version: 66.07
glider: 505
mission: 2
dive: 25
start: 12 15 109 15 58 42
data:
$ID,505
$MISSION,2
$DIVE,25
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$D_FINISH,5
$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,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,460
$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,-22482.371
$T_RSLEEP,8
$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,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$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
$GPS1,151209,155121,4808.033,-12223.808,9,3.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.0
$GPS2,151209,155746,4808.083,-12223.904,12,2.9,31,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.212,-0.094
$KALMAN_X,-6445.3,-38.5,38.9,3057.8,-1492.7
$KALMAN_Y,3099.9,992.7,-642.1,2329.1,920.2
$MHEAD_RNG_PITCHd_Wd,95.7,6746,-4.6,-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,-0.42,-214.2,0.0,0.0,0,63,0.00,0.00,-46.60,0.000,2,0.000,0.000,110,1914,2191,0,0,0,0,0,0
$GC,65,-0.42,-214.2,3.1,-5.2,11,119,12.10,2.53,-35.42,0.000,4,0.288,0.061,2685,3485,3681,0,0,0,0,0,0
$GC,124,-0.42,-214.2,10.8,-11.4,24,130,0.00,2.53,0.00,0.000,6,0.000,0.039,2685,1888,3681,0,0,0,0,0,0
$GC,167,-0.42,-214.2,16.9,-15.4,33,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1887,3681,0,0,0,0,0,0
$GC,209,-0.42,-214.2,21.1,-10.2,42,215,0.00,2.50,0.00,0.000,4,0.000,0.051,2685,313,3681,0,0,0,0,0,0
$GC,234,-0.42,-214.2,23.7,-10.3,47,239,0.00,2.47,0.00,0.000,6,0.000,0.041,2685,1864,3681,0,0,0,0,0,0
$GC,277,-0.42,-214.2,28.2,-10.6,56,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1864,3681,0,0,0,0,0,0
$GC,319,-0.42,-214.2,32.4,-10.1,65,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1864,3681,0,0,0,0,0,0
$GC,360,-0.42,-214.2,36.7,-10.1,74,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1864,3681,0,0,0,0,0,0
$GC,402,-0.42,-214.2,40.7,-9.9,83,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1864,3681,0,0,0,0,0,0
$GC,444,-0.42,-214.2,44.6,-9.5,92,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1864,3681,0,0,0,0,0,0
$GC,486,-0.42,-214.2,48.3,-9.0,101,491,0.00,2.47,0.00,0.000,4,0.000,0.049,2685,313,3681,0,0,0,0,0,0
$GC,501,-0.42,-214.2,49.8,-9.0,104,506,0.00,2.47,0.00,0.000,6,0.000,0.040,2685,1879,3681,0,0,0,0,0,0
$GC,544,-0.42,-214.2,53.7,-9.2,113,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1880,3681,0,0,0,0,0,0
$GC,586,-0.42,-214.2,57.5,-8.9,122,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1880,3681,0,0,0,0,0,0
$GC,628,-0.42,-214.2,61.1,-8.8,131,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1880,3681,0,0,0,0,0,0
$GC,670,-0.42,-214.2,64.8,-8.7,140,675,0.00,2.50,0.00,0.000,4,0.000,0.050,2685,313,3681,0,0,0,0,0,0
$GC,699,-0.42,-214.2,67.5,-8.9,146,704,0.00,2.42,0.00,0.000,6,0.000,0.041,2685,1864,3681,0,0,0,0,0,0
$GC,741,-0.42,-214.2,71.1,-8.8,155,747,0.00,2.58,0.00,0.000,4,0.000,0.050,2685,3494,3681,0,0,0,0,0,0
$GC,766,-0.42,-214.2,73.2,-8.4,160,771,0.00,2.53,0.00,0.000,6,0.000,0.038,2685,1871,3681,0,0,0,0,0,0
$GC,809,-0.42,-214.2,76.7,-8.2,169,814,0.00,2.45,0.00,0.000,4,0.000,0.049,2685,309,3681,0,0,0,0,0,0
$GC,842,-0.42,-214.2,79.6,-8.6,176,851,0.00,2.45,0.00,0.000,6,0.000,0.041,2685,1865,3681,0,0,0,0,0,0
