version: 66.07
glider: 505
mission: 2
dive: 26
start: 12 15 109 16 54 51
data:
$ID,505
$MISSION,2
$DIVE,26
$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,-22514.76
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,151209,164607,4807.914,-12223.571,37,1.2,37,18.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.5
$GPS2,151209,165355,4807.979,-12223.671,14,1.7,31,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.231,0.011
$KALMAN_X,-7208.9,-551.2,392.0,4269.9,-2364.3
$KALMAN_Y,3403.4,1419.8,-1060.2,1824.8,1563.7
$MHEAD_RNG_PITCHd_Wd,69.0,6431,-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,15,-0.42,-214.2,0.0,0.0,0,59,0.00,0.00,-42.38,0.000,2,0.000,0.000,102,1910,2019,0,0,0,0,0,0
$GC,61,-0.42,-214.2,3.2,-5.3,10,119,11.98,2.50,-39.30,0.000,4,0.285,0.059,2685,3478,3681,0,0,0,0,0,0
$GC,158,-0.42,-214.2,15.8,-15.7,31,163,0.00,2.50,0.00,0.000,6,0.000,0.039,2685,1898,3681,0,0,0,0,0,0
$GC,201,-0.42,-214.2,20.0,-9.2,40,205,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1896,3682,0,0,0,0,0,0
$GC,243,-0.42,-214.2,23.9,-9.4,49,248,0.00,2.53,0.00,0.000,4,0.000,0.049,2685,314,3682,0,0,0,0,0,0
$GC,290,-0.42,-214.2,28.8,-10.1,59,296,0.00,2.53,0.00,0.000,6,0.000,0.041,2685,1898,3681,0,0,0,0,0,0
$GC,333,-0.42,-214.2,33.1,-10.0,68,339,0.00,2.53,0.00,0.000,4,0.000,0.051,2685,3485,3681,0,0,0,0,0,0
$GC,353,-0.42,-214.2,35.1,-10.1,72,358,0.00,2.47,0.00,0.000,6,0.000,0.038,2685,1906,3681,0,0,0,0,0,0
$GC,396,-0.42,-214.2,39.1,-9.4,81,401,0.00,2.53,0.00,0.000,4,0.000,0.048,2685,316,3682,0,0,0,0,0,0
$GC,440,-0.42,-214.2,43.5,-10.1,90,446,0.00,2.47,0.00,0.000,6,0.000,0.041,2685,1891,3681,0,0,0,0,0,0
$GC,483,-0.42,-214.2,47.6,-9.4,99,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1893,3681,0,0,0,0,0,0
$GC,525,-0.42,-214.2,51.4,-9.0,108,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1893,3682,0,0,0,0,0,0
$GC,567,-0.42,-214.2,55.1,-8.8,117,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1893,3682,0,0,0,0,0,0
$GC,609,-0.42,-214.2,58.7,-8.7,126,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1893,3682,0,0,0,0,0,0
$GC,651,-0.42,-214.2,62.3,-8.6,135,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1892,3682,0,0,0,0,0,0
$GC,693,-0.42,-214.2,66.0,-8.5,144,698,0.00,2.50,0.00,0.000,4,0.000,0.048,2685,306,3681,0,0,0,0,0,0
$GC,717,-0.42,-214.2,68.1,-8.7,149,723,0.00,2.47,0.00,0.000,6,0.000,0.039,2685,1893,3682,0,0,0,0,0,0
$GC,760,-0.42,-214.2,71.7,-8.5,158,766,0.00,2.50,0.00,0.000,4,0.000,0.048,2685,3485,3682,0,0,0,0,0,0
$GC,780,-0.42,-214.2,73.3,-8.3,162,786,0.00,2.50,0.00,0.000,6,0.000,0.036,2685,1874,3682,0,0,0,0,0,0
$GC,823,-0.42,-214.2,76.6,-7.7,171,828,0.00,2.47,0.00,0.000,4,0.000,0.049,2685,309,3681,0,0,0,0,0,0
