version: 66.07
glider: 505
mission: 2
dive: 109
start: 12 17 109 8 26 10
data:
$ID,505
$MISSION,2
$DIVE,109
$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,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,220
$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,-23725.051
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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,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
$GPS1,171209,081846,4807.643,-12222.696,19,3.8,38,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.8
$GPS2,171209,082546,4807.617,-12222.648,11,4.0,30,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,HEADING
$TGT_LATLONG,4759.344,-12233.021
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.017,-0.168
$KALMAN_X,-13133.6,-4635.2,-588.1,16822.7,2665.0
$KALMAN_Y,68460.2,-29369.0,-3484.8,-30122.7,17846.2
$MHEAD_RNG_PITCHd_Wd,201.7,20000,-4.6,-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,12,begin dive
$GC,14,-0.42,-214.2,0.0,0.0,0,50,0.00,0.00,-33.85,0.000,2,0.000,0.000,115,1788,1816,0,0,0,0,0,0
$GC,52,-0.42,-214.2,3.3,-6.7,8,119,11.98,2.58,-49.00,0.000,4,0.281,0.059,2693,215,3681,0,0,0,0,0,0
$GC,319,-0.42,-214.2,31.7,-9.4,66,325,0.00,2.53,0.00,0.000,6,0.000,0.041,2693,1795,3681,0,0,0,0,0,0
$GC,362,-0.42,-214.2,35.6,-9.0,75,368,0.00,2.55,0.00,0.000,4,0.000,0.048,2687,3392,3682,0,0,0,0,0,0
$GC,396,-0.42,-214.2,38.8,-9.2,82,402,0.00,2.50,0.00,0.000,6,0.000,0.038,2687,1795,3682,0,0,0,0,0,0
$GC,441,-0.42,-214.2,42.6,-9.1,91,446,0.00,2.53,0.00,0.000,4,0.000,0.049,2686,208,3681,0,0,0,0,0,0
$GC,451,-0.42,-214.2,44.0,-9.3,93,457,0.00,2.53,0.00,0.000,6,0.000,0.039,2686,1802,3681,0,0,0,0,0,0
$GC,496,-0.42,-214.2,48.3,-9.8,102,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1802,3681,0,0,0,0,0,0
$GC,538,-0.42,-214.2,52.1,-9.1,111,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1802,3681,0,0,0,0,0,0
$GC,580,-0.42,-214.2,55.8,-8.9,120,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1802,3681,0,0,0,0,0,0
$GC,623,-0.42,-214.2,59.3,-8.5,129,628,0.00,2.53,0.00,0.000,4,0.000,0.049,2687,3392,3681,0,0,0,0,0,0
$GC,647,-0.42,-214.2,61.4,-8.4,134,653,0.00,2.50,0.00,0.000,6,0.000,0.038,2686,1801,3681,0,0,0,0,0,0
$GC,692,-0.42,-214.2,64.9,-8.1,143,697,0.00,2.53,0.00,0.000,4,0.000,0.049,2687,207,3681,0,0,0,0,0,0
$GC,716,-0.42,-214.2,67.3,-8.5,148,722,0.00,2.53,0.00,0.000,6,0.000,0.039,2686,1801,3681,0,0,0,0,0,0
$GC,759,-0.42,-214.2,71.0,-8.6,157,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1801,3681,0,0,0,0,0,0
$GC,801,-0.42,-214.2,74.4,-8.2,166,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1801,3681,0,0,0,0,0,0
$GC,843,-0.42,-214.2,77.6,-7.8,175,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1801,3681,0,0,0,0,0,0
$GC,888,-0.42,-214.2,81.2,-7.9,184,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1802,3681,0,0,0,0,0,0
