version: 66.07
glider: 505
mission: 2
dive: 52
start: 12 16 109 3 47 40
data:
$ID,505
$MISSION,2
$DIVE,52
$D_SURF,0
$D_FLARE,3
$D_TGT,30
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,1
$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,-5
$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,-23028.604
$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,2915
$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,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,34
$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
$GPS1,100611,202147,4748.505,-12226.294,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,0.9
$GPS2,100611,202147,4748.505,-12226.294,0,10000.0,0,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,0.190
$KALMAN_X,-13312.8,-3794.9,2571.3,8258.2,4019.1
$KALMAN_Y,-45114.4,-11658.7,33773.7,-7045.7,26587.0
$MHEAD_RNG_PITCHd_Wd,16.7,31242,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.42,-214.2,0.0,0.0,0,138,0.00,0.00,-117.30,0.000,6,0.000,0.000,3071,3270,3680,0,0,0,0,0,0
$GC,140,-0.42,-214.2,2.9,-4.9,29,151,0.77,4.97,0.00,0.000,4,0.069,0.042,2775,192,3680,0,0,0,0,0,0
$GC,243,-0.42,-214.2,14.1,-9.2,51,249,0.00,2.40,0.00,0.000,6,0.000,0.041,2775,1700,3680,0,0,0,0,0,0
$GC,286,-0.42,-214.2,16.3,-5.8,60,292,0.00,2.55,0.00,0.000,4,0.000,0.050,2775,3294,3680,0,0,0,0,0,0
$GC,403,-0.42,-214.2,24.3,-7.0,85,409,0.00,2.42,0.00,0.000,6,0.000,0.041,2775,1758,3681,0,0,0,0,0,0
$GC,448,-0.42,-214.2,26.9,-6.1,94,453,0.00,2.47,0.00,0.000,4,0.000,0.049,2775,191,3680,0,0,0,0,0,0
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,496,-0.17,0.0,30.1,7.1,103,574,0.25,0.00,72.95,0.890,6,0.102,0.000,2870,1686,2805,0,0,0,0,0,0
$STATE,575,end apogee,CONTROL_FINISHED_OK
$STATE,575,begin climb
$GC,576,0.42,214.2,33.6,0.0,121,659,0.47,2.67,74.28,0.858,4,0.054,0.046,3060,3266,1930,0,0,0,0,0,0
$GC,738,0.42,214.2,10.6,18.5,157,744,0.10,2.60,0.00,0.000,6,0.179,0.044,3047,1692,1926,0,0,0,0,0,0
$GC,782,0.42,214.2,7.6,9.2,166,787,0.00,2.47,0.00,0.000,4,0.000,0.052,3047,178,1926,0,0,0,0,0,0
$GC,797,0.42,214.2,7.4,5.8,169,802,0.00,2.50,0.00,0.000,6,0.000,0.038,3047,1736,1926,0,0,0,0,0,0
$GC,840,0.77,503.2,7.5,0.3,178,941,0.30,0.00,96.40,0.723,2,0.064,0.000,3178,1735,802,0,0,0,0,0,0
$STATE,942,end climb,FINISH_DEPTH_REACHED
$STATE,942,begin subsurface finish
$FINISH1,1.0,1.018667,430
$GC,947,0.53,430.2,1.0,-9.5,201,962,0.25,2.65,-9.18,0.000,4,0.071,0.057,3077,3266,1052,0,0,0,0,0,0
$FINISH2,0.1
$STATE,963,end subsurface finish,CONTROL_FINISHED_OK
$STATE,963,begin surface
$IRIDIUM_FIX,4748.51,-12226.29,100611,202047
$TT8_MAMPS,0.028379
$HUMID,1077358047
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,24.0,17.381
$10V_AH,10.5,5.713
$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,2.150,30.225,243.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,259.255,160.608,281.232,294.264,18.031,33.340,529.073,0.000,306.831,0.000,0.992,0.000
$DEVICE_MAMPS,179.478,88.972,889.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,130.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,6822,204
$CAP_FILE_SIZE,25270,0
$CFSIZE,260165632,256536576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,202147,4748.505,-12226.294,0,10000.0,0,18.3