version: 66.07
glider: 505
mission: 2
dive: 80
start: 12 16 109 19 20 11
data:
$ID,505
$MISSION,2
$DIVE,80
$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,-23367.158
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,161209,191332,4805.818,-12222.664,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.9
$GPS2,161209,191914,4805.812,-12222.604,12,1.4,12,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,0.204
$KALMAN_X,-16000.4,-586.7,651.9,14153.2,-375.3
$KALMAN_Y,12874.8,6010.5,-1897.5,-15384.4,-615.8
$MHEAD_RNG_PITCHd_Wd,17.5,824,-7.2,-6.024
$D_GRID,97
$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,-214.2,0.0,0.0,0,88,0.00,0.00,-71.07,0.000,2,0.000,0.000,111,1693,2751,0,0,0,0,0,0
$GC,91,-0.50,-214.2,3.2,-4.2,17,128,11.82,2.88,-18.98,0.000,4,0.283,0.058,2663,3454,3682,0,0,0,0,0,0
$GC,138,-0.50,-214.2,13.6,-21.4,27,143,0.00,2.78,0.00,0.000,6,0.000,0.038,2664,1697,3683,0,0,0,0,0,0
$GC,181,-0.50,-214.2,18.6,-11.8,36,186,0.00,2.45,0.00,0.000,4,0.000,0.048,2663,170,3683,0,0,0,0,0,0
$GC,205,-0.50,-214.2,21.7,-11.7,41,211,0.00,2.40,0.00,0.000,6,0.000,0.039,2663,1693,3683,0,0,0,0,0,0
$GC,248,-0.50,-214.2,26.4,-11.5,50,254,0.00,2.83,0.00,0.000,4,0.000,0.048,2663,3462,3682,0,0,0,0,0,0
$GC,277,-0.50,-214.2,29.8,-11.7,56,283,0.00,2.78,0.00,0.000,6,0.000,0.036,2664,1691,3683,0,0,0,0,0,0
$GC,320,-0.50,-214.2,34.4,-10.6,65,326,0.00,2.40,0.00,0.000,4,0.000,0.047,2664,181,3682,0,0,0,0,0,0
$GC,340,-0.50,-214.2,36.2,-10.9,69,346,0.00,2.42,0.00,0.000,6,0.000,0.039,2664,1709,3682,0,0,0,0,0,0
$GC,383,-0.50,-214.2,41.4,-11.2,78,389,0.00,2.80,0.00,0.000,4,0.000,0.048,2664,3466,3683,0,0,0,0,0,0
$GC,421,-0.50,-214.2,45.5,-10.9,86,427,0.00,2.80,0.00,0.000,6,0.000,0.037,2664,1689,3683,0,0,0,0,0,0
$GC,464,-0.50,-214.2,50.4,-11.3,95,470,0.00,2.38,0.00,0.000,4,0.000,0.047,2664,178,3683,0,0,0,0,0,0
$GC,484,-0.50,-214.2,53.0,-12.0,99,490,0.00,2.40,0.00,0.000,6,0.000,0.039,2664,1709,3683,0,0,0,0,0,0
$GC,527,-0.50,-214.2,58.0,-11.7,108,533,0.00,2.78,0.00,0.000,4,0.000,0.047,2664,3462,3683,0,0,0,0,0,0
$GC,556,-0.50,-214.2,61.3,-11.3,114,562,0.00,2.78,0.00,0.000,6,0.000,0.038,2664,1697,3683,0,0,0,0,0,0
$GC,599,-0.50,-214.2,65.6,-10.3,123,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1695,3683,0,0,0,0,0,0
$GC,641,-0.50,-214.2,70.0,-10.4,132,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1695,3683,0,0,0,0,0,0
$GC,683,-0.50,-214.2,74.2,-9.9,141,689,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,182,3683,0,0,0,0,0,0
$GC,703,-0.50,-214.2,76.4,-10.1,145,708,0.00,2.40,0.00,0.000,6,0.000,0.040,2663,1703,3683,0,0,0,0,0,0
$GC,748,-0.50,-214.2,80.8,-10.1,154,754,0.00,2.78,0.00,0.000,4,0.000,0.048,2663,3467,3683,0,0,0,0,0,0
$GC,773,-0.50,-214.2,83.0,-9.7,159,778,0.00,2.78,0.00,0.000,6,0.000,0.037,2664,1694,3683,0,0,0,0,0,0
$GC,816,-0.50,-214.2,87.0,-8.6,168,821,0.00,2.40,0.00,0.000,4,0.000,0.047,2663,175,3683,0,0,0,0,0,0
$GC,840,-0.50,-214.2,89.2,-9.3,173,845,0.00,2.40,0.00,0.000,6,0.000,0.039,2663,1700,3682,0,0,0,0,0,0
$GC,883,-0.50,-214.2,93.0,-9.0,182,888,0.00,2.78,0.00,0.000,4,0.000,0.047,2664,3469,3683,0,0,0,0,0,0
$GC,916,-0.50,-214.2,95.9,-8.7,189,922,0.00,2.78,0.00,0.000,6,0.000,0.035,2663,1691,3683,0,0,0,0,0,0
$STATE,930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,930,begin apogee
$GC,934,-0.17,0.0,97.2,8.5,192,1011,0.32,0.00,73.03,0.482,6,0.129,0.000,2775,1689,2806,0,0,0,0,0,0
