version: 66.07
glider: 505
mission: 2
dive: 28
start: 12 15 109 18 13 16
data:
$ID,505
$MISSION,2
$DIVE,28
$D_SURF,4
$D_FLARE,3
$D_TGT,30
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,4
$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,20
$T_MISSION,30
$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,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,-22560.482
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,151209,180807,4807.843,-12223.177,35,0.9,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-75.9
$GPS2,151209,181220,4807.853,-12223.211,12,1.3,12,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.229,-0.031
$KALMAN_X,-5753.4,-2749.0,302.9,5668.1,-267.1
$KALMAN_Y,995.9,3232.0,-690.5,1813.6,21.3
$MHEAD_RNG_PITCHd_Wd,79.4,5949,-4.6,-5.000
$D_GRID,30
$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,-214.1,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,2,0.000,0.000,108,1907,1987,0,0,0,0,0,0
$GC,61,-0.42,-214.1,3.2,-5.5,10,119,11.98,2.60,-38.95,0.000,4,0.286,0.063,2692,313,3682,0,0,0,0,0,0
$GC,170,-0.42,-214.1,18.9,-14.8,34,176,0.00,2.53,0.00,0.000,6,0.000,0.041,2692,1900,3682,0,0,0,0,0,0
$GC,213,-0.42,-214.1,22.9,-9.4,43,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1901,3683,0,0,0,0,0,0
$GC,255,-0.42,-214.1,26.9,-9.3,52,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1901,3682,0,0,0,0,0,0
$STATE,291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,291,begin apogee
$GC,295,-0.17,0.0,30.2,9.0,60,373,0.25,0.00,72.62,0.921,6,0.137,0.000,2777,1690,2805,0,0,0,0,0,0
$STATE,374,end apogee,CONTROL_FINISHED_OK
$STATE,374,begin climb
$GC,375,0.42,214.1,33.5,0.0,78,458,0.57,2.72,73.60,0.890,4,0.125,0.048,2960,3289,1930,0,0,0,0,0,0
$GC,473,0.42,214.1,28.0,7.1,100,478,0.00,2.62,0.00,0.000,6,0.000,0.042,2965,1711,1927,0,0,0,0,0,0
$GC,516,0.42,214.1,24.5,8.2,109,521,0.00,2.55,0.00,0.000,4,0.000,0.051,2974,169,1926,0,0,0,0,0,0
$GC,554,0.42,214.1,21.1,8.4,117,560,0.00,2.45,0.00,0.000,6,0.000,0.038,2974,1687,1926,0,0,0,0,0,0
$GC,597,0.42,214.1,17.6,8.5,126,603,0.00,2.58,0.00,0.000,4,0.000,0.045,2975,3285,1926,0,0,0,0,0,0
$GC,626,0.42,214.1,14.7,9.1,132,632,0.00,2.60,0.00,0.000,6,0.000,0.043,2978,1680,1925,0,0,0,0,0,0
$GC,669,0.42,214.1,11.0,9.0,141,675,0.00,2.42,0.00,0.000,4,0.000,0.051,2978,179,1925,0,0,0,0,0,0
$GC,679,0.42,214.1,10.5,8.4,143,685,0.00,2.42,0.00,0.000,6,0.000,0.037,2978,1703,1925,0,0,0,0,0,0
$GC,723,0.57,340.8,9.8,2.9,152,771,0.12,0.00,42.72,0.779,6,0.105,0.000,3028,1704,1411,0,0,0,0,0,0
$GC,811,0.65,401.7,6.6,4.0,171,833,0.00,0.00,20.35,0.744,6,0.000,0.000,3028,1704,1165,0,0,0,0,0,0
$FREEZE,4.84,6.090,-1.320,0,1,0
$FREEZE,4.55,6.079,-1.322,0,1,0
$FREEZE,4.32,6.090,-1.321,0,1,0
$FREEZE,4.03,6.056,-1.318,0,1,0
$FREEZE,3.85,5.974,-1.317,0,1,0
$STATE,864,end climb,SURFACE_DEPTH_REACHED
$STATE,864,begin surface coast
$FREEZE,3.59,5.776,-1.324,0,1,0
$FREEZE,3.30,5.626,-1.330,0,1,0
$FREEZE,3.10,5.499,-1.335,0,1,0
$FREEZE,2.94,5.461,-1.333,0,1,0
$FREEZE,2.81,5.484,-1.332,0,1,0
$FREEZE,2.65,5.463,-1.329,0,1,0
$FREEZE,2.55,5.511,-1.315,0,1,0
$FREEZE,2.34,5.484,-1.309,0,1,0
$FREEZE,2.04,5.398,-1.305,0,1,0
$FREEZE,1.97,5.393,-1.302,0,1,0
$FREEZE,1.71,5.374,-1.291,0,1,0
$FREEZE,1.47,5.388,-1.291,0,1,0
$FREEZE,1.27,5.388,-1.270,0,1,0
$FREEZE,1.08,5.377,-1.262,0,1,0
$FREEZE,0.86,5.383,-1.262,0,1,0
$FREEZE,0.70,5.376,-1.253,0,1,0
$FREEZE,0.37,5.378,-1.256,0,1,0
$FREEZE,0.28,5.384,-1.240,0,1,0
$FREEZE,0.15,5.378,-0.180,0,1,0
$FINISH,0.2,1.002556
$STATE,944,end surface coast,CONTROL_FINISHED_OK
$STATE,944,begin surface
$SM_CCo,958,26.80,0.160,0,0,848,480.04
$SM_GC,1.40,0.00,0.00,26.80,0.000,0.000,0.160,103,1912,848,-8.54,0.34,480.04
$IRIDIUM_FIX,4751.72,-12229.01,100611,121201
$TT8_MAMPS,0.029146
$HUMID,1077365788
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.0,15.972
$10V_AH,10.5,5.360
$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,20.750,26.125,209.300,26.800,0.000,25.287,25.881,138.216,0.000,0.000,13.036,315.803,141.904,273.277,498.582,31.860,33.327,513.125,0.000,303.346,0.000,0.997,0.000
$DEVICE_MAMPS,286.091,62.894,921.167,159.536,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,130.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324076
$DATA_FILE_SIZE,6818,202
$CAP_FILE_SIZE,36165,0
$CFSIZE,260165632,257028096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,183026,4807.809,-12223.092,11,1.1,11,18.3