037,3006,1685,1927,0,0,0,0,0,0
$GC,1465,0.50,214.2,74.6,13.3,306,1471,0.00,2.83,0.00,0.000,4,0.000,0.044,3006,3446,1927,0,0,0,0,0,0
$GC,1504,0.50,214.2,69.2,14.1,314,1510,0.08,2.85,0.00,0.000,6,0.193,0.041,2998,1681,1926,0,0,0,0,0,0
$GC,1547,0.50,214.2,63.6,13.0,323,1553,0.00,2.42,0.00,0.000,4,0.000,0.050,3001,180,1926,0,0,0,0,0,0
$GC,1572,0.50,214.2,60.6,12.4,328,1577,0.00,2.40,0.00,0.000,6,0.000,0.037,3001,1692,1926,0,0,0,0,0,0
$GC,1615,0.50,214.2,55.1,12.7,337,1620,0.00,2.78,0.00,0.000,4,0.000,0.044,3001,3446,1926,0,0,0,0,0,0
$GC,1639,0.50,214.2,51.8,12.9,342,1645,0.00,2.80,0.00,0.000,6,0.000,0.040,3007,1680,1926,0,0,0,0,0,0
$GC,1682,0.50,214.2,46.3,13.1,351,1687,0.00,2.40,0.00,0.000,4,0.000,0.050,3006,171,1926,0,0,0,0,0,0
$GC,1702,0.50,214.2,43.9,12.7,355,1707,0.00,2.38,0.00,0.000,6,0.000,0.036,3007,1677,1926,0,0,0,0,0,0
$GC,1745,0.50,214.2,38.4,12.7,364,1750,0.00,2.80,0.00,0.000,4,0.000,0.044,3007,3445,1926,0,0,0,0,0,0
$GC,1779,0.50,214.2,33.6,13.5,371,1785,0.00,2.83,0.00,0.000,6,0.000,0.041,3011,1669,1926,0,0,0,0,0,0
$GC,1822,0.50,214.2,28.0,13.3,380,1828,0.00,2.35,0.00,0.000,4,0.000,0.049,3019,180,1926,0,0,0,0,0,0
$GC,1842,0.50,214.2,25.4,13.1,384,1848,0.08,2.38,0.00,0.000,6,0.184,0.037,3000,1695,1926,0,0,0,0,0,0
$GC,1886,0.50,214.2,20.2,12.2,393,1891,0.00,2.72,0.00,0.000,4,0.000,0.044,3000,3438,1927,0,0,0,0,0,0
$GC,1910,0.50,214.2,17.2,11.6,398,1916,0.00,2.80,0.00,0.000,6,0.000,0.041,3006,1672,1926,0,0,0,0,0,0
$GC,1953,0.50,214.2,12.3,11.7,407,1959,0.00,2.38,0.00,0.000,4,0.000,0.050,3006,180,1926,0,0,0,0,0,0
$GC,2005,0.50,214.2,7.4,9.4,418,2011,0.00,2.38,0.00,0.000,6,0.000,0.041,3006,1684,1926,0,0,0,0,0,0
$GC,2049,0.76,426.0,6.9,1.9,427,2127,0.20,2.83,69.45,0.171,4,0.084,0.044,3090,3453,1063,0,0,0,0,0,0
$STATE,2145,end climb,SURFACE_DEPTH_REACHED
$STATE,2145,begin surface coast
$FINISH,0.2,1.009502
$STATE,2201,end surface coast,CONTROL_FINISHED_OK
$STATE,2201,begin surface
$SM_CCo,2219,17.95,0.156,0,0,848,480.04
$SM_GC,1.01,0.00,0.00,17.95,0.000,0.000,0.156,112,1689,848,-8.51,-0.28,480.04
$IRIDIUM_FIX,4748.51,-12224.57,110611,050555
$TT8_MAMPS,0.028379
$HUMID,1077342563
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,43.5
$24V_AH,23.4,18.553
$10V_AH,10.4,6.017
$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,20.575,130.475,225.675,17.950,0.000,25.200,25.862,210.708,0.500,0.000,22.953,711.662,472.415,395.903,954.011,73.823,33.318,883.040,0.000,670.831,0.000,5.541,0.000
$DEVICE_MAMPS,275.353,61.360,1269.385,156.468,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,13464,461
$CAP_FILE_SIZE,80999,0
$CFSIZE,260165632,256049152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,122637,4807.460,-12222.751,26,1.3,26,18.3