version: 66.07
glider: 505
mission: 2
dive: 36
start: 12 15 109 21 26 4
data:
$ID,505
$MISSION,2
$DIVE,36
$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,-22701.598
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,151209,212044,4807.117,-12222.720,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.6
$GPS2,151209,212508,4807.092,-12222.740,14,1.2,14,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.186
$KALMAN_X,-6649.5,-2695.3,152.6,7249.3,-30.6
$KALMAN_Y,1134.8,2403.0,23.8,378.7,-20.9
$MHEAD_RNG_PITCHd_Wd,125.0,4433,-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,-214.1,0.0,0.0,0,68,0.00,0.00,-50.55,0.000,2,0.000,0.000,113,1917,2212,0,0,0,0,0,0
$GC,69,-0.42,-214.1,3.4,-5.2,12,123,11.73,2.65,-32.85,0.000,4,0.281,0.063,2694,313,3682,0,0,0,0,0,0
$STATE,289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,289,begin apogee
$GC,295,-0.17,0.0,30.1,9.8,60,372,0.25,0.00,72.95,0.922,6,0.142,0.000,2777,1693,2804,0,0,0,0,0,0
$STATE,374,end apogee,CONTROL_FINISHED_OK
$STATE,374,begin climb
$GC,375,0.42,214.1,33.8,0.0,78,458,0.57,2.72,73.72,0.894,4,0.120,0.048,2962,3293,1929,0,0,0,0,0,0
$GC,481,0.42,214.1,27.1,8.4,102,487,0.00,2.62,0.00,0.000,6,0.000,0.043,2965,1705,1926,0,0,0,0,0,0
$GC,524,0.42,214.1,23.4,8.8,111,529,0.00,2.55,0.00,0.000,4,0.000,0.053,2972,170,1926,0,0,0,0,0,0
$GC,548,0.42,214.1,21.4,8.7,116,554,0.00,2.50,0.00,0.000,6,0.000,0.038,2972,1713,1925,0,0,0,0,0,0
$GC,591,0.42,214.1,17.7,8.8,125,597,0.00,2.55,0.00,0.000,4,0.000,0.045,2972,3292,1925,0,0,0,0,0,0
$GC,616,0.42,214.1,15.4,8.8,130,621,0.00,2.58,0.00,0.000,6,0.000,0.042,2978,1706,1925,0,0,0,0,0,0
$GC,659,0.42,214.1,12.3,8.3,139,664,0.00,2.50,0.00,0.000,4,0.000,0.052,2978,171,1925,0,0,0,0,0,0
$GC,678,0.42,214.1,11.3,6.4,143,684,0.00,2.50,0.00,0.000,6,0.000,0.038,2978,1733,1925,0,0,0,0,0,0
$GC,721,0.49,271.9,9.9,4.1,152,749,0.00,2.55,18.90,0.766,4,0.000,0.045,2978,3284,1692,0,0,0,0,0,0
$GC,800,0.55,321.6,6.8,4.2,169,824,0.10,2.42,16.60,0.735,6,0.115,0.041,3018,1771,1491,0,0,0,0,0,0
$FREEZE,4.95,6.943,-1.358,0,1,0
$FREEZE,4.77,6.908,-1.354,0,1,0
$FREEZE,4.64,6.888,-1.350,0,1,0
$FREEZE,4.36,6.834,-1.344,0,1,0
$FREEZE,4.04,6.800,-1.342,0,1,0
$FREEZE,3.92,6.780,-1.340,0,1,0
$GC,864,0.64,395.9,4.6,3.8,182,884,0.08,0.00,17.40,0.727,2,0.146,0.000,3051,1771,1282,0,0,0,0,0,0
$STATE,885,end climb,SURFACE_DEPTH_REACHED
$STATE,885,begin surface coast
$FREEZE,3.32,6.497,-1.349,0,1,0
$FREEZE,3.15,5.886,-1.375,0,1,0
$FREEZE,2.97,5.674,-1.388,0,1,0
$FREEZE,2.71,5.647,-1.353,0,1,0
$FREEZE,2.64,5.634,-1.316,0,1,0
$FREEZE,2.51,5.641,-1.298,0,1,0
$FREEZE,2.42,5.646,-1.290,0,1,0
$FREEZE,2.23,5.632,-1.286,0,1,0
$FREEZE,2.13,5.641,-1.284,0,1,0
$FREEZE,1.91,5.618,-1.288,0,1,0
$FREEZE,1.76,5.616,-1.292,0,1,0
$FREEZE,1.70,5.709,-1.292,0,1,0
$FREEZE,1.50,5.879,-1.282,0,1,0
$FREEZE,1.31,5.644,-1.293,0,1,0
$FREEZE,1.03,5.632,-1.290,0,1,0
$FREEZE,0.89,5.703,-1.287,0,1,0
$FREEZE,0.76,5.666,-1.285,0,1,0
$FREEZE,0.70,5.734,-1.266,0,1,0
$FREEZE,0.42,5.771,-1.253,0,1,0
$FREEZE,0.21,5.687,-1.245,0,1,0
$FREEZE,0.19,5.650,-1.235,0,1,0
$FREEZE,0.11,5.651,-1.055,0,1,0
$FREEZE,0.17,5.653,-0.619,0,1,0
$FREEZE,0.14,5.637,-0.978,0,1,0
$FREEZE,0.10,5.663,-0.798,0,1,0
$FREEZE,0.19,5.659,-0.645,0,1,0
$FINISH,0.2,1.009380
$STATE,992,end surface coast,CONTROL_FINISHED_OK
$STATE,992,begin surface
$SM_CCo,1006,36.97,0.159,0,0,847,480.04
$SM_GC,1.14,0.00,0.00,36.97,0.000,0.000,0.159,107,1913,847,-8.53,0.37,480.04
$IRIDIUM_FIX,4748.51,-12221.84,100611,151525
$TT8_MAMPS,0.029146
$HUMID,1077363208
$INTERNAL_PRESSURE,8.95623
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,23.9,16.484
$10V_AH,10.5,5.485
$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,20.625,30.575,199.575,36.975,0.000,29.471,29.550,135.822,0.000,0.000,15.136,338.036,160.495,280.715,520.347,30.833,33.346,520.748,0.000,317.353,0.000,0.997,0.000
$DEVICE_MAMPS,280.722,64.428,921.934,158.769,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,137.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324092
$DATA_FILE_SIZE,6811,211
$CAP_FILE_SIZE,36472,0
$CFSIZE,260165632,256856064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,214414,4807.043,-12222.677,12,1.5,12,18.3