version: 66.07
glider: 505
mission: 2
dive: 90
start: 12 16 109 22 30 28
data:
$ID,505
$MISSION,2
$DIVE,90
$D_SURF,2
$D_FLARE,3
$D_TGT,30
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,50
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,-23433.059
$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,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,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,110611,150221,4748.505,-12220.121,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,11.51
$_SM_ANGLEo,-2.7
$GPS2,110611,150221,4748.505,-12220.121,0,10000.0,0,18.3
$SPEED_LIMITS,0.115,0.242
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,0.241
$KALMAN_X,-21321.9,559.2,5889.9,16191.3,-6589.2
$KALMAN_Y,-34233.3,4591.2,21572.5,-22430.5,-27570.1
$MHEAD_RNG_PITCHd_Wd,345.7,32483,-10.0,-6.667
$D_GRID,1001
$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,14,-0.55,-175.2,0.0,0.0,0,21,0.00,0.00,-4.72,0.000,2,0.000,0.000,2833,3254,3069,0,0,0,0,0,0
$GC,23,-0.55,-175.2,11.9,-0.0,1,42,0.45,4.93,-8.12,0.000,4,0.071,0.048,2656,178,3522,0,0,0,0,0,0
$GC,89,-0.55,-175.2,18.0,-10.8,15,94,0.00,2.40,0.00,0.000,6,0.000,0.040,2655,1697,3523,0,0,0,0,0,0
$GC,132,-0.55,-175.2,22.7,-10.7,24,137,0.00,2.53,0.00,0.000,4,0.000,0.048,2655,3284,3523,0,0,0,0,0,0
$GC,170,-0.55,-175.2,26.8,-10.6,32,176,0.00,2.50,0.00,0.000,6,0.000,0.038,2655,1696,3523,0,0,0,0,0,0
$STATE,203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,203,begin apogee
$GC,206,-0.17,0.0,30.3,10.3,39,271,0.35,0.00,57.75,0.251,6,0.130,0.000,2773,1694,2805,0,0,0,0,0,0
$STATE,272,end apogee,CONTROL_FINISHED_OK
$STATE,272,begin climb
$GC,274,0.55,175.2,33.2,0.0,54,339,0.68,2.58,58.17,0.248,4,0.107,0.042,3004,3270,2088,0,0,0,0,0,0
$GC,358,0.55,175.2,26.3,10.5,73,364,0.00,2.58,0.00,0.000,6,0.000,0.040,3007,1683,2084,0,0,0,0,0,0
$GC,401,0.55,175.2,21.2,12.4,82,406,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1682,2084,0,0,0,0,0,0
$GC,443,0.55,175.2,16.0,12.1,91,448,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1682,2084,0,0,0,0,0,0
$GC,486,0.55,175.2,11.2,11.6,100,490,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1682,2084,0,0,0,0,0,0
$FREEZE,9.94,7.750,-1.428,0,5,0
$FREEZE,9.72,7.744,-1.423,0,5,0
$FREEZE,9.53,7.722,-1.416,0,5,0
$FREEZE,9.41,7.705,-1.412,0,5,0
$FREEZE,9.19,7.691,-1.409,0,5,0
$FREEZE,9.17,7.683,-1.408,0,5,0
$FREEZE,8.93,7.686,-1.407,0,5,0
$FREEZE,8.95,7.686,-1.406,0,5,0
$FREEZE,8.86,7.680,-1.405,0,5,0
$GC,526,0.59,206.2,8.9,5.9,109,544,0.00,2.45,9.57,0.185,4,0.000,0.048,3007,183,1962,0,0,0,0,0,0
$FREEZE,8.61,7.672,-1.401,0,5,0
$FREEZE,8.50,7.670,-1.401,0,5,0
$FREEZE,8.29,7.667,-1.400,0,5,0
$FREEZE,8.22,7.664,-1.399,0,5,0
$FREEZE,8.15,7.655,-1.399,0,5,0
$FREEZE,8.22,7.658,-1.401,0,5,0
$FREEZE,7.96,7.654,-1.402,0,5,0
$FREEZE,7.78,7.649,-1.401,0,5,0
$FREEZE,7.61,7.646,-1.398,0,5,0
$FREEZE,7.49,7.645,-1.394,0,5,0
$FREEZE,7.35,7.645,-1.390,0,5,0
$FREEZE,6.97,7.617,-1.388,0,5,0
$FREEZE,6.68,7.617,-1.385,0,5,0
$FREEZE,6.43,7.599,-1.383,0,5,0
$FREEZE,6.01,7.585,-1.380,0,5,0
$GC,567,0.80,381.0,8.2,2.1,117,632,0.22,2.38,57.80,0.172,6,0.067,0.036,3113,1708,1248,0,0,0,0,0,0
$FREEZE,5.02,7.562,-1.374,0,5,0
$FREEZE,4.84,7.561,-1.372,0,5,0
$FREEZE,4.62,7.553,-1.371,0,5,0
$FREEZE,4.36,7.541,-1.369,0,5,0
$FREEZE,4.20,7.545,-1.368,0,5,0
$FREEZE,3.78,7.544,-1.366,0,5,0
$FREEZE,3.45,7.539,-1.366,0,5,0
$FREEZE,3.01,7.538,-1.365,0,5,0
$GC,668,0.80,381.0,3.0,6.7,136,674,0.08,2.45,0.00,0.000,4,0.185,0.043,3094,3260,1241,0,0,0,0,0,0
$FREEZE,2.19,7.535,-1.363,0,5,0
$FREEZE,1.94,7.533,-1.362,0,5,0
$STATE,683,end climb,SURFACE_DEPTH_REACHED
$STATE,683,begin surface coast
$FREEZE,1.65,7.534,-1.362,0,5,0
$FREEZE,1.50,7.533,-1.361,0,5,0
$FREEZE,1.10,7.533,-1.361,0,5,0
$FREEZE,0.70,7.534,-1.360,0,5,0
$FREEZE,0.40,7.536,-1.360,0,5,0
$FREEZE,0.18,7.613,-1.357,0,5,0
$FINISH,0.2,1.019467
$STATE,709,end surface coast,CONTROL_FINISHED_OK
$STATE,709,begin surface
$SM_CCo,726,33.60,0.154,0,0,847,480.04
$SM_GC,1.21,0.00,0.00,33.60,0.000,0.000,0.154,114,1693,847,-8.51,-0.17,480.04
$IRIDIUM_FIX,4748.51,-12220.12,110611,151521
$TT8_MAMPS,0.028379
$HUMID,1077368369
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,25.1,19.248
$10V_AH,10.5,6.396
$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,9.725,27.300,183.300,33.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,265.474,98.795,220.525,207.986,20.027,33.058,396.126,0.000,222.651,0.000,0.994,0.000
$DEVICE_MAMPS,184.847,48.321,250.809,154.167,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,94.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324348
$DATA_FILE_SIZE,3518,145
$CAP_FILE_SIZE,26437,0
$CFSIZE,260165632,255537152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,224356,4807.309,-12222.547,15,1.6,15,18.3