version: 66.07
glider: 505
mission: 2
dive: 97
start: 12 17 109 0 15 11
data:
$ID,505
$MISSION,2
$DIVE,97
$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,-23490.662
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,110611,170630,4751.718,-12226.294,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,11.90
$_SM_ANGLEo,-1.1
$GPS2,110611,170630,4751.718,-12226.294,0,10000.0,0,18.3
$SPEED_LIMITS,0.115,0.242
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.040,0.238
$KALMAN_X,-18678.8,-1029.5,-914.0,14377.3,-975.1
$KALMAN_Y,21735.4,-7055.2,-5312.9,-33280.8,-10975.7
$MHEAD_RNG_PITCHd_Wd,351.2,26977,-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,-4.93,0.000,2,0.000,0.000,2833,3261,3082,0,0,0,0,0,0
$GC,24,-0.55,-175.2,12.2,-0.0,1,38,0.45,0.00,-7.85,0.000,4,0.075,0.000,2658,3261,3524,0,0,0,0,0,0
$GC,117,-0.55,-175.2,20.6,-10.3,21,123,0.00,2.50,0.00,0.000,6,0.000,0.041,2657,1689,3526,0,0,0,0,0,0
$GC,160,-0.55,-175.2,25.6,-11.5,30,165,0.00,2.42,0.00,0.000,4,0.000,0.049,2657,169,3525,0,0,0,0,0,0
$GC,175,-0.55,-175.2,27.6,-12.1,33,180,0.00,2.42,0.00,0.000,6,0.000,0.039,2657,1714,3526,0,0,0,0,0,0
$STATE,203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,203,begin apogee
$GC,206,-0.17,0.0,30.3,11.0,39,270,0.35,0.00,57.55,0.253,6,0.137,0.000,2772,1714,2805,0,0,0,0,0,0
$STATE,271,end apogee,CONTROL_FINISHED_OK
$STATE,271,begin climb
$GC,273,0.55,175.2,33.6,0.0,54,338,0.68,2.53,58.05,0.251,4,0.109,0.048,3007,179,2089,0,0,0,0,0,0
$GC,344,0.55,175.2,28.6,8.8,70,349,0.00,2.40,0.00,0.000,6,0.000,0.035,3006,1690,2088,0,0,0,0,0,0
$GC,387,0.55,175.2,23.3,12.4,79,392,0.00,2.50,0.00,0.000,4,0.000,0.044,3006,3262,2085,0,0,0,0,0,0
$GC,406,0.55,175.2,20.8,12.0,83,412,0.00,2.50,0.00,0.000,6,0.000,0.040,3016,1694,2084,0,0,0,0,0,0
$GC,450,0.55,175.2,15.4,12.8,92,455,0.00,2.47,0.00,0.000,4,0.000,0.049,3027,170,2084,0,0,0,0,0,0
$GC,460,0.55,175.2,14.1,12.5,94,467,0.03,2.42,0.00,0.000,6,0.265,0.036,3016,1695,2084,0,0,0,0,0,0
$GC,504,0.55,175.2,10.1,10.1,103,509,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1695,2084,0,0,0,0,0,0
$STATE,513,end climb,FINISH_DEPTH_REACHED
$STATE,513,begin subsurface finish
$FINISH1,9.8,1.020107,0
$GC,517,0.00,0.0,9.8,-7.4,105,536,0.50,0.00,-14.35,0.000,6,0.099,0.000,2838,1697,2810,0,0,0,0,0,0
$FINISH2,10.3
$STATE,536,end subsurface finish,CONTROL_FINISHED_OK
$STATE,537,begin surface
$IRIDIUM_FIX,4751.72,-12226.29,110611,171730
$TT8_MAMPS,0.028379
$HUMID,1077417401
$INTERNAL_PRESSURE,9.17109
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,25.1,19.369
$10V_AH,10.5,6.463
$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,2.000,22.175,115.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,194.960,87.645,129.432,158.024,15.156,33.343,273.097,0.000,172.418,0.000,0.995,0.000
$DEVICE_MAMPS,264.615,49.088,253.110,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,70.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324336
$DATA_FILE_SIZE,3518,109
$CAP_FILE_SIZE,19312,0
$CFSIZE,260165632,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,170630,4751.718,-12226.294,0,10000.0,0,18.3