version: 66.07
glider: 505
mission: 2
dive: 112
start: 12 17 109 10 58 38
data:
$ID,505
$MISSION,2
$DIVE,112
$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,-23788.322
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,171209,105225,4807.077,-12223.151,11,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.3
$GPS2,171209,105814,4807.068,-12223.156,14,1.0,14,18.3
$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,104.9,231,-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,14,-0.90,-22.4,0.0,0.0,0,79,0.00,0.00,-62.33,0.000,2,0.000,0.000,102,1801,2171,0,0,0,0,0,0
$GC,81,-0.91,-31.2,3.1,-3.7,15,118,11.02,2.58,-19.88,0.000,4,0.275,0.056,2537,210,2935,0,0,0,0,0,0
$GC,151,-0.91,-31.2,13.9,-16.9,30,157,0.00,2.58,0.00,0.000,6,0.000,0.041,2537,1804,2935,0,0,0,0,0,0
$GC,195,-0.91,-31.2,15.0,-5.9,39,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1804,2935,0,0,0,0,0,0
$GC,237,-0.97,-84.1,13.6,2.9,48,248,0.00,2.58,-3.92,0.000,4,0.000,0.062,2537,3396,3152,0,0,0,0,0,0
$GC,336,-0.97,-84.1,19.6,-9.2,69,342,0.00,2.53,0.00,0.000,6,0.000,0.040,2537,1803,3153,0,0,0,0,0,0
$GC,379,-0.97,-84.1,24.9,-12.3,78,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1802,3153,0,0,0,0,0,0
$GC,422,-0.97,-84.1,30.3,-12.6,87,428,0.00,2.53,0.00,0.000,4,0.000,0.047,2537,209,3154,0,0,0,0,0,0
$GC,433,-0.97,-84.1,31.8,-12.7,89,438,0.00,2.53,0.00,0.000,6,0.000,0.041,2537,1789,3153,0,0,0,0,0,0
$GC,476,-0.97,-84.1,37.4,-13.2,98,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1790,3153,0,0,0,0,0,0
$GC,518,-0.97,-84.1,43.0,-13.1,107,523,0.00,2.55,0.00,0.000,4,0.000,0.048,2534,3392,3153,0,0,0,0,0,0
$GC,542,-0.97,-84.1,46.5,-13.6,112,548,0.00,2.47,0.00,0.000,6,0.000,0.040,2534,1810,3153,0,0,0,0,0,0
$GC,586,-0.97,-84.1,52.3,-13.6,121,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,628,-0.97,-84.1,58.4,-14.1,130,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,670,-0.97,-84.1,64.5,-14.8,139,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,712,-0.97,-84.1,70.7,-14.3,148,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,754,-0.97,-84.1,76.9,-14.7,157,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,799,-0.97,-84.1,83.0,-13.8,166,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,842,-0.97,-84.1,88.6,-13.3,175,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,884,-0.97,-84.1,94.1,-13.1,184,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,926,-0.97,-84.1,99.7,-13.2,193,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$GC,968,-0.97,-84.1,105.0,-13.1,202,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1809,3153,0,0,0,0,0,0
$GC,1010,-0.97,-84.1,110.0,-12.0,211,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1809,3153,0,0,0,0,0,0
$STATE,1028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1029,begin apogee
$GC,1032,-0.17,0.0,112.1,11.3,215,1067,0.82,0.00,29.60,0.538,6,0.187,0.000,2769,1805,2806,0,0,0,0,0,0
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1070,0.97,84.1,113.4,0.0,223,1105,1.08,0.00,29.20,0.532,6,0.107,0.000,3139,1805,2463,0,0,0,0,0,0
$GC,1142,0.97,84.1,101.8,19.1,239,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1805,2463,0,0,0,0,0,0
$GC,1184,0.97,84.1,92.2,22.9,248,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1805,2462,0,0,0,0,0,0
$GC,1227,0.97,84.1,82.9,22.5,257,1232,0.00,2.55,0.00,0.000,4,0.000,0.044,3139,3390,2462,0,0,0,0,0,0
$GC,1242,0.97,84.1,79.0,22.7,260,1247,0.00,2.55,0.00,0.000,6,0.000,0.038,3151,1795,2461,0,0,0,0,0,0
$GC,1285,0.97,84.1,68.8,23.8,269,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1794,2461,0,0,0,0,0,0
$GC,1327,0.97,84.1,59.6,22.2,278,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1794,2461,0,0,0,0,0,0
$GC,1371,0.97,84.1,50.4,21.9,287,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1794,2461,0,0,0,0,0,0
