version: 66.07
glider: 505
mission: 2
dive: 75
start: 12 16 109 15 39 59
data:
$ID,505
$MISSION,2
$DIVE,75
$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,-23254.043
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,161209,153204,4806.766,-12222.715,8,5.4,27,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.9
$GPS2,161209,153902,4806.838,-12222.778,13,1.4,13,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.248
$KALMAN_X,-17337.8,1484.5,621.4,13235.0,-802.6
$KALMAN_Y,61238.1,-26192.5,-16937.9,-14522.5,9639.0
$MHEAD_RNG_PITCHd_Wd,152.8,1827,-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,-214.2,0.0,0.0,0,93,0.00,0.00,-75.07,0.000,2,0.000,0.000,108,1684,2417,0,0,0,0,0,0
$GC,95,-0.50,-214.2,3.1,-4.3,18,145,11.55,2.90,-31.08,0.000,4,0.277,0.061,2664,3462,3682,0,0,0,0,0,0
$GC,326,-0.50,-214.2,25.5,-10.1,68,331,0.00,2.80,0.00,0.000,6,0.000,0.041,2664,1700,3683,0,0,0,0,0,0
$GC,369,-0.50,-214.2,30.1,-10.5,77,374,0.00,2.83,0.00,0.000,4,0.000,0.048,2664,3458,3683,0,0,0,0,0,0
$GC,540,-0.50,-214.2,47.7,-10.0,114,546,0.00,2.78,0.00,0.000,6,0.000,0.039,2664,1690,3683,0,0,0,0,0,0
$GC,583,-0.50,-214.2,52.2,-10.1,123,588,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,178,3683,0,0,0,0,0,0
$GC,612,-0.50,-214.2,55.3,-10.9,129,618,0.00,2.38,0.00,0.000,6,0.000,0.041,2664,1698,3683,0,0,0,0,0,0
$GC,655,-0.50,-214.2,59.7,-10.4,138,660,0.00,2.78,0.00,0.000,4,0.000,0.049,2664,3462,3683,0,0,0,0,0,0
$GC,684,-0.50,-214.2,62.7,-10.3,144,690,0.00,2.78,0.00,0.000,6,0.000,0.040,2664,1698,3683,0,0,0,0,0,0
$GC,727,-0.50,-214.2,66.7,-9.4,153,732,0.00,2.42,0.00,0.000,4,0.000,0.050,2664,171,3683,0,0,0,0,0,0
$GC,756,-0.50,-214.2,69.9,-10.4,159,761,0.00,2.40,0.00,0.000,6,0.000,0.040,2664,1709,3683,0,0,0,0,0,0
$GC,799,-0.50,-214.2,74.1,-9.9,168,804,0.00,2.75,0.00,0.000,4,0.000,0.048,2664,3462,3683,0,0,0,0,0,0
$GC,809,-0.50,-214.2,75.1,-9.8,170,815,0.00,2.78,0.00,0.000,6,0.000,0.038,2664,1690,3683,0,0,0,0,0,0
$GC,852,-0.50,-214.2,79.5,-10.0,179,858,0.00,2.40,0.00,0.000,4,0.000,0.049,2664,174,3683,0,0,0,0,0,0
$GC,878,-0.50,-214.2,82.1,-10.1,184,883,0.00,2.38,0.00,0.000,6,0.000,0.040,2664,1697,3683,0,0,0,0,0,0
$GC,923,-0.50,-214.2,86.3,-9.6,193,929,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3465,3683,0,0,0,0,0,0
$GC,957,-0.50,-214.2,89.4,-8.8,200,963,0.00,2.78,0.00,0.000,6,0.000,0.038,2664,1695,3683,0,0,0,0,0,0
$GC,1000,-0.50,-214.2,93.0,-8.8,209,1005,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,176,3683,0,0,0,0,0,0
$GC,1010,-0.50,-214.2,94.0,-8.9,211,1016,0.00,2.38,0.00,0.000,6,0.000,0.038,2664,1707,3682,0,0,0,0,0,0
$GC,1054,-0.50,-214.2,97.9,-9.2,220,1059,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3466,3683,0,0,0,0,0,0
$GC,1065,-0.50,-214.2,98.9,-9.0,222,1071,0.00,2.75,0.00,0.000,6,0.000,0.035,2664,1699,3683,0,0,0,0,0,0
$GC,1108,-0.50,-214.2,102.9,-8.8,231,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1699,3683,0,0,0,0,0,0
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1139,-0.17,0.0,105.3,8.5,237,1217,0.32,0.00,74.15,0.509,6,0.124,0.000,2776,1698,2806,0,0,0,0,0,0
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1219,0.50,214.2,107.4,0.0,255,1301,0.62,0.00,75.30,0.499,6,0.100,0.000,2991,1698,1932,0,0,0,0,0,0
