version: 66.07
glider: 505
mission: 2
dive: 119
start: 12 17 109 17 18 20
data:
$ID,505
$MISSION,2
$DIVE,119
$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,10
$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,-23975.322
$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,1
$C_ROLL_DIVE,180
$C_ROLL_CLIMB,3805
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,171209,170732,4806.127,-12222.790,12,1.7,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.9
$GPS2,171209,171738,4806.167,-12222.825,14,1.0,14,18.3
$SPEED_LIMITS,0.284,0.294
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$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,338.1,3401,-0.5,-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,-0.28,-214.2,0.0,0.0,0,89,0.00,0.00,-71.78,0.000,2,0.000,0.000,113,168,2757,0,0,0,0,0,0
$GC,91,-0.28,-214.2,3.0,-2.4,17,128,12.02,0.00,-22.02,0.000,6,0.278,0.000,2735,167,3683,0,0,0,0,0,0
$GC,167,-0.28,-214.2,11.0,-8.1,33,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,209,-0.28,-214.2,13.9,-6.9,42,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,251,-0.28,-214.2,17.0,-7.0,51,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,294,-0.28,-214.2,20.1,-7.3,60,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,337,-0.28,-214.2,23.3,-7.5,69,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,379,-0.28,-214.2,26.5,-7.4,78,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,421,-0.28,-214.2,29.4,-7.1,87,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,463,-0.28,-214.2,32.4,-7.0,96,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,506,-0.28,-214.2,35.5,-7.1,105,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,548,-0.28,-214.2,38.5,-7.0,114,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,590,-0.28,-214.2,41.3,-6.7,123,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,632,-0.28,-214.2,44.2,-6.8,132,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,675,-0.28,-214.2,47.1,-6.9,141,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,717,-0.28,-214.2,50.0,-6.9,150,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,759,-0.28,-214.2,52.9,-7.0,159,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,801,-0.28,-214.2,56.0,-7.1,168,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,844,-0.28,-214.2,59.0,-7.1,177,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,886,-0.28,-214.2,61.9,-7.0,186,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,168,3684,0,0,0,0,0,0
$GC,928,-0.28,-214.2,64.8,-7.0,195,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,971,-0.28,-214.2,67.8,-7.0,204,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1013,-0.28,-214.2,70.8,-6.6,213,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1055,-0.28,-214.2,73.4,-6.6,222,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,1098,-0.28,-214.2,76.3,-6.9,231,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1139,-0.28,-214.2,79.1,-6.7,240,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,1183,-0.28,-214.2,82.1,-6.7,249,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1225,-0.28,-214.2,84.8,-6.7,258,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,1267,-0.28,-214.2,87.5,-6.3,267,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1310,-0.28,-214.2,90.1,-6.1,276,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1352,-0.28,-214.2,92.8,-6.4,285,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1394,-0.28,-214.2,95.4,-6.0,294,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,167,3684,0,0,0,0,0,0
$GC,1437,-0.28,-214.2,98.1,-6.3,303,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,167,3684,0,0,0,0,0,0
$GC,1479,-0.28,-214.2,100.9,-6.4,312,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,168,3684,0,0,0,0,0,0
$GC,1521,-0.28,-214.2,103.4,-6.3,321,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,168,3684,0,0,0,0,0,0
$GC,1563,-0.28,-214.2,106.0,-6.1,330,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,168,3684,0,0,0,0,0,0
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1596,-0.17,0.0,107.4,5.9,335,1674,0.12,0.00,74.28,0.525,6,0.100,0.000,2801,3819,2806,0,0,0,0,0,0
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1677,0.28,214.2,111.1,0.0,353,1760,0.32,0.00,75.18,0.515,6,0.063,0.000,2940,3819,1932,0,0,0,0,0,0
$GC,1799,0.28,214.2,102.1,8.5,380,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,3819,1930,0,0,0,0,0,0
