version: 66.07
glider: 505
mission: 2
dive: 3
start: 12 14 109 23 24 52
data:
$ID,505
$MISSION,2
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,30
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,500
$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,-21956.189
$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,40
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,36
$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,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,141209,232036,4805.446,-12221.875,35,1.3,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-77.5
$GPS2,141209,232402,4805.464,-12221.905,12,1.6,12,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,0.291
$KALMAN_X,-316.0,-207.2,-196.9,-187.7,-183.5
$KALMAN_Y,91.0,63.2,60.4,712.9,55.5
$MHEAD_RNG_PITCHd_Wd,350.9,1000,-14.9,-10.000
$D_GRID,107
$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,-0.61,-194.7,0.0,0.0,0,91,0.00,0.00,-74.22,0.000,2,0.000,0.000,113,1905,2404,0,0,0,0,0,0
$GC,93,-0.61,-194.7,3.3,-3.9,18,142,11.85,2.28,-27.88,0.000,4,0.298,0.071,2628,3291,3602,0,0,0,0,0,0
$GC,402,-0.61,-194.7,44.8,-14.0,85,408,0.00,2.22,0.00,0.000,6,0.000,0.050,2628,1896,3604,0,0,0,0,0,0
$GC,445,-0.61,-194.7,51.1,-14.4,94,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1895,3603,0,0,0,0,0,0
$GC,487,-0.61,-194.7,57.1,-13.9,103,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1895,3603,0,0,0,0,0,0
$GC,528,-0.61,-194.7,63.2,-14.4,112,534,0.00,2.25,0.00,0.000,4,0.000,0.057,2628,492,3603,0,0,0,0,0,0
$GC,576,-0.61,-194.7,70.2,-14.3,122,581,0.00,2.25,0.00,0.000,6,0.000,0.048,2628,1899,3604,0,0,0,0,0,0
$GC,618,-0.61,-194.7,75.8,-13.5,131,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1900,3604,0,0,0,0,0,0
$GC,660,-0.61,-194.7,81.5,-13.4,140,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1901,3603,0,0,0,0,0,0
$GC,702,-0.61,-194.7,87.0,-12.9,149,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1901,3604,0,0,0,0,0,0
$GC,744,-0.61,-194.7,92.0,-11.7,158,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1900,3604,0,0,0,0,0,0
$GC,786,-0.61,-194.7,97.1,-12.2,167,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1901,3604,0,0,0,0,0,0
$GC,828,-0.61,-194.7,102.3,-12.4,176,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1901,3604,0,0,0,0,0,0
$STATE,868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,869,begin apogee
$GC,872,-0.12,0.0,107.3,11.9,185,945,0.50,0.00,67.18,1.336,6,0.148,0.000,2788,1696,2806,0,0,0,0,0,0
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,947,begin climb
$GC,948,0.61,194.7,109.5,0.0,202,1024,0.73,0.00,69.72,1.272,6,0.107,0.000,3027,1695,2011,0,0,0,0,0,0
$GC,1062,0.61,194.7,95.8,16.0,228,1067,0.00,2.38,0.00,0.000,4,0.000,0.050,3026,3113,2008,0,0,0,0,0,0
$GC,1077,0.61,194.7,93.3,16.2,231,1082,0.00,2.35,0.00,0.000,6,0.000,0.048,3036,1705,2007,0,0,0,0,0,0
$GC,1120,0.61,194.7,85.7,17.7,240,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2007,0,0,0,0,0,0
$GC,1161,0.61,194.7,78.7,16.2,249,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2007,0,0,0,0,0,0
$GC,1203,0.61,194.7,71.7,16.7,258,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1704,2007,0,0,0,0,0,0
$GC,1245,0.61,194.7,64.9,15.7,267,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2007,0,0,0,0,0,0
