version: 66.07
glider: 505
mission: 2
dive: 108
start: 12 17 109 7 35 37
data:
$ID,505
$MISSION,2
$DIVE,108
$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,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,220
$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,-23693.008
$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,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,29
$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
$GPS1,171209,072858,4807.857,-12222.432,14,4.9,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.8
$GPS2,171209,073513,4807.845,-12222.386,11,1.6,16,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,HEADING
$TGT_LATLONG,4759.572,-12232.758
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.017,-0.168
$KALMAN_X,-13133.6,-4635.2,-588.1,16822.7,2665.0
$KALMAN_Y,68460.2,-29369.0,-3484.8,-30122.7,17846.2
$MHEAD_RNG_PITCHd_Wd,201.7,20000,-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,-214.2,0.0,0.0,0,51,0.00,0.00,-33.95,0.000,2,0.000,0.000,109,3816,1818,0,0,0,0,0,0
$GC,53,-0.42,-214.2,3.4,-7.3,8,119,12.12,0.68,-47.35,0.000,4,0.284,0.075,2694,3358,3682,0,0,0,0,0,0
$GC,199,-0.42,-214.2,18.6,-11.5,40,205,0.00,2.47,0.00,0.000,6,0.000,0.041,2694,1794,3683,0,0,0,0,0,0
$GC,242,-0.42,-214.2,22.3,-8.4,49,248,0.00,2.53,0.00,0.000,4,0.000,0.048,2694,212,3682,0,0,0,0,0,0
$GC,255,-0.42,-214.2,23.3,-8.6,51,260,0.00,2.55,0.00,0.000,6,0.000,0.040,2694,1807,3682,0,0,0,0,0,0
$GC,298,-0.42,-214.2,27.6,-9.4,60,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1807,3682,0,0,0,0,0,0
$GC,340,-0.42,-214.2,31.6,-9.6,69,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1807,3682,0,0,0,0,0,0
$GC,383,-0.42,-214.2,35.7,-9.7,78,389,0.00,2.53,0.00,0.000,4,0.000,0.049,2694,3386,3682,0,0,0,0,0,0
$GC,394,-0.42,-214.2,36.7,-9.7,80,400,0.00,2.50,0.00,0.000,6,0.000,0.038,2694,1798,3682,0,0,0,0,0,0
$GC,439,-0.42,-214.2,40.8,-9.1,89,444,0.00,2.55,0.00,0.000,4,0.000,0.049,2694,209,3681,0,0,0,0,0,0
$GC,449,-0.42,-214.2,41.8,-9.1,91,455,0.00,2.53,0.00,0.000,6,0.000,0.039,2694,1804,3682,0,0,0,0,0,0
$GC,494,-0.42,-214.2,45.6,-9.2,100,499,0.00,2.53,0.00,0.000,4,0.000,0.048,2694,3392,3682,0,0,0,0,0,0
$GC,504,-0.42,-214.2,46.7,-8.9,102,510,0.00,2.47,0.00,0.000,6,0.000,0.038,2694,1802,3682,0,0,0,0,0,0
$GC,549,-0.42,-214.2,50.5,-8.5,111,554,0.00,2.55,0.00,0.000,4,0.000,0.049,2694,209,3682,0,0,0,0,0,0
$GC,559,-0.42,-214.2,51.5,-8.6,113,565,0.00,2.53,0.00,0.000,6,0.000,0.038,2694,1804,3682,0,0,0,0,0,0
$GC,602,-0.42,-214.2,55.0,-8.5,122,608,0.00,2.53,0.00,0.000,4,0.000,0.048,2694,3395,3681,0,0,0,0,0,0
$GC,613,-0.42,-214.2,55.9,-8.4,124,619,0.00,2.47,0.00,0.000,6,0.000,0.037,2694,1799,3681,0,0,0,0,0,0
$GC,656,-0.42,-214.2,59.3,-7.9,133,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1798,3682,0,0,0,0,0,0
$GC,700,-0.42,-214.2,62.4,-7.4,142,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1798,3681,0,0,0,0,0,0
$GC,742,-0.42,-214.2,65.6,-7.4,151,747,0.00,2.53,0.00,0.000,4,0.000,0.049,2694,217,3681,0,0,0,0,0,0
$GC,766,-0.42,-214.2,67.6,-7.5,156,772,0.00,2.50,0.00,0.000,6,0.000,0.039,2694,1802,3681,0,0,0,0,0,0
