version: 66.07
glider: 505
mission: 2
dive: 81
start: 12 16 109 20 2 29
data:
$ID,505
$MISSION,2
$DIVE,81
$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,-23381.514
$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,40
$R_STBD_OVSHOOT,44
$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
$GPS1,161209,195550,4806.074,-12222.326,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.9
$GPS2,161209,200132,4806.125,-12222.344,13,1.1,13,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,0.245
$KALMAN_X,-15707.2,-802.0,445.0,14607.5,-281.1
$KALMAN_Y,4856.3,9693.0,2365.5,-14768.4,-3228.2
$MHEAD_RNG_PITCHd_Wd,355.0,484,-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,-214.2,0.0,0.0,0,84,0.00,0.00,-67.00,0.000,2,0.000,0.000,104,1665,2602,0,0,0,0,0,0
$GC,86,-0.50,-214.2,3.1,-4.4,16,132,11.80,2.92,-23.50,0.000,4,0.281,0.059,2664,3450,3681,0,0,0,0,0,0
$GC,284,-0.50,-214.2,27.1,-9.6,59,290,0.00,2.75,0.00,0.000,6,0.000,0.039,2664,1702,3683,0,0,0,0,0,0
$GC,328,-0.50,-214.2,31.3,-10.0,68,333,0.00,2.42,0.00,0.000,4,0.000,0.049,2664,170,3682,0,0,0,0,0,0
$GC,352,-0.50,-214.2,34.2,-11.0,73,358,0.00,2.40,0.00,0.000,6,0.000,0.040,2665,1695,3683,0,0,0,0,0,0
$GC,395,-0.50,-214.2,39.1,-11.3,82,401,0.00,2.83,0.00,0.000,4,0.000,0.048,2664,3466,3682,0,0,0,0,0,0
$GC,434,-0.50,-214.2,43.1,-10.9,90,439,0.00,2.78,0.00,0.000,6,0.000,0.038,2664,1692,3682,0,0,0,0,0,0
$GC,477,-0.50,-214.2,47.8,-10.7,99,482,0.00,2.40,0.00,0.000,4,0.000,0.049,2664,181,3682,0,0,0,0,0,0
$GC,496,-0.50,-214.2,50.0,-11.4,103,502,0.00,2.40,0.00,0.000,6,0.000,0.040,2665,1710,3682,0,0,0,0,0,0
$GC,539,-0.50,-214.2,54.8,-11.0,112,545,0.00,2.78,0.00,0.000,4,0.000,0.048,2665,3469,3682,0,0,0,0,0,0
$GC,573,-0.50,-214.2,58.1,-10.2,119,578,0.00,2.78,0.00,0.000,6,0.000,0.038,2665,1700,3682,0,0,0,0,0,0
$GC,616,-0.50,-214.2,62.4,-9.9,128,621,0.00,2.42,0.00,0.000,4,0.000,0.048,2664,174,3682,0,0,0,0,0,0
$GC,649,-0.50,-214.2,65.9,-10.6,135,655,0.00,2.38,0.00,0.000,6,0.000,0.039,2664,1702,3681,0,0,0,0,0,0
$GC,693,-0.50,-214.2,70.4,-10.2,144,698,0.00,2.78,0.00,0.000,4,0.000,0.047,2664,3468,3682,0,0,0,0,0,0
$GC,717,-0.50,-214.2,72.7,-9.9,149,723,0.00,2.75,0.00,0.000,6,0.000,0.036,2664,1696,3682,0,0,0,0,0,0
$GC,760,-0.50,-214.2,76.8,-9.4,158,766,0.00,2.38,0.00,0.000,4,0.000,0.048,2664,181,3682,0,0,0,0,0,0
$GC,789,-0.50,-214.2,79.9,-9.9,164,797,0.00,2.40,0.00,0.000,6,0.000,0.039,2664,1706,3682,0,0,0,0,0,0
$GC,835,-0.50,-214.2,84.2,-9.7,173,840,0.00,2.75,0.00,0.000,4,0.000,0.047,2664,3462,3682,0,0,0,0,0,0
$GC,860,-0.50,-214.2,86.6,-9.4,178,866,0.00,2.75,0.00,0.000,6,0.000,0.038,2664,1696,3682,0,0,0,0,0,0
$GC,903,-0.50,-214.2,90.5,-9.2,187,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1694,3682,0,0,0,0,0,0
$GC,945,-0.50,-214.2,94.4,-9.1,196,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1694,3682,0,0,0,0,0,0
$GC,987,-0.50,-214.2,97.9,-8.6,205,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1694,3682,0,0,0,0,0,0
$GC,1029,-0.50,-214.2,101.7,-8.7,214,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1694,3682,0,0,0,0,0,0
$GC,1071,-0.50,-214.2,105.2,-8.5,223,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1694,3682,0,0,0,0,0,0
$STATE,1094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1094,begin apogee
$GC,1097,-0.17,0.0,107.1,8.3,228,1175,0.32,0.00,74.00,0.516,6,0.127,0.000,2777,1694,2806,0,0,0,0,0,0