$GC,861,-0.42,-214.2,79.8,-8.2,179,872,0.00,2.47,0.00,0.000,6,0.000,0.041,2685,1875,3682,0,0,0,0,0,0
$GC,909,-0.42,-214.2,83.7,-8.1,188,914,0.00,2.53,0.00,0.000,4,0.000,0.049,2684,3489,3682,0,0,0,0,0,0
$GC,933,-0.42,-214.2,85.5,-7.8,193,939,0.00,2.53,0.00,0.000,6,0.000,0.038,2685,1865,3682,0,0,0,0,0,0
$GC,976,-0.42,-214.2,88.7,-7.4,202,981,0.00,2.42,0.00,0.000,4,0.000,0.048,2685,315,3682,0,0,0,0,0,0
$GC,1014,-0.42,-214.2,91.8,-8.1,210,1020,0.00,2.42,0.00,0.000,6,0.000,0.041,2685,1855,3682,0,0,0,0,0,0
$GC,1057,-0.42,-214.2,95.1,-7.7,219,1063,0.00,2.55,0.00,0.000,4,0.000,0.049,2685,3486,3682,0,0,0,0,0,0
$GC,1082,-0.42,-214.2,96.7,-7.3,224,1087,0.00,2.58,0.00,0.000,6,0.000,0.038,2685,1832,3682,0,0,0,0,0,0
$GC,1125,-0.42,-214.2,99.6,-6.7,233,1130,0.00,2.38,0.00,0.000,4,0.000,0.049,2685,310,3682,0,0,0,0,0,0
$GC,1159,-0.42,-214.2,102.3,-7.3,240,1164,0.00,2.40,0.00,0.000,6,0.000,0.041,2685,1835,3682,0,0,0,0,0,0
$GC,1202,-0.42,-214.2,105.5,-7.4,249,1207,0.00,2.60,0.00,0.000,4,0.000,0.049,2685,3486,3682,0,0,0,0,0,0
$GC,1235,-0.42,-214.2,107.4,-6.4,256,1241,0.00,2.55,0.00,0.000,6,0.000,0.038,2685,1845,3682,0,0,0,0,0,0
$GC,1280,-0.42,-214.2,110.2,-6.4,265,1285,0.00,2.40,0.00,0.000,4,0.000,0.049,2685,306,3682,0,0,0,0,0,0
$STATE,1290,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1290,begin apogee
$GC,1295,-0.17,0.0,111.1,6.6,267,1374,0.25,0.00,73.70,0.535,6,0.130,0.000,2772,1713,2806,0,0,0,0,0,0
$STATE,1375,end apogee,CONTROL_FINISHED_OK
$STATE,1375,begin climb
$GC,1376,0.42,214.2,113.7,0.0,285,1459,0.55,2.60,75.15,0.524,4,0.107,0.043,2961,3289,1931,0,0,0,0,0,0
$GC,1478,0.42,214.2,105.6,10.2,308,1484,0.00,2.58,0.00,0.000,6,0.000,0.041,2967,1702,1930,0,0,0,0,0,0
$GC,1521,0.42,214.2,100.8,11.1,317,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1701,1929,0,0,0,0,0,0
$GC,1563,0.42,214.2,96.4,10.9,326,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1701,1929,0,0,0,0,0,0
$GC,1605,0.42,214.2,91.9,10.6,335,1610,0.00,2.45,0.00,0.000,4,0.000,0.051,2978,177,1929,0,0,0,0,0,0
$GC,1626,0.42,214.2,89.9,10.6,339,1632,0.00,2.45,0.00,0.000,6,0.000,0.037,2978,1722,1929,0,0,0,0,0,0
$GC,1669,0.42,214.2,85.3,10.4,348,1675,0.00,2.47,0.00,0.000,4,0.000,0.044,2978,3282,1929,0,0,0,0,0,0
$GC,1698,0.42,214.2,81.8,11.1,354,1703,0.00,2.47,0.00,0.000,6,0.000,0.041,2978,1718,1929,0,0,0,0,0,0
$GC,1741,0.42,214.2,76.9,11.6,363,1746,0.00,2.45,0.00,0.000,4,0.000,0.051,2979,180,1929,0,0,0,0,0,0
$GC,1760,0.42,214.2,74.7,11.4,367,1766,0.00,2.42,0.00,0.000,6,0.000,0.037,2979,1722,1929,0,0,0,0,0,0
$GC,1804,0.42,214.2,70.1,10.7,376,1809,0.00,2.47,0.00,0.000,4,0.000,0.044,2979,3293,1929,0,0,0,0,0,0
$GC,1823,0.42,214.2,67.8,11.0,380,1829,0.00,2.47,0.00,0.000,6,0.000,0.041,2979,1728,1929,0,0,0,0,0,0