$GC,1841,0.28,214.2,98.7,8.3,389,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,3819,1929,0,0,0,0,0,0
$GC,1883,0.28,214.2,95.3,8.0,398,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,3819,1929,0,0,0,0,0,0
$GC,1925,0.28,214.2,91.7,8.2,407,1931,0.03,0.00,0.00,0.000,6,0.274,0.000,2923,3819,1930,0,0,0,0,0,0
$GC,1970,0.28,214.2,88.5,7.8,416,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2012,0.28,214.2,85.5,7.0,425,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2054,0.28,214.2,81.8,8.0,434,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2097,0.28,214.2,78.1,8.9,443,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2139,0.28,214.2,74.4,8.8,452,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2181,0.28,214.2,70.6,9.2,461,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2223,0.28,214.2,66.8,8.8,470,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2265,0.28,214.2,63.3,8.2,479,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2309,0.28,214.2,59.6,8.9,488,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2351,0.28,214.2,55.3,9.6,497,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2394,0.28,214.2,51.5,9.2,506,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2436,0.28,214.2,47.6,8.9,515,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2478,0.28,214.2,43.9,8.9,524,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2521,0.28,214.2,40.3,9.1,533,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2562,0.28,214.2,36.1,9.3,542,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2605,0.28,214.2,32.6,8.6,551,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2648,0.28,214.2,29.1,8.4,560,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2691,0.28,214.2,25.2,9.0,569,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2733,0.28,214.2,21.6,8.3,578,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2775,0.28,214.2,17.9,8.6,587,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2819,0.28,214.2,14.4,8.8,596,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$GC,2861,0.28,214.2,10.3,9.1,605,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$FREEZE,9.42,10.090,-1.629,0,1,0
$FREEZE,9.03,10.061,-1.630,0,1,0
$FREEZE,8.64,9.992,-1.632,0,1,0
$FREEZE,8.25,9.890,-1.636,0,1,0
$FREEZE,7.89,9.701,-1.643,0,1,0
$FREEZE,7.62,9.505,-1.653,0,1,0
$FREEZE,7.27,9.376,-1.658,0,1,0
$FREEZE,7.03,9.324,-1.657,0,1,0
$GC,2902,0.28,214.2,7.0,8.7,614,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3818,1929,0,0,0,0,0,0
$FREEZE,6.26,9.140,-1.664,0,1,0
$FREEZE,6.00,9.113,-1.664,0,1,0
$FREEZE,5.77,9.063,-1.666,0,1,0
$FREEZE,5.51,8.934,-1.671,0,1,0
$FREEZE,5.31,8.818,-1.650,0,1,0
$FREEZE,5.09,8.808,-1.630,0,1,0
$FREEZE,4.77,8.673,-1.632,0,1,0
$FREEZE,4.48,8.438,-1.655,0,1,0
$GC,2942,0.28,214.2,4.5,6.5,623,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,3819,1929,0,0,0,0,0,0
$FREEZE,4.07,8.150,-1.648,0,1,0
$FREEZE,3.93,8.160,-1.651,0,1,0
$STATE,2955,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FREEZE,3.71,8.131,-1.661,0,1,0
$FREEZE,3.49,8.109,-1.641,0,1,0
$FREEZE,3.41,8.091,-1.618,0,1,0
$FREEZE,3.10,8.078,-1.613,0,1,0
$FREEZE,3.01,8.051,-1.614,0,1,0
$FREEZE,2.80,7.909,-1.618,0,1,0
$FREEZE,2.53,7.826,-1.615,0,1,0
$FREEZE,2.47,7.812,-1.611,0,1,0
$FREEZE,2.40,7.757,-1.599,0,1,0
$FREEZE,2.25,7.623,-1.583,0,1,0
$FREEZE,2.06,7.527,-1.569,0,1,0
$FREEZE,1.94,7.467,-1.570,0,1,0
$FREEZE,1.96,7.399,-1.564,0,1,0
$FREEZE,1.90,7.366,-1.560,0,1,0
$FREEZE,1.76,7.353,-1.535,0,1,0
$FREEZE,1.78,7.113,-1.445,0,1,0
$FREEZE,1.71,6.836,-1.397,0,1,0
$FREEZE,1.80,6.842,-1.364,0,1,0
$FINISH,1.8,1.019626
$STATE,3032,end surface coast,CONTROL_FINISHED_OK
$STATE,3032,begin surface
$SM_CCo,3052,89.40,0.156,0,0,847,480.04
$SM_GC,1.46,0.00,0.00,89.40,0.000,0.000,0.156,114,174,847,-8.51,-0.17,480.04
$IRIDIUM_FIX,4748.51,-12217.40,120611,111148
$TT8_MAMPS,0.028379
$HUMID,1077381272
$INTERNAL_PRESSURE,9.00506
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,37.2
$24V_AH,24.5,20.189
$10V_AH,10.4,7.095
$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,20.125,11.725,149.450,89.400,0.000,61.039,53.718,330.469,0.500,0.000,14.433,1055.835,779.807,444.069,1381.229,118.012,0.000,1047.882,0.000,929.363,0.000,5.528,0.000
$DEVICE_MAMPS,277.654,42.185,525.395,155.701,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324256
$DATA_FILE_SIZE,26792,644
$CAP_FILE_SIZE,94099,0
$CFSIZE,260165632,254488576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,181131,4806.097,-12222.793,9,1.8,14,18.3