$GC,1413,0.97,84.1,40.4,22.5,296,1419,0.00,2.55,0.00,0.000,4,0.000,0.043,3151,3395,2461,0,0,0,0,0,0
$GC,1438,0.97,84.1,34.7,23.0,301,1443,0.00,2.50,0.00,0.000,6,0.000,0.038,3162,1817,2461,0,0,0,0,0,0
$GC,1481,0.97,84.1,24.6,23.4,310,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1816,2461,0,0,0,0,0,0
$GC,1523,0.97,84.1,15.1,22.8,319,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1816,2461,0,0,0,0,0,0
$FREEZE,9.33,8.745,-1.511,0,1,0
$FREEZE,8.86,8.538,-1.496,0,1,0
$FREEZE,8.30,8.420,-1.484,0,1,0
$FREEZE,7.82,7.933,-1.454,0,1,0
$GC,1566,0.97,84.1,7.8,20.1,328,1571,0.00,2.47,0.00,0.000,4,0.000,0.042,3162,3394,2462,0,0,0,0,0,0
$FREEZE,7.07,7.972,-1.445,0,1,0
$FREEZE,6.93,7.879,-1.453,0,1,0
$FREEZE,7.04,7.895,-1.457,0,1,0
$GC,1585,0.97,84.1,7.0,13.6,332,1592,0.10,2.47,0.00,0.000,6,0.227,0.038,3154,1803,2461,0,0,0,0,0,0
$FREEZE,7.59,7.910,-1.461,0,1,0
$FREEZE,7.74,7.919,-1.457,0,1,0
$FREEZE,7.85,7.924,-1.454,0,1,0
$FREEZE,8.04,7.941,-1.450,0,1,0
$FREEZE,8.30,7.942,-1.448,0,1,0
$FREEZE,8.49,8.035,-1.444,0,1,0
$FREEZE,8.51,8.302,-1.444,0,1,0
$FREEZE,8.69,8.400,-1.449,0,1,0
$FREEZE,8.94,8.475,-1.453,0,1,0
$FREEZE,9.14,8.519,-1.451,0,1,0
$FREEZE,9.29,8.584,-1.448,0,1,0
$GC,1627,1.03,133.2,8.7,-2.4,341,1651,0.00,2.58,16.02,0.185,4,0.000,0.045,3164,214,2260,0,0,0,0,0,0
$FREEZE,9.10,8.594,-1.446,0,1,0
$FREEZE,9.05,8.565,-1.450,0,1,0
$FREEZE,8.84,8.526,-1.456,0,1,0
$FREEZE,8.78,8.494,-1.462,0,1,0
$FREEZE,8.52,8.479,-1.465,0,1,0
$FREEZE,8.45,8.466,-1.467,0,1,0
$FREEZE,8.23,8.433,-1.469,0,1,0
$FREEZE,8.19,8.351,-1.472,0,1,0
$FREEZE,7.89,7.998,-1.487,0,1,0
$FREEZE,7.82,7.932,-1.489,0,1,0
$FREEZE,7.74,7.934,-1.488,0,1,0
$FREEZE,7.58,7.930,-1.487,0,1,0
$FREEZE,7.59,7.921,-1.486,0,1,0
$FREEZE,7.54,7.920,-1.484,0,1,0
$FREEZE,7.58,7.920,-1.482,0,1,0
$FREEZE,7.50,7.920,-1.480,0,1,0
$FREEZE,7.55,7.920,-1.478,0,1,0
$FREEZE,7.52,7.920,-1.476,0,1,0
$FREEZE,7.47,7.920,-1.474,0,1,0
$FREEZE,7.48,7.920,-1.473,0,1,0
$FREEZE,7.43,7.920,-1.471,0,1,0
$FREEZE,7.60,7.920,-1.470,0,1,0
$FREEZE,7.42,7.920,-1.469,0,1,0
$FREEZE,7.59,7.920,-1.468,0,1,0
$FREEZE,7.58,7.920,-1.467,0,1,0
$FREEZE,7.54,7.920,-1.467,0,1,0
$FREEZE,7.63,7.920,-1.466,0,1,0
$FREEZE,7.54,7.920,-1.465,0,1,0
$FREEZE,7.54,7.920,-1.464,0,1,0
$FREEZE,7.58,7.920,-1.463,0,1,0
$FREEZE,7.50,7.920,-1.462,0,1,0
$FREEZE,7.57,7.920,-1.461,0,1,0
$FREEZE,7.55,7.920,-1.460,0,1,0
$FREEZE,7.57,7.920,-1.459,0,1,0
$FREEZE,7.56,7.919,-1.458,0,1,0
$FREEZE,7.51,7.919,-1.457,0,1,0
$FREEZE,7.47,7.920,-1.456,0,1,0
$FREEZE,7.47,7.920,-1.454,0,1,0
$FREEZE,7.45,7.919,-1.453,0,1,0
$FREEZE,7.49,7.919,-1.452,0,1,0
$FREEZE,7.51,7.919,-1.451,0,1,0
$FREEZE,7.49,7.919,-1.449,0,1,0
$FREEZE,7.39,7.919,-1.448,0,1,0
$FREEZE,7.29,7.919,-1.446,0,1,0
$FREEZE,7.29,7.919,-1.445,0,1,0
$FREEZE,7.34,7.919,-1.444,0,1,0
$FREEZE,7.28,7.919,-1.442,0,1,0
$FREEZE,7.28,7.918,-1.441,0,1,0
$FREEZE,7.19,7.917,-1.440,0,1,0
$FREEZE,7.15,7.915,-1.440,0,1,0
$FREEZE,7.13,7.915,-1.439,0,1,0
$FREEZE,7.13,7.915,-1.439,0,1,0
$STATE,1863,end climb,NO_VERTICAL_VELOCITY
$STATE,1863,begin surface
$SM_CCo,1866,151.12,0.164,0,0,447,578.16
$SM_GC,1.23,8.10,0.00,0.00,0.048,0.000,0.000,109,1813,440,-8.47,0.37,580.86
$IRIDIUM_FIX,4748.51,-12224.57,120611,040454
$TT8_MAMPS,0.028379
$HUMID,1077373530
$INTERNAL_PRESSURE,8.91717
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,36.2
$24V_AH,24.8,19.872
$10V_AH,10.4,6.862
$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,21.125,40.600,74.825,151.125,0.000,27.156,24.975,210.457,1.000,0.000,14.474,710.334,479.259,380.118,849.859,73.387,0.000,760.454,0.000,579.170,0.000,9.918,0.000
$DEVICE_MAMPS,274.586,62.127,537.667,164.138,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,13463,396
$CAP_FILE_SIZE,66140,0
$CFSIZE,260165632,254816256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,113450,4807.031,-12223.029,10,1.2,10,18.3