version: 66.07
glider: 505
mission: 2
dive: 103
start: 12 17 109 2 55 59
data:
$ID,505
$MISSION,2
$DIVE,103
$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,-23567.898
$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,3805
$C_ROLL_CLIMB,190
$HEAD_ERRBAND,181
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,171209,024828,4807.914,-12222.679,13,3.2,32,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-76.0
$GPS2,171209,025506,4807.934,-12222.680,15,1.6,25,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.035,-0.166
$KALMAN_X,-17199.4,-2052.7,1205.4,16182.8,-570.5
$KALMAN_Y,37965.1,-14029.7,9805.4,-28261.8,2540.8
$MHEAD_RNG_PITCHd_Wd,149.9,3680,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.47,-97.3,0.0,0.0,0,72,0.00,0.00,-54.55,0.000,2,0.000,0.000,110,167,2295,0,0,0,0,0,0
$GC,74,-0.47,-97.3,3.3,-4.0,13,111,11.75,0.00,-19.67,0.000,6,0.278,0.000,2675,167,3203,0,0,0,0,0,0
$GC,149,-0.47,-97.3,18.3,-21.2,29,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,191,-0.47,-97.3,22.2,-9.8,38,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,234,-0.47,-97.3,25.5,-8.1,47,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,276,-0.47,-97.3,28.8,-7.7,56,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,319,-0.47,-97.3,32.1,-7.9,65,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,362,-0.47,-97.3,35.7,-8.2,74,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,404,-0.47,-97.3,39.3,-8.2,83,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,446,-0.47,-97.3,42.9,-8.4,92,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,488,-0.47,-97.3,46.4,-8.6,101,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,530,-0.47,-97.3,50.2,-8.9,110,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,572,-0.47,-97.3,54.0,-9.1,119,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,614,-0.47,-97.3,57.6,-8.9,128,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,658,-0.47,-97.3,61.4,-8.7,137,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3203,0,0,0,0,0,0
$GC,700,-0.47,-97.3,65.2,-8.7,146,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,742,-0.47,-97.3,68.8,-8.6,155,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,783,-0.47,-97.3,72.2,-8.3,164,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,826,-0.47,-97.3,75.7,-8.2,173,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,868,-0.47,-97.3,79.2,-8.2,182,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,913,-0.47,-97.3,82.8,-8.4,191,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,956,-0.47,-97.3,86.5,-8.2,200,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,999,-0.47,-97.3,89.9,-8.0,209,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,1041,-0.47,-97.3,93.2,-7.9,218,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,1083,-0.47,-97.3,96.3,-7.7,227,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,1126,-0.47,-97.3,99.6,-7.5,236,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3204,0,0,0,0,0,0
$GC,1168,-0.47,-97.3,102.8,-7.4,245,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,167,3203,0,0,0,0,0,0
$STATE,1177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1177,begin apogee
$GC,1180,-0.17,0.0,103.2,7.3,247,1216,0.30,0.00,33.25,0.506,6,0.155,0.000,2773,167,2806,0,0,0,0,0,0
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1219,0.47,97.3,104.7,0.0,255,1258,0.60,0.00,33.78,0.501,6,0.120,0.000,2976,167,2409,0,0,0,0,0,0
$GC,1297,0.47,97.3,99.4,8.3,272,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1340,0.47,97.3,95.1,9.3,281,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,1382,0.47,97.3,91.2,9.5,290,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1424,0.47,97.3,87.2,9.4,299,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,1468,0.47,97.3,83.3,9.3,308,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1510,0.47,97.3,79.4,9.0,317,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,1552,0.47,97.3,75.8,8.8,326,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1594,0.47,97.3,71.9,9.1,335,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1638,0.47,97.3,68.4,8.7,344,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1680,0.47,97.3,64.8,8.4,353,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1722,0.47,97.3,61.3,8.2,362,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