version: 66.07
glider: 505
mission: 2
dive: 74
start: 12 16 109 14 48 17
data:
$ID,505
$MISSION,2
$DIVE,74
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$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,-23240.326
$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,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
$GPS1,161209,144136,4806.971,-12222.588,11,1.4,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.1
$GPS2,161209,144720,4807.021,-12222.651,11,1.4,11,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.053,-0.246
$KALMAN_X,-16554.0,1669.0,-39.8,13085.0,-773.0
$KALMAN_Y,58689.2,-30428.6,-9955.2,-14416.7,9309.3
$MHEAD_RNG_PITCHd_Wd,149.6,4264,-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,-214.2,0.0,0.0,0,76,0.00,0.00,-58.60,0.000,2,0.000,0.000,107,1689,2409,0,0,0,0,0,0
$GC,78,-0.50,-214.2,3.2,-4.7,14,127,11.52,2.45,-30.83,0.000,4,0.277,0.060,2663,176,3682,0,0,0,0,0,0
$GC,169,-0.50,-214.2,12.2,-9.9,34,174,0.00,2.42,0.00,0.000,6,0.000,0.041,2663,1704,3683,0,0,0,0,0,0
$GC,212,-0.50,-214.2,16.7,-11.1,43,217,0.00,2.83,0.00,0.000,4,0.000,0.048,2663,3468,3682,0,0,0,0,0,0
$GC,246,-0.50,-214.2,20.4,-10.7,50,251,0.00,2.80,0.00,0.000,6,0.000,0.038,2663,1693,3683,0,0,0,0,0,0
$GC,289,-0.50,-214.2,24.9,-10.6,59,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1692,3683,0,0,0,0,0,0
$GC,331,-0.50,-214.2,29.5,-10.8,68,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1692,3682,0,0,0,0,0,0
$GC,373,-0.50,-214.2,34.0,-10.8,77,378,0.00,2.85,0.00,0.000,4,0.000,0.048,2663,3469,3683,0,0,0,0,0,0
$GC,385,-0.50,-214.2,35.1,-10.9,79,390,0.00,2.78,0.00,0.000,6,0.000,0.037,2663,1701,3682,0,0,0,0,0,0
$GC,427,-0.50,-214.2,40.1,-11.4,88,433,0.00,2.45,0.00,0.000,4,0.000,0.048,2663,170,3683,0,0,0,0,0,0
$GC,438,-0.50,-214.2,41.3,-11.4,90,443,0.00,2.40,0.00,0.000,6,0.000,0.038,2663,1709,3683,0,0,0,0,0,0
$GC,481,-0.50,-214.2,46.0,-11.2,99,486,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3460,3683,0,0,0,0,0,0
$GC,515,-0.50,-214.2,49.5,-10.3,106,520,0.00,2.75,0.00,0.000,6,0.000,0.037,2663,1695,3682,0,0,0,0,0,0
$GC,558,-0.50,-214.2,53.7,-9.7,115,563,0.00,2.40,0.00,0.000,4,0.000,0.049,2663,182,3682,0,0,0,0,0,0
$GC,568,-0.50,-214.2,54.7,-9.9,117,573,0.00,2.40,0.00,0.000,6,0.000,0.038,2663,1707,3683,0,0,0,0,0,0
$GC,611,-0.50,-214.2,59.2,-10.4,126,616,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3461,3682,0,0,0,0,0,0
$GC,623,-0.50,-214.2,60.2,-10.3,128,629,0.00,2.75,0.00,0.000,6,0.000,0.035,2663,1695,3683,0,0,0,0,0,0
$GC,666,-0.50,-214.2,64.8,-10.3,137,671,0.00,2.40,0.00,0.000,4,0.000,0.048,2663,176,3682,0,0,0,0,0,0