$GC,930,-0.42,-214.2,84.6,-8.0,193,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1802,3681,0,0,0,0,0,0
$GC,972,-0.42,-214.2,88.0,-8.2,202,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1802,3681,0,0,0,0,0,0
$GC,1016,-0.42,-214.2,91.5,-8.2,211,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1802,3681,0,0,0,0,0,0
$GC,1058,-0.42,-214.2,94.9,-7.8,220,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1802,3681,0,0,0,0,0,0
$GC,1100,-0.42,-214.2,98.2,-7.8,229,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1802,3681,0,0,0,0,0,0
$GC,1142,-0.42,-214.2,101.3,-7.6,238,1148,0.00,2.50,0.00,0.000,4,0.000,0.048,2687,3383,3681,0,0,0,0,0,0
$GC,1171,-0.42,-214.2,103.5,-7.4,244,1177,0.00,2.45,0.00,0.000,6,0.000,0.038,2687,1799,3681,0,0,0,0,0,0
$GC,1215,-0.42,-214.2,106.4,-7.1,253,1220,0.00,2.50,0.00,0.000,4,0.000,0.048,2687,209,3681,0,0,0,0,0,0
$STATE,1224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1224,begin apogee
$GC,1231,-0.17,0.0,107.3,7.0,255,1309,0.25,0.00,74.38,0.519,6,0.127,0.000,2774,1803,2806,0,0,0,0,0,0
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1312,0.42,214.2,109.7,0.0,273,1395,0.55,0.00,75.38,0.510,6,0.103,0.000,2963,1803,1932,0,0,0,0,0,0
$GC,1434,0.42,214.2,99.9,9.9,300,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1803,1930,0,0,0,0,0,0
$GC,1476,0.42,214.2,95.7,9.8,309,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1803,1930,0,0,0,0,0,0
$GC,1518,0.42,214.2,91.6,9.7,318,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1803,1929,0,0,0,0,0,0
$GC,1560,0.42,214.2,87.5,9.8,327,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1803,1930,0,0,0,0,0,0
$GC,1604,0.42,214.2,83.5,9.5,336,1609,0.00,2.60,0.00,0.000,4,0.000,0.049,2971,213,1929,0,0,0,0,0,0
$GC,1628,0.42,214.2,80.9,9.6,341,1634,0.00,2.55,0.00,0.000,6,0.000,0.037,2971,1806,1929,0,0,0,0,0,0
$GC,1671,0.42,214.2,76.6,9.8,350,1677,0.00,2.53,0.00,0.000,4,0.000,0.044,2971,3396,1929,0,0,0,0,0,0
$GC,1696,0.42,214.2,74.1,10.3,355,1702,0.00,2.55,0.00,0.000,6,0.000,0.040,2978,1795,1929,0,0,0,0,0,0
$GC,1739,0.42,214.2,69.5,10.6,364,1745,0.00,2.55,0.00,0.000,4,0.000,0.050,2978,214,1928,0,0,0,0,0,0
$GC,1784,0.42,214.2,65.3,10.1,373,1789,0.00,2.53,0.00,0.000,6,0.000,0.037,2978,1804,1928,0,0,0,0,0,0
$GC,1826,0.42,214.2,61.0,9.8,382,1832,0.00,2.50,0.00,0.000,4,0.000,0.044,2978,3387,1928,0,0,0,0,0,0
$GC,1865,0.42,214.2,56.7,10.8,390,1870,0.00,2.53,0.00,0.000,6,0.000,0.040,2978,1795,1928,0,0,0,0,0,0
$GC,1909,0.42,214.2,52.1,10.5,399,1915,0.00,2.55,0.00,0.000,4,0.000,0.051,2978,211,1928,0,0,0,0,0,0
$GC,1948,0.42,214.2,48.3,10.1,407,1953,0.00,2.53,0.00,0.000,6,0.000,0.037,2978,1810,1928,0,0,0,0,0,0
$GC,1991,0.42,214.2,44.2,9.3,416,1996,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,3385,1928,0,0,0,0,0,0
$GC,2015,0.42,214.2,41.6,10.0,421,2021,0.00,2.50,0.00,0.000,6,0.000,0.039,2979,1800,1928,0,0,0,0,0,0
$GC,2058,0.42,214.2,37.2,10.3,430,2064,0.00,2.55,0.00,0.000,4,0.000,0.051,2979,212,1928,0,0,0,0,0,0
