version: 66.07
glider: 505
mission: 2
dive: 116
start: 12 17 109 14 28 14
data:
$ID,505
$MISSION,2
$DIVE,116
$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,-23891.756
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,171209,142114,4806.175,-12222.455,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-77.5
$GPS2,171209,142750,4806.205,-12222.483,12,1.3,12,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,104.1,708,-18.2,-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,-0.66,-42.4,0.0,0.0,0,72,0.00,0.00,-54.42,0.000,2,0.000,0.000,113,1821,2381,0,0,0,0,0,0
$GC,74,-0.68,-59.2,3.1,-3.7,13,106,11.62,0.00,-16.70,0.000,6,0.283,0.000,2610,1819,3051,0,0,0,0,0,0
$GC,144,-0.68,-59.2,12.0,-12.3,28,149,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1819,3051,0,0,0,0,0,0
$GC,186,-0.68,-59.2,14.2,-6.7,37,191,0.00,2.50,0.00,0.000,4,0.000,0.047,2603,3377,3051,0,0,0,0,0,0
$GC,234,-0.73,-98.9,14.9,-1.8,47,245,0.00,2.47,-2.72,0.000,6,0.000,0.038,2603,1794,3214,0,0,0,0,0,0
$GC,282,-0.75,-117.7,17.0,-3.5,57,287,0.00,0.00,-1.17,0.000,6,0.000,0.000,2603,1794,3288,0,0,0,0,0,0
$GC,325,-0.75,-117.7,21.0,-8.4,66,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1794,3287,0,0,0,0,0,0
$GC,367,-0.75,-117.7,26.1,-11.7,75,372,0.00,2.55,0.00,0.000,4,0.000,0.048,2602,3380,3288,0,0,0,0,0,0
$GC,377,-0.75,-117.7,27.4,-12.0,77,383,0.00,2.47,0.00,0.000,6,0.000,0.038,2603,1814,3288,0,0,0,0,0,0
$GC,421,-0.75,-117.7,32.9,-12.7,86,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1813,3288,0,0,0,0,0,0
$GC,463,-0.75,-117.7,38.5,-13.0,95,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1813,3288,0,0,0,0,0,0
$GC,505,-0.75,-117.7,44.1,-13.5,104,510,0.00,2.50,0.00,0.000,4,0.000,0.048,2602,3373,3288,0,0,0,0,0,0
$GC,543,-0.75,-117.7,49.3,-13.4,112,549,0.00,2.45,0.00,0.000,6,0.000,0.038,2603,1816,3288,0,0,0,0,0,0
$GC,586,-0.75,-117.7,54.9,-13.1,121,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1815,3288,0,0,0,0,0,0
$GC,628,-0.75,-117.7,60.8,-13.7,130,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1815,3288,0,0,0,0,0,0
$GC,670,-0.75,-117.7,66.8,-14.2,139,676,0.00,2.53,0.00,0.000,4,0.000,0.048,2603,212,3288,0,0,0,0,0,0
$GC,709,-0.75,-117.7,72.4,-14.6,147,714,0.00,2.55,0.00,0.000,6,0.000,0.041,2602,1817,3288,0,0,0,0,0,0
$GC,752,-0.75,-117.7,78.2,-13.9,156,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1818,3288,0,0,0,0,0,0
$GC,795,-0.75,-117.7,83.8,-12.9,165,801,0.00,2.50,0.00,0.000,4,0.000,0.048,2602,3396,3288,0,0,0,0,0,0
$GC,841,-0.75,-117.7,89.8,-13.0,174,846,0.00,2.45,0.00,0.000,6,0.000,0.038,2602,1834,3288,0,0,0,0,0,0
$GC,884,-0.75,-117.7,95.1,-12.6,183,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1833,3288,0,0,0,0,0,0
$GC,926,-0.75,-117.7,100.3,-12.2,192,932,0.00,2.58,0.00,0.000,4,0.000,0.047,2602,215,3288,0,0,0,0,0,0
$GC,965,-0.75,-117.7,104.7,-11.6,200,970,0.00,2.53,0.00,0.000,6,0.000,0.041,2602,1818,3288,0,0,0,0,0,0
$GC,1009,-0.75,-117.7,109.7,-11.9,209,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1818,3288,0,0,0,0,0,0
$STATE,1036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1036,begin apogee
$GC,1040,-0.17,0.0,113.0,11.1,215,1084,0.55,0.00,41.10,0.541,6,0.162,0.000,2771,1818,2806,0,0,0,0,0,0
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1087,0.75,117.7,115.2,0.0,225,1134,0.88,0.00,41.30,0.534,6,0.103,0.000,3073,1819,2325,0,0,0,0,0,0
$GC,1174,0.75,117.7,103.6,17.1,244,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1819,2324,0,0,0,0,0,0
$GC,1216,0.75,117.7,94.8,19.7,253,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1819,2323,0,0,0,0,0,0
