version: 66.07
glider: 505
mission: 2
dive: 73
start: 12 16 109 14 2 22
data:
$ID,505
$MISSION,2
$DIVE,73
$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,-23228.332
$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,34
$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
$GPS1,161209,135550,4807.211,-12222.532,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.4
$GPS2,161209,140125,4807.257,-12222.575,11,1.5,11,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,-0.244
$KALMAN_X,-15748.8,1714.8,-609.0,12899.9,-741.3
$KALMAN_Y,50721.0,-31101.6,-1429.3,-13924.8,6903.0
$MHEAD_RNG_PITCHd_Wd,148.1,4612,-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,14,begin dive
$GC,15,-0.50,-214.2,0.0,0.0,0,76,0.00,0.00,-58.17,0.000,2,0.000,0.000,100,1664,2414,0,0,0,0,0,0
$GC,78,-0.50,-214.2,3.4,-5.0,14,127,11.50,2.42,-28.67,0.000,4,0.275,0.062,2664,182,3682,0,0,0,0,0,0
$GC,159,-0.50,-214.2,12.4,-9.1,32,165,0.00,2.42,0.00,0.000,6,0.000,0.041,2664,1706,3683,0,0,0,0,0,0
$GC,203,-0.50,-214.2,17.5,-11.5,41,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1706,3683,0,0,0,0,0,0
$GC,245,-0.50,-214.2,22.2,-11.1,50,250,0.00,2.80,0.00,0.000,4,0.000,0.049,2664,3469,3684,0,0,0,0,0,0
$GC,257,-0.50,-214.2,23.2,-10.9,52,262,0.00,2.80,0.00,0.000,6,0.000,0.037,2664,1694,3684,0,0,0,0,0,0
$GC,300,-0.50,-214.2,28.4,-11.4,61,305,0.00,2.85,0.00,0.000,4,0.000,0.048,2664,3463,3684,0,0,0,0,0,0
$GC,312,-0.50,-214.2,29.5,-11.3,63,318,0.00,2.75,0.00,0.000,6,0.000,0.038,2664,1702,3683,0,0,0,0,0,0
$GC,355,-0.50,-214.2,34.4,-10.9,72,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1701,3683,0,0,0,0,0,0
$GC,397,-0.50,-214.2,38.6,-10.4,81,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1701,3684,0,0,0,0,0,0
$GC,439,-0.50,-214.2,43.0,-10.3,90,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1701,3683,0,0,0,0,0,0
$GC,481,-0.50,-214.2,47.4,-10.5,99,486,0.00,2.83,0.00,0.000,4,0.000,0.048,2664,3466,3683,0,0,0,0,0,0
$GC,491,-0.50,-214.2,48.5,-10.3,101,497,0.00,2.78,0.00,0.000,6,0.000,0.035,2664,1692,3683,0,0,0,0,0,0
$GC,534,-0.50,-214.2,53.1,-10.7,110,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1691,3683,0,0,0,0,0,0
$GC,576,-0.50,-214.2,57.5,-10.4,119,582,0.00,2.40,0.00,0.000,4,0.000,0.049,2664,180,3683,0,0,0,0,0,0
$GC,587,-0.50,-214.2,58.5,-10.4,121,592,0.00,2.38,0.00,0.000,6,0.000,0.039,2664,1701,3684,0,0,0,0,0,0
$GC,630,-0.50,-214.2,63.2,-10.8,130,635,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3465,3683,0,0,0,0,0,0
$GC,640,-0.50,-214.2,64.1,-10.5,132,646,0.00,2.75,0.00,0.000,6,0.000,0.036,2664,1701,3683,0,0,0,0,0,0
