version: 66.07
glider: 505
mission: 2
dive: 6
start: 12 15 109 1 54 58
data:
$ID,505
$MISSION,2
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,43
$T_MISSION,70
$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,200
$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,500
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22089.855
$T_RSLEEP,8
$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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,151209,014849,4806.213,-12222.349,7,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.1
$GPS2,151209,015401,4806.263,-12222.361,11,1.8,11,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.120,0.243
$KALMAN_X,-655.3,-341.2,-167.9,-312.5,-55.8
$KALMAN_Y,-6.8,11.8,25.3,2381.7,-47.5
$MHEAD_RNG_PITCHd_Wd,315.4,3802,-11.7,-7.984
$D_GRID,105
$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,-0.63,-194.7,0.0,0.0,0,63,0.00,0.00,-46.42,0.000,2,0.000,0.000,114,1885,2051,0,0,0,0,0,0
$GC,65,-0.63,-194.7,3.2,-6.4,11,131,11.48,2.25,-48.28,0.000,4,0.282,0.066,2624,488,3599,0,0,0,0,0,0
$GC,326,-0.63,-194.7,35.0,-15.0,68,332,0.00,2.28,0.00,0.000,6,0.000,0.046,2619,1910,3600,0,0,0,0,0,0
$GC,369,-0.63,-194.7,41.3,-15.3,77,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1910,3600,0,0,0,0,0,0
$GC,411,-0.63,-194.7,48.0,-15.7,86,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1910,3600,0,0,0,0,0,0
$GC,454,-0.63,-194.7,54.6,-15.5,95,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1910,3600,0,0,0,0,0,0
$GC,495,-0.63,-194.7,61.0,-15.3,104,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1910,3600,0,0,0,0,0,0
$GC,537,-0.63,-194.7,67.3,-14.9,113,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1910,3600,0,0,0,0,0,0
$GC,579,-0.63,-194.7,73.2,-14.1,122,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1910,3600,0,0,0,0,0,0
$GC,621,-0.63,-194.7,79.0,-13.8,131,626,0.00,2.30,0.00,0.000,4,0.000,0.055,2619,487,3600,0,0,0,0,0,0
$GC,654,-0.63,-194.7,83.9,-14.6,138,660,0.00,2.25,0.00,0.000,6,0.000,0.046,2619,1897,3600,0,0,0,0,0,0
$GC,697,-0.63,-194.7,89.5,-13.2,147,702,0.00,2.25,0.00,0.000,4,0.000,0.054,2615,3307,3600,0,0,0,0,0,0
$GC,726,-0.63,-194.7,93.5,-13.6,153,732,0.05,2.25,0.00,0.000,6,0.215,0.047,2626,1891,3600,0,0,0,0,0,0
$GC,769,-0.63,-194.7,98.9,-12.5,162,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1889,3600,0,0,0,0,0,0
$STATE,805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,805,begin apogee
$GC,809,-0.17,0.0,103.5,12.0,170,882,0.45,0.00,68.28,1.249,6,0.142,0.000,2772,1692,2806,0,0,0,0,0,0
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,885,0.63,194.7,106.4,0.0,187,963,0.80,2.45,70.45,1.204,4,0.110,0.048,3034,3114,2010,0,0,0,0,0,0
$GC,982,0.63,194.7,94.5,16.8,209,988,0.00,2.38,0.00,0.000,6,0.000,0.045,3043,1705,2009,0,0,0,0,0,0
$GC,1025,0.63,194.7,86.9,17.7,218,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2009,0,0,0,0,0,0
$GC,1067,0.63,194.7,79.0,18.5,227,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2009,0,0,0,0,0,0
$GC,1109,0.63,194.7,71.6,18.1,236,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1705,2008,0,0,0,0,0,0
$GC,1150,0.63,194.7,64.2,17.7,245,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1192,0.63,194.7,57.0,17.8,254,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1234,0.63,194.7,50.1,16.9,263,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1276,0.63,194.7,43.0,16.4,272,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1318,0.63,194.7,36.0,16.8,281,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1360,0.63,194.7,29.2,16.4,290,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1402,0.63,194.7,22.3,16.3,299,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1704,2008,0,0,0,0,0,0
$GC,1444,0.63,194.7,15.6,15.9,308,1449,0.00,2.25,0.00,0.000,4,0.000,0.047,3044,3114,2008,0,0,0,0,0,0
$GC,1477,0.63,194.7,9.7,17.7,315,1483,0.08,2.28,0.00,0.000,6,0.222,0.047,3038,1695,2007,0,0,0,0,0,0
$FREEZE,4.99,9.199,-1.530,0,1,0
$FREEZE,4.42,9.114,-1.521,0,1,0
$FREEZE,3.84,8.915,-1.514,0,1,0
$STATE,1515,end climb,SURFACE_DEPTH_REACHED
$STATE,1515,begin surface coast
$FREEZE,3.34,8.692,-1.494,0,1,0
$FREEZE,2.86,7.039,-1.401,0,1,0
$FREEZE,2.59,6.198,-1.353,0,1,0
$FREEZE,2.50,6.018,-1.348,0,1,0
$FREEZE,2.47,5.956,-1.348,0,1,0
$FREEZE,2.52,5.952,-1.346,0,1,0
$FINISH,2.5,1.019458
$STATE,1542,end surface coast,CONTROL_FINISHED_OK
$STATE,1542,begin surface
$SM_CCo,1556,99.70,0.157,0,0,765,500.16
$SM_GC,1.79,0.00,0.00,99.70,0.000,0.000,0.157,108,1926,765,-8.52,0.74,500.16
$IRIDIUM_FIX,4748.51,-12221.84,090611,191901
$TT8_MAMPS,0.028379
$HUMID,1077309014
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.6,14.291
$10V_AH,10.5,4.780
$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,20.900,23.575,138.725,99.700,0.000,30.305,27.299,189.198,0.000,0.000,11.274,510.614,361.700,341.663,738.969,36.262,33.319,673.510,0.000,482.614,0.000,0.538,0.000
$DEVICE_MAMPS,282.256,66.729,1249.443,157.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324160
$DATA_FILE_SIZE,10141,329
$CAP_FILE_SIZE,50603,0
$CFSIZE,260165632,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,022320,4806.407,-12222.586,13,1.8,13,18.3