version: 66.07
glider: 505
mission: 2
dive: 79
start: 12 16 109 18 38 30
data:
$ID,505
$MISSION,2
$DIVE,79
$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,-23353.396
$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,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
$GPS1,161209,183127,4806.000,-12222.859,9,4.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.4
$GPS2,161209,183734,4806.070,-12222.862,16,3.6,35,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.213
$KALMAN_X,-16443.8,-286.2,860.7,13767.7,-528.7
$KALMAN_Y,22434.6,1326.2,-6787.8,-14876.7,2383.1
$MHEAD_RNG_PITCHd_Wd,129.7,1074,-7.2,-6.024
$D_GRID,94
$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,-75.53,0.000,2,0.000,0.000,106,1661,2859,0,0,0,0,0,0
$GC,95,-0.50,-214.2,3.1,-3.7,18,132,11.95,2.97,-16.52,0.000,4,0.285,0.067,2664,3458,3684,0,0,0,0,0,0
$GC,234,-0.50,-214.2,24.5,-9.1,48,239,0.00,2.80,0.00,0.000,6,0.000,0.038,2664,1694,3686,0,0,0,0,0,0
$GC,277,-0.50,-214.2,29.1,-10.8,57,282,0.00,2.42,0.00,0.000,4,0.000,0.049,2664,177,3686,0,0,0,0,0,0
$GC,301,-0.50,-214.2,32.1,-11.4,62,307,0.00,2.42,0.00,0.000,6,0.000,0.041,2665,1702,3686,0,0,0,0,0,0
$GC,344,-0.50,-214.2,36.9,-11.2,71,350,0.00,2.80,0.00,0.000,4,0.000,0.048,2664,3461,3686,0,0,0,0,0,0
$GC,355,-0.50,-214.2,38.0,-10.9,73,360,0.00,2.78,0.00,0.000,6,0.000,0.035,2664,1690,3686,0,0,0,0,0,0
$GC,398,-0.50,-214.2,42.5,-10.9,82,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1689,3686,0,0,0,0,0,0
$GC,441,-0.50,-214.2,46.9,-9.9,91,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1689,3686,0,0,0,0,0,0
$GC,483,-0.50,-214.2,51.0,-9.6,100,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1689,3686,0,0,0,0,0,0
$GC,525,-0.50,-214.2,54.9,-9.3,109,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1689,3685,0,0,0,0,0,0
$GC,567,-0.50,-214.2,58.8,-9.3,118,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1689,3685,0,0,0,0,0,0
$GC,609,-0.50,-214.2,62.7,-9.2,127,615,0.00,2.85,0.00,0.000,4,0.000,0.048,2664,3469,3685,0,0,0,0,0,0
$GC,620,-0.50,-214.2,63.6,-9.2,129,626,0.00,2.78,0.00,0.000,6,0.000,0.035,2665,1692,3686,0,0,0,0,0,0
$GC,663,-0.50,-214.2,67.5,-9.1,138,668,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,177,3685,0,0,0,0,0,0
$GC,678,-0.50,-214.2,69.0,-9.3,141,683,0.00,2.40,0.00,0.000,6,0.000,0.039,2664,1701,3685,0,0,0,0,0,0
$GC,721,-0.50,-214.2,73.0,-9.3,150,726,0.00,2.78,0.00,0.000,4,0.000,0.048,2665,3466,3685,0,0,0,0,0,0
$GC,750,-0.50,-214.2,75.7,-9.2,156,755,0.00,2.78,0.00,0.000,6,0.000,0.037,2665,1696,3686,0,0,0,0,0,0
$GC,793,-0.50,-214.2,79.4,-8.7,165,798,0.00,2.40,0.00,0.000,4,0.000,0.049,2664,182,3685,0,0,0,0,0,0
$GC,806,-0.50,-214.2,80.3,-8.8,167,812,0.00,2.40,0.00,0.000,6,0.000,0.039,2664,1706,3685,0,0,0,0,0,0
$GC,849,-0.50,-214.2,84.6,-9.2,176,855,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3463,3685,0,0,0,0,0,0
$GC,860,-0.50,-214.2,85.6,-9.2,178,865,0.00,2.75,0.00,0.000,6,0.000,0.036,2665,1698,3685,0,0,0,0,0,0
$GC,903,-0.50,-214.2,89.4,-8.8,187,908,0.00,2.38,0.00,0.000,4,0.000,0.048,2664,180,3685,0,0,0,0,0,0
$GC,914,-0.50,-214.2,90.4,-8.9,189,919,0.00,2.40,0.00,0.000,6,0.000,0.038,2665,1712,3685,0,0,0,0,0,0