1764,0.47,97.3,57.9,8.0,371,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,1808,0.47,97.3,54.4,7.9,380,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1850,0.47,97.3,51.1,8.0,389,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1892,0.47,97.3,47.7,8.0,398,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,1934,0.47,97.3,44.3,7.9,407,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,1978,0.47,97.3,41.0,7.9,416,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2020,0.47,97.3,37.4,7.9,425,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2063,0.47,97.3,34.2,7.9,434,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2105,0.47,97.3,31.0,7.7,443,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,2149,0.47,97.3,27.7,7.8,452,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,2191,0.47,97.3,24.2,7.8,461,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2233,0.47,97.3,21.0,7.7,470,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,167,2407,0,0,0,0,0,0
$GC,2275,0.47,97.3,17.7,7.6,479,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2318,0.47,97.3,14.9,7.0,488,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2360,0.47,97.3,13.2,5.4,497,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,167,2407,0,0,0,0,0,0
$GC,2403,0.65,248.5,13.4,-0.3,506,2456,0.20,0.00,49.25,0.190,6,0.069,0.000,3072,167,1790,0,0,0,0,0,0
$GC,2495,0.67,266.9,10.5,4.4,526,2506,0.08,0.00,5.65,0.203,6,0.173,0.000,3050,167,1713,0,0,0,0,0,0
$FREEZE,9.82,7.663,-1.394,0,1,0
$FREEZE,9.64,7.640,-1.391,0,1,0
$FREEZE,9.39,7.626,-1.388,0,1,0
$FREEZE,9.26,7.624,-1.386,0,1,0
$FREEZE,9.09,7.520,-1.386,0,1,0
$FREEZE,8.78,7.424,-1.382,0,1,0
$FREEZE,8.63,7.374,-1.380,0,1,0
$FREEZE,8.52,7.300,-1.381,0,1,0
$GC,2542,0.69,276.9,8.5,4.7,536,2548,0.00,0.00,2.67,0.222,6,0.000,0.000,3050,167,1674,0,0,0,0,0,0
$FREEZE,7.98,7.105,-1.392,0,1,0
$FREEZE,7.97,7.081,-1.393,0,1,0
$FREEZE,7.78,6.985,-1.397,0,1,0
$FREEZE,7.67,6.906,-1.399,0,1,0
$FREEZE,7.56,6.848,-1.400,0,1,0
$FREEZE,7.44,6.810,-1.400,0,1,0
$FREEZE,7.34,6.758,-1.400,0,1,0
$FREEZE,7.21,6.744,-1.398,0,1,0
$FREEZE,7.21,6.790,-1.390,0,1,0
$FREEZE,7.09,6.741,-1.388,0,1,0
$GC,2583,0.74,319.9,7.2,3.5,545,2601,0.08,0.00,14.32,0.183,6,0.129,0.000,3099,167,1498,0,0,0,0,0,0
$FREEZE,6.53,6.654,-1.398,0,1,0
$FREEZE,6.39,6.642,-1.393,0,1,0
$FREEZE,6.08,6.634,-1.372,0,1,0
$FREEZE,5.98,6.632,-1.339,0,1,0
$FREEZE,5.56,6.624,-1.321,0,1,0
$FREEZE,5.38,6.623,-1.315,0,1,0
$FREEZE,5.16,6.623,-1.309,0,1,0
$FREEZE,4.87,6.621,-1.306,0,1,0
$FREEZE,4.65,6.620,-1.302,0,1,0
$GC,2637,0.77,344.9,4.9,4.1,556,2650,0.05,0.00,7.93,0.183,6,0.199,0.000,3081,167,1396,0,0,0,0,0,0
$FREEZE,4.07,6.608,-1.298,0,1,0
$FREEZE,3.87,6.598,-1.297,0,1,0
$STATE,2658,end climb,SURFACE_DEPTH_REACHED
$STATE,2658,begin surface coast
$FREEZE,3.71,6.588,-1.295,0,1,0
$FREEZE,3.46,6.550,-1.295,0,1,0
$FREEZE,3.28,6.502,-1.294,0,1,0
$FREEZE,3.09,6.511,-1.290,0,1,0
$FREEZE,2.88,6.468,-1.288,0,1,0
$FREEZE,2.67,6.396,-1.288,0,1,0
$FREEZE,2.46,6.381,-1.286,0,1,0
$FREEZE,2.28,6.377,-1.284,0,1,0
$FREEZE,2.19,6.376,-1.282,0,1,0
$FREEZE,1.96,6.374,-1.281,0,1,0
$FREEZE,1.86,6.353,-1.281,0,1,0
$FREEZE,1.63,6.422,-1.277,0,1,0
$FREEZE,1.49,6.318,-1.283,0,1,0
$FREEZE,1.32,6.321,-1.281,0,1,0
$FREEZE,1.25,6.344,-1.276,0,1,0
$FREEZE,0.96,6.315,-1.274,0,1,0
$FREEZE,0.80,6.329,-1.272,0,1,0
$FREEZE,0.54,6.329,-1.264,0,1,0
$FREEZE,0.31,6.391,-1.258,0,1,0
$FREEZE,0.33,6.358,-0.674,0,1,0
$FINISH,0.3,1.009751
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2762,45.70,0.158,0,0,848,480.04
$SM_GC,1.93,0.00,0.00,45.70,0.000,0.000,0.158,97,3810,848,-8.56,0.14,480.04
$IRIDIUM_FIX,4748.51,-12217.40,110611,202012
$TT8_MAMPS,0.028379
$HUMID,1077414821
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,32.6
$24V_AH,24.8,19.511
$10V_AH,10.5,6.583
$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,20.800,5.950,146.850,45.700,0.000,24.024,24.426,251.313,0.500,0.000,25.737,958.719,634.513,360.269,1157.421,99.503,33.349,902.419,0.000,838.385,0.000,5.512,0.000
$DEVICE_MAMPS,277.654,44.486,506.220,158.002,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324084
$DATA_FILE_SIZE,23451,580
$CAP_FILE_SIZE,85442,0
$CFSIZE,260165632,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,034326,4807.946,-12222.741,12,1.5,12,18.3