version: 66.07
glider: 505
mission: 2
dive: 71
start: 12 16 109 12 33 32
data:
$ID,505
$MISSION,2
$DIVE,71
$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,-23201.668
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,161209,122637,4807.460,-12222.751,26,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.5
$GPS2,161209,123236,4807.510,-12222.784,14,1.6,30,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.240,-0.075
$KALMAN_X,-13966.8,1333.9,-1311.8,11948.1,-372.0
$KALMAN_Y,28762.8,-24983.4,13736.0,-12851.1,-704.2
$MHEAD_RNG_PITCHd_Wd,89.1,5147,-7.2,-6.024
$D_GRID,105
$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,-54.75,0.000,2,0.000,0.000,112,1690,2311,0,0,0,0,0,0
$GC,74,-0.50,-214.2,3.1,-4.3,13,123,11.57,2.90,-30.27,0.000,4,0.278,0.062,2664,3466,3682,0,0,0,0,0,0
$GC,143,-0.50,-214.2,12.0,-9.4,28,148,0.00,2.80,0.00,0.000,6,0.000,0.038,2663,1698,3683,0,0,0,0,0,0
$GC,186,-0.50,-214.2,16.8,-11.0,37,191,0.00,2.42,0.00,0.000,4,0.000,0.048,2664,180,3683,0,0,0,0,0,0
$GC,224,-0.50,-214.2,21.3,-11.7,45,229,0.00,2.42,0.00,0.000,6,0.000,0.040,2664,1706,3683,0,0,0,0,0,0
$GC,267,-0.50,-214.2,26.2,-11.4,54,272,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3459,3683,0,0,0,0,0,0
$GC,286,-0.50,-214.2,28.4,-11.1,58,292,0.00,2.78,0.00,0.000,6,0.000,0.037,2664,1701,3683,0,0,0,0,0,0
$GC,329,-0.50,-214.2,33.3,-11.4,67,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3683,0,0,0,0,0,0
$GC,371,-0.50,-214.2,37.8,-10.9,76,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3683,0,0,0,0,0,0
$GC,413,-0.50,-214.2,42.4,-10.8,85,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3683,0,0,0,0,0,0
$GC,455,-0.50,-214.2,46.7,-10.6,94,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3683,0,0,0,0,0,0
$GC,497,-0.50,-214.2,51.1,-10.5,103,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3683,0,0,0,0,0,0
$GC,539,-0.50,-214.2,55.3,-10.0,112,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3683,0,0,0,0,0,0
$GC,581,-0.50,-214.2,59.4,-9.9,121,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3683,0,0,0,0,0,0
$GC,622,-0.50,-214.2,63.6,-10.0,130,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3682,0,0,0,0,0,0
$GC,664,-0.50,-214.2,67.8,-10.1,139,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1700,3682,0,0,0,0,0,0
$GC,706,-0.50,-214.2,71.8,-9.5,148,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1699,3682,0,0,0,0,0,0
$GC,748,-0.50,-214.2,75.9,-9.7,157,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3682,0,0,0,0,0,0
$GC,790,-0.50,-214.2,79.9,-9.9,166,800,0.00,2.80,0.00,0.000,4,0.000,0.049,2663,3458,3682,0,0,0,0,0,0
$GC,805,-0.50,-214.2,81.4,-9.7,168,811,0.00,2.75,0.00,0.000,6,0.000,0.038,2664,1690,3683,0,0,0,0,0,0
$GC,848,-0.50,-214.2,85.3,-9.1,177,854,0.00,2.38,0.00,0.000,4,0.000,0.048,2663,181,3682,0,0,0,0,0,0
$GC,863,-0.50,-214.2,86.7,-8.9,180,869,0.00,2.38,0.00,0.000,6,0.000,0.039,2664,1699,3682,0,0,0,0,0,0
$GC,906,-0.50,-214.2,90.7,-9.3,189,912,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3470,3682,0,0,0,0,0,0
$GC,939,-0.50,-214.2,93.5,-8.7,196,945,0.00,2.75,0.00,0.000,6,0.000,0.038,2663,1698,3683,0,0,0,0,0,0
$GC,982,-0.50,-214.2,97.3,-8.6,205,988,0.00,2.40,0.00,0.000,4,0.000,0.049,2663,178,3683,0,0,0,0,0,0
$GC,1011,-0.50,-214.2,100.0,-9.2,211,1017,0.00,2.38,0.00,0.000,6,0.000,0.040,2664,1707,3682,0,0,0,0,0,0
$GC,1053,-0.50,-214.2,103.7,-9.0,220,1059,0.00,2.75,0.00,0.000,4,0.000,0.048,2663,3465,3683,0,0,0,0,0,0
$STATE,1068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1068,begin apogee