$GC,683,-0.50,-214.2,68.3,-9.7,141,689,0.00,2.42,0.00,0.000,4,0.000,0.048,2664,181,3683,0,0,0,0,0,0
$GC,694,-0.50,-214.2,69.4,-10.0,143,699,0.00,2.38,0.00,0.000,6,0.000,0.038,2664,1711,3683,0,0,0,0,0,0
$GC,737,-0.50,-214.2,73.7,-10.1,152,742,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3466,3683,0,0,0,0,0,0
$GC,749,-0.50,-214.2,74.7,-9.8,154,754,0.00,2.75,0.00,0.000,6,0.000,0.035,2664,1698,3683,0,0,0,0,0,0
$GC,792,-0.50,-214.2,79.0,-9.6,163,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1697,3683,0,0,0,0,0,0
$GC,836,-0.50,-214.2,83.2,-9.5,172,842,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,177,3683,0,0,0,0,0,0
$GC,847,-0.50,-214.2,84.2,-9.5,174,852,0.00,2.38,0.00,0.000,6,0.000,0.038,2664,1699,3683,0,0,0,0,0,0
$GC,890,-0.50,-214.2,88.3,-9.8,183,895,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3460,3683,0,0,0,0,0,0
$GC,919,-0.50,-214.2,90.9,-9.1,189,924,0.00,2.75,0.00,0.000,6,0.000,0.038,2664,1701,3683,0,0,0,0,0,0
$GC,962,-0.50,-214.2,94.6,-8.4,198,967,0.00,2.40,0.00,0.000,4,0.000,0.049,2664,183,3683,0,0,0,0,0,0
$GC,972,-0.50,-214.2,95.5,-8.5,200,978,0.00,2.38,0.00,0.000,6,0.000,0.039,2664,1703,3683,0,0,0,0,0,0
$GC,1015,-0.50,-214.2,99.2,-8.7,209,1021,0.00,2.75,0.00,0.000,4,0.000,0.048,2664,3461,3683,0,0,0,0,0,0
$GC,1027,-0.50,-214.2,100.1,-8.6,211,1033,0.00,2.75,0.00,0.000,6,0.000,0.037,2664,1697,3683,0,0,0,0,0,0
$GC,1070,-0.50,-214.2,103.9,-8.5,220,1076,0.00,2.40,0.00,0.000,4,0.000,0.050,2664,181,3683,0,0,0,0,0,0
$GC,1081,-0.50,-214.2,104.8,-8.6,222,1086,0.00,2.38,0.00,0.000,6,0.000,0.039,2664,1700,3683,0,0,0,0,0,0
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1109,begin apogee
$GC,1112,-0.17,0.0,107.4,8.8,228,1195,0.32,0.00,76.60,1.271,6,0.124,0.000,2778,1700,2806,0,0,0,0,0,0
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1197,0.50,214.2,109.3,0.0,247,1284,0.62,2.62,77.45,1.223,4,0.097,0.049,2999,187,1932,0,0,0,0,0,0
$GC,1293,0.50,214.2,99.5,12.7,269,1299,0.00,2.50,0.00,0.000,6,0.000,0.035,3000,1678,1932,0,0,0,0,0,0
$GC,1337,0.50,214.2,93.8,13.5,278,1342,0.00,2.95,0.00,0.000,4,0.000,0.044,3000,3444,1929,0,0,0,0,0,0
$GC,1366,0.50,214.2,89.8,13.9,284,1372,0.00,2.90,0.00,0.000,6,0.000,0.040,3006,1687,1928,0,0,0,0,0,0
$GC,1409,0.50,214.2,83.8,13.7,293,1414,0.00,2.47,0.00,0.000,4,0.000,0.049,3017,168,1928,0,0,0,0,0,0
$GC,1429,0.50,214.2,81.0,14.2,297,1435,0.08,2.45,0.00,0.000,6,0.179,0.036,2999,1687,1927,0,0,0,0,0,0
$GC,1473,0.50,214.2,75.0,13.7,306,1478,0.00,2.83,0.00,0.000,4,0.000,0.044,2999,3438,1928,0,0,0,0,0,0
$GC,1502,0.50,214.2,71.1,13.3,312,1507,0.00,2.85,0.00,0.000,6,0.000,0.040,3006,1674,1928,0,0,0,0,0,0
