version: 66.07
glider: 505
mission: 2
dive: 105
start: 12 17 109 4 53 29
data:
$ID,505
$MISSION,2
$DIVE,105
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$D_FINISH,10
$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,100
$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,-23642.312
$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,45
$C_ROLL_DIVE,3805
$C_ROLL_CLIMB,190
$HEAD_ERRBAND,181
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,30
$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,4
$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
$GPS1,171209,043922,4807.989,-12222.702,13,2.2,32,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.8
$GPS2,171209,045236,4807.996,-12222.595,37,1.3,37,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.094,-0.141
$KALMAN_X,-15892.1,-3971.8,746.8,17348.0,-324.4
$KALMAN_Y,52843.3,-26854.8,8882.5,-29277.8,5239.8
$MHEAD_RNG_PITCHd_Wd,195.3,3768,-10.4,-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,-0.47,-97.3,0.0,0.0,0,68,0.00,0.00,-50.80,0.000,2,0.000,0.000,112,3817,2220,0,0,0,0,0,0
$GC,70,-0.47,-97.3,3.1,-4.7,12,111,11.88,0.00,-24.60,0.000,6,0.281,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,150,-0.47,-97.3,16.9,-21.1,29,155,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,192,-0.47,-97.3,20.7,-10.2,38,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,234,-0.47,-97.3,23.9,-7.4,47,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,277,-0.47,-97.3,26.7,-7.0,56,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3817,3205,0,0,0,0,0,0
$GC,320,-0.47,-97.3,30.0,-7.7,65,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3206,0,0,0,0,0,0
$GC,362,-0.47,-97.3,33.4,-7.8,74,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3817,3205,0,0,0,0,0,0
$GC,404,-0.47,-97.3,36.9,-8.1,83,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3817,3205,0,0,0,0,0,0
$GC,447,-0.47,-97.3,40.5,-8.5,92,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3818,3205,0,0,0,0,0,0
$GC,490,-0.47,-97.3,44.1,-8.6,101,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,532,-0.47,-97.3,47.8,-8.6,110,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,574,-0.47,-97.3,51.5,-8.7,119,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,616,-0.47,-97.3,55.1,-8.6,128,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,660,-0.47,-97.3,58.7,-8.4,137,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,702,-0.47,-97.3,62.3,-8.2,146,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,744,-0.47,-97.3,65.5,-8.0,155,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3817,3205,0,0,0,0,0,0
$GC,787,-0.47,-97.3,69.0,-8.0,164,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,829,-0.47,-97.3,72.4,-8.0,173,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,871,-0.47,-97.3,75.6,-7.7,182,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,913,-0.47,-97.3,78.7,-7.4,191,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,957,-0.47,-97.3,81.8,-7.3,200,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,999,-0.47,-97.3,84.8,-6.9,209,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,1041,-0.47,-97.3,87.5,-6.7,218,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,1085,-0.47,-97.3,90.4,-6.9,227,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,1127,-0.47,-97.3,93.4,-6.8,236,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$GC,1169,-0.47,-97.3,96.2,-6.7,245,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3818,3205,0,0,0,0,0,0
$STATE,1201,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1201,begin apogee
$GC,1210,-0.17,0.0,98.5,6.9,252,1250,0.30,0.00,33.60,0.493,6,0.163,0.000,2771,182,2806,0,0,0,0,0,0
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,0.47,97.3,100.5,0.0,261,1292,0.62,0.00,33.50,0.489,6,0.122,0.000,2980,182,2408,0,0,0,0,0,0
$GC,1330,0.47,97.3,94.9,8.6,278,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2407,0,0,0,0,0,0
$GC,1372,0.47,97.3,90.6,10.1,287,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2407,0,0,0,0,0,0
$GC,1414,0.47,97.3,86.5,9.9,296,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2407,0,0,0,0,0,0
$GC,1456,0.47,97.3,82.3,9.7,305,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2407,0,0,0,0,0,0
$GC,1500,0.47,97.3,78.1,10.0,314,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1542,0.47,97.3,73.7,10.2,323,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1584,0.47,97.3,69.5,9.9,332,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1626,0.47,97.3,65.4,9.6,341,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1670,0.47,97.3,61.4,9.5,350,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,182,2406,0,0,0,0,0,0