$STATE,955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,955,begin apogee
$GC,959,-0.17,0.0,94.3,9.0,198,1036,0.32,0.00,73.62,0.470,6,0.127,0.000,2778,1713,2805,0,0,0,0,0,0
$STATE,1038,end apogee,CONTROL_FINISHED_OK
$STATE,1038,begin climb
$GC,1039,0.50,214.2,96.4,0.0,216,1122,0.62,2.55,74.12,0.459,4,0.103,0.048,3002,179,1933,0,0,0,0,0,0
$GC,1131,0.50,214.2,87.5,12.1,237,1137,0.00,2.45,0.00,0.000,6,0.000,0.035,3002,1690,1933,0,0,0,0,0,0
$GC,1175,0.50,214.2,81.7,13.4,246,1180,0.00,2.80,0.00,0.000,4,0.000,0.044,3002,3439,1931,0,0,0,0,0,0
$GC,1199,0.50,214.2,78.0,13.9,251,1205,0.00,2.85,0.00,0.000,6,0.000,0.039,3007,1678,1930,0,0,0,0,0,0
$GC,1242,0.50,214.2,72.0,14.1,260,1248,0.00,2.42,0.00,0.000,4,0.000,0.049,3017,179,1930,0,0,0,0,0,0
$GC,1262,0.50,214.2,69.2,14.0,264,1268,0.08,2.40,0.00,0.000,6,0.179,0.036,2999,1688,1931,0,0,0,0,0,0
$GC,1306,0.50,214.2,63.4,13.6,273,1311,0.00,2.78,0.00,0.000,4,0.000,0.044,2999,3438,1930,0,0,0,0,0,0
$GC,1330,0.50,214.2,60.3,13.0,278,1336,0.00,2.78,0.00,0.000,6,0.000,0.040,3005,1677,1930,0,0,0,0,0,0
$GC,1373,0.50,214.2,54.4,13.4,287,1379,0.00,2.40,0.00,0.000,4,0.000,0.049,3006,171,1930,0,0,0,0,0,0
$GC,1393,0.50,214.2,51.9,13.1,291,1399,0.00,2.38,0.00,0.000,6,0.000,0.035,3007,1679,1930,0,0,0,0,0,0
$GC,1436,0.50,214.2,46.3,13.1,300,1442,0.00,2.83,0.00,0.000,4,0.000,0.044,3006,3444,1930,0,0,0,0,0,0
$GC,1465,0.50,214.2,42.1,13.7,306,1471,0.00,2.83,0.00,0.000,6,0.000,0.040,3006,1672,1930,0,0,0,0,0,0
$GC,1508,0.50,214.2,36.4,13.5,315,1514,0.00,2.40,0.00,0.000,4,0.000,0.049,3007,171,1930,0,0,0,0,0,0
$GC,1537,0.50,214.2,32.7,13.1,321,1543,0.00,2.38,0.00,0.000,6,0.000,0.036,3006,1681,1930,0,0,0,0,0,0
$GC,1580,0.50,214.2,26.8,13.6,330,1585,0.00,2.78,0.00,0.000,4,0.000,0.044,3007,3449,1930,0,0,0,0,0,0
$GC,1614,0.50,214.2,21.8,14.1,337,1619,0.00,2.83,0.00,0.000,6,0.000,0.041,3007,1671,1930,0,0,0,0,0,0
$GC,1657,0.50,214.2,16.4,13.1,346,1662,0.00,2.38,0.00,0.000,4,0.000,0.049,3006,179,1930,0,0,0,0,0,0
$GC,1681,0.50,214.2,13.6,11.7,351,1687,0.00,2.35,0.00,0.000,6,0.000,0.036,3007,1685,1930,0,0,0,0,0,0
$GC,1724,0.50,214.2,9.4,10.3,360,1730,0.00,2.75,0.00,0.000,4,0.000,0.042,3007,3438,1930,0,0,0,0,0,0
$STATE,1864,end climb,SURFACE_DEPTH_REACHED
$STATE,1864,begin surface coast
$FINISH,0.8,1.019210
$STATE,1952,end surface coast,CONTROL_FINISHED_OK
$STATE,1952,begin surface
$SM_CCo,1968,89.03,0.153,0,0,848,480.04
$SM_GC,1.04,0.00,0.00,89.03,0.000,0.000,0.153,111,1692,848,-8.51,-0.23,480.04
$IRIDIUM_FIX,4748.51,-12236.18,110611,121228
$TT8_MAMPS,0.028379
$HUMID,1077368369
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,31.3
$24V_AH,24.6,19.034
$10V_AH,10.5,6.263
$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,20.700,99.350,147.750,89.025,0.000,28.830,27.749,206.280,0.500,0.000,36.102,648.066,450.964,383.833,890.603,66.511,33.314,799.556,0.000,596.416,0.000,5.509,0.000
$DEVICE_MAMPS,285.324,66.729,470.171,153.400,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13429,409
$CAP_FILE_SIZE,69456,0
$CFSIZE,260165632,255729664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,191332,4805.818,-12222.664,12,1.5,12,18.3