version: 66.07
glider: 505
mission: 2
dive: 15
start: 12 15 109 7 37 47
data:
$ID,505
$MISSION,2
$DIVE,15
$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,-22244.572
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,151209,073149,4808.100,-12223.940,8,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.2
$GPS2,151209,073650,4808.151,-12223.970,15,1.6,15,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.017,-0.137
$KALMAN_X,-1174.7,-153.9,207.2,-2344.9,-8.0
$KALMAN_Y,-1565.0,-213.9,-227.2,7906.6,-48.5
$MHEAD_RNG_PITCHd_Wd,168.9,282,-26.9,-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,14,-0.95,-45.0,0.0,0.0,0,63,0.00,0.00,-46.55,0.000,2,0.000,0.000,101,1906,2024,0,0,0,0,0,0
$GC,65,-0.97,-56.5,3.2,-6.6,11,105,11.07,0.00,-23.90,0.000,6,0.285,0.000,2516,1905,3037,0,0,0,0,0,0
$GC,142,-0.97,-56.5,13.1,-13.5,28,148,0.00,2.22,0.00,0.000,4,0.000,0.050,2507,3297,3038,0,0,0,0,0,0
$GC,396,-0.97,-56.5,46.2,-13.7,83,402,0.00,2.20,0.00,0.000,6,0.000,0.046,2508,1895,3038,0,0,0,0,0,0
$GC,439,-0.97,-56.5,51.6,-12.5,92,445,0.05,0.00,0.00,0.000,6,0.281,0.000,2514,1893,3038,0,0,0,0,0,0
$GC,482,-0.97,-56.5,57.1,-13.0,101,487,0.00,2.22,0.00,0.000,4,0.000,0.049,2507,3296,3038,0,0,0,0,0,0
$GC,520,-0.97,-56.5,62.4,-13.8,109,526,0.03,2.20,0.00,0.000,6,0.297,0.046,2515,1891,3038,0,0,0,0,0,0
$GC,563,-0.97,-56.5,68.5,-13.8,118,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1890,3038,0,0,0,0,0,0
$GC,605,-0.97,-56.5,73.7,-12.4,127,610,0.00,2.22,0.00,0.000,4,0.000,0.051,2515,484,3038,0,0,0,0,0,0
$GC,615,-0.97,-56.5,75.1,-12.4,129,621,0.00,2.22,0.00,0.000,6,0.000,0.045,2515,1900,3038,0,0,0,0,0,0
$GC,658,-0.97,-56.5,80.9,-13.4,138,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1901,3038,0,0,0,0,0,0
$GC,700,-0.97,-56.5,86.3,-12.9,147,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1900,3038,0,0,0,0,0,0
$GC,742,-0.97,-56.5,91.9,-13.1,156,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1901,3038,0,0,0,0,0,0
$GC,784,-0.97,-56.5,97.0,-12.2,165,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1901,3037,0,0,0,0,0,0
$GC,825,-0.97,-56.5,101.8,-11.3,174,831,0.00,2.25,0.00,0.000,4,0.000,0.051,2508,3319,3038,0,0,0,0,0,0
$STATE,839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,839,begin apogee
$GC,845,-0.17,0.0,103.3,10.6,177,868,0.98,0.00,19.65,1.237,6,0.213,0.000,2771,1693,2806,0,0,0,0,0,0
$STATE,869,end apogee,CONTROL_FINISHED_OK
$STATE,869,begin climb
$GC,870,0.97,56.5,105.2,0.0,182,898,1.08,2.28,19.90,1.214,4,0.110,0.050,3144,289,2575,0,0,0,0,0,0
$GC,926,0.97,56.5,98.6,15.2,194,932,0.00,2.30,0.00,0.000,6,0.000,0.039,3145,1709,2575,0,0,0,0,0,0
