version: 66.07
glider: 505
mission: 2
dive: 10
start: 12 15 109 4 20 47
data:
$ID,505
$MISSION,2
$DIVE,10
$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,-22145.094
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,151209,041414,4807.089,-12223.170,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.2
$GPS2,151209,041950,4807.110,-12223.179,15,1.7,15,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,0.257
$KALMAN_X,-959.7,-340.4,130.9,-1317.9,-13.4
$KALMAN_Y,-859.5,-21.5,-106.3,4964.0,-282.4
$MHEAD_RNG_PITCHd_Wd,323.2,1935,-11.7,-7.984
$D_GRID,103
$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,-46.50,0.000,2,0.000,0.000,113,1907,1948,0,0,0,0,0,0
$GC,65,-0.63,-194.7,3.0,-6.1,11,123,11.73,2.30,-36.90,0.000,4,0.289,0.067,2615,3304,3603,0,0,0,0,0,0
$GC,386,-0.63,-194.7,51.9,-14.3,81,391,0.00,2.25,0.00,0.000,6,0.000,0.047,2616,1891,3604,0,0,0,0,0,0
$GC,428,-0.63,-194.7,58.3,-15.3,90,435,0.05,2.22,0.00,0.000,4,0.242,0.051,2625,3301,3604,0,0,0,0,0,0
$GC,528,-0.63,-194.7,70.6,-11.8,111,533,0.00,2.22,0.00,0.000,6,0.000,0.045,2625,1893,3604,0,0,0,0,0,0
$GC,570,-0.63,-194.7,76.0,-12.4,120,576,0.00,2.25,0.00,0.000,4,0.000,0.054,2625,480,3604,0,0,0,0,0,0
$GC,608,-0.63,-194.7,81.2,-13.9,128,614,0.00,2.25,0.00,0.000,6,0.000,0.045,2625,1896,3604,0,0,0,0,0,0
$GC,651,-0.63,-194.7,86.3,-12.3,137,657,0.00,2.22,0.00,0.000,4,0.000,0.053,2625,3314,3604,0,0,0,0,0,0
$GC,685,-0.63,-194.7,90.6,-12.7,144,690,0.00,2.22,0.00,0.000,6,0.000,0.045,2625,1897,3604,0,0,0,0,0,0
$GC,728,-0.63,-194.7,95.9,-12.1,153,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1896,3604,0,0,0,0,0,0
$GC,770,-0.63,-194.7,100.8,-12.0,162,775,0.00,2.22,0.00,0.000,4,0.000,0.054,2625,492,3604,0,0,0,0,0,0
$STATE,788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,788,begin apogee
$GC,794,-0.17,0.0,103.4,12.2,166,867,0.45,0.00,68.38,1.250,6,0.150,0.000,2770,1710,2806,0,0,0,0,0,0
$STATE,868,end apogee,CONTROL_FINISHED_OK
$STATE,868,begin climb
$GC,869,0.63,194.7,106.4,0.0,183,946,0.80,0.00,70.45,1.209,6,0.111,0.000,3031,1710,2013,0,0,0,0,0,0
$GC,984,0.63,194.7,91.6,17.1,209,989,0.00,2.33,0.00,0.000,4,0.000,0.048,3030,3116,2010,0,0,0,0,0,0
$GC,1008,0.63,194.7,87.4,17.4,214,1014,0.00,2.35,0.00,0.000,6,0.000,0.046,3040,1703,2009,0,0,0,0,0,0
$GC,1051,0.63,194.7,79.9,17.8,223,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2008,0,0,0,0,0,0
$GC,1093,0.63,194.7,72.4,17.7,232,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2009,0,0,0,0,0,0
$GC,1135,0.63,194.7,65.2,17.3,241,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2009,0,0,0,0,0,0
$GC,1177,0.63,194.7,58.0,17.3,250,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2008,0,0,0,0,0,0
$GC,1219,0.63,194.7,50.9,16.7,259,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2009,0,0,0,0,0,0
$GC,1260,0.63,194.7,44.0,16.2,268,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2009,0,0,0,0,0,0
$GC,1302,0.63,194.7,37.2,16.3,277,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1702,2009,0,0,0,0,0,0
$GC,1344,0.63,194.7,30.5,16.0,286,1350,0.00,2.25,0.00,0.000,4,0.000,0.047,3040,3115,2009,0,0,0,0,0,0
$GC,1359,0.63,194.7,28.1,15.7,289,1364,0.00,2.28,0.00,0.000,6,0.000,0.045,3049,1694,2009,0,0,0,0,0,0
$GC,1402,0.63,194.7,21.0,16.3,298,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1693,2009,0,0,0,0,0,0
$GC,1443,0.63,194.7,14.1,16.5,307,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1693,2009,0,0,0,0,0,0
$GC,1485,0.63,194.7,7.8,15.1,316,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1693,2009,0,0,0,0,0,0
$GC,1527,0.90,416.4,6.3,1.8,325,1609,0.20,2.38,74.10,0.738,4,0.077,0.054,3142,283,1106,0,0,0,0,0,0
$FREEZE,4.95,5.493,-1.256,0,1,0
$FREEZE,4.56,5.419,-1.260,0,1,0
$FREEZE,4.25,5.371,-1.255,0,1,0
$FREEZE,3.97,5.370,-1.242,0,1,0
$GC,1619,1.06,548.8,5.1,4.3,346,1646,0.10,2.33,20.62,0.692,2,0.109,0.039,3187,1713,864,0,0,0,0,0,0
$STATE,1647,end climb,SURFACE_DEPTH_REACHED
$STATE,1647,begin surface coast
$FREEZE,3.42,5.340,-1.232,0,1,0
$FREEZE,3.13,5.295,-1.230,0,1,0
$FREEZE,2.81,5.296,-1.226,0,1,0
$FREEZE,2.62,5.303,-1.222,0,1,0
$FREEZE,2.32,5.310,-1.219,0,1,0
$FREEZE,2.12,5.298,-1.217,0,1,0
$FREEZE,1.73,5.282,-1.214,0,1,0
$FREEZE,1.50,5.270,-1.211,0,1,0
$FREEZE,1.28,5.267,-1.210,0,1,0
$FREEZE,0.81,5.263,-1.207,0,1,0
$FREEZE,0.64,5.271,-1.208,0,1,0
$FINISH,0.6,1.017570
$STATE,1693,end surface coast,CONTROL_FINISHED_OK
$STATE,1694,begin surface
$SM_CCo,1708,8.00,0.160,0,0,764,500.16
$SM_GC,3.12,0.00,0.00,8.00,0.000,0.000,0.160,108,1915,764,-8.52,0.42,500.16
$IRIDIUM_FIX,4748.51,-12224.57,090611,212146
$TT8_MAMPS,0.029146
$HUMID,1077301272
$INTERNAL_PRESSURE,8.966
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.6,14.610
$10V_AH,10.4,4.868
$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,21.600,36.325,233.550,8.000,0.000,25.403,33.347,204.569,0.000,0.000,15.415,536.781,380.789,311.056,807.159,37.544,33.337,680.819,0.000,528.990,0.000,0.537,0.000
$DEVICE_MAMPS,289.159,66.729,1250.210,159.536,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324100
$DATA_FILE_SIZE,10130,361
$CAP_FILE_SIZE,54561,0
$CFSIZE,260165632,257654784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,045007,4807.263,-12223.257,10,1.5,10,18.3