$GC,1712,0.47,97.3,57.5,9.2,359,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1754,0.47,97.3,53.8,8.9,368,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,181,2406,0,0,0,0,0,0
$GC,1796,0.47,97.3,50.1,8.5,377,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1840,0.47,97.3,46.5,8.7,386,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1882,0.47,97.3,42.9,8.5,395,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1924,0.47,97.3,39.5,8.3,404,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,1966,0.47,97.3,35.9,8.2,413,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,2009,0.47,97.3,32.5,8.3,422,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,2052,0.47,97.3,28.9,8.2,431,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,182,2406,0,0,0,0,0,0
$GC,2094,0.47,97.3,25.5,8.2,440,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2407,0,0,0,0,0,0
$GC,2136,0.47,97.3,22.0,8.3,449,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,182,2406,0,0,0,0,0,0
$GC,2180,0.47,97.3,18.6,8.1,458,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,181,2406,0,0,0,0,0,0
$GC,2222,0.47,97.3,15.3,7.8,467,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,181,2406,0,0,0,0,0,0
$GC,2265,0.47,103.9,13.8,4.8,476,2270,0.00,0.00,2.00,0.249,6,0.000,0.000,2981,181,2379,0,0,0,0,0,0
$GC,2310,0.66,258.4,14.2,-0.4,485,2367,0.20,0.00,50.53,0.195,6,0.070,0.000,3075,181,1750,0,0,0,0,0,0
$GC,2405,0.66,258.4,11.1,5.4,506,2410,0.10,0.00,0.00,0.000,6,0.158,0.000,3046,181,1744,0,0,0,0,0,0
$FREEZE,9.95,7.548,-1.399,0,1,0
$FREEZE,9.78,7.548,-1.396,0,1,0
$FREEZE,9.50,7.540,-1.393,0,1,0
$FREEZE,9.32,7.522,-1.392,0,1,0
$FREEZE,9.22,7.502,-1.390,0,1,0
$GC,2447,0.68,272.7,9.2,4.5,515,2453,0.00,0.00,4.03,0.209,6,0.000,0.000,3047,180,1692,0,0,0,0,0,0
$FREEZE,8.62,7.448,-1.386,0,1,0
$FREEZE,8.66,7.407,-1.384,0,1,0
$FREEZE,8.36,7.383,-1.382,0,1,0
$FREEZE,8.14,7.351,-1.381,0,1,0
$FREEZE,7.95,7.303,-1.380,0,1,0
$FREEZE,7.79,7.268,-1.378,0,1,0
$FREEZE,7.56,7.234,-1.375,0,1,0
$FREEZE,7.57,7.195,-1.373,0,1,0
$FREEZE,7.28,7.074,-1.371,0,1,0
$GC,2488,0.71,292.9,7.6,4.3,524,2499,0.00,0.00,6.60,0.195,6,0.000,0.000,3047,181,1608,0,0,0,0,0,0
$FREEZE,6.81,6.987,-1.358,0,1,0
$FREEZE,6.70,6.933,-1.358,0,1,0
$FREEZE,6.52,6.814,-1.362,0,1,0
$FREEZE,6.32,6.732,-1.364,0,1,0
$FREEZE,6.17,6.707,-1.362,0,1,0
$FREEZE,6.11,6.701,-1.358,0,1,0
$FREEZE,5.96,6.689,-1.352,0,1,0
$FREEZE,5.80,6.681,-1.346,0,1,0
$FREEZE,5.65,6.679,-1.338,0,1,0
$FREEZE,5.42,6.677,-1.332,0,1,0
$GC,2534,0.75,330.8,5.8,3.7,534,2552,0.10,0.00,12.30,0.181,6,0.112,0.000,3087,181,1455,0,0,0,0,0,0
$FREEZE,4.81,6.662,-1.323,0,1,0
$FREEZE,4.70,6.651,-1.320,0,1,0
$FREEZE,4.29,6.644,-1.319,0,1,0
$FREEZE,4.13,6.629,-1.318,0,1,0
$FREEZE,4.08,6.609,-1.318,0,1,0
$FREEZE,3.74,6.587,-1.319,0,1,0
$STATE,2578,end climb,SURFACE_DEPTH_REACHED
$STATE,2578,begin surface coast
$FREEZE,3.51,6.566,-1.319,0,1,0
$FREEZE,3.33,6.476,-1.325,0,1,0
$FREEZE,3.12,6.309,-1.330,0,1,0
$FREEZE,2.92,6.341,-1.285,0,1,0
$FREEZE,2.88,6.122,-1.255,0,1,0
$FREEZE,2.89,5.954,-1.238,0,1,0
$FREEZE,2.87,5.885,-1.227,0,1,0
$FREEZE,2.80,5.808,-1.216,0,1,0
$FREEZE,2.79,5.822,-1.211,0,1,0
$FREEZE,2.64,5.787,-1.209,0,1,0
$FREEZE,2.70,5.754,-1.202,0,1,0
$FREEZE,2.63,5.700,-1.188,0,1,0
$FREEZE,2.61,5.611,-1.182,0,1,0
$FREEZE,2.60,5.516,-1.181,0,1,0
$FREEZE,2.53,5.810,-1.169,0,1,0
$FREEZE,2.55,5.563,-1.176,0,1,0
$FREEZE,2.53,5.480,-1.178,0,1,0
$FREEZE,2.37,5.482,-1.177,0,1,0
$FREEZE,2.29,5.413,-1.177,0,1,0
$FREEZE,2.31,5.370,-1.176,0,1,0
$FREEZE,2.29,5.435,-1.179,0,1,0
$FREEZE,2.30,5.369,-1.181,0,1,0
$FREEZE,2.35,5.360,-1.184,0,1,0
$FREEZE,2.27,5.363,-1.184,0,1,0
$FREEZE,2.38,5.362,-1.183,0,1,0
$FREEZE,2.36,5.367,-1.180,0,1,0
$FINISH,2.4,1.017142
$STATE,2687,end surface coast,CONTROL_FINISHED_OK
$STATE,2687,begin surface
$SM_CCo,2707,50.58,0.160,0,0,847,480.04
$SM_GC,2.08,0.00,0.00,50.58,0.000,0.000,0.160,111,3805,847,-8.51,-0.03,480.04
$IRIDIUM_FIX,4751.72,-12226.29,110611,232349
$TT8_MAMPS,0.028379
$HUMID,1077381272
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,28.2
$24V_AH,24.9,19.591
$10V_AH,10.4,6.652
$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,21.225,11.750,142.550,50.575,0.000,84.311,79.747,384.146,0.500,0.000,37.180,953.701,736.163,364.792,1411.109,97.790,33.330,895.782,0.000,823.087,0.000,5.500,0.000
$DEVICE_MAMPS,281.489,44.486,493.181,160.303,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324080
$DATA_FILE_SIZE,23396,569
$CAP_FILE_SIZE,91161,0
$CFSIZE,260165632,255078400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,054019,4807.960,-12222.583,9,1.5,15,18.3