$GC,1258,0.75,117.7,86.6,19.7,262,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1819,2323,0,0,0,0,0,0
$GC,1301,0.75,117.7,78.8,18.9,271,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1819,2323,0,0,0,0,0,0
$GC,1343,0.75,117.7,70.7,18.9,280,1348,0.00,2.50,0.00,0.000,4,0.000,0.044,3073,3390,2323,0,0,0,0,0,0
$GC,1367,0.75,117.7,65.6,19.9,285,1372,0.00,2.53,0.00,0.000,6,0.000,0.038,3085,1803,2322,0,0,0,0,0,0
$GC,1410,0.75,117.7,57.2,20.1,294,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1803,2322,0,0,0,0,0,0
$GC,1452,0.75,117.7,48.6,19.9,303,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1803,2322,0,0,0,0,0,0
$GC,1494,0.75,117.7,40.4,19.6,312,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1803,2322,0,0,0,0,0,0
$GC,1536,0.75,117.7,32.4,19.2,321,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1803,2322,0,0,0,0,0,0
$GC,1579,0.75,117.7,24.2,19.5,330,1584,0.00,2.53,0.00,0.000,4,0.000,0.043,3085,3390,2322,0,0,0,0,0,0
$GC,1594,0.75,117.7,21.0,19.5,333,1600,0.08,2.50,0.00,0.000,6,0.236,0.038,3082,1791,2322,0,0,0,0,0,0
$GC,1638,0.75,117.7,12.5,19.8,342,1643,0.00,2.53,0.00,0.000,4,0.000,0.043,3082,3395,2322,0,0,0,0,0,0
$FREEZE,9.22,9.230,-1.564,0,1,0
$FREEZE,8.38,8.873,-1.523,0,1,0
$FREEZE,7.78,8.732,-1.501,0,1,0
$FREEZE,7.24,8.617,-1.485,0,1,0
$FREEZE,6.81,8.451,-1.474,0,1,0
$FREEZE,6.32,8.437,-1.470,0,1,0
$FREEZE,5.84,8.395,-1.468,0,1,0
$FREEZE,5.54,8.107,-1.447,0,1,0
$GC,1683,0.75,117.7,5.5,17.2,352,1689,0.05,2.42,0.00,0.000,6,0.264,0.038,3082,1834,2322,0,0,0,0,0,0
$FREEZE,4.72,8.025,-1.437,0,1,0
$FREEZE,4.56,7.941,-1.437,0,1,0
$FREEZE,4.55,7.819,-1.437,0,1,0
$FREEZE,4.50,7.706,-1.439,0,1,0
$FREEZE,4.39,7.626,-1.442,0,1,0
$FREEZE,4.41,7.560,-1.446,0,1,0
$FREEZE,4.45,7.567,-1.447,0,1,0
$FREEZE,4.59,7.661,-1.444,0,1,0
$GC,1724,0.75,120.5,4.6,4.8,361,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1833,2322,0,0,0,0,0,0
$FREEZE,4.71,7.752,-1.442,0,1,0
$FREEZE,4.86,7.679,-1.444,0,1,0
$FREEZE,5.01,7.718,-1.440,0,1,0
$FREEZE,5.08,7.755,-1.437,0,1,0
$FREEZE,5.17,7.812,-1.434,0,1,0
$FREEZE,5.26,7.917,-1.428,0,1,0
$FREEZE,5.27,7.924,-1.427,0,1,0
$FREEZE,5.35,7.927,-1.426,0,1,0
$FREEZE,5.53,7.938,-1.425,0,1,0
$FREEZE,5.59,7.994,-1.419,0,1,0
$FREEZE,5.59,8.036,-1.417,0,1,0
$FREEZE,5.67,8.062,-1.418,0,1,0
$FREEZE,5.51,8.080,-1.420,0,1,0
$GC,1764,0.86,206.3,5.4,-1.8,370,1800,0.10,2.60,28.80,0.170,4,0.116,0.047,3139,216,1961,0,0,0,0,0,0
$FREEZE,4.91,8.056,-1.422,0,1,0
$FREEZE,4.71,8.038,-1.423,0,1,0
$FREEZE,4.56,7.965,-1.425,0,1,0
$FREEZE,4.31,7.703,-1.429,0,1,0
$FREEZE,4.14,7.543,-1.426,0,1,0
$FREEZE,4.08,7.492,-1.418,0,1,0
$FREEZE,3.73,7.398,-1.417,0,1,0
$STATE,1830,end climb,SURFACE_DEPTH_REACHED
$STATE,1831,begin surface coast
$FREEZE,3.62,7.253,-1.422,0,1,0
$FINISH,3.6,1.020386
$STATE,1836,end surface coast,CONTROL_FINISHED_OK
$STATE,1836,begin surface
$SM_CCo,1854,91.45,0.158,0,0,847,480.04
$SM_GC,2.02,0.00,0.00,91.45,0.000,0.000,0.158,109,1820,847,-8.52,0.57,480.04
$IRIDIUM_FIX,4748.51,-12238.89,120611,070759
$TT8_MAMPS,0.028379
$HUMID,1077389014
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,37.7
$24V_AH,24.7,20.046
$10V_AH,10.5,6.985
$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,21.775,50.225,111.200,91.450,0.000,25.927,26.504,256.764,1.000,0.000,12.545,663.289,396.068,343.543,880.038,74.379,0.000,725.425,0.000,560.922,0.000,9.946,0.000
$DEVICE_MAMPS,283.023,48.321,540.735,158.002,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324080
$DATA_FILE_SIZE,13451,384
$CAP_FILE_SIZE,68221,0
$CFSIZE,260165632,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,150136,4806.077,-12222.274,13,1.6,23,18.3