$GC,969,0.97,56.5,90.8,18.4,203,975,0.00,2.25,0.00,0.000,4,0.000,0.044,3145,3118,2575,0,0,0,0,0,0
$GC,984,0.97,56.5,88.0,18.2,206,990,0.00,2.30,0.00,0.000,6,0.000,0.043,3155,1694,2575,0,0,0,0,0,0
$GC,1027,0.97,56.5,80.1,18.6,215,1032,0.00,2.28,0.00,0.000,4,0.000,0.044,3155,3117,2575,0,0,0,0,0,0
$GC,1065,0.97,56.5,73.0,18.6,223,1071,0.10,2.28,0.00,0.000,6,0.255,0.044,3148,1698,2575,0,0,0,0,0,0
$GC,1108,0.97,56.5,65.2,18.3,232,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1698,2575,0,0,0,0,0,0
$GC,1150,0.97,56.5,58.2,16.7,241,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1698,2575,0,0,0,0,0,0
$GC,1192,0.97,56.5,51.3,16.7,250,1197,0.00,2.25,0.00,0.000,4,0.000,0.044,3148,3120,2575,0,0,0,0,0,0
$GC,1299,0.97,56.5,33.0,15.7,273,1305,0.00,2.25,0.00,0.000,6,0.000,0.044,3156,1701,2575,0,0,0,0,0,0
$GC,1342,0.97,56.5,27.0,14.0,282,1348,0.00,2.25,0.00,0.000,4,0.000,0.044,3156,3116,2575,0,0,0,0,0,0
$GC,1366,0.97,56.5,23.4,14.2,287,1373,0.10,2.22,0.00,0.000,6,0.255,0.044,3149,1695,2575,0,0,0,0,0,0
$GC,1410,0.97,56.5,17.8,13.2,296,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1694,2575,0,0,0,0,0,0
$GC,1452,0.97,56.5,12.7,12.3,305,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1694,2575,0,0,0,0,0,0
$GC,1494,0.97,56.5,8.7,10.1,314,1499,0.00,2.22,0.00,0.000,4,0.000,0.044,3148,3116,2575,0,0,0,0,0,0
$GC,1518,1.01,88.6,8.3,4.2,319,1537,0.00,2.20,10.55,0.724,6,0.000,0.042,3156,1699,2440,0,0,0,0,0,0
$GC,1574,1.08,148.8,8.1,0.8,331,1602,0.08,2.33,19.38,0.751,4,0.151,0.050,3194,291,2196,0,0,0,0,0,0
$GC,1631,1.15,209.3,7.7,0.8,343,1658,0.00,2.25,19.73,0.731,6,0.000,0.037,3194,1711,1949,0,0,0,0,0,0
$GC,1695,1.19,238.7,6.1,4.5,357,1711,0.08,2.22,9.45,0.694,4,0.143,0.042,3224,3105,1827,0,0,0,0,0,0
$FREEZE,5.82,6.281,-1.344,0,1,0
$STATE,1840,end climb,NO_VERTICAL_VELOCITY
$STATE,1841,begin surface
$SM_CCo,1843,118.97,0.730,0,0,447,578.16
$SM_GC,1.30,8.43,0.00,0.00,0.050,0.000,0.000,111,1897,440,-8.47,-0.08,580.62
$IRIDIUM_FIX,4751.72,-12223.57,100611,010115
$TT8_MAMPS,0.028379
$HUMID,1077283208
$INTERNAL_PRESSURE,8.89764
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.2,14.986
$10V_AH,10.5,4.987
$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,21.975,54.025,98.650,118.975,0.000,24.269,26.425,178.486,0.000,0.000,15.402,628.182,569.335,342.133,806.631,41.646,33.317,711.565,0.000,566.918,0.000,0.536,0.000
$DEVICE_MAMPS,296.829,51.389,1237.171,730.184,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324096
$DATA_FILE_SIZE,13483,388
$CAP_FILE_SIZE,60867,0
$CFSIZE,260165632,257482752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,081316,4808.156,-12224.063,10,2.1,29,18.3