$GC,887,-0.42,-214.2,83.3,-8.5,185,893,0.00,2.53,0.00,0.000,4,0.000,0.049,2685,3485,3681,0,0,0,0,0,0
$GC,906,-0.42,-214.2,85.0,-8.0,189,912,0.00,2.53,0.00,0.000,6,0.000,0.038,2685,1848,3681,0,0,0,0,0,0
$GC,950,-0.42,-214.2,88.3,-8.1,198,955,0.00,2.42,0.00,0.000,4,0.000,0.049,2685,313,3681,0,0,0,0,0,0
$GC,978,-0.42,-214.2,90.8,-8.4,204,984,0.00,2.38,0.00,0.000,6,0.000,0.041,2685,1843,3681,0,0,0,0,0,0
$GC,1021,-0.42,-214.2,94.4,-8.6,213,1027,0.00,2.58,0.00,0.000,4,0.000,0.048,2685,3493,3681,0,0,0,0,0,0
$GC,1041,-0.42,-214.2,95.8,-7.6,217,1047,0.00,2.55,0.00,0.000,6,0.000,0.038,2685,1854,3681,0,0,0,0,0,0
$GC,1084,-0.42,-214.2,99.3,-7.8,226,1090,0.00,2.40,0.00,0.000,4,0.000,0.048,2685,314,3681,0,0,0,0,0,0
$GC,1113,-0.42,-214.2,101.8,-8.2,232,1119,0.00,2.42,0.00,0.000,6,0.000,0.040,2685,1865,3681,0,0,0,0,0,0
$GC,1156,-0.42,-214.2,105.1,-8.0,241,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1866,3681,0,0,0,0,0,0
$GC,1199,-0.42,-214.2,108.2,-7.4,250,1204,0.00,2.55,0.00,0.000,4,0.000,0.049,2685,3488,3681,0,0,0,0,0,0
$GC,1225,-0.42,-214.2,110.0,-7.3,255,1230,0.00,2.50,0.00,0.000,6,0.000,0.037,2685,1873,3681,0,0,0,0,0,0
$STATE,1234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1234,begin apogee
$GC,1238,-0.17,0.0,110.8,7.2,257,1316,0.25,0.00,73.45,0.532,6,0.127,0.000,2772,1694,2806,0,0,0,0,0,0
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1319,0.42,214.2,113.2,0.0,275,1402,0.55,2.65,74.90,0.522,4,0.107,0.045,2960,3287,1931,0,0,0,0,0,0
$GC,1431,0.42,214.2,104.3,10.2,300,1436,0.00,2.55,0.00,0.000,6,0.000,0.041,2967,1710,1930,0,0,0,0,0,0
$GC,1474,0.42,214.2,99.7,10.8,309,1479,0.00,2.50,0.00,0.000,4,0.000,0.051,2978,180,1930,0,0,0,0,0,0
$GC,1498,0.42,214.2,97.2,10.7,314,1504,0.00,2.40,0.00,0.000,6,0.000,0.038,2977,1695,1930,0,0,0,0,0,0
$GC,1541,0.42,214.2,92.4,10.8,323,1547,0.00,2.55,0.00,0.000,4,0.000,0.045,2977,3290,1930,0,0,0,0,0,0
$GC,1575,0.42,214.2,88.7,11.4,330,1580,0.00,2.53,0.00,0.000,6,0.000,0.041,2978,1712,1929,0,0,0,0,0,0
$GC,1618,0.42,214.2,83.8,11.2,339,1623,0.00,2.47,0.00,0.000,4,0.000,0.051,2978,178,1929,0,0,0,0,0,0
$GC,1642,0.42,214.2,81.2,11.2,344,1648,0.00,2.40,0.00,0.000,6,0.000,0.037,2978,1697,1929,0,0,0,0,0,0
$GC,1685,0.42,214.2,76.8,10.4,353,1691,0.00,2.50,0.00,0.000,4,0.000,0.044,2978,3291,1929,0,0,0,0,0,0
$GC,1714,0.42,214.2,73.3,10.9,359,1720,0.00,2.50,0.00,0.000,6,0.000,0.041,2978,1703,1929,0,0,0,0,0,0
$GC,1757,0.42,214.2,68.7,10.9,368,1762,0.00,2.45,0.00,0.000,4,0.000,0.051,2979,172,1929,0,0,0,0,0,0
$GC,1781,0.42,214.2,66.1,10.7,373,1787,0.00,2.38,0.00,0.000,6,0.000,0.037,2978,1699,1929,0,0,0,0,0,0
$GC,1826,0.42,214.2,61.8,10.3,382,1831,0.00,2.47,0.00,0.000,4,0.000,0.044,2979,3285,1929,0,0,0,0,0,0
$GC,1859,0.42,214.2,58.0,10.6,389,1864,0.00,2.50,0.00,0.000,6,0.000,0.041,2979,1706,1929,0,0,0,0,0,0
$GC,1902,0.42,214.2,53.6,10.6,398,1907,0.00,2.42,0.00,0.000,4,0.000,0.050,2979,172,1929,0,0,0,0,0,0
$GC,1931,0.42,214.2,50.8,10.0,404,1936,0.00,2.38,0.00,0.000,6,0.000,0.036,2978,1692,1929,0,0,0,0,0,0
$GC,1973,0.42,214.2,46.7,9.6,413,1979,0.00,2.47,0.00,0.000,4,0.000,0.044,2978,3284,1930,0,0,0,0,0,0
$GC,2002,0.42,214.2,43.7,9.9,419,2008,0.00,2.50,0.00,0.000,6,0.000,0.041,2979,1702,1929,0,0,0,0,0,0
$GC,2045,0.42,214.2,39.3,10.4,428,2051,0.00,2.42,0.00,0.000,4,0.000,0.051,2979,178,1929,0,0,0,0,0,0