$GC,1340,0.50,214.2,95.5,12.5,282,1345,0.00,2.47,0.00,0.000,4,0.000,0.048,3000,175,1930,0,0,0,0,0,0
$GC,1355,0.50,214.2,93.3,12.5,285,1360,0.00,2.42,0.00,0.000,6,0.000,0.036,3000,1684,1929,0,0,0,0,0,0
$GC,1398,0.50,214.2,87.8,13.1,294,1403,0.00,2.83,0.00,0.000,4,0.000,0.044,3000,3437,1928,0,0,0,0,0,0
$GC,1436,0.50,214.2,82.3,14.2,302,1442,0.00,2.80,0.00,0.000,6,0.000,0.041,3007,1687,1926,0,0,0,0,0,0
$GC,1479,0.50,214.2,76.3,13.7,311,1485,0.00,2.42,0.00,0.000,4,0.000,0.050,3017,174,1926,0,0,0,0,0,0
$GC,1508,0.50,214.2,72.4,13.9,317,1515,0.08,2.40,0.00,0.000,6,0.181,0.037,2998,1687,1926,0,0,0,0,0,0
$GC,1552,0.50,214.2,66.8,12.9,326,1558,0.00,2.80,0.00,0.000,4,0.000,0.044,2998,3446,1927,0,0,0,0,0,0
$GC,1581,0.50,214.2,62.9,12.9,332,1587,0.00,2.83,0.00,0.000,6,0.000,0.041,3006,1679,1926,0,0,0,0,0,0
$GC,1624,0.50,214.2,57.2,13.0,341,1630,0.00,2.42,0.00,0.000,4,0.000,0.050,3007,168,1926,0,0,0,0,0,0
$GC,1653,0.50,214.2,53.7,12.9,347,1659,0.00,2.38,0.00,0.000,6,0.000,0.037,3007,1678,1926,0,0,0,0,0,0
$GC,1696,0.50,214.2,48.1,12.5,356,1702,0.00,2.80,0.00,0.000,4,0.000,0.044,3006,3445,1926,0,0,0,0,0,0
$GC,1725,0.50,214.2,44.0,13.3,362,1731,0.00,2.83,0.00,0.000,6,0.000,0.041,3010,1672,1926,0,0,0,0,0,0
$GC,1768,0.50,214.2,38.4,13.2,371,1774,0.00,2.38,0.00,0.000,4,0.000,0.049,3019,169,1926,0,0,0,0,0,0
$GC,1787,0.50,214.2,35.9,13.0,375,1794,0.10,2.38,0.00,0.000,6,0.166,0.036,2993,1685,1926,0,0,0,0,0,0
$GC,1831,0.50,214.2,30.7,12.1,384,1837,0.00,2.75,0.00,0.000,4,0.000,0.044,2993,3441,1926,0,0,0,0,0,0
$GC,1855,0.50,214.2,27.7,11.4,389,1861,0.00,2.78,0.00,0.000,6,0.000,0.040,2998,1677,1926,0,0,0,0,0,0
$GC,1898,0.50,214.2,22.8,11.6,398,1904,0.00,2.38,0.00,0.000,4,0.000,0.050,3000,171,1926,0,0,0,0,0,0
$GC,1913,0.50,214.2,21.1,11.5,401,1919,0.00,2.38,0.00,0.000,6,0.000,0.036,3000,1692,1926,0,0,0,0,0,0
$GC,1956,0.50,214.2,16.2,11.6,410,1962,0.00,2.75,0.00,0.000,4,0.000,0.044,3000,3438,1926,0,0,0,0,0,0
$GC,1981,0.50,214.2,13.2,11.6,415,1987,0.00,2.75,0.00,0.000,6,0.000,0.040,3007,1680,1926,0,0,0,0,0,0
$GC,2024,0.50,214.2,8.3,11.9,424,2029,0.00,2.38,0.00,0.000,4,0.000,0.049,3007,171,1926,0,0,0,0,0,0
$GC,2053,0.50,214.2,5.0,11.2,430,2059,0.00,2.38,0.00,0.000,6,0.000,0.039,3007,1681,1926,0,0,0,0,0,0
$GC,2096,0.63,313.8,3.7,4.1,439,2128,0.10,0.00,29.25,0.163,2,0.118,0.000,3054,1683,1561,0,0,0,0,0,0
$STATE,2129,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,0.3,1.018803
$STATE,2299,end surface coast,CONTROL_FINISHED_OK
$STATE,2299,begin surface
$SM_CCo,2313,58.83,0.155,0,0,847,480.04
$SM_GC,1.26,0.00,0.00,58.83,0.000,0.000,0.155,104,1688,847,-8.54,-0.31,480.04
$IRIDIUM_FIX,4748.51,-12221.84,110611,090934
$TT8_MAMPS,0.029146
$HUMID,1077363208
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,38.8
$24V_AH,24.6,18.869
$10V_AH,10.4,6.157
$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,20.425,109.275,178.700,58.825,0.000,30.671,26.671,279.209,1.000,0.000,13.088,755.188,545.461,386.334,1045.202,74.731,33.313,862.812,0.000,701.691,0.000,9.947,0.000
$DEVICE_MAMPS,276.887,61.360,509.288,154.934,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,16776,483
$CAP_FILE_SIZE,78297,0
$CFSIZE,260165632,255860736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,162034,4806.646,-12222.810,10,3.1,29,18.3