$GC,1287,0.61,194.7,58.0,16.4,276,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1329,0.61,194.7,51.1,16.0,285,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1371,0.61,194.7,44.5,15.7,294,1376,0.00,2.28,0.00,0.000,4,0.000,0.049,3036,3119,2008,0,0,0,0,0,0
$GC,1395,0.61,194.7,40.6,16.1,299,1401,0.00,2.28,0.00,0.000,6,0.000,0.048,3046,1699,2007,0,0,0,0,0,0
$GC,1438,0.61,194.7,33.4,16.8,308,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1697,2006,0,0,0,0,0,0
$GC,1480,0.61,194.7,26.2,17.8,317,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1697,2007,0,0,0,0,0,0
$GC,1522,0.61,194.7,19.2,16.6,326,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1697,2007,0,0,0,0,0,0
$GC,1564,0.61,194.7,12.3,16.2,335,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1697,2006,0,0,0,0,0,0
$GC,1605,0.61,194.7,5.9,15.5,344,1611,0.00,2.25,0.00,0.000,4,0.000,0.058,3055,286,2007,0,0,0,0,0,0
$GC,1667,1.00,509.6,4.8,-0.9,357,1728,0.28,2.25,54.92,0.170,2,0.071,0.044,3169,1703,1291,0,0,0,0,0,0
$STATE,1730,end climb,SURFACE_DEPTH_REACHED
$STATE,1730,begin surface coast
$FREEZE,2.98,5.473,-1.273,0,1,0
$FREEZE,2.81,5.490,-1.265,0,1,0
$FREEZE,2.64,5.510,-1.260,0,1,0
$FREEZE,2.63,5.498,-1.259,0,1,0
$FREEZE,2.20,5.440,-1.260,0,1,0
$FREEZE,2.13,5.415,-1.260,0,1,0
$FREEZE,1.98,5.361,-1.266,0,1,0
$FREEZE,1.94,5.303,-1.268,0,1,0
$FREEZE,1.78,5.149,-1.275,0,1,0
$FREEZE,1.79,5.125,-1.276,0,1,0
$FREEZE,1.68,5.078,-1.271,0,1,0
$FREEZE,1.64,5.071,-1.271,0,1,0
$FREEZE,1.46,5.076,-1.268,0,1,0
$FREEZE,1.48,5.089,-1.266,0,1,0
$FREEZE,1.45,5.105,-1.266,0,1,0
$FREEZE,1.33,5.106,-1.265,0,1,0
$FREEZE,1.19,5.081,-1.264,0,1,0
$FREEZE,1.15,5.087,-1.262,0,1,0
$FREEZE,1.09,5.068,-1.268,0,1,0
$FREEZE,1.03,5.121,-1.261,0,1,0
$FREEZE,1.00,5.080,-1.266,0,1,0
$FREEZE,0.69,5.054,-1.249,0,1,0
$FREEZE,0.67,5.135,-1.205,0,1,0
$FREEZE,0.53,5.081,-1.212,0,1,0
$FREEZE,0.42,5.098,-1.204,0,1,0
$FREEZE,0.36,5.108,-1.184,0,1,0
$FREEZE,0.23,4.975,-0.546,0,1,0
$FREEZE,0.24,4.998,-0.401,0,1,0
$FREEZE,0.09,5.077,-1.153,0,1,0
$FREEZE,0.19,5.008,-0.298,0,1,0
$FREEZE,0.23,5.027,-0.696,0,1,0
$FREEZE,0.23,5.058,-1.136,0,1,0
$FREEZE,0.30,5.145,-0.841,0,1,0
$FREEZE,0.22,5.033,-0.577,0,1,0
$FREEZE,0.35,5.182,-1.151,0,1,0
$FREEZE,0.22,5.001,-0.613,0,1,0
$FREEZE,0.22,5.008,-0.915,0,1,0
$FINISH,0.2,1.013366
$STATE,1892,end surface coast,CONTROL_FINISHED_OK
$STATE,1893,begin surface
$SM_CCo,1907,42.75,0.164,0,0,766,500.16
$SM_GC,1.98,0.00,0.00,42.75,0.000,0.000,0.164,109,1921,766,-8.52,0.57,500.16
$IRIDIUM_FIX,4745.30,-12222.84,090611,171739
$TT8_MAMPS,0.028379
$HUMID,1077350305
$INTERNAL_PRESSURE,8.9367
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.6,14.070
$10V_AH,10.4,4.707
$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,21.450,23.425,191.825,42.750,0.000,0.000,0.000,0.000,0.000,0.000,12.065,621.207,430.348,330.485,604.982,28.433,31.418,729.412,0.000,597.743,0.000,0.533,0.000
$DEVICE_MAMPS,297.596,71.331,1336.114,164.138,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324188
$DATA_FILE_SIZE,13496,410
$CAP_FILE_SIZE,72657,0
$CFSIZE,260165632,257839104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141209,235808,4805.685,-12221.882,11,1.3,11,18.3