$GC,1545,0.50,214.2,65.4,13.3,321,1550,0.00,2.40,0.00,0.000,4,0.000,0.049,3017,175,1927,0,0,0,0,0,0
$GC,1574,0.50,214.2,61.5,13.4,327,1580,0.08,2.40,0.00,0.000,6,0.181,0.037,2998,1685,1927,0,0,0,0,0,0
$GC,1618,0.50,214.2,56.0,12.5,336,1623,0.00,2.80,0.00,0.000,4,0.000,0.045,2998,3440,1928,0,0,0,0,0,0
$GC,1642,0.50,214.2,52.8,12.6,341,1648,0.00,2.83,0.00,0.000,6,0.000,0.041,3006,1675,1928,0,0,0,0,0,0
$GC,1685,0.50,214.2,47.3,12.8,350,1691,0.00,2.38,0.00,0.000,4,0.000,0.049,3016,179,1927,0,0,0,0,0,0
$GC,1705,0.50,214.2,44.6,12.9,354,1711,0.08,2.38,0.00,0.000,6,0.183,0.036,2998,1685,1928,0,0,0,0,0,0
$GC,1749,0.50,214.2,39.3,12.2,363,1754,0.00,2.78,0.00,0.000,4,0.000,0.044,2998,3449,1928,0,0,0,0,0,0
$GC,1778,0.50,214.2,35.8,12.0,369,1784,0.00,2.83,0.00,0.000,6,0.000,0.040,3007,1670,1928,0,0,0,0,0,0
$GC,1821,0.50,214.2,30.5,12.2,378,1827,0.00,2.38,0.00,0.000,4,0.000,0.050,3007,179,1927,0,0,0,0,0,0
$GC,1841,0.50,214.2,27.9,12.4,382,1846,0.00,2.35,0.00,0.000,6,0.000,0.036,3006,1680,1928,0,0,0,0,0,0
$GC,1884,0.50,214.2,23.0,12.0,391,1889,0.00,2.80,0.00,0.000,4,0.000,0.044,3007,3439,1928,0,0,0,0,0,0
$GC,1918,0.50,214.2,18.5,12.9,398,1923,0.00,2.80,0.00,0.000,6,0.000,0.041,3007,1676,1928,0,0,0,0,0,0
$GC,1961,0.50,214.2,13.1,12.5,407,1966,0.00,2.38,0.00,0.000,4,0.000,0.049,3007,179,1928,0,0,0,0,0,0
$GC,1990,0.50,214.2,9.9,11.9,413,1995,0.00,2.35,0.00,0.000,6,0.000,0.038,3007,1683,1928,0,0,0,0,0,0
$GC,2033,0.50,214.2,5.6,10.5,422,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1684,1928,0,0,0,0,0,0
$GC,2075,0.71,381.7,4.6,2.8,431,2128,0.15,0.00,49.92,0.162,2,0.093,0.000,3075,1684,1304,0,0,0,0,0,0
$STATE,2129,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,0.4,1.019016
$STATE,2241,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2255,38.03,0.154,0,0,847,480.04
$SM_GC,1.37,0.00,0.00,38.03,0.000,0.000,0.154,108,1690,847,-8.53,-0.28,480.04
$IRIDIUM_FIX,4751.72,-12223.57,110611,070749
$TT8_MAMPS,0.029146
$HUMID,1077363208
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,44.3
$24V_AH,23.4,18.778
$10V_AH,10.5,6.099
$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,20.625,125.025,203.975,38.025,0.000,25.135,24.089,207.615,0.500,0.000,11.356,742.703,477.751,402.388,943.473,79.987,33.328,893.800,0.000,678.071,0.000,5.545,0.000
$DEVICE_MAMPS,275.353,62.127,1270.919,154.167,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16793,467
$CAP_FILE_SIZE,84056,0
$CFSIZE,260165632,255930368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,144136,4806.971,-12222.588,11,1.4,27,18.3