$GC,809,-0.42,-214.2,70.8,-7.7,165,815,0.00,2.53,0.00,0.000,4,0.000,0.048,2694,3395,3681,0,0,0,0,0,0
$GC,820,-0.42,-214.2,71.7,-7.6,167,826,0.00,2.47,0.00,0.000,6,0.000,0.038,2694,1791,3681,0,0,0,0,0,0
$GC,863,-0.42,-214.2,74.8,-7.3,176,869,0.00,2.50,0.00,0.000,4,0.000,0.048,2694,219,3681,0,0,0,0,0,0
$GC,888,-0.42,-214.2,76.8,-7.7,181,893,0.00,2.50,0.00,0.000,6,0.000,0.038,2694,1801,3681,0,0,0,0,0,0
$GC,935,-0.42,-214.2,80.1,-7.8,190,941,0.00,2.50,0.00,0.000,4,0.000,0.048,2694,3385,3681,0,0,0,0,0,0
$GC,959,-0.42,-214.2,82.0,-7.2,195,965,0.00,2.47,0.00,0.000,6,0.000,0.038,2694,1801,3681,0,0,0,0,0,0
$GC,1003,-0.42,-214.2,84.9,-6.8,204,1008,0.00,2.50,0.00,0.000,4,0.000,0.048,2694,217,3681,0,0,0,0,0,0
$GC,1032,-0.42,-214.2,87.0,-7.0,210,1037,0.00,2.50,0.00,0.000,6,0.000,0.039,2694,1800,3681,0,0,0,0,0,0
$GC,1075,-0.42,-214.2,90.1,-7.1,219,1080,0.00,2.50,0.00,0.000,4,0.000,0.048,2694,3384,3681,0,0,0,0,0,0
$GC,1099,-0.42,-214.2,91.7,-6.8,224,1105,0.00,2.45,0.00,0.000,6,0.000,0.038,2694,1804,3681,0,0,0,0,0,0
$GC,1143,-0.42,-214.2,94.6,-6.6,233,1149,0.00,2.53,0.00,0.000,4,0.000,0.048,2694,209,3681,0,0,0,0,0,0
$GC,1158,-0.42,-214.2,95.8,-6.8,236,1164,0.00,2.53,0.00,0.000,6,0.000,0.039,2694,1807,3681,0,0,0,0,0,0
$GC,1201,-0.42,-214.2,98.8,-7.2,245,1207,0.00,2.50,0.00,0.000,4,0.000,0.048,2694,3393,3682,0,0,0,0,0,0
$STATE,1221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1221,begin apogee
$GC,1227,-0.17,0.0,100.1,6.9,249,1306,0.25,0.00,73.93,0.495,6,0.109,0.000,2786,1795,2805,0,0,0,0,0,0
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1308,0.42,214.2,102.3,0.0,267,1391,0.50,0.00,75.03,0.486,6,0.099,0.000,2962,1795,1930,0,0,0,0,0,0
$GC,1430,0.42,214.2,93.1,9.3,294,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1795,1928,0,0,0,0,0,0
$GC,1473,0.42,214.2,89.1,9.5,303,1478,0.00,2.60,0.00,0.000,4,0.000,0.045,2962,3392,1927,0,0,0,0,0,0
$GC,1489,0.42,214.2,86.6,10.1,306,1495,0.00,2.58,0.00,0.000,6,0.000,0.039,2967,1794,1927,0,0,0,0,0,0
$GC,1532,0.42,214.2,82.8,9.7,315,1538,0.00,2.58,0.00,0.000,4,0.000,0.049,2977,214,1927,0,0,0,0,0,0
$GC,1575,0.42,214.2,78.8,9.9,324,1581,0.00,2.55,0.00,0.000,6,0.000,0.037,2978,1805,1927,0,0,0,0,0,0
$GC,1620,0.42,214.2,74.4,9.8,333,1626,0.00,2.53,0.00,0.000,4,0.000,0.044,2978,3389,1927,0,0,0,0,0,0
$GC,1645,0.42,214.2,71.5,10.4,338,1650,0.00,2.55,0.00,0.000,6,0.000,0.040,2978,1792,1926,0,0,0,0,0,0
$GC,1688,0.42,214.2,67.0,10.8,347,1693,0.00,2.55,0.00,0.000,4,0.000,0.050,2978,216,1926,0,0,0,0,0,0
$GC,1731,0.42,214.2,62.7,10.0,356,1737,0.00,2.53,0.00,0.000,6,0.000,0.037,2978,1805,1926,0,0,0,0,0,0
$GC,1776,0.42,214.2,58.5,9.5,365,1781,0.00,2.50,0.00,0.000,4,0.000,0.044,2978,3386,1926,0,0,0,0,0,0
$GC,1810,0.42,214.2,54.7,10.5,372,1815,0.00,2.53,0.00,0.000,6,0.000,0.040,2978,1797,1926,0,0,0,0,0,0
$GC,1853,0.42,214.2,50.3,10.5,381,1858,0.00,2.55,0.00,0.000,4,0.000,0.050,2987,215,1926,0,0,0,0,0,0
$GC,1891,0.42,214.2,46.3,10.3,389,1898,0.08,2.50,0.00,0.000,6,0.176,0.038,2970,1803,1927,0,0,0,0,0,0
