version: 66.07
glider: 505
mission: 2
dive: 111
start: 12 17 109 10 17 26
data:
$ID,505
$MISSION,2
$DIVE,111
$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,-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,-23773.219
$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,33
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,171209,100632,4807.167,-12223.266,11,1.5,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.3
$GPS2,171209,101702,4807.141,-12223.264,14,1.8,14,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,110.3,417,-26.1,-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,-0.90,-22.4,0.0,0.0,0,55,0.00,0.00,-37.78,0.000,2,0.000,0.000,112,1811,1895,0,0,0,0,0,0
$GC,57,-0.90,-22.4,3.1,-5.8,9,106,11.27,2.65,-28.60,0.000,4,0.282,0.060,2538,207,2900,0,0,0,0,0,0
$GC,260,-0.99,-96.9,11.2,6.2,53,275,0.08,2.55,-5.95,0.000,6,0.160,0.041,2516,1799,3205,0,0,0,0,0,0
$GC,313,-0.99,-96.9,14.9,-5.9,64,318,0.00,2.53,0.00,0.000,4,0.000,0.048,2509,3383,3205,0,0,0,0,0,0
$GC,324,-0.99,-96.9,16.4,-8.1,66,329,0.00,2.42,0.00,0.000,6,0.000,0.039,2508,1835,3205,0,0,0,0,0,0
$GC,367,-0.99,-96.9,22.7,-14.0,75,372,0.00,2.58,0.00,0.000,4,0.000,0.047,2508,212,3205,0,0,0,0,0,0
$GC,391,-0.99,-96.9,26.7,-15.2,80,397,0.00,2.53,0.00,0.000,6,0.000,0.041,2508,1792,3205,0,0,0,0,0,0
$GC,435,-0.99,-96.9,33.7,-16.3,89,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1792,3205,0,0,0,0,0,0
$GC,477,-0.99,-96.9,40.6,-16.1,98,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1792,3205,0,0,0,0,0,0
$GC,519,-0.99,-96.9,47.6,-16.4,107,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1792,3205,0,0,0,0,0,0
$GC,561,-0.99,-96.9,54.7,-16.9,116,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1792,3205,0,0,0,0,0,0
$GC,604,-0.99,-96.9,62.0,-17.1,125,609,0.00,2.53,0.00,0.000,4,0.000,0.048,2508,3386,3205,0,0,0,0,0,0
$GC,642,-0.99,-96.9,68.8,-17.6,133,647,0.00,2.47,0.00,0.000,6,0.000,0.039,2508,1800,3205,0,0,0,0,0,0
$GC,685,-0.99,-96.9,76.3,-17.7,142,691,0.00,2.55,0.00,0.000,4,0.000,0.047,2508,3396,3205,0,0,0,0,0,0
$GC,717,-0.99,-96.9,81.8,-17.5,148,722,0.00,2.47,0.00,0.000,6,0.000,0.039,2507,1822,3205,0,0,0,0,0,0
$GC,760,-0.99,-96.9,89.0,-16.9,157,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1821,3205,0,0,0,0,0,0
$GC,802,-0.99,-96.9,95.8,-16.4,166,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1821,3205,0,0,0,0,0,0
$GC,844,-0.99,-96.9,102.4,-15.8,175,850,0.00,2.50,0.00,0.000,4,0.000,0.047,2508,3395,3205,0,0,0,0,0,0
$GC,869,-0.99,-96.9,106.3,-15.7,180,874,0.00,2.47,0.00,0.000,6,0.000,0.039,2508,1805,3205,0,0,0,0,0,0
$STATE,888,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,888,begin apogee
$GC,891,-0.17,0.0,109.2,15.7,184,931,0.95,0.00,34.05,0.528,6,0.195,0.000,2772,1799,2806,0,0,0,0,0,0
$STATE,932,end apogee,CONTROL_FINISHED_OK
$STATE,932,begin climb
