version: 66.07
glider: 505
mission: 2
dive: 72
start: 12 16 109 13 20 5
data:
$ID,505
$MISSION,2
$DIVE,72
$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,-23216.346
$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,36
$R_STBD_OVSHOOT,39
$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
$GPS1,161209,131244,4807.409,-12222.434,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.9
$GPS2,161209,131908,4807.467,-12222.484,13,1.5,13,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.035,-0.249
$KALMAN_X,-14965.6,1557.8,-1000.4,12781.6,-469.9
$KALMAN_Y,39981.7,-28682.2,6416.3,-13088.5,1699.9
$MHEAD_RNG_PITCHd_Wd,153.7,4925,-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,-214.2,0.0,0.0,0,76,0.00,0.00,-58.83,0.000,2,0.000,0.000,104,1662,2342,0,0,0,0,0,0
$GC,78,-0.50,-214.2,3.4,-4.9,14,127,11.48,2.42,-29.50,0.000,4,0.275,0.063,2666,187,3681,0,0,0,0,0,0
$GC,156,-0.50,-214.2,13.0,-9.5,31,162,0.00,2.40,0.00,0.000,6,0.000,0.041,2665,1693,3682,0,0,0,0,0,0
$GC,199,-0.50,-214.2,18.0,-11.5,40,204,0.00,2.83,0.00,0.000,4,0.000,0.049,2665,3465,3683,0,0,0,0,0,0
$GC,209,-0.50,-214.2,19.4,-11.8,42,215,0.00,2.80,0.00,0.000,6,0.000,0.037,2665,1695,3682,0,0,0,0,0,0
$GC,253,-0.50,-214.2,24.1,-11.4,51,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1694,3682,0,0,0,0,0,0
$GC,295,-0.50,-214.2,28.8,-10.9,60,300,0.00,2.83,0.00,0.000,4,0.000,0.048,2665,3463,3683,0,0,0,0,0,0
$GC,305,-0.50,-214.2,29.9,-10.9,62,311,0.00,2.78,0.00,0.000,6,0.000,0.038,2665,1700,3683,0,0,0,0,0,0
$GC,348,-0.50,-214.2,34.8,-11.4,71,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1698,3682,0,0,0,0,0,0
$GC,391,-0.50,-214.2,39.3,-10.9,80,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1698,3682,0,0,0,0,0,0
$GC,433,-0.50,-214.2,43.9,-10.7,89,438,0.00,2.83,0.00,0.000,4,0.000,0.048,2665,3462,3682,0,0,0,0,0,0
$GC,443,-0.50,-214.2,44.6,-10.5,91,449,0.00,2.78,0.00,0.000,6,0.000,0.038,2665,1694,3682,0,0,0,0,0,0
$GC,487,-0.50,-214.2,49.6,-10.9,100,492,0.00,2.40,0.00,0.000,4,0.000,0.050,2665,182,3682,0,0,0,0,0,0
$GC,497,-0.50,-214.2,50.9,-11.1,102,503,0.00,2.40,0.00,0.000,6,0.000,0.038,2665,1706,3682,0,0,0,0,0,0
$GC,540,-0.50,-214.2,55.5,-10.9,111,546,0.00,2.80,0.00,0.000,4,0.000,0.048,2665,3470,3682,0,0,0,0,0,0
$GC,560,-0.50,-214.2,57.4,-10.4,115,565,0.00,2.78,0.00,0.000,6,0.000,0.037,2665,1701,3682,0,0,0,0,0,0
$GC,603,-0.50,-214.2,61.6,-9.7,124,608,0.00,2.40,0.00,0.000,4,0.000,0.048,2665,181,3682,0,0,0,0,0,0
$GC,613,-0.50,-214.2,62.7,-9.8,126,619,0.00,2.38,0.00,0.000,6,0.000,0.038,2665,1707,3682,0,0,0,0,0,0
$GC,656,-0.50,-214.2,66.9,-9.9,135,662,0.00,2.78,0.00,0.000,4,0.000,0.048,2665,3462,3682,0,0,0,0,0,0
$GC,666,-0.50,-214.2,68.0,-9.8,137,672,0.00,2.75,0.00,0.000,6,0.000,0.037,2665,1698,3682,0,0,0,0,0,0
$GC,710,-0.50,-214.2,72.2,-9.9,146,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1696,3682,0,0,0,0,0,0
$GC,752,-0.50,-214.2,76.2,-9.5,155,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1696,3682,0,0,0,0,0,0
$GC,798,-0.50,-214.2,80.4,-9.6,164,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1696,3682,0,0,0,0,0,0
$GC,840,-0.50,-214.2,84.2,-9.0,173,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1696,3682,0,0,0,0,0,0
$GC,882,-0.50,-214.2,88.8,-10.1,182,887,0.00,2.80,0.00,0.000,4,0.000,0.048,2665,3465,3682,0,0,0,0,0,0
$GC,892,-0.50,-214.2,89.6,-9.9,184,898,0.00,2.75,0.00,0.000,6,0.000,0.037,2665,1700,3682,0,0,0,0,0,0
$GC,935,-0.50,-214.2,93.7,-9.5,193,940,0.00,2.42,0.00,0.000,4,0.000,0.049,2665,182,3682,0,0,0,0,0,0
$GC,946,-0.50,-214.2,94.7,-9.6,195,952,0.00,2.38,0.00,0.000,6,0.000,0.039,2665,1699,3682,0,0,0,0,0,0