$GC,2097,0.42,214.2,33.6,9.9,438,2103,0.00,2.47,0.00,0.000,6,0.000,0.037,2978,1803,1928,0,0,0,0,0,0
$GC,2142,0.42,214.2,29.5,9.3,447,2147,0.00,2.47,0.00,0.000,4,0.000,0.044,2979,3383,1929,0,0,0,0,0,0
$GC,2171,0.42,214.2,26.4,9.9,453,2176,0.00,2.50,0.00,0.000,6,0.000,0.039,2979,1792,1929,0,0,0,0,0,0
$GC,2214,0.42,214.2,22.1,9.9,462,2219,0.00,2.53,0.00,0.000,4,0.000,0.050,2979,214,1928,0,0,0,0,0,0
$GC,2248,0.42,214.2,19.1,9.3,469,2253,0.00,2.50,0.00,0.000,6,0.000,0.038,2978,1803,1929,0,0,0,0,0,0
$GC,2292,0.42,214.2,15.4,8.8,478,2298,0.00,2.47,0.00,0.000,4,0.000,0.045,2978,3393,1929,0,0,0,0,0,0
$GC,2312,0.42,214.2,13.6,8.6,482,2318,0.00,2.53,0.00,0.000,6,0.000,0.041,2978,1791,1929,0,0,0,0,0,0
$GC,2356,0.42,214.2,11.5,6.2,491,2362,0.00,2.53,0.00,0.000,4,0.000,0.050,2978,211,1929,0,0,0,0,0,0
$FREEZE,9.91,7.766,-1.404,0,1,0
$FREEZE,9.72,7.765,-1.404,0,1,0
$FREEZE,9.51,7.765,-1.403,0,1,0
$FREEZE,9.36,7.766,-1.402,0,1,0
$FREEZE,9.20,7.741,-1.402,0,1,0
$FREEZE,8.91,7.726,-1.401,0,1,0
$FREEZE,8.61,7.706,-1.400,0,1,0
$FREEZE,8.36,7.636,-1.402,0,1,0
$GC,2414,0.61,372.3,10.0,2.4,503,2472,0.15,2.50,52.20,0.181,6,0.107,0.038,3033,1814,1287,0,0,0,0,0,0
$FREEZE,7.47,7.526,-1.397,0,1,0
$FREEZE,7.29,7.515,-1.397,0,1,0
$FREEZE,7.11,7.505,-1.397,0,1,0
$FREEZE,6.86,7.489,-1.399,0,1,0
$FREEZE,6.73,7.486,-1.400,0,1,0
$FREEZE,6.45,7.477,-1.397,0,1,0
$FREEZE,6.11,7.434,-1.397,0,1,0
$FREEZE,5.76,7.372,-1.397,0,1,0
$GC,2507,0.61,372.3,5.8,5.4,521,2513,0.00,2.47,0.00,0.000,4,0.000,0.041,3033,3390,1277,0,0,0,0,0,0
$FREEZE,5.02,6.991,-1.399,0,1,0
$FREEZE,4.74,6.898,-1.399,0,1,0
$FREEZE,4.49,6.737,-1.397,0,1,0
$FREEZE,4.33,6.482,-1.402,0,1,0
$FREEZE,4.31,6.169,-1.407,0,1,0
$FREEZE,4.23,6.098,-1.393,0,1,0
$FREEZE,4.09,6.059,-1.377,0,1,0
$FREEZE,3.98,6.008,-1.360,0,1,0
$STATE,2547,end climb,SURFACE_DEPTH_REACHED
$STATE,2547,begin surface coast
$FREEZE,3.80,5.977,-1.339,0,1,0
$FREEZE,3.57,6.019,-1.300,0,1,0
$FREEZE,3.45,6.015,-1.266,0,1,0
$FREEZE,3.39,5.972,-1.243,0,1,0
$FINISH,3.4,1.017977
$STATE,2566,end surface coast,CONTROL_FINISHED_OK
$STATE,2566,begin surface
$SM_CCo,2583,36.92,0.159,0,0,847,480.04
$SM_GC,2.13,0.00,0.00,36.92,0.000,0.000,0.159,110,1792,847,-8.52,-0.23,480.04
$IRIDIUM_FIX,4748.51,-12223.57,120611,010105
$TT8_MAMPS,0.029146
$HUMID,1077383853
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,36.8
$24V_AH,24.5,19.747
$10V_AH,10.5,6.778
$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,20.850,95.700,201.950,36.925,0.000,30.464,39.087,242.229,0.500,0.000,31.414,872.960,580.800,396.299,1115.039,89.649,0.000,916.431,0.000,773.625,0.000,5.523,0.000
$DEVICE_MAMPS,281.489,59.059,519.259,158.769,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,20132,534
$CAP_FILE_SIZE,85727,0
$CFSIZE,260165632,254926848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,091052,4807.413,-12222.950,8,2.1,27,18.3