$STATE,1176,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1178,0.50,214.2,109.4,0.0,246,1265,0.62,2.92,75.40,0.504,4,0.102,0.044,2992,3443,1930,0,0,0,0,0,0
$GC,1279,0.50,214.2,99.5,13.1,269,1285,0.00,2.90,0.00,0.000,6,0.000,0.040,2997,1677,1928,0,0,0,0,0,0
$GC,1322,0.50,214.2,93.8,12.9,278,1328,0.00,2.42,0.00,0.000,4,0.000,0.048,3005,179,1928,0,0,0,0,0,0
$GC,1350,0.50,214.2,90.0,13.3,284,1356,0.00,2.40,0.00,0.000,6,0.000,0.036,3005,1688,1928,0,0,0,0,0,0
$GC,1394,0.50,214.2,84.5,13.1,293,1399,0.00,2.83,0.00,0.000,4,0.000,0.044,3005,3443,1928,0,0,0,0,0,0
$GC,1432,0.50,214.2,78.9,14.2,301,1438,0.00,2.83,0.00,0.000,6,0.000,0.040,3009,1674,1927,0,0,0,0,0,0
$GC,1475,0.50,214.2,73.0,13.8,310,1480,0.00,2.40,0.00,0.000,4,0.000,0.049,3019,171,1927,0,0,0,0,0,0
$GC,1509,0.50,214.2,68.4,13.8,317,1515,0.08,2.40,0.00,0.000,6,0.180,0.037,3001,1685,1927,0,0,0,0,0,0
$GC,1552,0.50,214.2,62.8,12.8,326,1558,0.00,2.78,0.00,0.000,4,0.000,0.044,3001,3443,1927,0,0,0,0,0,0
$GC,1563,0.50,214.2,61.5,12.8,328,1568,0.00,2.80,0.00,0.000,6,0.000,0.037,3009,1675,1927,0,0,0,0,0,0
$GC,1606,0.50,214.2,55.7,13.5,337,1611,0.00,2.38,0.00,0.000,4,0.000,0.049,3018,178,1927,0,0,0,0,0,0
$GC,1616,0.50,214.2,54.3,13.2,339,1623,0.08,2.38,0.00,0.000,6,0.185,0.035,3001,1692,1927,0,0,0,0,0,0
$GC,1660,0.50,214.2,48.6,13.1,348,1666,0.00,2.78,0.00,0.000,4,0.000,0.044,3001,3444,1927,0,0,0,0,0,0
$GC,1694,0.50,214.2,44.4,12.7,355,1699,0.00,2.78,0.00,0.000,6,0.000,0.039,3008,1682,1927,0,0,0,0,0,0
$GC,1737,0.50,214.2,38.9,12.9,364,1742,0.00,2.40,0.00,0.000,4,0.000,0.049,3019,181,1927,0,0,0,0,0,0
$GC,1752,0.50,214.2,37.0,12.8,367,1758,0.10,2.33,0.00,0.000,6,0.166,0.035,2993,1678,1927,0,0,0,0,0,0
$GC,1797,0.50,214.2,31.7,12.4,376,1802,0.00,2.80,0.00,0.000,4,0.000,0.044,2993,3445,1927,0,0,0,0,0,0
$GC,1830,0.50,214.2,27.5,11.7,383,1836,0.00,2.80,0.00,0.000,6,0.000,0.040,2998,1679,1927,0,0,0,0,0,0
$GC,1874,0.50,214.2,22.6,11.5,392,1879,0.00,2.40,0.00,0.000,4,0.000,0.049,3006,173,1927,0,0,0,0,0,0
$GC,1907,0.50,214.2,18.9,11.1,399,1913,0.00,2.38,0.00,0.000,6,0.000,0.037,3005,1686,1927,0,0,0,0,0,0
$GC,1950,0.50,214.2,14.0,11.3,408,1956,0.00,2.78,0.00,0.000,4,0.000,0.044,3005,3445,1927,0,0,0,0,0,0
$GC,1979,0.50,214.2,11.4,10.3,414,1985,0.00,2.78,0.00,0.000,6,0.000,0.038,3005,1678,1927,0,0,0,0,0,0
$GC,2023,0.74,405.0,10.5,2.3,423,2093,0.17,2.83,62.85,0.176,4,0.077,0.041,3091,3444,1149,0,0,0,0,0,0
$GC,2117,0.74,405.0,3.8,8.3,444,2124,0.08,2.80,0.00,0.000,6,0.176,0.039,3071,1677,1142,0,0,0,0,0,0
$STATE,2128,end climb,SURFACE_DEPTH_REACHED
$STATE,2128,begin surface coast
$FINISH,0.4,1.017704
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2179,25.48,0.153,0,0,847,480.04
$SM_GC,1.35,0.00,0.00,25.48,0.000,0.000,0.153,104,1668,847,-8.54,-0.90,480.04
$IRIDIUM_FIX,4748.51,-12224.57,110611,131330
$TT8_MAMPS,0.028379
$HUMID,1077360627
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,39.4
$24V_AH,24.5,19.117
$10V_AH,9.2,6.315
$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,21.075,110.300,212.250,25.475,0.000,25.658,30.918,203.579,1.000,0.000,13.725,702.807,481.091,376.797,931.484,73.078,33.312,848.248,0.000,660.569,0.000,9.961,0.000
$DEVICE_MAMPS,280.722,59.059,516.191,153.400,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13469,454
$CAP_FILE_SIZE,77163,0
$CFSIZE,260165632,255651840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,204022,4806.472,-12222.298,15,2.8,34,18.3