$GC,934,0.99,96.9,111.6,0.0,193,973,1.10,0.00,33.72,0.522,6,0.106,0.000,3149,1799,2411,0,0,0,0,0,0
$GC,1012,0.99,96.9,98.8,20.7,210,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1799,2411,0,0,0,0,0,0
$GC,1054,0.99,96.9,87.8,24.4,219,1060,0.00,2.55,0.00,0.000,4,0.000,0.044,3149,3396,2410,0,0,0,0,0,0
$GC,1071,0.99,96.9,84.0,24.7,222,1077,0.00,2.55,0.00,0.000,6,0.000,0.039,3161,1806,2410,0,0,0,0,0,0
$GC,1114,0.99,96.9,72.6,25.5,231,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1806,2410,0,0,0,0,0,0
$GC,1157,0.99,96.9,62.1,24.7,240,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1806,2410,0,0,0,0,0,0
$GC,1199,0.99,96.9,52.3,24.0,249,1204,0.00,2.53,0.00,0.000,4,0.000,0.043,3161,3399,2410,0,0,0,0,0,0
$GC,1214,0.99,96.9,48.4,23.8,252,1220,0.10,2.53,0.00,0.000,6,0.241,0.039,3154,1814,2410,0,0,0,0,0,0
$GC,1258,0.99,96.9,37.6,24.9,261,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1813,2410,0,0,0,0,0,0
$GC,1300,0.99,96.9,27.3,24.6,270,1306,0.00,2.53,0.00,0.000,4,0.000,0.042,3154,3400,2410,0,0,0,0,0,0
$GC,1325,0.99,96.9,21.2,24.5,275,1331,0.00,2.47,0.00,0.000,6,0.000,0.039,3163,1826,2410,0,0,0,0,0,0
$GC,1368,0.99,96.9,11.0,23.7,284,1374,0.00,2.50,0.00,0.000,4,0.000,0.044,3163,3397,2410,0,0,0,0,0,0
$FREEZE,8.91,8.011,-1.461,0,1,0
$FREEZE,8.21,7.977,-1.449,0,1,0
$FREEZE,7.78,7.922,-1.443,0,1,0
$FREEZE,7.56,7.764,-1.436,0,1,0
$FREEZE,7.24,7.697,-1.438,0,1,0
$FREEZE,7.19,7.669,-1.442,0,1,0
$FREEZE,7.17,7.668,-1.447,0,1,0
$FREEZE,7.35,7.673,-1.450,0,1,0
$FREEZE,7.48,7.708,-1.451,0,1,0
$FREEZE,7.60,7.724,-1.448,0,1,0
$FREEZE,7.82,7.717,-1.444,0,1,0
$FREEZE,7.85,7.760,-1.438,0,1,0
$FREEZE,8.10,7.805,-1.434,0,1,0
$FREEZE,8.28,7.847,-1.435,0,1,0
$FREEZE,8.54,7.929,-1.437,0,1,0
$FREEZE,8.82,8.007,-1.434,0,1,0
$FREEZE,9.08,8.066,-1.430,0,1,0
$FREEZE,9.33,8.143,-1.435,0,1,0
$FREEZE,9.49,8.207,-1.433,0,1,0
$FREEZE,9.80,8.567,-1.419,0,1,0
$FREEZE,9.84,8.597,-1.420,0,1,0
$FREEZE,9.90,8.616,-1.422,0,1,0
$FREEZE,9.87,8.661,-1.421,0,1,0
$GC,1455,1.07,159.7,9.5,-4.4,304,1485,0.00,2.40,20.48,0.179,6,0.000,0.037,3175,1849,2150,0,0,0,0,0,0
$FREEZE,9.50,8.583,-1.442,0,1,0
$FREEZE,9.24,8.397,-1.464,0,1,0
$FREEZE,8.95,8.265,-1.469,0,1,0
$FREEZE,8.79,8.125,-1.471,0,1,0
$FREEZE,8.64,8.025,-1.470,0,1,0
$FREEZE,8.41,7.990,-1.462,0,1,0
$FREEZE,8.24,7.978,-1.452,0,1,0
$FREEZE,8.04,7.976,-1.443,0,1,0
$FREEZE,7.82,7.954,-1.439,0,1,0
$GC,1520,1.08,174.4,8.0,2.8,317,1531,0.00,0.00,4.53,0.199,6,0.000,0.000,3174,1849,2091,0,0,0,0,0,0
$FREEZE,7.23,7.725,-1.436,0,1,0
$FREEZE,7.17,7.686,-1.435,0,1,0
$FREEZE,7.14,7.661,-1.433,0,1,0
$FREEZE,7.05,7.638,-1.432,0,1,0
$FREEZE,6.86,7.614,-1.431,0,1,0
$FREEZE,6.78,7.591,-1.431,0,1,0
$FREEZE,6.74,7.575,-1.430,0,1,0
$FREEZE,6.60,7.566,-1.429,0,1,0
$FREEZE,6.68,7.560,-1.428,0,1,0
$GC,1566,1.10,184.8,6.6,3.5,327,1578,0.00,2.50,2.97,0.210,4,0.000,0.043,3175,3389,2048,0,0,0,0,0,0
