version: 66.07
glider: 505
mission: 2
dive: 101
start: 12 17 109 1 11 32
data:
$ID,505
$MISSION,2
$DIVE,101
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,105
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-23507.969
$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,45
$C_ROLL_DIVE,180
$C_ROLL_CLIMB,3805
$HEAD_ERRBAND,181
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$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,4
$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
$GPS1,171209,010050,4808.054,-12222.512,13,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.0
$GPS2,171209,011038,4808.045,-12222.596,16,1.5,16,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,0.159
$KALMAN_X,-17141.1,177.5,177.5,15003.0,-1070.5
$KALMAN_Y,33329.5,1038.4,1038.4,-29801.9,-8665.8
$MHEAD_RNG_PITCHd_Wd,1.8,3858,-10.4,-5.000
$D_GRID,150
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.47,-97.3,0.0,0.0,0,75,0.00,0.00,-58.67,0.000,2,0.000,0.000,108,1691,2401,0,0,0,0,0,0
$GC,78,-0.47,-97.3,3.3,-3.7,14,110,11.82,0.00,-17.77,0.000,6,0.280,0.000,2676,1691,3205,0,0,0,0,0,0
$GC,149,-0.47,-97.3,16.1,-17.8,29,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,191,-0.47,-97.3,20.0,-10.2,38,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,233,-0.47,-97.3,23.4,-8.0,47,238,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,275,-0.47,-97.3,26.7,-7.7,56,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,319,-0.47,-97.3,30.0,-7.8,65,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,361,-0.47,-97.3,33.2,-7.5,74,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,403,-0.47,-97.3,36.6,-7.9,83,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,445,-0.47,-97.3,40.1,-8.1,92,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,488,-0.47,-97.3,43.5,-8.4,101,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,531,-0.47,-97.3,47.4,-8.5,110,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,573,-0.47,-97.3,51.1,-8.7,119,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,615,-0.47,-97.3,54.5,-8.5,128,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,658,-0.47,-97.3,58.1,-8.5,137,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,700,-0.47,-97.3,61.8,-8.3,146,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1692,3206,0,0,0,0,0,0
$GC,743,-0.47,-97.3,65.3,-8.5,155,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,784,-0.47,-97.3,68.8,-8.5,164,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,827,-0.47,-97.3,72.4,-8.4,173,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,869,-0.47,-97.3,75.6,-7.9,182,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,911,-0.47,-97.3,78.8,-7.4,191,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,954,-0.47,-97.3,82.0,-7.5,200,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,996,-0.47,-97.3,84.9,-7.1,209,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,1039,-0.47,-97.3,88.0,-7.4,218,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,1082,-0.47,-97.3,91.0,-7.0,227,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,1124,-0.47,-97.3,94.0,-6.7,236,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,1167,-0.47,-97.3,96.6,-6.3,245,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,1209,-0.47,-97.3,99.3,-6.2,254,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$GC,1253,-0.47,-97.3,101.8,-6.1,263,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1691,3206,0,0,0,0,0,0
$STATE,1294,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1294,begin apogee
$GC,1301,-0.17,0.0,104.3,5.9,272,1338,0.32,0.00,33.67,0.506,6,0.167,0.000,2773,3800,2806,0,0,0,0,0,0
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1340,0.47,97.3,105.7,0.0,280,1379,0.60,0.00,33.53,0.502,6,0.123,0.000,2975,3800,2409,0,0,0,0,0,0
$GC,1419,0.47,97.3,98.9,10.3,297,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3799,2408,0,0,0,0,0,0
$GC,1461,0.47,97.3,93.8,11.6,306,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3799,2408,0,0,0,0,0,0
$GC,1503,0.47,97.3,88.7,11.9,315,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,1546,0.47,97.3,83.8,11.8,324,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3800,2408,0,0,0,0,0,0
$GC,1588,0.47,97.3,78.9,11.5,333,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3799,2407,0,0,0,0,0,0
