version: 66.07
glider: 505
mission: 2
dive: 78
start: 12 16 109 17 53 18
data:
$ID,505
$MISSION,2
$DIVE,78
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,83
$T_MISSION,90
$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,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,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,-23316.668
$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,50
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,38
$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,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
$GPS1,161209,174626,4806.197,-12222.908,10,1.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.6
$GPS2,161209,175222,4806.293,-12222.981,12,3.5,31,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,-0.232
$KALMAN_X,-16900.8,110.3,1021.9,13518.4,-699.5
$KALMAN_Y,32348.7,-4072.3,-11211.1,-14521.8,3950.3
$MHEAD_RNG_PITCHd_Wd,138.9,1330,-7.2,-6.024
$D_GRID,94
$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,-0.50,-214.2,0.0,0.0,0,80,0.00,0.00,-63.12,0.000,2,0.000,0.000,113,1688,2514,0,0,0,0,0,0
$GC,82,-0.50,-214.2,3.2,-4.4,15,128,11.32,2.88,-27.83,0.000,4,0.271,0.058,2664,3455,3683,0,0,0,0,0,0
$GC,133,-0.50,-214.2,9.3,-10.5,26,138,0.00,2.80,0.00,0.000,6,0.000,0.038,2664,1691,3683,0,0,0,0,0,0
$GC,176,-0.50,-214.2,15.0,-13.1,35,181,0.00,2.42,0.00,0.000,4,0.000,0.049,2664,178,3683,0,0,0,0,0,0
$GC,188,-0.50,-214.2,16.7,-13.5,37,193,0.00,2.40,0.00,0.000,6,0.000,0.037,2664,1697,3683,0,0,0,0,0,0
$GC,231,-0.50,-214.2,23.5,-15.6,46,236,0.00,2.80,0.00,0.000,4,0.000,0.044,2664,3463,3684,0,0,0,0,0,0
$GC,325,-0.50,-214.2,34.7,-10.3,66,330,0.00,2.80,0.00,0.000,6,0.000,0.038,2664,1692,3683,0,0,0,0,0,0
$GC,367,-0.50,-214.2,38.2,-8.4,75,373,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,179,3684,0,0,0,0,0,0
$GC,379,-0.50,-214.2,39.1,-8.4,77,385,0.00,2.40,0.00,0.000,6,0.000,0.039,2664,1699,3683,0,0,0,0,0,0
$GC,422,-0.50,-214.2,42.7,-8.3,86,428,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3461,3684,0,0,0,0,0,0
$GC,456,-0.50,-214.2,45.1,-7.2,93,462,0.00,2.78,0.00,0.000,6,0.000,0.037,2664,1696,3684,0,0,0,0,0,0
$GC,499,-0.50,-214.2,47.6,-5.9,102,505,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,180,3683,0,0,0,0,0,0
$GC,510,-0.50,-214.2,48.4,-6.2,104,515,0.00,2.40,0.00,0.000,6,0.000,0.038,2664,1707,3683,0,0,0,0,0,0
$GC,553,-0.50,-214.2,51.2,-6.8,113,558,0.00,2.75,0.00,0.000,4,0.000,0.047,2665,3460,3683,0,0,0,0,0,0
$GC,565,-0.50,-214.2,51.9,-6.5,115,570,0.00,2.75,0.00,0.000,6,0.000,0.035,2664,1698,3684,0,0,0,0,0,0
$GC,607,-0.50,-214.2,54.5,-5.9,124,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1697,3683,0,0,0,0,0,0
$GC,650,-0.50,-214.2,57.0,-5.8,133,656,0.00,2.83,0.00,0.000,4,0.000,0.047,2664,3470,3683,0,0,0,0,0,0
$GC,661,-0.50,-214.2,57.6,-5.9,135,666,0.00,2.78,0.00,0.000,6,0.000,0.035,2664,1691,3683,0,0,0,0,0,0
$GC,704,-0.50,-214.2,60.3,-6.3,144,709,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,174,3683,0,0,0,0,0,0
$GC,714,-0.50,-214.2,61.1,-6.5,146,720,0.00,2.38,0.00,0.000,6,0.000,0.038,2664,1703,3683,0,0,0,0,0,0
$GC,757,-0.50,-214.2,64.0,-6.9,155,763,0.00,2.75,0.00,0.000,4,0.000,0.047,2664,3460,3684,0,0,0,0,0,0
$GC,791,-0.50,-214.2,66.1,-6.3,162,797,0.00,2.75,0.00,0.000,6,0.000,0.037,2664,1702,3683,0,0,0,0,0,0
$GC,834,-0.50,-214.2,68.8,-6.1,171,839,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,183,3683,0,0,0,0,0,0
$GC,844,-0.50,-214.2,69.7,-6.6,173,850,0.00,2.38,0.00,0.000,6,0.000,0.038,2664,1699,3683,0,0,0,0,0,0
$GC,887,-0.50,-214.2,72.7,-7.3,182,893,0.00,2.80,0.00,0.000,4,0.000,0.048,2664,3467,3683,0,0,0,0,0,0
$GC,900,-0.50,-214.2,73.6,-7.2,184,905,0.00,2.78,0.00,0.000,6,0.000,0.035,2664,1689,3683,0,0,0,0,0,0
$GC,942,-0.50,-214.2,76.8,-7.2,193,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1688,3683,0,0,0,0,0,0
