version: 66.07
glider: 505
mission: 2
dive: 104
start: 12 17 109 3 50 51
data:
$ID,505
$MISSION,2
$DIVE,104
$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,-23604.504
$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
$GPS1,171209,034326,4807.946,-12222.741,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.2
$GPS2,171209,034958,4807.980,-12222.734,16,2.2,35,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.168,0.024
$KALMAN_X,-17060.0,-2649.4,1385.9,16384.4,-1665.2
$KALMAN_Y,40932.4,-18443.0,12336.8,-29227.4,-4051.9
$MHEAD_RNG_PITCHd_Wd,63.4,3779,-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,-97.3,0.0,0.0,0,67,0.00,0.00,-50.00,0.000,2,0.000,0.000,97,3810,2196,0,0,0,0,0,0
$GC,69,-0.47,-97.3,3.2,-4.3,12,106,12.15,0.00,-22.15,0.000,6,0.286,0.000,2676,3812,3204,0,0,0,0,0,0
$GC,145,-0.47,-97.3,16.3,-17.9,28,150,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,187,-0.47,-97.3,19.9,-8.8,37,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,229,-0.47,-97.3,23.3,-8.0,46,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,271,-0.47,-97.3,26.4,-7.9,55,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,314,-0.47,-97.3,29.7,-7.5,64,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,356,-0.47,-97.3,32.9,-7.5,73,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,398,-0.47,-97.3,36.2,-7.6,82,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,440,-0.47,-97.3,39.5,-7.7,91,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,483,-0.47,-97.3,42.9,-8.0,100,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,526,-0.47,-97.3,46.3,-8.0,109,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,568,-0.47,-97.3,49.7,-7.8,118,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,610,-0.47,-97.3,53.0,-8.1,127,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3205,0,0,0,0,0,0
$GC,652,-0.47,-97.3,56.5,-8.1,136,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,694,-0.47,-97.3,60.1,-8.4,145,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3205,0,0,0,0,0,0
$GC,737,-0.47,-97.3,64.0,-8.8,154,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3205,0,0,0,0,0,0
$GC,779,-0.47,-97.3,66.8,-7.7,163,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,821,-0.47,-97.3,70.1,-7.7,172,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3205,0,0,0,0,0,0
$GC,863,-0.47,-97.3,73.3,-7.7,181,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3205,0,0,0,0,0,0
$GC,905,-0.47,-97.3,76.4,-7.5,190,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,948,-0.47,-97.3,79.7,-7.7,199,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,995,-0.47,-97.3,83.3,-7.6,208,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3206,0,0,0,0,0,0
$GC,1038,-0.47,-97.3,86.4,-7.4,217,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3812,3205,0,0,0,0,0,0
$GC,1080,-0.47,-97.3,89.5,-7.3,226,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,1122,-0.47,-97.3,92.4,-7.2,235,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3205,0,0,0,0,0,0
$GC,1165,-0.47,-97.3,95.5,-7.1,244,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3206,0,0,0,0,0,0
$GC,1208,-0.47,-97.3,98.3,-6.7,253,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,3812,3205,0,0,0,0,0,0
$STATE,1250,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1250,begin apogee
$GC,1259,-0.17,0.0,101.3,6.9,262,1299,0.30,0.00,33.72,0.502,6,0.160,0.000,2773,182,2806,0,0,0,0,0,0
$STATE,1300,end apogee,CONTROL_FINISHED_OK
$STATE,1300,begin climb
$GC,1302,0.47,97.3,103.4,0.0,271,1341,0.60,0.00,33.85,0.496,6,0.120,0.000,2976,182,2409,0,0,0,0,0,0
$GC,1381,0.47,97.3,98.2,8.2,288,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2408,0,0,0,0,0,0
$GC,1423,0.47,97.3,94.0,8.8,297,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2407,0,0,0,0,0,0
$GC,1465,0.47,97.3,90.2,9.3,306,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2407,0,0,0,0,0,0
$GC,1507,0.47,97.3,86.2,9.5,315,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1550,0.47,97.3,82.4,9.3,324,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2407,0,0,0,0,0,0
$GC,1592,0.47,97.3,78.5,8.8,333,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2407,0,0,0,0,0,0
$GC,1634,0.47,97.3,74.8,8.7,342,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1676,0.47,97.3,71.0,9.0,351,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2406,0,0,0,0,0,0
