version: 66.07
glider: 505
mission: 2
dive: 95
start: 12 16 109 23 37 52
data:
$ID,505
$MISSION,2
$DIVE,95
$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,-23448.6
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,110611,155950,4748.505,-12226.294,0,10000.0,0,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.04
$_SM_ANGLEo,-2.1
$GPS2,110611,155950,4748.505,-12226.294,0,10000.0,0,18.3
$SPEED_LIMITS,0.115,0.242
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,0.233
$KALMAN_X,-19527.8,-2281.4,466.7,14988.3,1749.4
$KALMAN_Y,16856.0,-20555.4,1076.8,-27802.9,19352.9
$MHEAD_RNG_PITCHd_Wd,357.1,32832,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.55,-175.2,0.0,0.0,0,21,0.00,0.00,-5.12,0.000,2,0.000,0.000,2835,3254,3088,0,0,0,0,0,0
$GC,23,-0.55,-175.2,11.8,-0.0,1,42,0.45,4.95,-7.85,0.000,4,0.073,0.048,2657,173,3524,0,0,0,0,0,0
$GC,75,-0.55,-175.2,15.7,-8.3,12,80,0.00,2.42,0.00,0.000,6,0.000,0.040,2657,1702,3525,0,0,0,0,0,0
$GC,118,-0.55,-175.2,20.2,-10.6,21,124,0.00,2.53,0.00,0.000,4,0.000,0.047,2656,3292,3525,0,0,0,0,0,0
$GC,166,-0.55,-175.2,25.3,-10.3,31,171,0.00,2.47,0.00,0.000,6,0.000,0.037,2657,1715,3525,0,0,0,0,0,0
$GC,209,-0.55,-175.2,29.6,-10.2,40,214,0.00,2.45,0.00,0.000,4,0.000,0.048,2657,175,3525,0,0,0,0,0,0
$STATE,218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,218,begin apogee
$GC,225,-0.17,0.0,30.7,10.3,42,286,0.35,0.00,57.90,0.255,6,0.141,0.000,2771,1690,2806,0,0,0,0,0,0
$STATE,287,end apogee,CONTROL_FINISHED_OK
$STATE,287,begin climb
$GC,288,0.55,175.2,34.3,0.0,56,352,0.70,0.00,58.12,0.251,6,0.110,0.000,3007,1691,2088,0,0,0,0,0,0
$GC,391,0.55,175.2,25.7,11.0,79,396,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1691,2085,0,0,0,0,0,0
$GC,432,0.55,175.2,20.7,11.7,88,438,0.00,2.50,0.00,0.000,4,0.000,0.044,3007,3263,2084,0,0,0,0,0,0
$GC,447,0.55,175.2,18.9,11.8,91,453,0.00,2.47,0.00,0.000,6,0.000,0.038,3018,1678,2084,0,0,0,0,0,0
$GC,491,0.55,175.2,13.6,12.2,100,496,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1677,2084,0,0,0,0,0,0
$FREEZE,9.94,7.963,-1.451,0,5,0
$FREEZE,9.61,7.783,-1.429,0,5,0
$FREEZE,9.38,7.669,-1.416,0,5,0
$FREEZE,9.34,7.609,-1.410,0,5,0
$GC,533,0.55,175.2,9.3,11.3,109,537,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1677,2084,0,0,0,0,0,0
$FREEZE,9.06,7.578,-1.400,0,5,0
$FREEZE,8.97,7.568,-1.398,0,5,0
$FREEZE,8.92,7.565,-1.397,0,5,0
$FREEZE,8.99,7.569,-1.395,0,5,0
$FREEZE,8.79,7.566,-1.394,0,5,0
$FREEZE,8.85,7.568,-1.393,0,5,0
$FREEZE,8.73,7.572,-1.392,0,5,0
$FREEZE,8.80,7.564,-1.392,0,5,0
$FREEZE,8.76,7.572,-1.390,0,5,0
$FREEZE,8.69,7.547,-1.390,0,5,0
$FREEZE,8.58,7.547,-1.388,0,5,0
$FREEZE,8.44,7.548,-1.385,0,5,0
$FREEZE,8.29,7.545,-1.384,0,5,0
$FREEZE,8.03,7.542,-1.382,0,5,0
$FREEZE,7.88,7.541,-1.380,0,5,0
$FREEZE,7.55,7.540,-1.378,0,5,0
$FREEZE,7.36,7.538,-1.376,0,5,0
$FREEZE,7.04,7.536,-1.375,0,5,0
$FREEZE,6.73,7.536,-1.373,0,5,0
$FREEZE,6.47,7.536,-1.372,0,5,0
$GC,572,0.80,376.6,8.8,1.4,118,649,0.20,2.62,66.07,0.173,4,0.072,0.042,3112,3268,1263,0,0,0,0,0,0
$FREEZE,5.52,7.534,-1.371,0,5,0
$FREEZE,5.13,7.534,-1.370,0,5,0
$FREEZE,4.77,7.534,-1.369,0,5,0
$FREEZE,4.52,7.534,-1.369,0,5,0
$FREEZE,4.17,7.534,-1.369,0,5,0
$FREEZE,3.88,7.536,-1.368,0,5,0
$GC,672,0.81,387.9,4.2,6.4,136,684,0.08,2.50,2.92,0.164,6,0.186,0.039,3097,1697,1221,0,0,0,0,0,0
$FREEZE,3.11,7.535,-1.368,0,5,0
$FREEZE,2.85,7.535,-1.367,0,5,0
$FREEZE,2.42,7.532,-1.367,0,5,0
$FREEZE,2.37,7.533,-1.367,0,5,0
$FREEZE,1.99,7.533,-1.366,0,5,0
$STATE,705,end climb,SURFACE_DEPTH_REACHED
$STATE,705,begin surface coast
$FREEZE,1.71,7.535,-1.366,0,5,0
$FREEZE,1.48,7.535,-1.366,0,5,0
$FREEZE,1.35,7.531,-1.366,0,5,0
$FREEZE,1.01,7.527,-1.366,0,5,0
$FREEZE,0.61,7.528,-1.365,0,5,0
$FREEZE,0.42,7.538,-1.365,0,5,0
$FREEZE,0.22,7.612,-0.694,0,5,0
$FINISH,0.2,1.009942
$STATE,735,end surface coast,CONTROL_FINISHED_OK
$STATE,735,begin surface
$SM_CCo,749,32.08,0.156,0,0,848,480.04
$SM_GC,1.38,0.00,0.00,32.08,0.000,0.000,0.156,111,1691,848,-8.51,-0.23,480.04
$IRIDIUM_FIX,4748.51,-12226.29,110611,151550
$TT8_MAMPS,0.028379
$HUMID,1077355466
$INTERNAL_PRESSURE,8.98553
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,25.1,19.323
$10V_AH,10.5,6.440
$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,9.600,27.350,185.025,32.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,275.543,99.988,223.034,216.713,19.801,33.057,404.458,0.000,230.166,0.000,0.995,0.000
$DEVICE_MAMPS,185.614,48.321,254.644,155.701,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,97.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324336
$DATA_FILE_SIZE,3507,150
$CAP_FILE_SIZE,27257,0
$CFSIZE,260165632,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,235158,4807.764,-12222.600,11,5.3,30,18.3