$GC,1074,-0.17,0.0,105.1,8.6,223,1157,0.32,0.00,76.70,1.259,6,0.117,0.000,2779,1678,2806,0,0,0,0,0,0
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1159,0.50,214.2,107.8,0.0,242,1246,0.62,3.05,78.80,1.214,4,0.098,0.044,2990,3437,1931,0,0,0,0,0,0
$GC,1251,0.50,214.2,99.2,11.8,263,1257,0.00,2.95,0.00,0.000,6,0.000,0.038,3000,1681,1928,0,0,0,0,0,0
$GC,1294,0.50,214.2,93.2,14.0,272,1300,0.00,2.53,0.00,0.000,4,0.000,0.049,3007,174,1928,0,0,0,0,0,0
$GC,1319,0.50,214.2,90.0,13.5,277,1324,0.00,2.47,0.00,0.000,6,0.000,0.036,3007,1685,1928,0,0,0,0,0,0
$GC,1362,0.50,214.2,84.1,13.6,286,1368,0.00,2.85,0.00,0.000,4,0.000,0.044,3007,3445,1927,0,0,0,0,0,0
$GC,1396,0.50,214.2,79.1,14.3,293,1402,0.08,2.90,0.00,0.000,6,0.190,0.041,3000,1668,1926,0,0,0,0,0,0
$GC,1440,0.50,214.2,73.3,13.4,302,1445,0.00,2.40,0.00,0.000,4,0.000,0.050,3007,180,1926,0,0,0,0,0,0
$GC,1455,0.50,214.2,71.3,13.2,305,1460,0.00,2.38,0.00,0.000,6,0.000,0.035,3007,1685,1926,0,0,0,0,0,0
$GC,1498,0.50,214.2,65.5,13.7,314,1503,0.00,2.80,0.00,0.000,4,0.000,0.044,3007,3444,1926,0,0,0,0,0,0
$GC,1527,0.50,214.2,61.4,13.9,320,1533,0.08,2.85,0.00,0.000,6,0.191,0.041,3000,1672,1927,0,0,0,0,0,0
$GC,1570,0.50,214.2,55.9,12.8,329,1576,0.00,2.40,0.00,0.000,4,0.000,0.049,3006,168,1926,0,0,0,0,0,0
$GC,1595,0.50,214.2,52.8,12.2,334,1600,0.00,2.40,0.00,0.000,6,0.000,0.036,3006,1687,1926,0,0,0,0,0,0
$GC,1638,0.50,214.2,47.4,12.6,343,1643,0.00,2.80,0.00,0.000,4,0.000,0.044,3005,3448,1926,0,0,0,0,0,0
$GC,1662,0.50,214.2,44.1,13.0,348,1669,0.08,2.83,0.00,0.000,6,0.193,0.041,2999,1677,1926,0,0,0,0,0,0
$GC,1706,0.50,214.2,38.6,12.8,357,1712,0.00,2.40,0.00,0.000,4,0.000,0.049,3005,175,1926,0,0,0,0,0,0
$GC,1731,0.50,214.2,35.7,12.0,362,1736,0.00,2.38,0.00,0.000,6,0.000,0.036,3005,1685,1926,0,0,0,0,0,0
$GC,1774,0.50,214.2,30.4,12.3,371,1779,0.00,2.75,0.00,0.000,4,0.000,0.044,3005,3440,1926,0,0,0,0,0,0
$GC,1803,0.50,214.2,26.4,13.0,377,1809,0.00,2.75,0.00,0.000,6,0.000,0.041,3010,1676,1926,0,0,0,0,0,0
$GC,1846,0.50,214.2,20.9,13.1,386,1852,0.00,2.38,0.00,0.000,4,0.000,0.048,3020,180,1926,0,0,0,0,0,0
$GC,1866,0.50,214.2,18.4,12.6,390,1872,0.10,2.35,0.00,0.000,6,0.166,0.036,2995,1683,1927,0,0,0,0,0,0
$GC,1910,0.50,214.2,13.3,11.9,399,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1684,1927,0,0,0,0,0,0
$GC,1952,0.50,214.2,8.9,10.2,408,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1684,1926,0,0,0,0,0,0
$GC,1994,0.59,281.9,7.4,4.7,417,2022,0.10,2.78,21.62,0.177,4,0.109,0.042,3037,3447,1653,0,0,0,0,0,0
$GC,2079,0.87,509.3,5.9,1.6,435,2159,0.20,2.80,72.15,0.165,2,0.084,0.038,3117,1668,775,0,0,0,0,0,0
$STATE,2160,end climb,SURFACE_DEPTH_REACHED
$STATE,2160,begin surface coast
$FINISH,0.4,1.018686
$STATE,2234,end surface coast,CONTROL_FINISHED_OK
$STATE,2234,begin surface
$SM_CCo,2308,0.00,0.000,0,0,765,500.89
$SM_GC,1.21,7.85,0.00,0.00,0.043,0.000,0.000,104,1665,765,-8.48,-0.99,500.89
$IRIDIUM_FIX,4748.51,-12221.84,110611,060624
$TT8_MAMPS,0.028379
$HUMID,1077342563
$INTERNAL_PRESSURE,8.966
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,43.9
$24V_AH,23.4,18.628
$10V_AH,9.2,6.045
$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,21.000,100.450,249.275,0.000,0.000,28.645,25.614,206.600,0.500,0.000,31.002,711.073,549.182,378.932,970.471,71.705,33.315,870.509,0.000,681.165,0.000,5.553,0.000
$DEVICE_MAMPS,278.421,62.127,1259.414,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324104
$DATA_FILE_SIZE,13467,469
$CAP_FILE_SIZE,78515,0
$CFSIZE,260165632,256012288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,131244,4807.409,-12222.434,13,1.2,13,18.3