version: 66.07
glider: 505
mission: 2
dive: 12
start: 12 15 109 5 34 48
data:
$ID,505
$MISSION,2
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,0
$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,-22201.17
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,151209,052828,4807.438,-12223.473,13,4.9,32,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.8
$GPS2,151209,053352,4807.468,-12223.512,17,2.2,36,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,0.263
$KALMAN_X,-1150.5,-279.2,262.4,-1730.4,-30.1
$KALMAN_Y,-1463.9,-45.1,-151.4,6299.8,-350.8
$MHEAD_RNG_PITCHd_Wd,327.6,1155,-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,-46.40,0.000,2,0.000,0.000,112,1910,2044,0,0,0,0,0,0
$GC,65,-0.63,-194.7,3.3,-6.7,11,118,11.73,2.28,-33.17,0.000,4,0.289,0.067,2626,3294,3602,0,0,0,0,0,0
$GC,381,-0.63,-194.7,48.8,-12.7,80,387,0.00,2.22,0.00,0.000,6,0.000,0.048,2626,1897,3603,0,0,0,0,0,0
$GC,424,-0.63,-194.7,54.6,-14.2,89,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1896,3602,0,0,0,0,0,0
$GC,466,-0.63,-194.7,60.4,-13.8,98,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1896,3603,0,0,0,0,0,0
$GC,508,-0.63,-194.7,66.2,-14.0,107,513,0.00,2.25,0.00,0.000,4,0.000,0.055,2625,489,3602,0,0,0,0,0,0
$GC,551,-0.63,-194.7,72.4,-14.5,116,556,0.00,2.22,0.00,0.000,6,0.000,0.045,2626,1896,3603,0,0,0,0,0,0
$GC,593,-0.63,-194.7,78.1,-13.1,125,599,0.00,2.22,0.00,0.000,4,0.000,0.053,2626,3314,3603,0,0,0,0,0,0
$GC,632,-0.63,-194.7,82.9,-12.6,133,637,0.00,2.25,0.00,0.000,6,0.000,0.045,2626,1890,3603,0,0,0,0,0,0
$GC,674,-0.63,-194.7,88.3,-12.9,142,680,0.00,2.20,0.00,0.000,4,0.000,0.054,2626,491,3603,0,0,0,0,0,0
$GC,712,-0.63,-194.7,93.4,-13.4,150,718,0.00,2.25,0.00,0.000,6,0.000,0.045,2625,1909,3603,0,0,0,0,0,0
$GC,755,-0.63,-194.7,98.7,-12.7,159,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1910,3603,0,0,0,0,0,0
$STATE,791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,791,begin apogee
$GC,795,-0.17,0.0,103.4,12.2,167,868,0.45,0.00,68.38,1.256,6,0.146,0.000,2771,1691,2806,0,0,0,0,0,0
$STATE,869,end apogee,CONTROL_FINISHED_OK
$STATE,869,begin climb
$GC,870,0.63,194.7,106.4,0.0,184,948,0.77,0.00,70.40,1.213,6,0.110,0.000,3026,1691,2011,0,0,0,0,0,0
$GC,985,0.63,194.7,92.4,16.3,210,990,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1691,2010,0,0,0,0,0,0
$GC,1027,0.63,194.7,85.8,16.2,219,1032,0.00,2.35,0.00,0.000,4,0.000,0.048,3026,3117,2009,0,0,0,0,0,0
$GC,1046,0.63,194.7,82.6,16.4,223,1052,0.00,2.33,0.00,0.000,6,0.000,0.045,3036,1706,2008,0,0,0,0,0,0
$GC,1089,0.63,194.7,75.2,16.9,232,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1131,0.63,194.7,67.9,17.3,241,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1173,0.63,194.7,61.0,16.4,250,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1705,2008,0,0,0,0,0,0
$GC,1215,0.63,194.7,54.1,16.5,259,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1705,2009,0,0,0,0,0,0
$GC,1257,0.63,194.7,47.4,16.2,268,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1299,0.63,194.7,41.1,15.1,277,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1340,0.63,194.7,34.6,15.2,286,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1382,0.63,194.7,28.3,14.9,295,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1705,2008,0,0,0,0,0,0
$GC,1424,0.63,194.7,21.9,15.3,304,1430,0.00,2.25,0.00,0.000,4,0.000,0.047,3036,3121,2008,0,0,0,0,0,0
$GC,1453,0.63,194.7,17.2,16.1,310,1459,0.00,2.28,0.00,0.000,6,0.000,0.045,3045,1696,2008,0,0,0,0,0,0
$GC,1496,0.63,194.7,10.9,15.1,319,1501,0.00,2.22,0.00,0.000,4,0.000,0.054,3055,288,2008,0,0,0,0,0,0
$GC,1765,1.00,494.8,7.5,-0.4,377,1790,0.22,2.22,18.98,0.736,2,0.054,0.041,3162,1710,1771,0,0,0,0,0,0
$FREEZE,7.01,6.878,-1.343,0,1,0
$STATE,1791,end climb,NO_VERTICAL_VELOCITY
$STATE,1791,begin surface
$SM_CCo,1793,114.43,0.724,0,0,446,578.16
$SM_GC,1.27,8.30,0.00,0.00,0.051,0.000,0.000,110,1920,440,-8.48,0.54,580.37
$IRIDIUM_FIX,4748.51,-12229.01,090611,232355
$TT8_MAMPS,0.028379
$HUMID,1077303853
$INTERNAL_PRESSURE,8.92694
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.6,14.780
$10V_AH,10.5,4.915
$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,21.475,32.200,157.750,114.425,0.000,27.244,26.507,178.296,0.000,0.000,37.224,579.233,552.517,360.138,826.118,38.535,33.329,727.746,0.000,558.440,0.000,0.536,0.000
$DEVICE_MAMPS,289.159,67.496,1256.346,724.048,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,13446,382
$CAP_FILE_SIZE,53777,0
$CFSIZE,260165632,257589248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,151209,060930,4807.697,-12223.618,38,1.0,38,18.3