$GC,1630,0.47,97.3,74.0,11.4,342,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,1673,0.47,97.3,69.1,11.7,351,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3800,2408,0,0,0,0,0,0
$GC,1716,0.47,97.3,64.3,11.2,360,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3800,2408,0,0,0,0,0,0
$GC,1758,0.47,97.3,59.6,11.3,369,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3800,2407,0,0,0,0,0,0
$GC,1800,0.47,97.3,55.0,10.9,378,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3799,2408,0,0,0,0,0,0
$GC,1843,0.47,97.3,50.4,10.8,387,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,1885,0.47,97.3,46.0,10.5,396,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3800,2408,0,0,0,0,0,0
$GC,1927,0.47,97.3,41.6,10.3,405,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,1969,0.47,97.3,37.3,10.3,414,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2407,0,0,0,0,0,0
$GC,2011,0.47,97.3,33.0,10.1,423,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,3800,2408,0,0,0,0,0,0
$GC,2054,0.47,97.3,28.6,10.2,432,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,2096,0.47,97.3,24.3,10.4,441,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,2138,0.47,97.3,20.1,9.9,450,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,2180,0.47,97.3,15.9,10.1,459,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3800,2408,0,0,0,0,0,0
$GC,2223,0.47,97.3,12.1,9.0,468,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,3799,2408,0,0,0,0,0,0
$GC,2265,0.54,155.8,11.9,2.9,477,2289,0.10,0.00,18.80,0.189,6,0.106,0.000,3029,3800,2168,0,0,0,0,0,0
$GC,2327,0.69,278.8,11.6,0.7,490,2372,0.08,0.00,39.65,0.188,6,0.129,0.000,3072,3799,1665,0,0,0,0,0,0
$FREEZE,9.70,7.288,-1.428,0,1,0
$FREEZE,9.52,7.314,-1.421,0,1,0
$FREEZE,9.30,7.255,-1.414,0,1,0
$FREEZE,9.09,7.253,-1.401,0,1,0
$FREEZE,8.89,7.252,-1.388,0,1,0
$FREEZE,8.68,7.221,-1.384,0,1,0
$GC,2409,0.69,278.8,8.7,5.1,508,2414,0.05,0.00,0.00,0.000,6,0.209,0.000,3058,3799,1662,0,0,0,0,0,0
$FREEZE,8.23,7.180,-1.376,0,1,0
$FREEZE,8.01,7.179,-1.371,0,1,0
$FREEZE,7.79,7.183,-1.369,0,1,0
$FREEZE,7.56,7.170,-1.366,0,1,0
$FREEZE,7.40,7.181,-1.362,0,1,0
$FREEZE,7.18,7.196,-1.360,0,1,0
$FREEZE,7.06,7.200,-1.360,0,1,0
$FREEZE,6.84,7.211,-1.358,0,1,0
$GC,2450,0.71,291.5,6.8,4.6,517,2456,0.00,0.00,3.55,0.205,6,0.000,0.000,3058,3799,1615,0,0,0,0,0,0
$FREEZE,6.30,7.180,-1.356,0,1,0
$FREEZE,6.14,7.176,-1.355,0,1,0
$FREEZE,5.99,7.174,-1.354,0,1,0
$FREEZE,5.67,7.171,-1.353,0,1,0
$FREEZE,5.41,7.163,-1.352,0,1,0
$FREEZE,5.25,7.160,-1.352,0,1,0
$FREEZE,4.95,7.147,-1.351,0,1,0
$FREEZE,4.76,7.137,-1.350,0,1,0
$GC,2491,0.71,297.1,4.8,4.8,526,2497,0.00,0.00,1.58,0.239,6,0.000,0.000,3058,3800,1591,0,0,0,0,0,0
$FREEZE,4.09,7.061,-1.347,0,1,0
$FREEZE,3.87,6.951,-1.348,0,1,0
$STATE,2507,end climb,SURFACE_DEPTH_REACHED
$STATE,2507,begin surface coast
$FREEZE,3.50,6.872,-1.341,0,1,0
$FREEZE,3.38,6.852,-1.338,0,1,0
$FREEZE,3.18,6.824,-1.336,0,1,0
$FREEZE,2.94,6.792,-1.335,0,1,0
$FREEZE,2.66,6.752,-1.335,0,1,0
$FREEZE,2.56,6.741,-1.331,0,1,0
$FREEZE,2.28,6.701,-1.328,0,1,0
$FREEZE,2.05,6.695,-1.324,0,1,0
$FREEZE,1.99,6.694,-1.320,0,1,0
$FREEZE,1.74,6.685,-1.317,0,1,0
$FREEZE,1.63,6.685,-1.314,0,1,0
$FREEZE,1.52,6.798,-1.308,0,1,0
$FREEZE,1.24,6.689,-1.311,0,1,0
$FREEZE,0.93,6.700,-1.310,0,1,0
$FREEZE,0.80,6.787,-1.304,0,1,0
$FREEZE,0.70,6.849,-1.300,0,1,0
$FREEZE,0.46,6.704,-1.304,0,1,0
$FREEZE,0.17,6.714,-1.305,0,1,0
$FREEZE,0.25,6.739,-0.479,0,1,0
$FREEZE,0.26,6.896,-0.705,0,1,0
$FINISH,0.3,1.010156
$STATE,2590,end surface coast,CONTROL_FINISHED_OK
$STATE,2590,begin surface
$SM_CCo,2610,62.60,0.158,0,0,847,480.04
$SM_GC,1.01,0.00,0.00,62.60,0.000,0.000,0.158,106,174,847,-8.53,-0.17,480.04
$IRIDIUM_FIX,4748.51,-12221.84,110611,181835
$TT8_MAMPS,0.028379
$HUMID,1077352885
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,34.1
$24V_AH,24.8,19.444
$10V_AH,10.5,6.519
$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,20.700,9.350,130.775,62.600,0.000,30.905,25.445,410.534,0.500,0.000,16.679,919.167,602.861,359.424,1273.922,127.435,32.633,873.444,0.000,794.690,0.000,5.516,0.000
$DEVICE_MAMPS,279.955,50.622,506.220,158.002,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324052
$DATA_FILE_SIZE,20122,549
$CAP_FILE_SIZE,85720,0
$CFSIZE,260165632,255254528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,015706,4807.916,-12222.620,10,2.0,26,18.3