$GC,1866,0.42,214.2,63.1,11.2,389,1872,0.00,2.45,0.00,0.000,4,0.000,0.051,2981,183,1929,0,0,0,0,0,0
$GC,1881,0.42,214.2,61.5,10.7,392,1887,0.00,2.42,0.00,0.000,6,0.000,0.036,2981,1730,1929,0,0,0,0,0,0
$GC,1924,0.42,214.2,57.0,10.7,401,1930,0.00,2.45,0.00,0.000,4,0.000,0.044,2981,3287,1929,0,0,0,0,0,0
$GC,1949,0.42,214.2,54.2,10.9,406,1955,0.08,2.45,0.00,0.000,6,0.206,0.041,2971,1736,1929,0,0,0,0,0,0
$GC,1992,0.42,214.2,49.8,10.5,415,1998,0.00,2.47,0.00,0.000,4,0.000,0.051,2978,172,1929,0,0,0,0,0,0
$GC,2012,0.42,214.2,47.9,9.7,419,2017,0.00,2.45,0.00,0.000,6,0.000,0.036,2978,1737,1929,0,0,0,0,0,0
$GC,2055,0.42,214.2,43.8,9.7,428,2060,0.00,2.42,0.00,0.000,4,0.000,0.044,2978,3286,1929,0,0,0,0,0,0
$GC,2075,0.42,214.2,41.7,9.9,432,2080,0.00,2.42,0.00,0.000,6,0.000,0.041,2978,1743,1929,0,0,0,0,0,0
$GC,2118,0.42,214.2,37.3,10.3,441,2123,0.00,2.50,0.00,0.000,4,0.000,0.051,2978,176,1929,0,0,0,0,0,0
$GC,2147,0.42,214.2,34.5,9.9,447,2152,0.00,2.42,0.00,0.000,6,0.000,0.037,2978,1733,1929,0,0,0,0,0,0
$GC,2190,0.42,214.2,30.5,9.5,456,2195,0.00,2.40,0.00,0.000,4,0.000,0.044,2978,3283,1929,0,0,0,0,0,0
$GC,2219,0.42,214.2,27.4,9.9,462,2224,0.00,2.40,0.00,0.000,6,0.000,0.041,2978,1742,1929,0,0,0,0,0,0
$GC,2262,0.42,214.2,23.4,9.7,471,2267,0.00,2.47,0.00,0.000,4,0.000,0.050,2979,173,1929,0,0,0,0,0,0
$GC,2291,0.42,214.2,20.8,9.4,477,2296,0.00,2.42,0.00,0.000,6,0.000,0.036,2978,1732,1929,0,0,0,0,0,0
$GC,2334,0.42,214.2,16.9,9.0,486,2339,0.00,2.40,0.00,0.000,4,0.000,0.044,2978,3285,1929,0,0,0,0,0,0
$GC,2354,0.42,214.2,15.0,9.0,490,2359,0.00,2.40,0.00,0.000,6,0.000,0.041,2978,1736,1929,0,0,0,0,0,0
$GC,2396,0.42,214.2,11.2,9.3,499,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1736,1929,0,0,0,0,0,0
$GC,2438,0.42,214.2,9.1,6.1,508,2444,0.00,2.47,0.00,0.000,4,0.000,0.050,2978,171,1929,0,0,0,0,0,0
$FREEZE,8.75,6.767,-1.336,0,1,0
$STATE,2610,end climb,NO_VERTICAL_VELOCITY
$STATE,2610,begin surface
$SM_CCo,2612,123.82,0.170,0,0,448,578.16
$SM_GC,1.20,7.53,0.00,0.00,0.044,0.000,0.000,108,1905,438,-8.47,0.14,581.11
$IRIDIUM_FIX,4735.69,-12329.83,100611,101028
$TT8_MAMPS,0.027612
$HUMID,1077360627
$INTERNAL_PRESSURE,8.94647
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,40.3
$24V_AH,24.6,15.837
$10V_AH,9.2,5.328
$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,20.375,133.625,148.850,123.825,0.000,27.087,24.786,315.802,0.500,0.000,31.760,886.112,709.537,467.403,1188.062,72.541,33.316,1006.581,0.000,788.811,0.000,5.547,0.000
$DEVICE_MAMPS,284.557,59.059,534.599,169.507,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,16801,545
$CAP_FILE_SIZE,94215,0
$CFSIZE,260165632,257011712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,174256,4807.921,-12223.179,11,1.3,11,18.3