$GC,1935,0.42,214.2,42.2,9.5,398,1941,0.00,2.50,0.00,0.000,4,0.000,0.044,2969,3387,1926,0,0,0,0,0,0
$GC,1965,0.42,214.2,39.3,9.5,404,1970,0.00,2.53,0.00,0.000,6,0.000,0.039,2975,1791,1926,0,0,0,0,0,0
$GC,2008,0.42,214.2,35.2,9.6,413,2013,0.00,2.53,0.00,0.000,4,0.000,0.051,2978,216,1926,0,0,0,0,0,0
$GC,2042,0.42,214.2,32.1,9.3,420,2047,0.00,2.50,0.00,0.000,6,0.000,0.038,2978,1801,1926,0,0,0,0,0,0
$GC,2086,0.42,214.2,28.1,9.2,429,2092,0.00,2.50,0.00,0.000,4,0.000,0.044,2978,3390,1926,0,0,0,0,0,0
$GC,2115,0.42,214.2,25.0,9.6,435,2121,0.00,2.53,0.00,0.000,6,0.000,0.039,2979,1789,1926,0,0,0,0,0,0
$GC,2158,0.42,214.2,21.1,9.4,444,2164,0.00,2.53,0.00,0.000,4,0.000,0.050,2981,215,1926,0,0,0,0,0,0
$GC,2187,0.42,214.2,18.6,9.0,450,2193,0.00,2.47,0.00,0.000,6,0.000,0.038,2981,1800,1926,0,0,0,0,0,0
$GC,2231,0.42,214.2,14.9,8.6,459,2236,0.00,2.47,0.00,0.000,4,0.000,0.045,2981,3385,1927,0,0,0,0,0,0
$GC,2242,0.42,214.2,13.9,8.5,461,2247,0.00,2.50,0.00,0.000,6,0.000,0.038,2981,1789,1926,0,0,0,0,0,0
$GC,2285,0.42,214.2,11.8,6.2,470,2290,0.00,2.53,0.00,0.000,4,0.000,0.050,2981,210,1926,0,0,0,0,0,0
$FREEZE,9.97,7.960,-1.454,0,1,0
$FREEZE,9.80,7.878,-1.439,0,1,0
$FREEZE,9.64,7.842,-1.429,0,1,0
$GC,2319,0.50,282.2,10.4,3.9,477,2347,0.00,2.50,21.98,0.181,6,0.000,0.038,2981,1803,1652,0,0,0,0,0,0
$FREEZE,9.21,7.824,-1.422,0,1,0
$FREEZE,9.14,7.822,-1.422,0,1,0
$FREEZE,8.91,7.799,-1.423,0,1,0
$FREEZE,8.76,7.793,-1.423,0,1,0
$FREEZE,8.59,7.776,-1.424,0,1,0
$FREEZE,8.30,7.770,-1.426,0,1,0
$FREEZE,8.24,7.762,-1.428,0,1,0
$FREEZE,8.01,7.752,-1.428,0,1,0
$FREEZE,7.71,7.753,-1.426,0,1,0
$FREEZE,7.27,7.748,-1.425,0,1,0
$FREEZE,6.98,7.733,-1.425,0,1,0
$FREEZE,6.47,7.735,-1.424,0,1,0
$FREEZE,6.08,7.701,-1.424,0,1,0
$GC,2382,0.60,360.1,8.0,3.7,490,2418,0.12,2.58,25.88,0.179,4,0.126,0.046,3026,3386,1328,0,0,0,0,0,0
$FREEZE,5.01,7.229,-1.433,0,1,0
$FREEZE,4.71,7.071,-1.431,0,1,0
$FREEZE,4.50,6.995,-1.418,0,1,0
$FREEZE,4.31,7.012,-1.404,0,1,0
$FREEZE,4.16,6.789,-1.393,0,1,0
$FREEZE,4.01,6.547,-1.392,0,1,0
$FREEZE,3.79,6.186,-1.388,0,1,0
$STATE,2448,end climb,SURFACE_DEPTH_REACHED
$STATE,2448,begin surface coast
$FREEZE,3.75,6.103,-1.373,0,1,0
$FREEZE,3.58,6.047,-1.345,0,1,0
$FINISH,3.6,1.019426
$STATE,2458,end surface coast,CONTROL_FINISHED_OK
$STATE,2458,begin surface
$SM_CCo,2475,40.90,0.160,0,0,847,480.04
$SM_GC,2.33,0.00,0.00,40.90,0.000,0.000,0.160,115,1789,847,-8.50,-0.31,480.04
$IRIDIUM_FIX,4751.72,-12220.85,120611,000014
$TT8_MAMPS,0.029146
$HUMID,1077381272
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,29.8
$24V_AH,24.5,19.701
$10V_AH,10.5,6.746
$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,21.000,139.150,196.800,40.900,0.000,31.007,23.621,230.540,0.500,0.000,16.864,846.202,514.510,421.204,1030.544,94.266,0.000,939.372,0.000,731.453,0.000,5.505,0.000
$DEVICE_MAMPS,283.790,75.166,494.715,159.536,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324260
$DATA_FILE_SIZE,20056,505
$CAP_FILE_SIZE,91980,0
$CFSIZE,260165632,254959616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,081846,4807.643,-12222.696,19,3.8,38,18.3