$GC,690,-0.50,-214.2,67.5,-10.3,142,696,0.00,2.40,0.00,0.000,6,0.000,0.039,2663,1702,3682,0,0,0,0,0,0
$GC,733,-0.50,-214.2,71.8,-10.3,151,739,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3471,3682,0,0,0,0,0,0
$GC,744,-0.50,-214.2,72.6,-9.9,153,749,0.00,2.75,0.00,0.000,6,0.000,0.034,2663,1701,3682,0,0,0,0,0,0
$GC,787,-0.50,-214.2,76.9,-10.0,162,792,0.00,2.42,0.00,0.000,4,0.000,0.047,2663,178,3682,0,0,0,0,0,0
$GC,797,-0.50,-214.2,78.1,-9.9,164,803,0.00,2.38,0.00,0.000,6,0.000,0.038,2663,1701,3682,0,0,0,0,0,0
$GC,843,-0.50,-214.2,82.5,-10.0,173,848,0.00,2.78,0.00,0.000,4,0.000,0.047,2663,3461,3682,0,0,0,0,0,0
$GC,853,-0.50,-214.2,83.5,-9.8,175,859,0.00,2.72,0.00,0.000,6,0.000,0.034,2663,1702,3682,0,0,0,0,0,0
$GC,896,-0.50,-214.2,87.7,-9.6,184,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1701,3682,0,0,0,0,0,0
$GC,939,-0.50,-214.2,91.6,-9.3,193,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1701,3682,0,0,0,0,0,0
$GC,981,-0.50,-214.2,95.6,-9.2,202,986,0.00,2.78,0.00,0.000,4,0.000,0.047,2663,3462,3682,0,0,0,0,0,0
$GC,991,-0.50,-214.2,96.6,-9.4,204,997,0.00,2.75,0.00,0.000,6,0.000,0.035,2663,1691,3682,0,0,0,0,0,0
$GC,1034,-0.50,-214.2,100.4,-8.9,213,1040,0.00,2.38,0.00,0.000,4,0.000,0.048,2663,182,3682,0,0,0,0,0,0
$GC,1045,-0.50,-214.2,101.4,-8.9,215,1050,0.00,2.38,0.00,0.000,6,0.000,0.038,2663,1702,3682,0,0,0,0,0,0
$GC,1088,-0.50,-214.2,105.1,-8.8,224,1093,0.00,2.75,0.00,0.000,4,0.000,0.047,2663,3462,3682,0,0,0,0,0,0
$GC,1108,-0.50,-214.2,106.9,-8.4,228,1113,0.00,2.75,0.00,0.000,6,0.000,0.038,2663,1699,3682,0,0,0,0,0,0
$STATE,1117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1117,begin apogee
$GC,1120,-0.17,0.0,107.7,8.4,230,1198,0.32,0.00,74.12,0.518,6,0.124,0.000,2777,1698,2805,0,0,0,0,0,0
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1201,0.50,214.2,110.1,0.0,248,1284,0.62,2.90,75.18,0.507,4,0.101,0.044,2991,3449,1932,0,0,0,0,0,0
$GC,1294,0.50,214.2,101.4,12.0,269,1300,0.00,2.90,0.00,0.000,6,0.000,0.038,3001,1679,1929,0,0,0,0,0,0
$GC,1337,0.50,214.2,95.5,13.5,278,1343,0.00,2.45,0.00,0.000,4,0.000,0.050,3007,170,1928,0,0,0,0,0,0
$GC,1361,0.50,214.2,92.2,13.7,283,1366,0.00,2.42,0.00,0.000,6,0.000,0.036,3006,1681,1928,0,0,0,0,0,0
$GC,1404,0.50,214.2,86.4,13.5,292,1409,0.00,2.80,0.00,0.000,4,0.000,0.044,3006,3440,1928,0,0,0,0,0,0
$GC,1438,0.50,214.2,81.5,14.4,299,1444,0.08,2.83,0.00,0.000,6,0.194,0.040,2998,1680,1926,0,0,0,0,0,0
$GC,1481,0.50,214.2,75.6,13.5,308,1487,0.00,2.40,0.00,0.000,4,0.000,0.049,3006,178,1926,0,0,0,0,0,0
$GC,1510,0.50,214.2,72.1,12.8,314,1516,0.00,2.38,0.00,0.000,6,0.000,0.037,3006,1683,1926,0,0,0,0,0,0
