version: 66.07
glider: 505
mission: 2
dive: 50
start: 12 16 109 2 55 31
data:
$ID,505
$MISSION,2
$DIVE,50
$D_SURF,0
$D_FLARE,3
$D_TGT,30
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,1
$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,-5
$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,-23012.939
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2915
$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,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,41
$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,0
$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
$GPS1,100611,195951,4748.505,-12221.845,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,0.3
$GPS2,100611,195951,4748.505,-12221.845,0,10000.0,0,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,0.231
$KALMAN_X,-8262.8,-1083.7,-618.3,9128.5,-8.4
$KALMAN_Y,-31417.7,2388.2,1740.2,-3182.3,11.5
$MHEAD_RNG_PITCHd_Wd,345.5,30566,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.42,-214.2,0.0,0.0,0,139,0.00,0.00,-121.53,0.000,6,0.000,0.000,3069,3263,3681,0,0,0,0,0,0
$GC,141,-0.42,-214.2,1.4,-1.3,29,151,0.75,4.93,0.00,0.000,4,0.048,0.044,2762,186,3681,0,0,0,0,0,0
$GC,156,-0.42,-214.2,3.4,-5.2,32,162,0.08,2.40,0.00,0.000,6,0.196,0.038,2780,1705,3681,0,0,0,0,0,0
$GC,200,-0.42,-214.2,9.1,-12.8,41,205,0.00,2.53,0.00,0.000,4,0.000,0.049,2779,3285,3682,0,0,0,0,0,0
$GC,224,-0.42,-214.2,10.7,-10.3,46,230,0.00,2.53,0.00,0.000,6,0.000,0.041,2780,1689,3682,0,0,0,0,0,0
$GC,269,-0.42,-214.2,12.0,-3.9,55,275,0.00,2.40,0.00,0.000,4,0.000,0.050,2782,181,3682,0,0,0,0,0,0
$GC,353,-0.42,-214.2,18.6,-8.1,73,359,0.00,2.38,0.00,0.000,6,0.000,0.039,2782,1691,3682,0,0,0,0,0,0
$GC,396,-0.42,-214.2,22.0,-8.2,82,402,0.00,2.53,0.00,0.000,4,0.000,0.049,2782,3293,3682,0,0,0,0,0,0
$GC,449,-0.42,-214.2,26.7,-8.7,93,454,0.00,2.50,0.00,0.000,6,0.000,0.040,2783,1697,3682,0,0,0,0,0,0
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,494,-0.17,0.0,30.0,8.0,102,572,0.22,0.00,72.85,0.902,6,0.077,0.000,2879,1696,2805,0,0,0,0,0,0
$STATE,573,end apogee,CONTROL_FINISHED_OK
$STATE,573,begin climb
$GC,574,0.42,214.2,34.3,0.0,120,657,0.45,2.67,74.07,0.870,4,0.056,0.046,3060,3262,1929,0,0,0,0,0,0
$GC,750,0.42,214.2,8.7,18.4,159,756,0.10,2.58,0.00,0.000,6,0.184,0.045,3048,1691,1926,0,0,0,0,0,0
$GC,794,0.42,214.2,5.6,9.7,168,799,0.00,2.58,0.00,0.000,4,0.000,0.046,3048,3268,1926,0,0,0,0,0,0
$GC,804,0.42,214.2,5.3,7.2,170,810,0.00,2.58,0.00,0.000,6,0.000,0.040,3048,1679,1926,0,0,0,0,0,0
$FREEZE,0.73,6.372,-1.291,0,4,0
$GC,848,0.72,462.9,5.3,0.9,179,946,0.25,2.60,86.38,0.724,4,0.067,0.052,3167,179,914,0,0,0,0,0,0
$FREEZE,0.22,6.423,-0.366,0,4,0
$GC,951,0.72,462.9,0.2,7.4,202,958,0.08,2.50,0.00,0.000,6,0.136,0.039,3142,1692,912,0,0,0,0,0,0
$FREEZE,0.10,6.406,-0.670,0,4,0
$FREEZE,0.13,6.389,-1.184,0,4,0
$FREEZE,0.18,6.390,-0.708,0,4,0
$FREEZE,0.03,6.410,-0.671,0,4,0
$FREEZE,0.18,6.432,-0.747,0,4,0
$FREEZE,0.11,6.418,-1.024,0,4,0
$FREEZE,0.21,6.461,-1.262,0,4,0
$FREEZE,0.13,6.455,-1.283,0,4,0
$FREEZE,0.12,6.465,-0.748,0,4,0
$FREEZE,0.08,6.390,-1.245,0,4,0
$FREEZE,0.08,6.435,-0.346,0,4,0
$FREEZE,0.06,6.409,-0.788,0,4,0
$FREEZE,0.21,6.433,-0.636,0,4,0
$FREEZE,0.08,6.489,-0.924,0,4,0
$FREEZE,0.07,6.394,-1.285,0,4,0
$GC,993,0.99,675.4,0.1,1.5,211,1041,0.25,2.58,40.95,0.153,4,0.075,0.047,3245,3271,444,0,0,0,0,0,0
$FREEZE,0.11,6.393,-1.290,0,4,0
$FREEZE,0.15,6.455,-1.287,0,4,0
$GC,1051,1.36,977.0,0.2,0.1,221,1058,0.30,2.67,0.00,0.000,6,0.081,0.039,3354,1616,440,0,0,0,0,0,0
$FREEZE,0.14,6.389,-1.280,0,4,0
$FREEZE,0.15,6.393,-0.655,0,4,0
$FREEZE,0.18,6.403,-1.274,0,4,0
$FREEZE,0.16,6.408,-0.965,0,4,0
$FREEZE,0.02,6.420,-0.940,0,4,0
$FREEZE,0.24,6.414,-0.663,0,4,0
$FREEZE,0.26,6.391,-0.442,0,4,0
$FREEZE,0.17,6.393,-0.091,0,4,0
$GC,1093,1.75,1293.4,0.2,-0.2,230,1099,0.30,2.33,0.00,0.000,4,0.081,0.049,3476,182,438,0,0,0,0,0,0
$FREEZE,0.13,6.390,-0.668,0,4,0
$FREEZE,0.14,6.400,-0.688,0,4,0
$FREEZE,0.17,6.397,-0.770,0,4,0
$FREEZE,0.15,6.408,-0.482,0,4,0
$FREEZE,0.17,6.392,-0.420,0,4,0
$FREEZE,0.17,6.392,-0.420,0,4,0
$STATE,1121,end climb,NO_VERTICAL_VELOCITY
$STATE,1121,begin surface
$SM_CCo,1354,0.00,0.000,0,0,437,581.35
$SM_GC,1.06,8.90,0.00,0.00,0.051,0.000,0.000,107,1706,437,-8.73,0.17,581.35
$IRIDIUM_FIX,4748.51,-12221.84,100611,191951
$TT8_MAMPS,0.028379
$HUMID,1077381272
$INTERNAL_PRESSURE,8.89764
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,24.0,17.240
$10V_AH,10.5,5.683
$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,11.675,47.700,274.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,343.320,368.808,330.679,341.146,22.057,33.310,618.663,0.000,350.986,0.000,0.990,0.000
$DEVICE_MAMPS,195.585,52.156,901.992,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,151.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324276
$DATA_FILE_SIZE,6837,236
$CAP_FILE_SIZE,37399,0
$CFSIZE,260165632,256565248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,031906,4806.928,-12223.104,14,1.3,30,18.3