version: 66.07
glider: 505
mission: 2
dive: 100
start: 12 17 109 0 47 11
data:
$ID,505
$MISSION,2
$DIVE,100
$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,32
$R_STBD_OVSHOOT,37
$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,12.14
$_SM_ANGLEo,-3.7
$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,0.076,0.230
$KALMAN_X,-18620.4,-2173.7,-270.4,14729.1,2369.9
$KALMAN_Y,24320.0,-16227.0,-1349.8,-31211.4,17497.6
$MHEAD_RNG_PITCHd_Wd,360.0,26977,-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,-5.22,0.000,2,0.000,0.000,2834,3266,3102,0,0,0,0,0,0
$GC,24,-0.55,-175.2,12.5,-0.0,1,43,0.45,4.97,-7.35,0.000,4,0.073,0.047,2657,170,3524,0,0,0,0,0,0
$GC,81,-0.55,-175.2,17.6,-9.9,13,86,0.00,2.40,0.00,0.000,6,0.000,0.039,2657,1699,3525,0,0,0,0,0,0
$GC,124,-0.55,-175.2,22.4,-11.0,22,129,0.00,2.55,0.00,0.000,4,0.000,0.048,2656,3288,3525,0,0,0,0,0,0
$GC,162,-0.55,-175.2,26.6,-11.2,30,168,0.00,2.47,0.00,0.000,6,0.000,0.038,2657,1701,3525,0,0,0,0,0,0
$STATE,195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,195,begin apogee
$GC,198,-0.17,0.0,30.2,10.5,37,263,0.35,0.00,57.90,0.251,6,0.133,0.000,2772,1699,2804,0,0,0,0,0,0
$STATE,264,end apogee,CONTROL_FINISHED_OK
$STATE,264,begin climb
$GC,266,0.55,175.2,33.3,0.0,52,331,0.68,2.55,57.78,0.248,4,0.110,0.042,3003,3271,2091,0,0,0,0,0,0
$GC,337,0.55,175.2,28.2,8.9,68,342,0.00,2.55,0.00,0.000,6,0.000,0.038,3007,1683,2088,0,0,0,0,0,0
$GC,380,0.55,175.2,23.1,11.6,77,385,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1682,2088,0,0,0,0,0,0
$GC,422,0.55,175.2,18.3,11.5,86,427,0.00,2.55,0.00,0.000,4,0.000,0.044,3007,3274,2087,0,0,0,0,0,0
$GC,432,0.55,175.2,17.0,11.6,88,438,0.00,2.53,0.00,0.000,6,0.000,0.038,3018,1698,2087,0,0,0,0,0,0
$GC,475,0.55,175.2,11.8,12.4,97,480,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1698,2087,0,0,0,0,0,0
$FREEZE,9.88,7.621,-1.400,0,5,0
$FREEZE,9.90,7.620,-1.399,0,5,0
$FREEZE,9.81,7.618,-1.398,0,5,0
$FREEZE,9.58,7.619,-1.396,0,5,0
$FREEZE,9.51,7.620,-1.395,0,5,0
$FREEZE,9.16,7.622,-1.394,0,5,0
$GC,518,0.64,245.6,9.9,4.8,106,547,0.08,0.00,23.02,0.181,6,0.130,0.000,3064,1697,1800,0,0,0,0,0,0
$FREEZE,8.69,7.625,-1.391,0,5,0
$FREEZE,8.44,7.617,-1.390,0,5,0
$FREEZE,8.48,7.608,-1.389,0,5,0
$FREEZE,8.28,7.596,-1.388,0,5,0
$FREEZE,8.26,7.591,-1.387,0,5,0
$FREEZE,8.03,7.553,-1.387,0,5,0
$FREEZE,7.83,7.529,-1.387,0,5,0
$FREEZE,7.68,7.495,-1.387,0,5,0
$FREEZE,7.52,7.467,-1.384,0,5,0
$FREEZE,7.24,7.441,-1.379,0,5,0
$FREEZE,7.00,7.411,-1.374,0,5,0
$FREEZE,6.64,7.355,-1.369,0,5,0
$FREEZE,6.40,7.309,-1.366,0,5,0
$FREEZE,5.94,7.289,-1.363,0,5,0
$GC,582,0.77,358.9,7.7,3.7,119,623,0.05,0.00,37.15,0.173,6,0.173,0.000,3100,1697,1338,0,0,0,0,0,0
$FREEZE,5.12,7.272,-1.360,0,5,0
$FREEZE,4.92,7.249,-1.359,0,5,0
$FREEZE,4.69,7.129,-1.352,0,5,0
$FREEZE,4.39,7.100,-1.350,0,5,0
$FREEZE,4.08,7.122,-1.349,0,5,0
$FREEZE,3.97,6.968,-1.342,0,5,0
$FREEZE,3.79,6.969,-1.339,0,5,0
$FREEZE,3.51,6.824,-1.326,0,5,0
$FREEZE,3.20,6.743,-1.317,0,5,0
$GC,658,0.81,385.0,3.5,6.0,134,669,0.00,0.00,8.15,0.176,6,0.000,0.000,3100,1697,1232,0,0,0,0,0,0
$FREEZE,2.51,6.740,-1.313,0,5,0
$FREEZE,2.30,6.739,-1.312,0,5,0
$FREEZE,2.12,6.741,-1.312,0,5,0
$FREEZE,1.83,6.742,-1.312,0,5,0
$STATE,686,end climb,SURFACE_DEPTH_REACHED
$STATE,686,begin surface coast
$FREEZE,1.49,6.746,-1.312,0,5,0
$FREEZE,1.26,6.739,-1.311,0,5,0
$FREEZE,0.97,6.739,-1.310,0,5,0
$FREEZE,0.67,6.759,-1.309,0,5,0
$FREEZE,0.74,6.743,-1.309,0,5,0
$FREEZE,0.52,6.742,-1.309,0,5,0
$FREEZE,0.40,6.743,-1.309,0,5,0
$FREEZE,0.24,6.901,-1.275,0,5,0
$FREEZE,0.17,6.787,-0.597,0,5,0
$FINISH,0.2,1.008599
$STATE,725,end surface coast,CONTROL_FINISHED_OK
$STATE,725,begin surface
$SM_CCo,739,32.58,0.156,0,0,846,480.04
$SM_GC,1.46,0.00,0.00,32.58,0.000,0.000,0.156,108,1692,846,-8.52,-0.23,480.04
$IRIDIUM_FIX,4751.72,-12226.29,110611,171730
$TT8_MAMPS,0.029146
$HUMID,1077370950
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,25.1,19.399
$10V_AH,10.5,6.485
$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,9.625,22.575,184.000,32.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,275.350,97.611,216.565,213.837,22.231,33.050,395.714,0.000,228.490,0.000,0.994,0.000
$DEVICE_MAMPS,173.342,47.554,250.809,155.701,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,97.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,3512,149
$CAP_FILE_SIZE,27014,0
$CFSIZE,260165632,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,010050,4808.054,-12222.512,13,1.5,13,18.3