$GC,1553,0.50,214.2,66.6,12.7,323,1559,0.00,2.80,0.00,0.000,4,0.000,0.044,3006,3442,1927,0,0,0,0,0,0
$GC,1578,0.50,214.2,63.1,13.3,328,1584,0.08,2.80,0.00,0.000,6,0.193,0.041,2997,1673,1926,0,0,0,0,0,0
$GC,1622,0.50,214.2,57.4,13.2,337,1627,0.00,2.40,0.00,0.000,4,0.000,0.049,3000,172,1926,0,0,0,0,0,0
$GC,1646,0.50,214.2,54.5,12.3,342,1652,0.00,2.38,0.00,0.000,6,0.000,0.037,3000,1682,1926,0,0,0,0,0,0
$GC,1689,0.50,214.2,49.3,12.2,351,1695,0.00,2.78,0.00,0.000,4,0.000,0.044,3000,3437,1926,0,0,0,0,0,0
$GC,1719,0.50,214.2,45.3,12.8,357,1724,0.00,2.78,0.00,0.000,6,0.000,0.040,3009,1674,1926,0,0,0,0,0,0
$GC,1762,0.50,214.2,39.9,12.8,366,1767,0.00,2.38,0.00,0.000,4,0.000,0.049,3018,182,1926,0,0,0,0,0,0
$GC,1782,0.50,214.2,37.4,12.7,370,1788,0.08,2.35,0.00,0.000,6,0.183,0.036,3000,1683,1926,0,0,0,0,0,0
$GC,1825,0.50,214.2,32.0,12.6,379,1830,0.00,2.75,0.00,0.000,4,0.000,0.044,3000,3442,1926,0,0,0,0,0,0
$GC,1849,0.50,214.2,28.8,12.1,384,1855,0.00,2.80,0.00,0.000,6,0.000,0.040,3008,1670,1926,0,0,0,0,0,0
$GC,1892,0.50,214.2,23.5,12.7,393,1898,0.00,2.38,0.00,0.000,4,0.000,0.049,3018,175,1926,0,0,0,0,0,0
$GC,1908,0.50,214.2,21.5,12.8,396,1914,0.08,2.35,0.00,0.000,6,0.183,0.036,3000,1679,1926,0,0,0,0,0,0
$GC,1951,0.50,214.2,16.4,12.2,405,1957,0.00,2.80,0.00,0.000,4,0.000,0.044,3000,3444,1926,0,0,0,0,0,0
$GC,1975,0.50,214.2,13.4,11.5,410,1981,0.00,2.80,0.00,0.000,6,0.000,0.040,3007,1673,1926,0,0,0,0,0,0
$GC,2019,0.50,214.2,8.2,12.1,419,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1671,1926,0,0,0,0,0,0
$GC,2061,0.50,214.2,4.7,9.2,428,2066,0.00,2.38,0.00,0.000,4,0.000,0.048,3007,169,1926,0,0,0,0,0,0
$GC,2329,0.87,513.1,3.4,0.2,486,2337,0.30,2.35,1.58,0.164,2,0.076,0.038,3123,1682,1904,0,0,0,0,0,0
$FREEZE,3.30,6.831,-1.334,0,1,0
$STATE,2338,end climb,NO_VERTICAL_VELOCITY
$STATE,2338,begin surface
$SM_CCo,2340,121.47,0.154,0,0,446,578.16
$SM_GC,1.25,7.95,0.00,0.00,0.048,0.000,0.000,109,1686,438,-8.47,-0.37,580.86
$IRIDIUM_FIX,4748.51,-12217.40,110611,080844
$TT8_MAMPS,0.028379
$HUMID,1077350305
$INTERNAL_PRESSURE,8.9367
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,44.7
$24V_AH,24.5,18.822
$10V_AH,10.5,6.128
$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,21.025,135.550,150.875,121.475,0.000,28.500,24.784,210.263,0.500,0.000,11.364,792.166,621.481,455.017,978.518,79.665,33.331,951.012,0.000,707.819,0.000,5.545,0.000
$DEVICE_MAMPS,276.887,59.826,517.725,154.167,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324080
$DATA_FILE_SIZE,16790,487
$CAP_FILE_SIZE,86366,0
$CFSIZE,260165632,255889408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,153204,4806.766,-12222.715,8,5.4,27,18.3