$GC,1720,0.47,97.3,67.3,9.2,360,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1762,0.47,97.3,63.3,8.9,369,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2406,0,0,0,0,0,0
$GC,1804,0.47,97.3,59.5,8.9,378,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1846,0.47,97.3,55.8,8.9,387,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1890,0.47,97.3,52.2,8.6,396,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1932,0.47,97.3,48.4,8.8,405,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,1975,0.47,97.3,44.6,8.9,414,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2017,0.47,97.3,40.9,8.7,423,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2406,0,0,0,0,0,0
$GC,2059,0.47,97.3,37.3,8.7,432,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2407,0,0,0,0,0,0
$GC,2102,0.47,97.3,33.7,8.3,441,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2144,0.47,97.3,30.3,8.3,450,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2186,0.47,97.3,26.8,8.2,459,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,182,2407,0,0,0,0,0,0
$GC,2229,0.47,97.3,23.3,8.2,468,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2271,0.47,97.3,20.0,7.8,477,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2314,0.47,97.3,16.7,7.8,486,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2356,0.47,97.3,13.6,7.5,495,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,182,2407,0,0,0,0,0,0
$GC,2399,0.58,193.4,13.6,1.6,504,2435,0.12,0.00,31.55,0.193,6,0.095,0.000,3044,182,2014,0,0,0,0,0,0
$GC,2475,0.70,288.7,12.5,1.7,520,2511,0.00,0.00,30.80,0.193,6,0.000,0.000,3044,182,1626,0,0,0,0,0,0
$FREEZE,9.74,7.647,-1.392,0,1,0
$FREEZE,9.60,7.643,-1.392,0,1,0
$GC,2550,0.72,299.6,9.6,4.6,536,2557,0.05,0.00,3.00,0.217,6,0.176,0.000,3076,182,1581,0,0,0,0,0,0
$FREEZE,8.82,7.493,-1.398,0,1,0
$FREEZE,8.57,7.490,-1.397,0,1,0
$FREEZE,8.32,7.513,-1.395,0,1,0
$FREEZE,8.09,7.449,-1.399,0,1,0
$FREEZE,7.84,7.440,-1.399,0,1,0
$FREEZE,7.69,7.439,-1.399,0,1,0
$FREEZE,7.44,7.343,-1.403,0,1,0
$FREEZE,7.27,7.309,-1.402,0,1,0
$GC,2592,0.72,299.6,7.3,5.2,545,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,182,1579,0,0,0,0,0,0
$FREEZE,6.84,7.214,-1.398,0,1,0
$FREEZE,6.68,7.142,-1.400,0,1,0
$FREEZE,6.51,6.986,-1.407,0,1,0
$FREEZE,6.36,6.933,-1.408,0,1,0
$FREEZE,6.33,6.893,-1.408,0,1,0
$FREEZE,6.14,6.868,-1.405,0,1,0
$FREEZE,5.92,6.774,-1.405,0,1,0
$FREEZE,5.91,6.729,-1.402,0,1,0
$FREEZE,5.60,6.702,-1.397,0,1,0
$FREEZE,5.32,6.677,-1.395,0,1,0
$GC,2633,0.76,334.3,5.9,3.8,554,2650,0.00,0.00,11.40,0.180,6,0.000,0.000,3076,182,1440,0,0,0,0,0,0
$FREEZE,4.67,6.647,-1.398,0,1,0
$FREEZE,4.56,6.630,-1.377,0,1,0
$FREEZE,4.21,6.618,-1.352,0,1,0
$FREEZE,4.14,6.608,-1.336,0,1,0
$FREEZE,3.85,6.595,-1.328,0,1,0
$STATE,2671,end climb,SURFACE_DEPTH_REACHED
$STATE,2671,begin surface coast
$FREEZE,3.68,6.584,-1.323,0,1,0
$FREEZE,3.44,6.566,-1.316,0,1,0
$FREEZE,3.26,6.536,-1.311,0,1,0
$FREEZE,3.11,6.517,-1.307,0,1,0
$FREEZE,2.91,6.503,-1.304,0,1,0
$FREEZE,2.77,6.394,-1.305,0,1,0
$FREEZE,2.61,6.286,-1.311,0,1,0
$FREEZE,2.36,6.211,-1.312,0,1,0
$FREEZE,2.26,6.070,-1.321,0,1,0
$FREEZE,2.10,6.204,-1.317,0,1,0
$FREEZE,2.07,5.862,-1.331,0,1,0
$FREEZE,1.87,5.797,-1.333,0,1,0
$FREEZE,1.77,5.773,-1.333,0,1,0
$FREEZE,1.74,5.788,-1.331,0,1,0
$FREEZE,1.60,5.794,-1.323,0,1,0
$FREEZE,1.59,5.782,-1.318,0,1,0
$FREEZE,1.63,5.969,-1.310,0,1,0
$FREEZE,1.48,5.938,-1.302,0,1,0
$FREEZE,1.50,5.969,-1.296,0,1,0
$FREEZE,1.38,5.921,-1.295,0,1,0
$FREEZE,1.45,5.761,-1.294,0,1,0
$FREEZE,1.40,5.793,-1.288,0,1,0
$FREEZE,1.32,5.763,-1.287,0,1,0
$FREEZE,1.34,5.693,-1.283,0,1,0
$FINISH,1.3,1.018610
$STATE,2773,end surface coast,CONTROL_FINISHED_OK
$STATE,2773,begin surface
$SM_CCo,2793,49.28,0.158,0,0,848,480.04
$SM_GC,1.96,0.00,0.00,49.28,0.000,0.000,0.158,112,3817,848,-8.51,0.34,480.04
$IRIDIUM_FIX,4751.72,-12219.12,110611,212127
$TT8_MAMPS,0.028379
$HUMID,1077422563
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,25.8
$24V_AH,24.8,19.544
$10V_AH,9.3,6.616
$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,21.250,11.750,144.325,49.275,0.000,27.291,28.742,225.678,1.000,0.000,35.976,968.904,648.978,368.780,1162.995,95.740,33.335,919.350,0.000,847.191,0.000,9.888,0.000
$DEVICE_MAMPS,286.091,43.719,501.618,158.002,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324076
$DATA_FILE_SIZE,23414,586
$CAP_FILE_SIZE,84472,0
$CFSIZE,260165632,255127552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,043922,4807.989,-12222.702,13,2.2,32,18.3