version: 66.07
glider: 505
mission: 2
dive: 34
start: 12 15 109 20 35 42
data:
$ID,505
$MISSION,2
$DIVE,34
$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,-22671.848
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,151209,203008,4807.304,-12222.846,8,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.0
$GPS2,151209,203446,4807.284,-12222.854,12,5.6,31,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.176
$KALMAN_X,-6397.4,-2844.2,237.2,6919.9,-42.6
$KALMAN_Y,967.0,2692.0,-166.3,804.5,-44.2
$MHEAD_RNG_PITCHd_Wd,121.1,4813,-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,-214.1,0.0,0.0,0,68,0.00,0.00,-50.55,0.000,2,0.000,0.000,113,1888,2211,0,0,0,0,0,0
$GC,69,-0.42,-214.1,3.5,-5.3,12,119,11.80,2.55,-31.10,0.000,4,0.283,0.061,2693,313,3681,0,0,0,0,0,0
$GC,254,-0.42,-214.1,27.6,-9.6,52,259,0.00,2.53,0.00,0.000,6,0.000,0.042,2693,1894,3681,0,0,0,0,0,0
$STATE,281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,282,begin apogee
$GC,285,-0.17,0.0,30.4,9.6,58,363,0.25,0.00,72.65,0.914,6,0.135,0.000,2779,1688,2804,0,0,0,0,0,0
$STATE,365,end apogee,CONTROL_FINISHED_OK
$STATE,365,begin climb
$GC,366,0.42,214.1,34.2,0.0,76,444,0.55,0.00,73.75,0.894,6,0.121,0.000,2957,1687,1930,0,0,0,0,0,0
$GC,482,0.42,214.1,27.9,7.0,102,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1687,1927,0,0,0,0,0,0
$GC,524,0.42,214.1,24.7,7.5,111,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1687,1927,0,0,0,0,0,0
$GC,566,0.42,214.1,21.5,7.6,120,571,0.00,2.60,0.00,0.000,4,0.000,0.047,2957,3290,1926,0,0,0,0,0,0
$GC,585,0.42,214.1,19.9,7.7,124,591,0.00,2.58,0.00,0.000,6,0.000,0.042,2964,1705,1924,0,0,0,0,0,0
$GC,628,0.42,214.1,16.4,8.3,133,634,0.00,2.50,0.00,0.000,4,0.000,0.053,2965,175,1925,0,0,0,0,0,0
$GC,648,0.42,214.1,14.9,8.0,137,653,0.00,2.53,0.00,0.000,6,0.000,0.038,2965,1757,1924,0,0,0,0,0,0
$GC,691,0.42,214.1,12.1,7.0,146,696,0.00,2.45,0.00,0.000,4,0.000,0.045,2965,3294,1924,0,0,0,0,0,0
$GC,752,0.49,269.5,9.5,4.1,159,777,0.08,2.45,17.92,0.751,6,0.131,0.040,3006,1750,1705,0,0,0,0,0,0
$GC,815,0.59,352.2,7.4,3.6,172,851,0.05,2.65,28.10,0.748,4,0.175,0.051,3035,180,1367,0,0,0,0,0,0
$FREEZE,4.79,6.771,-1.340,0,1,0
$FREEZE,4.61,6.629,-1.336,0,1,0
$FREEZE,4.43,6.529,-1.337,0,1,0
$FREEZE,4.27,6.419,-1.337,0,1,0
$FREEZE,4.09,6.396,-1.333,0,1,0
$FREEZE,3.89,6.390,-1.327,0,1,0
$STATE,894,end climb,SURFACE_DEPTH_REACHED
$STATE,895,begin surface coast
$FREEZE,3.81,6.396,-1.317,0,1,0
$FREEZE,3.63,6.311,-1.314,0,1,0
$FREEZE,3.41,6.169,-1.317,0,1,0
$FREEZE,3.29,6.045,-1.322,0,1,0
$FREEZE,3.20,5.888,-1.331,0,1,0
$FREEZE,2.95,5.856,-1.334,0,1,0
$FREEZE,2.88,5.843,-1.335,0,1,0
$FREEZE,2.83,5.808,-1.336,0,1,0
$FREEZE,2.60,5.759,-1.339,0,1,0
$FREEZE,2.68,5.910,-1.332,0,1,0
$FREEZE,2.42,6.168,-1.321,0,1,0
$FREEZE,2.22,5.884,-1.331,0,1,0
$FREEZE,2.05,5.721,-1.336,0,1,0
$FREEZE,1.94,5.796,-1.332,0,1,0
$FREEZE,1.74,5.808,-1.327,0,1,0
$FREEZE,1.58,5.774,-1.328,0,1,0
$FREEZE,1.46,5.775,-1.327,0,1,0
$FREEZE,1.19,6.048,-1.311,0,1,0
$FREEZE,0.97,5.993,-1.310,0,1,0
$FREEZE,0.74,5.880,-1.308,0,1,0
$FINISH,0.7,1.018949
$STATE,979,end surface coast,CONTROL_FINISHED_OK
$STATE,979,begin surface
$SM_CCo,995,43.45,0.159,0,0,847,480.04
$SM_GC,1.44,0.00,0.00,43.45,0.000,0.000,0.159,99,1915,847,-8.55,0.42,480.04
$IRIDIUM_FIX,4751.72,-12254.00,100611,141454
$TT8_MAMPS,0.028379
$HUMID,1077334821
$INTERNAL_PRESSURE,8.966
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.0,16.354
$10V_AH,10.5,5.453
$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,20.475,25.950,192.425,43.450,0.000,23.945,26.854,142.849,0.000,0.000,32.957,332.810,164.709,277.128,537.253,28.920,33.339,514.620,0.000,314.885,0.000,0.996,0.000
$DEVICE_MAMPS,283.023,60.593,914.264,158.769,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6814,210
$CAP_FILE_SIZE,35630,0
$CFSIZE,260165632,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,205405,4807.191,-12222.768,9,8.1,28,18.3