$GC,984,-0.50,-214.2,79.9,-7.3,202,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1688,3683,0,0,0,0,0,0
$GC,1032,-0.50,-214.2,83.6,-7.7,211,1037,0.00,2.80,0.00,0.000,4,0.000,0.047,2664,3460,3683,0,0,0,0,0,0
$GC,1042,-0.50,-214.2,84.3,-7.6,213,1048,0.00,2.75,0.00,0.000,6,0.000,0.036,2664,1696,3683,0,0,0,0,0,0
$GC,1085,-0.50,-214.2,87.6,-7.6,222,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1696,3683,0,0,0,0,0,0
$GC,1127,-0.50,-214.2,90.8,-7.6,231,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1695,3683,0,0,0,0,0,0
$STATE,1168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1168,begin apogee
$GC,1172,-0.17,0.0,94.2,7.8,240,1249,0.32,0.00,73.50,0.469,6,0.127,0.000,2778,1694,2805,0,0,0,0,0,0
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,0.50,214.2,95.8,0.0,258,1334,0.62,0.00,74.15,0.456,6,0.105,0.000,2990,1694,1932,0,0,0,0,0,0
$GC,1372,0.50,214.2,84.0,12.3,285,1378,0.00,2.88,0.00,0.000,4,0.000,0.044,2990,3446,1930,0,0,0,0,0,0
$GC,1388,0.50,214.2,81.9,12.5,288,1393,0.00,2.85,0.00,0.000,6,0.000,0.038,2997,1687,1929,0,0,0,0,0,0
$GC,1431,0.50,214.2,76.3,13.1,297,1436,0.00,2.45,0.00,0.000,4,0.000,0.049,3006,178,1928,0,0,0,0,0,0
$GC,1451,0.50,214.2,73.5,13.2,301,1456,0.00,2.38,0.00,0.000,6,0.000,0.036,3006,1679,1929,0,0,0,0,0,0
$GC,1494,0.50,214.2,67.7,13.7,310,1499,0.00,2.85,0.00,0.000,4,0.000,0.045,3006,3440,1929,0,0,0,0,0,0
$GC,1518,0.50,214.2,64.0,14.3,315,1524,0.00,2.85,0.00,0.000,6,0.000,0.041,3010,1669,1928,0,0,0,0,0,0
$GC,1561,0.50,214.2,58.0,14.2,324,1567,0.00,2.40,0.00,0.000,4,0.000,0.049,3020,178,1928,0,0,0,0,0,0
$GC,1576,0.50,214.2,55.8,14.0,327,1582,0.10,2.35,0.00,0.000,6,0.166,0.035,2994,1683,1928,0,0,0,0,0,0
$GC,1620,0.50,214.2,50.3,12.9,336,1626,0.00,2.80,0.00,0.000,4,0.000,0.044,2994,3447,1928,0,0,0,0,0,0
$GC,1649,0.50,214.2,46.5,12.6,342,1655,0.00,2.83,0.00,0.000,6,0.000,0.040,2998,1674,1927,0,0,0,0,0,0
$GC,1693,0.50,214.2,41.2,12.3,351,1698,0.00,2.38,0.00,0.000,4,0.000,0.049,3005,176,1928,0,0,0,0,0,0
$GC,1722,0.50,214.2,37.7,12.1,357,1727,0.00,2.38,0.00,0.000,6,0.000,0.036,3005,1686,1928,0,0,0,0,0,0
$GC,1765,0.50,214.2,32.6,11.9,366,1770,0.00,2.75,0.00,0.000,4,0.000,0.044,3005,3437,1928,0,0,0,0,0,0
$GC,1794,0.50,214.2,28.9,12.5,372,1799,0.00,2.80,0.00,0.000,6,0.000,0.040,3008,1674,1928,0,0,0,0,0,0
$GC,1837,0.50,214.2,24.1,11.5,381,1842,0.00,2.38,0.00,0.000,4,0.000,0.049,3019,180,1928,0,0,0,0,0,0
$GC,1861,0.50,214.2,21.4,11.0,386,1867,0.08,2.35,0.00,0.000,6,0.183,0.037,3000,1680,1928,0,0,0,0,0,0
$GC,1905,0.50,214.2,15.4,13.7,395,1910,0.00,2.80,0.00,0.000,4,0.000,0.044,3000,3438,1928,0,0,0,0,0,0
$GC,1920,0.50,214.2,13.5,13.6,398,1926,0.00,2.78,0.00,0.000,6,0.000,0.039,3007,1679,1927,0,0,0,0,0,0
$GC,1963,0.50,214.2,9.2,10.1,407,1969,0.00,2.80,0.00,0.000,4,0.000,0.043,3007,3444,1928,0,0,0,0,0,0
$GC,2043,0.62,305.9,5.5,4.2,424,2080,0.08,2.80,29.70,0.163,6,0.130,0.039,3047,1667,1554,0,0,0,0,0,0
$STATE,2089,end climb,SURFACE_DEPTH_REACHED
$STATE,2089,begin surface coast
$FINISH,0.3,1.011055
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2154,begin surface
$SM_CCo,2167,58.70,0.154,0,0,848,480.04
$SM_GC,1.11,0.00,0.00,58.70,0.000,0.000,0.154,107,1664,848,-8.53,-1.02,480.04
$IRIDIUM_FIX,4751.72,-12223.57,110611,111108
$TT8_MAMPS,0.028379
$HUMID,1077339982
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,33.2
$24V_AH,24.6,18.994
$10V_AH,9.2,6.237
$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,20.225,121.350,177.350,58.700,0.000,25.331,32.509,198.661,0.500,0.000,33.331,718.131,469.809,398.555,936.167,77.027,33.315,866.942,0.000,651.476,0.000,5.525,0.000
$DEVICE_MAMPS,270.751,58.292,468.637,154.167,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,13455,448
$CAP_FILE_SIZE,80361,0
$CFSIZE,260165632,255754240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,183127,4806.000,-12222.859,9,4.4,28,18.3