$STATE,1012,end apogee,CONTROL_FINISHED_OK
$STATE,1012,begin climb
$GC,1014,0.50,214.2,100.4,0.0,210,1100,0.62,2.90,74.68,0.474,4,0.107,0.044,2988,3441,1930,0,0,0,0,0,0
$GC,1119,0.50,214.2,90.9,12.1,234,1125,0.00,2.88,0.00,0.000,6,0.000,0.039,2994,1683,1927,0,0,0,0,0,0
$GC,1162,0.50,214.2,85.6,12.5,243,1167,0.00,2.45,0.00,0.000,4,0.000,0.048,3005,178,1926,0,0,0,0,0,0
$GC,1186,0.50,214.2,82.6,12.2,248,1192,0.00,2.42,0.00,0.000,6,0.000,0.036,3005,1690,1926,0,0,0,0,0,0
$GC,1229,0.50,214.2,77.3,12.5,257,1235,0.00,2.80,0.00,0.000,4,0.000,0.044,3005,3446,1926,0,0,0,0,0,0
$GC,1258,0.50,214.2,73.1,13.5,263,1264,0.00,2.85,0.00,0.000,6,0.000,0.040,3010,1674,1925,0,0,0,0,0,0
$GC,1301,0.50,214.2,67.4,13.3,272,1307,0.00,2.40,0.00,0.000,4,0.000,0.049,3018,178,1925,0,0,0,0,0,0
$GC,1326,0.50,214.2,64.1,13.6,277,1332,0.08,2.38,0.00,0.000,6,0.179,0.036,3001,1684,1926,0,0,0,0,0,0
$GC,1370,0.50,214.2,58.6,12.7,286,1375,0.00,2.78,0.00,0.000,4,0.000,0.044,3001,3444,1926,0,0,0,0,0,0
$GC,1399,0.50,214.2,55.0,12.4,292,1405,0.00,2.83,0.00,0.000,6,0.000,0.039,3006,1671,1925,0,0,0,0,0,0
$GC,1442,0.50,214.2,49.7,12.2,301,1448,0.00,2.38,0.00,0.000,4,0.000,0.049,3017,180,1926,0,0,0,0,0,0
$GC,1466,0.50,214.2,46.5,12.6,306,1472,0.08,2.35,0.00,0.000,6,0.178,0.036,2998,1687,1925,0,0,0,0,0,0
$GC,1510,0.50,214.2,41.2,12.5,315,1516,0.00,2.78,0.00,0.000,4,0.000,0.044,2998,3438,1925,0,0,0,0,0,0
$GC,1548,0.50,214.2,36.3,12.6,323,1554,0.00,2.80,0.00,0.000,6,0.000,0.039,3006,1676,1925,0,0,0,0,0,0
$GC,1591,0.50,214.2,31.0,12.5,332,1597,0.00,2.38,0.00,0.000,4,0.000,0.048,3017,171,1925,0,0,0,0,0,0
$GC,1625,0.50,214.2,26.8,12.6,339,1631,0.08,2.35,0.00,0.000,6,0.179,0.037,2997,1683,1926,0,0,0,0,0,0
$GC,1669,0.50,214.2,21.8,11.6,348,1674,0.00,2.75,0.00,0.000,4,0.000,0.044,2997,3438,1926,0,0,0,0,0,0
$GC,1707,0.50,214.2,17.1,11.9,356,1713,0.00,2.80,0.00,0.000,6,0.000,0.040,3004,1669,1926,0,0,0,0,0,0
$GC,1751,0.50,214.2,11.8,12.4,365,1757,0.00,2.33,0.00,0.000,4,0.000,0.049,3005,187,1926,0,0,0,0,0,0
$GC,1789,0.50,214.2,9.3,7.8,373,1795,0.00,2.33,0.00,0.000,6,0.000,0.036,3005,1694,1925,0,0,0,0,0,0
$GC,1833,0.57,268.8,7.2,5.0,382,1856,0.00,2.75,17.48,0.176,4,0.000,0.043,3005,3444,1705,0,0,0,0,0,0
$GC,1866,0.67,346.6,5.7,4.5,389,1898,0.12,2.78,25.42,0.166,6,0.098,0.035,3066,1669,1390,0,0,0,0,0,0
$GC,1938,0.83,481.8,3.3,3.4,404,1945,0.10,0.00,4.20,0.188,2,0.109,0.000,3115,1669,1330,0,0,0,0,0,0
$STATE,1946,end climb,SURFACE_DEPTH_REACHED
$STATE,1946,begin surface coast
$FINISH,0.2,1.005403
$STATE,2039,end surface coast,CONTROL_FINISHED_OK
$STATE,2039,begin surface
$SM_CCo,2053,40.72,0.155,0,0,848,480.04
$SM_GC,1.05,0.00,0.00,40.72,0.000,0.000,0.155,104,1666,848,-8.54,-0.96,480.04
$IRIDIUM_FIX,4748.51,-12221.84,110611,121229
$TT8_MAMPS,0.028379
$HUMID,1077381272
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,40.4
$24V_AH,24.6,19.075
$10V_AH,10.5,6.288
$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,21.050,114.975,194.800,40.725,0.000,29.721,27.319,206.475,0.500,0.000,13.133,670.197,446.333,375.498,891.909,70.910,33.316,820.093,0.000,618.066,0.000,5.533,0.000
$DEVICE_MAMPS,283.023,58.292,482.443,154.934,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,13423,425
$CAP_FILE_SIZE,75591,0
$CFSIZE,260165632,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,195550,4806.074,-12222.326,12,1.2,12,18.3