version: 66.04
glider: 505
mission: 2
dive: 16
start: 5 21 109 11 31 1
data:
$ID,505
$MISSION,2
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51510
$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,700
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4849.3965
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2712
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2146
$C_ROLL_CLIMB,2146
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3963
$C_VBD,3525
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.502724
$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,1
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.1600001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0042812955
$SEABIRD_T_H,0.00061992655
$SEABIRD_T_I,2.2443779e-05
$SEABIRD_T_J,2.3337107e-06
$SEABIRD_C_G,-9.9470167
$SEABIRD_C_H,1.1498449
$SEABIRD_C_I,9.315474e-05
$SEABIRD_C_J,0.00010132478
$GPS1,112153,4805.840,-12221.973,10,9.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-64.7
$GPS2,113006,4805.809,-12221.937,18,1.3,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,0.195
$KALMAN_X,665.7,80.7,-42.6,-635.8,-54.1
$KALMAN_Y,-3201.4,-409.7,-127.7,2896.8,-69.1
$MHEAD_RNG_PITCHd_Wd,338.5,363,-24.2,-10.000
$D_GRID,108
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-79.6,0.0,0.0,0,134,0.00,0.00,-117.32,0.000,6,0.000,0.000,107,2136,3856
$GC,137,-0.96,-146.6,3.0,-2.2,16,161,10.90,2.22,-3.17,0.000,4,0.307,0.058,2392,738,3966
$GC,428,-0.96,-146.6,27.3,-11.8,70,436,0.00,2.25,0.00,0.000,6,0.000,0.048,2392,2144,3969
$GC,516,-0.96,-146.6,38.6,-12.9,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2144,3969
$GC,597,-0.96,-146.6,50.0,-13.5,102,605,0.00,2.28,0.00,0.000,4,0.000,0.058,2392,3558,3969
$GC,686,-0.96,-146.6,63.1,-15.4,119,692,0.00,2.15,0.00,0.000,6,0.000,0.036,2392,2141,3969
$GC,843,-0.96,-146.6,84.4,-13.3,150,851,0.00,2.17,0.00,0.000,4,0.000,0.044,2392,741,3969
$GC,917,-0.96,-146.6,94.7,-13.8,164,925,0.00,2.22,0.00,0.000,6,0.000,0.045,2392,2149,3969
$STATE,1017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1021,-0.16,0.0,108.0,13.2,184,1107,0.93,0.00,80.40,0.615,6,0.221,0.000,2647,2149,3524
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1107,begin climb
$GC,1109,0.96,146.6,111.1,0.0,197,1226,1.15,2.40,109.78,0.591,4,0.138,0.045,3010,738,2927
$GC,1232,0.96,146.6,95.5,18.4,216,1240,0.00,2.35,0.00,0.000,6,0.000,0.042,3009,2148,2926
$GC,1390,0.96,146.6,62.9,21.8,247,1396,0.00,2.28,0.00,0.000,4,0.000,0.055,3009,3554,2926
$GC,1404,0.96,146.6,59.8,21.3,249,1411,0.00,2.20,0.00,0.000,6,0.000,0.038,3018,2153,2925
$GC,1564,0.96,146.6,26.9,20.1,280,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2153,2925
$GC,1651,0.96,146.6,10.0,18.3,296,1659,0.00,2.28,0.00,0.000,4,0.000,0.054,3018,3553,2925
$STATE,1687,end climb,SURFACE_DEPTH_REACHED
$STATE,1687,begin surface coast
$FINISH,3.2,1.020424
$STATE,1694,end surface coast,CONTROL_FINISHED_OK
$STATE,1694,begin surface
$SM_CCo,1712,295.58,0.526,0,0,670,700.07
$SM_GC,1.54,0.00,0.00,295.58,0.000,0.000,0.526,107,2128,670,-8.14,-0.51,700.07
$IRIDIUM_FIX,4748.51,-12205.79,150898,111112
$TT8_MAMPS,0.029146
$HUMID,2038
$INTERNAL_PRESSURE,8.94394
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,34.7
$24V_AH,24.5,2.034
$10V_AH,10.7,1.118
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.300,27.050,190.175,295.575,0.000,54.635,74.505,202.088,1.000,0.000,0.000,28.811,472.792,175.532,531.974,936.675,403.021,33.333,905.515,0.000,493.713,0.000,9.901,0.000
$DEVICE_MAMPS,306.800,57.525,615.134,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,204.533,767.919,302.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15961,303
$CAP_FILE_SIZE,39389,0
$CFSIZE,260165632,258899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,120534,4805.978,-12221.986,12,5.7,31,18.3