version: 66.07
glider: 505
mission: 2
dive: 55
start: 12 16 109 4 44 4
data:
$ID,505
$MISSION,2
$DIVE,55
$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,-23028.604
$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,29
$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,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
$GPS1,100611,202147,4748.505,-12226.294,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.61
$_SM_ANGLEo,-3.5
$GPS2,100611,202147,4748.505,-12226.294,0,10000.0,0,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.231
$KALMAN_X,-12441.2,-2136.4,145.6,8079.5,1727.3
$KALMAN_Y,-41832.4,-6260.6,28374.4,-10785.4,-24945.2
$MHEAD_RNG_PITCHd_Wd,346.7,31242,-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,-214.2,0.0,0.0,0,22,0.00,0.00,-5.28,0.000,2,0.000,0.000,2915,3259,3059,0,0,0,0,0,0
$GC,24,-0.42,-214.2,9.1,-0.0,1,42,0.35,0.00,-12.25,0.000,4,0.064,0.000,2763,3259,3681,0,0,0,0,0,0
$GC,131,-0.42,-214.2,17.1,-5.7,24,137,0.08,2.50,0.00,0.000,6,0.131,0.041,2803,1689,3682,0,0,0,0,0,0
$GC,175,-0.42,-214.2,20.0,-6.4,33,180,0.08,0.00,0.00,0.000,6,0.161,0.000,2780,1687,3682,0,0,0,0,0,0
$GC,218,-0.42,-214.2,22.9,-7.0,42,223,0.00,2.55,0.00,0.000,4,0.000,0.048,2780,3281,3682,0,0,0,0,0,0
$STATE,306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,306,begin apogee
$GC,312,-0.17,0.0,30.1,8.0,61,390,0.22,0.00,73.25,0.879,6,0.085,0.000,2866,1671,2805,0,0,0,0,0,0
$STATE,391,end apogee,CONTROL_FINISHED_OK
$STATE,391,begin climb
$GC,392,0.42,214.2,34.3,0.0,79,474,0.47,0.00,74.40,0.852,6,0.053,0.000,3057,1671,1929,0,0,0,0,0,0
$GC,512,0.42,214.2,19.2,18.7,106,517,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1671,1926,0,0,0,0,0,0
$GC,554,0.42,214.2,11.8,18.6,115,559,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1671,1926,0,0,0,0,0,0
$GC,596,0.42,214.2,8.3,10.9,124,602,0.00,2.45,0.00,0.000,4,0.000,0.051,3057,179,1926,0,0,0,0,0,0
$FREEZE,0.59,6.177,-1.274,0,5,0
$FREEZE,0.14,6.362,-1.204,0,5,0
$GC,866,0.82,538.7,10.1,-0.3,182,991,0.32,2.38,114.22,0.735,6,0.061,0.039,3197,1685,606,0,0,0,0,0,0
$FREEZE,0.26,6.197,-0.650,0,5,0
$FREEZE,0.27,6.292,-1.265,0,5,0
$FREEZE,0.18,6.211,-0.930,0,5,0
$FREEZE,0.22,6.204,-1.272,0,5,0
$FREEZE,0.23,6.287,-1.243,0,5,0
$FREEZE,0.15,6.191,-0.860,0,5,0
$FREEZE,0.26,6.435,-0.601,0,5,0
$FREEZE,0.30,6.278,-1.254,0,5,0
$FREEZE,0.20,6.191,-0.560,0,5,0
$FREEZE,0.22,6.202,-1.272,0,5,0
$FREEZE,0.14,6.200,-0.192,0,5,0
$GC,1026,0.99,681.2,0.3,2.7,218,1051,0.10,2.58,13.40,0.162,4,0.133,0.054,3231,186,445,0,0,0,0,0,0
$FREEZE,0.25,6.300,-0.269,0,5,0
$FREEZE,0.25,6.309,-0.793,0,5,0
$FREEZE,0.21,6.230,-0.644,0,5,0
$FREEZE,0.18,6.193,-1.033,0,5,0
$FREEZE,0.21,6.227,-0.976,0,5,0
$FREEZE,0.22,6.263,-1.270,0,5,0
$FREEZE,0.18,6.227,-1.142,0,5,0
$FREEZE,0.24,6.219,-0.674,0,5,0
$FREEZE,0.33,6.198,-1.261,0,5,0
$FREEZE,0.19,6.234,-0.737,0,5,0
$FREEZE,0.30,6.199,-0.642,0,5,0
$FREEZE,0.14,6.235,-1.114,0,5,0
$FREEZE,0.19,6.201,-1.125,0,5,0
$FREEZE,0.20,6.211,-0.537,0,5,0
$FREEZE,0.27,6.241,-1.271,0,5,0
$FREEZE,0.16,6.202,-1.265,0,5,0
$FREEZE,0.26,6.281,-1.269,0,5,0
$FREEZE,0.33,6.280,-0.617,0,5,0
$FREEZE,0.20,6.314,-0.613,0,5,0
$FREEZE,0.21,6.198,-0.576,0,5,0
$FREEZE,0.30,6.215,-1.271,0,5,0
$FREEZE,0.33,6.316,-0.664,0,5,0
$FREEZE,0.32,6.290,-0.229,0,5,0
$GC,1149,1.38,998.9,0.3,-0.2,245,1155,0.35,2.17,0.00,0.000,6,0.086,0.038,3357,1559,444,0,0,0,0,0,0
$FREEZE,0.17,6.215,-0.676,0,5,0
$FREEZE,0.17,6.215,-0.676,0,5,0
$STATE,1160,end climb,NO_VERTICAL_VELOCITY
$STATE,1160,begin surface
$SM_CCo,1391,0.00,0.000,0,0,442,580.13
$SM_GC,1.06,8.50,0.00,0.00,0.044,0.000,0.000,103,1715,442,-8.73,0.42,580.13
$IRIDIUM_FIX,4748.51,-12226.29,100611,202047
$TT8_MAMPS,0.027612
$HUMID,1077412240
$INTERNAL_PRESSURE,8.88787
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,24.0,17.546
$10V_AH,10.5,5.751
$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,10.475,17.400,275.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.184,437.683,242.258,354.535,22.161,33.075,502.807,0.000,366.406,0.000,0.991,0.000
$DEVICE_MAMPS,161.070,62.894,878.982,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,6831,247
$CAP_FILE_SIZE,31006,0
$CFSIZE,260165632,256471040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,050755,4806.810,-12222.864,10,1.8,10,18.3