version: 66.07
glider: 505
mission: 2
dive: 85
start: 12 16 109 21 22 58
data:
$ID,505
$MISSION,2
$DIVE,85
$D_SURF,2
$D_FLARE,3
$D_TGT,30
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,50
$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,15
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,-23418.242
$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,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,110611,141750,4745.296,-12234.443,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,12.43
$_SM_ANGLEo,-4.1
$GPS2,110611,141750,4745.296,-12234.443,0,10000.0,0,18.3
$SPEED_LIMITS,0.115,0.242
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.092,0.224
$KALMAN_X,-30808.2,643.1,348.0,13398.0,124.0
$KALMAN_Y,-36141.4,13398.4,3455.3,-17113.1,1133.1
$MHEAD_RNG_PITCHd_Wd,4.0,41316,-10.0,-6.667
$D_GRID,1001
$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,-0.55,-175.2,0.0,0.0,0,22,0.00,0.00,-5.05,0.000,2,0.000,0.000,2837,171,3090,0,0,0,0,0,0
$GC,24,-0.55,-175.2,12.3,-0.0,1,43,0.45,5.00,-7.72,0.000,4,0.071,0.050,2657,3289,3524,0,0,0,0,0,0
$GC,57,-0.55,-175.2,14.7,-7.1,8,63,0.00,2.50,0.00,0.000,6,0.000,0.036,2657,1693,3525,0,0,0,0,0,0
$GC,101,-0.55,-175.2,19.4,-10.9,17,106,0.00,2.38,0.00,0.000,4,0.000,0.047,2657,184,3525,0,0,0,0,0,0
$GC,158,-0.55,-175.2,26.0,-11.8,29,163,0.00,2.38,0.00,0.000,6,0.000,0.039,2657,1686,3525,0,0,0,0,0,0
$STATE,194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,195,begin apogee
$GC,198,-0.17,0.0,30.1,10.6,37,262,0.35,0.00,57.95,0.251,6,0.136,0.000,2772,1686,2805,0,0,0,0,0,0
$STATE,263,end apogee,CONTROL_FINISHED_OK
$STATE,263,begin climb
$GC,265,0.55,175.2,33.3,0.0,52,330,0.68,2.45,57.97,0.249,4,0.107,0.046,3012,183,2088,0,0,0,0,0,0
$GC,340,0.55,175.2,27.9,9.6,69,346,0.00,2.40,0.00,0.000,6,0.000,0.036,3012,1689,2087,0,0,0,0,0,0
$GC,384,0.55,175.2,22.5,12.4,78,389,0.00,2.53,0.00,0.000,4,0.000,0.044,3012,3266,2085,0,0,0,0,0,0
$GC,408,0.55,175.2,19.4,12.5,83,413,0.00,2.50,0.00,0.000,6,0.000,0.039,3021,1708,2084,0,0,0,0,0,0
$GC,451,0.55,175.2,13.9,13.1,92,457,0.00,2.47,0.00,0.000,4,0.000,0.049,3032,178,2084,0,0,0,0,0,0
$FREEZE,9.93,7.782,-1.430,0,4,0
$FREEZE,9.69,7.780,-1.427,0,4,0
$FREEZE,9.45,7.779,-1.425,0,4,0
$GC,504,0.55,175.2,9.5,8.3,103,510,0.08,2.42,0.00,0.000,6,0.170,0.037,3011,1716,2084,0,0,0,0,0,0
$FREEZE,8.82,7.780,-1.421,0,4,0
$FREEZE,8.51,7.777,-1.419,0,4,0
$FREEZE,8.26,7.778,-1.418,0,4,0
$FREEZE,8.35,7.776,-1.418,0,4,0
$FREEZE,8.19,7.769,-1.417,0,4,0
$FREEZE,8.03,7.764,-1.417,0,4,0
$FREEZE,8.10,7.767,-1.416,0,4,0
$FREEZE,8.05,7.763,-1.415,0,4,0
$FREEZE,7.96,7.762,-1.415,0,4,0
$FREEZE,7.87,7.761,-1.414,0,4,0
$FREEZE,7.87,7.756,-1.412,0,4,0
$FREEZE,7.85,7.751,-1.411,0,4,0
$FREEZE,7.71,7.743,-1.410,0,4,0
$FREEZE,7.55,7.744,-1.408,0,4,0
$GC,545,0.68,285.6,8.0,3.8,112,587,0.12,2.45,35.80,0.175,4,0.091,0.042,3075,3262,1636,0,0,0,0,0,0
$FREEZE,6.62,7.706,-1.404,0,4,0
$FREEZE,6.43,7.679,-1.400,0,4,0
$FREEZE,6.26,7.665,-1.394,0,4,0
$FREEZE,5.95,7.634,-1.393,0,4,0
$FREEZE,5.73,7.547,-1.390,0,4,0
$FREEZE,5.48,7.528,-1.382,0,4,0
$FREEZE,5.34,7.541,-1.379,0,4,0
$FREEZE,5.15,7.538,-1.377,0,4,0
$FREEZE,5.05,7.523,-1.375,0,4,0
$FREEZE,4.83,7.523,-1.374,0,4,0
$FREEZE,4.59,7.525,-1.372,0,4,0
$FREEZE,4.45,7.497,-1.370,0,4,0
$FREEZE,4.28,7.499,-1.368,0,4,0
$FREEZE,4.10,7.473,-1.367,0,4,0
$FREEZE,3.85,7.469,-1.365,0,4,0
$FREEZE,3.58,7.457,-1.363,0,4,0
$FREEZE,3.25,7.463,-1.363,0,4,0
$FREEZE,3.09,7.456,-1.362,0,4,0
$FREEZE,2.84,7.456,-1.361,0,4,0
$FREEZE,2.60,7.448,-1.361,0,4,0
$FREEZE,2.43,7.434,-1.360,0,4,0
$FREEZE,2.16,7.428,-1.358,0,4,0
$FREEZE,1.92,7.430,-1.357,0,4,0
$STATE,683,end climb,SURFACE_DEPTH_REACHED
$STATE,683,begin surface coast
$FREEZE,1.61,7.430,-1.356,0,4,0
$FREEZE,1.27,7.432,-1.356,0,4,0
$FREEZE,0.96,7.434,-1.355,0,4,0
$FREEZE,0.63,7.435,-1.355,0,4,0
$FREEZE,0.39,7.435,-1.354,0,4,0
$FREEZE,0.24,7.441,-1.354,0,4,0
$FREEZE,0.33,7.466,-0.699,0,4,0
$FREEZE,0.27,7.516,-0.870,0,4,0
$FINISH,0.3,1.012500
$STATE,718,end surface coast,CONTROL_FINISHED_OK
$STATE,718,begin surface
$SM_CCo,734,65.70,0.155,0,0,848,480.04
$SM_GC,1.33,0.00,0.00,65.70,0.000,0.000,0.155,109,1690,848,-8.52,-0.28,480.04
$IRIDIUM_FIX,4745.30,-12234.44,110611,141450
$TT8_MAMPS,0.028379
$HUMID,1077358047
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,25.1,19.175
$10V_AH,10.5,6.353
$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,9.475,31.975,151.725,65.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,293.667,100.626,224.554,214.529,20.026,33.298,396.369,0.000,230.372,0.000,0.994,0.000
$DEVICE_MAMPS,169.507,49.855,250.809,154.934,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,98.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324296
$DATA_FILE_SIZE,3512,150
$CAP_FILE_SIZE,26400,0
$CFSIZE,260165632,255627264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,213731,4806.850,-12222.269,38,1.8,38,18.3