version: 66.07
glider: 505
mission: 2
dive: 30
start: 12 15 109 18 58 23
data:
$ID,505
$MISSION,2
$DIVE,30
$D_SURF,4
$D_FLARE,3
$D_TGT,30
$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,20
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,480
$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,-22593.799
$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,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,151209,185308,4807.728,-12223.068,14,1.1,14,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.4
$GPS2,151209,185726,4807.729,-12223.100,14,1.1,14,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.169
$KALMAN_X,-5951.7,-2902.6,307.3,6159.4,-94.9
$KALMAN_Y,951.8,3123.2,-548.4,1594.3,17.5
$MHEAD_RNG_PITCHd_Wd,118.5,5682,-4.6,-5.000
$D_GRID,30
$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,-0.42,-214.1,0.0,0.0,0,59,0.00,0.00,-42.33,0.000,2,0.000,0.000,101,1909,1979,0,0,0,0,0,0
$GC,61,-0.42,-214.1,3.0,-5.1,10,119,12.00,2.60,-39.12,0.000,4,0.286,0.062,2692,311,3680,0,0,0,0,0,0
$GC,230,-0.42,-214.1,24.9,-9.7,47,236,0.00,2.53,0.00,0.000,6,0.000,0.042,2692,1891,3681,0,0,0,0,0,0
$GC,274,-0.42,-214.1,28.9,-9.2,56,279,0.00,2.55,0.00,0.000,4,0.000,0.051,2692,3487,3681,0,0,0,0,0,0
$STATE,289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,289,begin apogee
$GC,296,-0.17,0.0,30.3,9.2,59,374,0.25,0.00,72.35,0.919,6,0.127,0.000,2778,1694,2804,0,0,0,0,0,0
$STATE,375,end apogee,CONTROL_FINISHED_OK
$STATE,375,begin climb
$GC,376,0.42,214.1,34.2,0.0,77,454,0.55,0.00,73.93,0.891,6,0.121,0.000,2958,1694,1932,0,0,0,0,0,0
$GC,491,0.42,214.1,27.6,7.5,103,497,0.00,2.65,0.00,0.000,4,0.000,0.046,2958,3290,1928,0,0,0,0,0,0
$GC,511,0.42,214.1,26.0,7.8,107,517,0.00,2.60,0.00,0.000,6,0.000,0.041,2965,1701,1926,0,0,0,0,0,0
$GC,554,0.42,214.1,22.3,8.6,116,560,0.00,2.50,0.00,0.000,4,0.000,0.051,2974,179,1926,0,0,0,0,0,0
$GC,583,0.42,214.1,19.7,8.6,122,589,0.00,2.45,0.00,0.000,6,0.000,0.037,2974,1702,1926,0,0,0,0,0,0
$GC,626,0.42,214.1,16.0,8.7,131,631,0.00,2.55,0.00,0.000,4,0.000,0.045,2974,3290,1926,0,0,0,0,0,0
$GC,650,0.42,214.1,13.6,9.2,136,655,0.00,2.55,0.00,0.000,6,0.000,0.042,2978,1710,1925,0,0,0,0,0,0
$GC,693,0.42,214.1,10.2,8.6,145,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1709,1925,0,0,0,0,0,0
$GC,735,0.48,263.2,8.9,4.2,154,758,0.00,2.60,15.85,0.755,4,0.000,0.046,2978,3285,1728,0,0,0,0,0,0
$FREEZE,4.91,6.349,-1.340,0,1,0
$FREEZE,4.64,6.254,-1.336,0,1,0
$FREEZE,4.22,6.236,-1.335,0,1,0
$FREEZE,3.82,6.218,-1.336,0,1,0
$GC,860,0.76,488.6,6.5,1.3,181,929,0.30,2.38,62.88,0.758,2,0.107,0.041,3080,1792,985,0,0,0,0,0,0
$STATE,930,end climb,SURFACE_DEPTH_REACHED
$STATE,931,begin surface coast
$FREEZE,3.28,5.783,-1.353,0,1,0
$FREEZE,3.01,5.701,-1.358,0,1,0
$FREEZE,2.82,5.659,-1.359,0,1,0
$FREEZE,2.54,5.620,-1.360,0,1,0
$FREEZE,2.31,5.603,-1.359,0,1,0
$FREEZE,2.10,5.764,-1.351,0,1,0
$FREEZE,1.89,5.805,-1.349,0,1,0
$FREEZE,1.66,5.578,-1.358,0,1,0
$FREEZE,1.54,5.534,-1.358,0,1,0
$FREEZE,1.40,5.536,-1.353,0,1,0
$FREEZE,1.10,5.569,-1.344,0,1,0
$FREEZE,0.90,5.601,-1.334,0,1,0
$FREEZE,0.70,5.606,-1.341,0,1,0
$FREEZE,0.49,5.554,-1.310,0,1,0
$FREEZE,0.18,5.549,-1.268,0,1,0
$FREEZE,0.24,5.558,-1.239,0,1,0
$FREEZE,0.17,5.554,-0.650,0,1,0
$FREEZE,0.10,5.531,-0.629,0,1,0
$FREEZE,0.12,5.525,-0.702,0,1,0
$FREEZE,0.25,5.693,-1.225,0,1,0
$FREEZE,0.21,5.519,-0.662,0,1,0
$FREEZE,0.23,5.525,-0.436,0,1,0
$FINISH,0.2,1.006320
$STATE,1022,end surface coast,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$SM_CCo,1036,11.43,0.160,0,0,846,480.04
$SM_GC,2.50,0.00,0.00,11.43,0.000,0.000,0.160,106,1918,846,-8.53,0.51,480.04
$IRIDIUM_FIX,4751.72,-12219.12,100611,121211
$TT8_MAMPS,0.028379
$HUMID,1077386434
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.0,16.102
$10V_AH,10.5,5.390
$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,21.075,31.000,225.000,11.425,0.000,28.487,24.074,138.933,0.000,0.000,14.951,334.706,168.278,271.850,523.952,31.560,33.339,521.012,0.000,325.277,0.000,0.997,0.000
$DEVICE_MAMPS,286.091,65.195,918.866,159.536,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324068
$DATA_FILE_SIZE,6837,217
$CAP_FILE_SIZE,36833,0
$CFSIZE,260165632,256987136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,191638,4807.626,-12223.022,13,1.5,13,18.3