$FREEZE,6.38,7.554,-1.421,0,1,0
$FREEZE,6.33,7.549,-1.420,0,1,0
$FREEZE,6.20,7.530,-1.419,0,1,0
$FREEZE,6.11,7.491,-1.418,0,1,0
$FREEZE,5.95,7.458,-1.417,0,1,0
$FREEZE,5.77,7.438,-1.415,0,1,0
$FREEZE,5.72,7.376,-1.413,0,1,0
$FREEZE,5.51,7.363,-1.409,0,1,0
$FREEZE,5.55,7.347,-1.404,0,1,0
$FREEZE,5.39,7.339,-1.397,0,1,0
$GC,1617,1.12,203.3,5.6,2.2,338,1630,0.00,2.55,5.72,0.170,6,0.000,0.038,3186,1771,1974,0,0,0,0,0,0
$FREEZE,4.94,7.227,-1.386,0,1,0
$FREEZE,4.81,7.156,-1.384,0,1,0
$FREEZE,4.78,7.144,-1.380,0,1,0
$FREEZE,4.57,7.134,-1.375,0,1,0
$FREEZE,4.48,7.063,-1.373,0,1,0
$FREEZE,4.34,6.756,-1.384,0,1,0
$FREEZE,4.26,6.638,-1.388,0,1,0
$FREEZE,4.26,6.630,-1.390,0,1,0
$FREEZE,4.22,6.625,-1.391,0,1,0
$GC,1666,1.14,218.4,4.3,2.7,348,1678,0.00,2.62,4.65,0.191,4,0.000,0.044,3186,3396,1910,0,0,0,0,0,0
$FREEZE,4.28,6.612,-1.390,0,1,0
$FREEZE,4.30,6.562,-1.391,0,1,0
$FREEZE,4.27,6.566,-1.389,0,1,0
$FREEZE,4.23,6.576,-1.388,0,1,0
$FREEZE,4.34,6.566,-1.387,0,1,0
$FREEZE,4.27,6.569,-1.386,0,1,0
$FREEZE,4.38,6.561,-1.386,0,1,0
$FREEZE,4.22,6.564,-1.384,0,1,0
$FREEZE,4.32,6.571,-1.383,0,1,0
$FREEZE,4.35,6.564,-1.382,0,1,0
$FREEZE,4.18,6.554,-1.380,0,1,0
$FREEZE,4.32,6.554,-1.379,0,1,0
$FREEZE,4.27,6.555,-1.376,0,1,0
$FREEZE,4.19,6.556,-1.375,0,1,0
$FREEZE,4.22,6.547,-1.374,0,1,0
$FREEZE,4.21,6.548,-1.372,0,1,0
$FREEZE,4.06,6.546,-1.372,0,1,0
$FREEZE,4.10,6.546,-1.371,0,1,0
$FREEZE,4.12,6.549,-1.370,0,1,0
$FREEZE,4.03,6.551,-1.368,0,1,0
$FREEZE,4.06,6.551,-1.368,0,1,0
$FREEZE,4.04,6.552,-1.366,0,1,0
$FREEZE,4.05,6.551,-1.366,0,1,0
$FREEZE,4.04,6.549,-1.365,0,1,0
$FREEZE,4.19,6.551,-1.364,0,1,0
$FREEZE,4.19,6.550,-1.363,0,1,0
$FREEZE,4.10,6.542,-1.363,0,1,0
$FREEZE,4.09,6.540,-1.362,0,1,0
$FREEZE,4.08,6.540,-1.361,0,1,0
$FREEZE,4.07,6.538,-1.360,0,1,0
$FREEZE,4.14,6.540,-1.360,0,1,0
$FREEZE,4.19,6.538,-1.359,0,1,0
$FREEZE,4.07,6.531,-1.359,0,1,0
$FREEZE,4.19,6.531,-1.359,0,1,0
$FREEZE,4.19,6.531,-1.359,0,1,0
$STATE,1821,end climb,NO_VERTICAL_VELOCITY
$STATE,1821,begin surface
$SM_CCo,1823,122.78,0.160,0,0,448,578.16
$SM_GC,1.22,8.12,0.00,0.00,0.045,0.000,0.000,102,1803,439,-8.48,0.08,580.86
$IRIDIUM_FIX,4751.72,-12226.29,120611,040444
$TT8_MAMPS,0.028379
$HUMID,1077386434
$INTERNAL_PRESSURE,8.9074
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,38.4
$24V_AH,24.7,19.839
$10V_AH,10.4,6.837
$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,21.625,60.550,106.125,122.775,0.000,53.304,59.282,353.485,0.500,0.000,14.564,709.201,494.305,369.541,1039.542,82.286,0.000,742.892,0.000,561.030,0.000,5.527,0.000
$DEVICE_MAMPS,282.256,59.826,528.463,160.303,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,13474,384
$CAP_FILE_SIZE,73605,0
$CFSIZE,260165632,254853120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,105225,4807.077,-12223.151,11,1.1,11,18.3