$GC,990,-0.50,-214.2,98.7,-9.3,204,995,0.00,2.80,0.00,0.000,4,0.000,0.048,2665,3473,3682,0,0,0,0,0,0
$STATE,999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,999,begin apogee
$GC,1006,-0.17,0.0,99.6,9.1,206,1088,0.32,0.00,76.45,1.236,6,0.123,0.000,2778,1677,2805,0,0,0,0,0,0
$STATE,1089,end apogee,CONTROL_FINISHED_OK
$STATE,1089,begin climb
$GC,1090,0.50,214.2,102.0,0.0,225,1177,0.62,3.05,78.32,1.185,4,0.100,0.044,2989,3438,1931,0,0,0,0,0,0
$GC,1192,0.50,214.2,92.2,12.3,248,1197,0.00,2.92,0.00,0.000,6,0.000,0.039,2998,1689,1928,0,0,0,0,0,0
$GC,1235,0.50,214.2,86.6,13.0,257,1240,0.00,2.50,0.00,0.000,4,0.000,0.049,3006,179,1928,0,0,0,0,0,0
$GC,1264,0.50,214.2,82.9,13.1,263,1269,0.00,2.45,0.00,0.000,6,0.000,0.036,3006,1681,1928,0,0,0,0,0,0
$GC,1307,0.50,214.2,77.3,13.0,272,1312,0.00,2.88,0.00,0.000,4,0.000,0.044,3006,3448,1928,0,0,0,0,0,0
$GC,1336,0.50,214.2,72.9,14.2,278,1343,0.08,2.83,0.00,0.000,6,0.190,0.041,3000,1679,1927,0,0,0,0,0,0
$GC,1380,0.50,214.2,67.2,13.3,287,1385,0.00,2.45,0.00,0.000,4,0.000,0.050,3006,174,1927,0,0,0,0,0,0
$GC,1404,0.50,214.2,64.1,12.7,292,1410,0.00,2.42,0.00,0.000,6,0.000,0.037,3006,1690,1927,0,0,0,0,0,0
$GC,1447,0.50,214.2,58.5,13.0,301,1453,0.00,2.80,0.00,0.000,4,0.000,0.044,3006,3440,1927,0,0,0,0,0,0
$GC,1472,0.50,214.2,54.9,13.5,306,1478,0.08,2.83,0.00,0.000,6,0.191,0.041,2999,1671,1927,0,0,0,0,0,0
$GC,1516,0.50,214.2,49.2,13.4,315,1521,0.00,2.40,0.00,0.000,4,0.000,0.050,3005,179,1926,0,0,0,0,0,0
$GC,1535,0.50,214.2,46.7,12.7,319,1541,0.00,2.38,0.00,0.000,6,0.000,0.036,3006,1683,1927,0,0,0,0,0,0
$GC,1579,0.50,214.2,41.5,12.5,328,1584,0.00,2.80,0.00,0.000,4,0.000,0.044,3005,3445,1926,0,0,0,0,0,0
$GC,1608,0.50,214.2,37.4,13.1,334,1613,0.00,2.83,0.00,0.000,6,0.000,0.041,3006,1678,1927,0,0,0,0,0,0
$GC,1651,0.50,214.2,31.8,13.2,343,1656,0.00,2.38,0.00,0.000,4,0.000,0.051,3006,180,1927,0,0,0,0,0,0
$GC,1671,0.50,214.2,29.3,12.7,347,1676,0.00,2.38,0.00,0.000,6,0.000,0.037,3007,1689,1927,0,0,0,0,0,0
$GC,1714,0.50,214.2,24.1,12.1,356,1719,0.00,2.78,0.00,0.000,4,0.000,0.044,3007,3441,1927,0,0,0,0,0,0
$GC,1747,0.50,214.2,19.6,13.0,363,1753,0.00,2.80,0.00,0.000,6,0.000,0.041,3011,1679,1927,0,0,0,0,0,0
$GC,1790,0.50,214.2,14.3,12.5,372,1796,0.00,2.38,0.00,0.000,4,0.000,0.050,3021,176,1927,0,0,0,0,0,0
$GC,1810,0.50,214.2,11.8,12.4,376,1816,0.10,2.35,0.00,0.000,6,0.168,0.037,2995,1689,1927,0,0,0,0,0,0
$GC,1854,0.50,214.2,7.2,11.0,385,1859,0.00,2.75,0.00,0.000,4,0.000,0.045,2995,3443,1927,0,0,0,0,0,0
$GC,1906,0.73,401.0,5.9,2.4,396,1977,0.22,2.80,61.03,0.164,6,0.080,0.040,3083,1669,1166,0,0,0,0,0,0
$STATE,1981,end climb,SURFACE_DEPTH_REACHED
$STATE,1981,begin surface coast
$FINISH,0.2,1.018896
$STATE,2061,end surface coast,CONTROL_FINISHED_OK
$STATE,2061,begin surface
$SM_CCo,2075,26.50,0.155,0,0,847,480.04
$SM_GC,1.26,0.00,0.00,26.50,0.000,0.000,0.155,100,1667,847,-8.55,-0.93,480.04
$IRIDIUM_FIX,4748.51,-12221.84,110611,060635
$TT8_MAMPS,0.028379
$HUMID,1077339982
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,40.0
$24V_AH,23.5,18.704
$10V_AH,10.4,6.071
$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,20.675,116.425,215.800,26.500,0.000,27.979,35.770,238.938,0.500,0.000,14.048,671.935,432.828,388.176,938.289,71.648,33.329,848.898,0.000,626.820,0.000,5.531,0.000
$DEVICE_MAMPS,274.586,62.894,1236.404,154.934,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324096
$DATA_FILE_SIZE,13430,430
$CAP_FILE_SIZE,78423,0
$CFSIZE,260165632,255975424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,135550,4807.211,-12222.532,10,1.6,10,18.3