version: 66.07
glider: 505
mission: 2
dive: 33
start: 12 15 109 20 12 29
data:
$ID,505
$MISSION,2
$DIVE,33
$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,-22638.264
$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,35
$R_STBD_OVSHOOT,44
$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
$GPS1,151209,200708,4807.389,-12222.918,14,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.7
$GPS2,151209,201132,4807.371,-12222.933,15,1.2,15,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,-0.172
$KALMAN_X,-6292.4,-2894.9,268.7,6737.2,-46.7
$KALMAN_Y,898.0,2812.2,-254.4,1003.1,-49.7
$MHEAD_RNG_PITCHd_Wd,119.6,5000,-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,-214.1,0.0,0.0,0,63,0.00,0.00,-46.58,0.000,2,0.000,0.000,102,1919,2086,0,0,0,0,0,0
$GC,66,-0.42,-214.2,3.1,-5.0,11,119,11.93,2.67,-36.05,0.000,4,0.285,0.065,2692,315,3681,0,0,0,0,0,0
$STATE,285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,285,begin apogee
$GC,290,-0.17,0.0,30.3,9.7,59,368,0.25,0.00,72.57,0.913,6,0.142,0.000,2775,1695,2805,0,0,0,0,0,0
$STATE,369,end apogee,CONTROL_FINISHED_OK
$STATE,369,begin climb
$GC,370,0.42,214.2,34.2,0.0,77,453,0.57,2.70,74.00,0.887,4,0.127,0.048,2958,3293,1930,0,0,0,0,0,0
$GC,467,0.42,214.2,28.7,7.4,99,473,0.00,2.65,0.00,0.000,6,0.000,0.042,2965,1706,1926,0,0,0,0,0,0
$GC,510,0.42,214.2,24.9,8.6,108,516,0.00,2.55,0.00,0.000,4,0.000,0.052,2966,172,1926,0,0,0,0,0,0
$GC,539,0.42,214.2,22.5,8.5,114,545,0.00,2.45,0.00,0.000,6,0.000,0.038,2965,1686,1926,0,0,0,0,0,0
$GC,582,0.42,214.2,19.0,8.2,123,588,0.00,2.58,0.00,0.000,4,0.000,0.046,2965,3282,1926,0,0,0,0,0,0
$GC,616,0.42,214.2,16.0,8.7,130,621,0.00,2.58,0.00,0.000,6,0.000,0.042,2973,1691,1925,0,0,0,0,0,0
$GC,659,0.42,214.2,12.5,8.6,139,664,0.00,2.45,0.00,0.000,4,0.000,0.051,2977,168,1925,0,0,0,0,0,0
$GC,711,0.46,249.5,10.2,4.4,150,730,0.00,2.35,11.40,0.726,6,0.000,0.038,2978,1651,1786,0,0,0,0,0,0
$GC,768,0.55,320.0,8.3,3.8,162,800,0.10,2.70,23.65,0.750,4,0.120,0.046,3014,3277,1495,0,0,0,0,0,0
$FREEZE,4.94,6.656,-1.404,0,1,0
$FREEZE,4.70,6.500,-1.410,0,1,0
$FREEZE,4.70,6.474,-1.410,0,1,0
$FREEZE,4.41,6.444,-1.404,0,1,0
$FREEZE,4.16,6.401,-1.398,0,1,0
$FREEZE,4.07,6.361,-1.393,0,1,0
$FREEZE,3.86,6.340,-1.389,0,1,0
$STATE,867,end climb,SURFACE_DEPTH_REACHED
$STATE,868,begin surface coast
$FREEZE,3.69,6.303,-1.391,0,1,0
$FREEZE,3.47,6.110,-1.402,0,1,0
$FREEZE,3.22,5.930,-1.410,0,1,0
$FREEZE,3.16,5.866,-1.414,0,1,0
$FREEZE,2.94,5.801,-1.415,0,1,0
$FREEZE,3.04,5.779,-1.415,0,1,0
$FREEZE,2.79,5.768,-1.414,0,1,0
$FREEZE,2.76,5.763,-1.411,0,1,0
$FREEZE,2.63,5.781,-1.407,0,1,0
$FREEZE,2.49,5.778,-1.397,0,1,0
$FREEZE,2.41,5.756,-1.396,0,1,0
$FREEZE,2.26,5.756,-1.389,0,1,0
$FREEZE,2.15,5.914,-1.374,0,1,0
$FREEZE,1.91,5.901,-1.387,0,1,0
$FREEZE,1.90,5.882,-1.385,0,1,0
$FREEZE,1.75,5.778,-1.387,0,1,0
$FREEZE,1.65,5.969,-1.371,0,1,0
$FREEZE,1.35,5.784,-1.373,0,1,0
$FREEZE,1.27,5.822,-1.362,0,1,0
$FINISH,1.3,1.019718
$STATE,947,end surface coast,CONTROL_FINISHED_OK
$STATE,947,begin surface
$SM_CCo,962,54.12,0.156,0,0,847,480.04
$SM_GC,1.57,0.00,0.00,54.12,0.000,0.000,0.156,113,1888,847,-8.51,-0.34,480.04
$IRIDIUM_FIX,4748.51,-12224.57,100611,141449
$TT8_MAMPS,0.029146
$HUMID,1077352885
$INTERNAL_PRESSURE,8.97577
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.0,16.294
$10V_AH,10.5,5.437
$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,20.775,30.125,181.625,54.125,0.000,30.754,24.512,137.263,0.000,0.000,15.576,324.094,162.144,280.743,508.825,29.124,33.334,508.754,0.000,305.468,0.000,0.997,0.000
$DEVICE_MAMPS,285.324,65.195,912.730,156.468,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,132.443,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324104
$DATA_FILE_SIZE,6808,203
$CAP_FILE_SIZE,34434,0
$CFSIZE,260165632,256917504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,203008,4807.304,-12222.846,8,1.4,8,18.3