version: 66.07
glider: 505
mission: 2
dive: 31
start: 12 15 109 19 21 47
data:
$ID,505
$MISSION,2
$DIVE,31
$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,-22605.668
$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,28
$R_STBD_OVSHOOT,46
$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,1
$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
$GPS1,151209,191638,4807.626,-12223.022,13,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-75.9
$GPS2,151209,192050,4807.620,-12223.044,11,1.4,11,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.177,-0.149
$KALMAN_X,-6077.8,-2897.8,307.9,6348.3,-105.4
$KALMAN_Y,932.7,3062.2,-464.4,1391.1,-25.8
$MHEAD_RNG_PITCHd_Wd,111.9,5472,-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,-214.1,0.0,0.0,0,63,0.00,0.00,-46.42,0.000,2,0.000,0.000,106,1918,2102,0,0,0,0,0,0
$GC,65,-0.42,-214.1,3.3,-5.3,11,119,11.93,2.65,-33.62,0.000,4,0.285,0.062,2694,306,3682,0,0,0,0,0,0
$GC,165,-0.42,-214.1,18.7,-13.3,33,171,0.00,2.55,0.00,0.000,6,0.000,0.042,2695,1894,3683,0,0,0,0,0,0
$GC,208,-0.42,-214.1,22.5,-9.0,42,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1895,3683,0,0,0,0,0,0
$GC,250,-0.42,-214.1,26.2,-9.0,51,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1895,3683,0,0,0,0,0,0
$GC,292,-0.42,-214.1,29.9,-8.7,60,298,0.00,2.55,0.00,0.000,4,0.000,0.051,2694,3491,3683,0,0,0,0,0,0
$STATE,302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,302,begin apogee
$GC,308,-0.17,0.0,30.8,8.7,62,386,0.25,0.00,72.82,0.918,6,0.129,0.000,2781,1695,2805,0,0,0,0,0,0
$STATE,387,end apogee,CONTROL_FINISHED_OK
$STATE,387,begin climb
$GC,389,0.42,214.1,34.3,0.0,80,466,0.55,0.00,74.03,0.890,6,0.120,0.000,2959,1694,1932,0,0,0,0,0,0
$GC,504,0.42,214.1,27.6,7.6,106,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1694,1927,0,0,0,0,0,0
$GC,546,0.42,214.1,24.3,7.7,115,551,0.00,2.60,0.00,0.000,4,0.000,0.046,2959,3290,1926,0,0,0,0,0,0
$GC,565,0.42,214.1,22.7,7.9,119,571,0.00,2.60,0.00,0.000,6,0.000,0.041,2965,1694,1925,0,0,0,0,0,0
$GC,609,0.42,214.1,19.3,8.2,128,614,0.00,2.47,0.00,0.000,4,0.000,0.053,2966,181,1925,0,0,0,0,0,0
$GC,628,0.42,214.1,17.6,8.1,132,634,0.00,2.40,0.00,0.000,6,0.000,0.037,2966,1693,1925,0,0,0,0,0,0
$GC,671,0.42,214.1,14.4,7.8,141,677,0.00,2.55,0.00,0.000,4,0.000,0.046,2966,3285,1926,0,0,0,0,0,0
$GC,686,0.42,214.1,13.2,7.7,144,692,0.00,2.62,0.00,0.000,6,0.000,0.043,2966,1658,1925,0,0,0,0,0,0
$GC,729,0.42,214.1,10.5,6.8,153,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1657,1925,0,0,0,0,0,0
$GC,772,0.50,279.2,9.3,3.9,162,800,0.10,2.65,21.42,0.759,4,0.113,0.044,3011,3285,1662,0,0,0,0,0,0
$GC,856,0.63,386.5,6.8,3.2,180,902,0.08,2.45,36.22,0.748,6,0.130,0.040,3039,1755,1228,0,0,0,0,0,0
$FREEZE,4.42,6.351,-1.358,0,1,0
$FREEZE,4.06,6.316,-1.354,0,1,0
$FREEZE,3.91,6.266,-1.351,0,1,0
$STATE,916,end climb,SURFACE_DEPTH_REACHED
$STATE,916,begin surface coast
$FREEZE,3.52,6.184,-1.346,0,1,0
$FREEZE,3.34,6.076,-1.345,0,1,0
$FREEZE,3.06,5.889,-1.349,0,1,0
$FREEZE,3.02,5.816,-1.352,0,1,0
$FREEZE,2.87,5.854,-1.348,0,1,0
$FREEZE,2.72,6.057,-1.339,0,1,0
$FREEZE,2.53,5.957,-1.341,0,1,0
$FREEZE,2.43,5.714,-1.351,0,1,0
$FREEZE,2.20,5.646,-1.350,0,1,0
$FREEZE,1.95,5.637,-1.345,0,1,0
$FREEZE,1.78,5.702,-1.340,0,1,0
$FREEZE,1.66,5.629,-1.342,0,1,0
$FREEZE,1.34,5.678,-1.334,0,1,0
$FREEZE,1.13,5.614,-1.332,0,1,0
$FREEZE,1.03,5.622,-1.322,0,1,0
$FREEZE,0.82,5.661,-1.312,0,1,0
$FREEZE,0.73,5.701,-1.304,0,1,0
$FREEZE,0.51,5.681,-1.272,0,1,0
$FREEZE,0.15,5.677,-0.790,0,1,0
$FREEZE,0.11,5.654,-0.169,0,1,0
$FINISH,0.1,1.002384
$STATE,1000,end surface coast,CONTROL_FINISHED_OK
$STATE,1000,begin surface
$SM_CCo,1015,32.05,0.158,0,0,849,480.04
$SM_GC,0.81,0.00,0.00,32.05,0.000,0.000,0.158,102,1915,849,-8.54,0.42,480.04
$IRIDIUM_FIX,4751.72,-12223.57,100611,131350
$TT8_MAMPS,0.028379
$HUMID,1077334821
$INTERNAL_PRESSURE,8.966
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.0,16.164
$10V_AH,10.5,5.405
$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,20.675,31.200,204.500,32.050,0.000,27.373,25.246,134.555,0.000,0.000,11.241,335.741,157.592,284.347,513.439,31.597,33.359,535.216,0.000,318.962,0.000,0.997,0.000
$DEVICE_MAMPS,284.557,62.127,918.099,158.002,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.253,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6835,213
$CAP_FILE_SIZE,38610,0
$CFSIZE,260165632,256962560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,194001,4807.513,-12222.964,8,1.3,13,18.3