$GC,2070,0.42,214.2,36.8,10.2,433,2075,0.00,2.38,0.00,0.000,6,0.000,0.036,2979,1707,1929,0,0,0,0,0,0
$GC,2113,0.42,214.2,32.6,9.9,442,2118,0.00,2.45,0.00,0.000,4,0.000,0.043,2979,3282,1929,0,0,0,0,0,0
$GC,2132,0.42,214.2,30.5,10.0,446,2138,0.00,2.47,0.00,0.000,6,0.000,0.041,2979,1698,1929,0,0,0,0,0,0
$GC,2175,0.42,214.2,26.2,10.3,455,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1696,1929,0,0,0,0,0,0
$GC,2217,0.42,214.2,22.1,9.7,464,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1697,1929,0,0,0,0,0,0
$GC,2260,0.42,214.2,18.1,9.4,473,2265,0.00,2.40,0.00,0.000,4,0.000,0.051,2979,172,1929,0,0,0,0,0,0
$GC,2275,0.42,214.2,16.8,9.4,476,2281,0.00,2.38,0.00,0.000,6,0.000,0.035,2979,1709,1930,0,0,0,0,0,0
$GC,2318,0.42,214.2,12.8,9.2,485,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1710,1929,0,0,0,0,0,0
$GC,2360,0.42,214.2,10.1,7.4,494,2366,0.00,2.45,0.00,0.000,4,0.000,0.044,2979,3282,1929,0,0,0,0,0,0
$GC,2390,0.46,249.9,9.0,4.4,500,2409,0.00,2.47,11.45,0.176,6,0.000,0.041,2979,1691,1784,0,0,0,0,0,0
$GC,2448,0.73,468.7,8.3,1.4,512,2527,0.25,2.42,72.30,0.173,4,0.088,0.048,3080,173,892,0,0,0,0,0,0
$FREEZE,4.94,6.559,-1.311,0,1,0
$FREEZE,4.81,6.560,-1.310,0,1,0
$FREEZE,4.64,6.493,-1.309,0,1,0
$FREEZE,4.51,6.440,-1.305,0,1,0
$FREEZE,4.30,6.412,-1.303,0,1,0
$FREEZE,4.07,6.328,-1.303,0,1,0
$FREEZE,3.80,6.277,-1.300,0,1,0
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FREEZE,3.51,6.177,-1.303,0,1,0
$FREEZE,3.17,6.002,-1.310,0,1,0
$FREEZE,2.78,5.893,-1.314,0,1,0
$FREEZE,2.52,5.855,-1.315,0,1,0
$FREEZE,2.41,5.603,-1.325,0,1,0
$FREEZE,2.18,5.738,-1.321,0,1,0
$FREEZE,1.98,5.506,-1.326,0,1,0
$FREEZE,1.50,5.512,-1.320,0,1,0
$FREEZE,1.27,5.493,-1.307,0,1,0
$FREEZE,0.98,5.547,-1.305,0,1,0
$FREEZE,0.67,5.866,-1.269,0,1,0
$FREEZE,0.38,5.511,-1.268,0,1,0
$FREEZE,0.29,5.572,-1.185,0,1,0
$FREEZE,0.25,5.642,-0.612,0,1,0
$FREEZE,0.15,5.488,-0.447,0,1,0
$FREEZE,0.23,5.626,-1.219,0,1,0
$FREEZE,0.22,5.625,-1.191,0,1,0
$FREEZE,0.19,5.466,-0.648,0,1,0
$FREEZE,0.28,5.532,-1.193,0,1,0
$FREEZE,0.26,5.463,-1.222,0,1,0
$FREEZE,0.21,5.561,-0.593,0,1,0
$FREEZE,0.22,5.518,-1.220,0,1,0
$FREEZE,0.27,5.609,-1.217,0,1,0
$FREEZE,0.16,5.485,-1.221,0,1,0
$FREEZE,0.27,5.492,-1.221,0,1,0
$FREEZE,0.13,5.463,-0.839,0,1,0
$FREEZE,0.26,5.680,-0.105,0,1,0
$FREEZE,0.34,5.486,-1.218,0,1,0
$FREEZE,0.23,5.491,-1.221,0,1,0
$FREEZE,0.18,5.548,-0.673,0,1,0
$FINISH,0.2,1.009787
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2774,0.00,0.000,0,0,883,471.95
$SM_GC,1.19,7.75,0.00,0.00,0.046,0.000,0.000,102,1909,883,-8.49,0.25,471.95
$IRIDIUM_FIX,4751.72,-12226.29,100611,090933
$TT8_MAMPS,0.028379
$HUMID,1077337401
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,40.4
$24V_AH,24.6,15.785
$10V_AH,9.2,5.295
$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,20.900,124.250,232.100,0.000,0.000,30.259,36.757,221.554,0.500,0.000,32.720,924.437,635.189,397.512,1143.367,72.167,33.317,972.139,0.000,824.582,0.000,5.547,0.000
$DEVICE_MAMPS,288.392,61.360,531.531,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324084
$DATA_FILE_SIZE,20107,570
$CAP_FILE_SIZE,95636,0
$CFSIZE,260165632,257052672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,164607,4807.914,-12223.571,37,1.2,37,18.3