version: 66.04
glider: 505
mission: 2
dive: 21
start: 5 21 109 15 26 16
data:
$ID,505
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51510
$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,700
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4942.0259
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2712
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2146
$C_ROLL_CLIMB,2146
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3963
$C_VBD,3525
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.502724
$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,1
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.1600001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0042812955
$SEABIRD_T_H,0.00061992655
$SEABIRD_T_I,2.2443779e-05
$SEABIRD_T_J,2.3337107e-06
$SEABIRD_C_G,-9.9470167
$SEABIRD_C_H,1.1498449
$SEABIRD_C_I,9.315474e-05
$SEABIRD_C_J,0.00010132478
$GPS1,152025,4806.421,-12222.483,9,1.3,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.4
$GPS2,152520,4806.398,-12222.444,13,1.1,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.214
$KALMAN_X,1220.9,44.6,-1.8,-1823.0,100.4
$KALMAN_Y,-4454.1,-379.0,-29.6,5111.5,-126.5
$MHEAD_RNG_PITCHd_Wd,307.1,3536,-17.5,-10.000
$D_GRID,105
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.74,-146.6,0.0,0.0,0,141,0.00,0.00,-122.53,0.000,6,0.000,0.000,107,2141,3965
$GC,143,-0.74,-146.6,3.2,-2.7,17,159,11.12,0.00,0.00,0.000,6,0.302,0.000,2461,2140,3967
$GC,239,-0.74,-146.6,8.5,-7.5,34,247,0.00,2.30,0.00,0.000,4,0.000,0.056,2461,3553,3968
$GC,500,-0.74,-146.6,35.0,-11.1,83,508,0.00,2.20,0.00,0.000,6,0.000,0.036,2461,2130,3969
$GC,587,-0.74,-146.6,43.9,-10.6,99,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2130,3970
$GC,740,-0.74,-146.6,60.5,-10.1,130,748,0.00,2.30,0.00,0.000,4,0.000,0.058,2461,3555,3970
$GC,860,-0.74,-146.6,73.9,-11.1,154,868,0.00,2.17,0.00,0.000,6,0.000,0.036,2461,2142,3970
$GC,1022,-0.74,-146.6,89.6,-9.6,185,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2142,3970
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1181,-0.16,0.0,105.3,9.7,216,1267,0.65,0.00,80.45,0.617,6,0.199,0.000,2649,2141,3524
$STATE,1267,end apogee,CONTROL_FINISHED_OK
$STATE,1267,begin climb
$GC,1269,0.74,146.6,107.7,0.0,229,1387,0.93,2.38,109.85,0.594,4,0.134,0.045,2944,741,2926
$GC,1392,0.74,146.6,96.1,13.5,248,1400,0.00,2.35,0.00,0.000,6,0.000,0.042,2945,2149,2926
$GC,1549,0.74,146.6,72.6,15.1,279,1555,0.00,2.30,0.00,0.000,4,0.000,0.056,2945,3563,2925
$GC,1585,0.74,146.6,66.2,16.9,286,1593,0.00,2.25,0.00,0.000,6,0.000,0.039,2945,2151,2925
$GC,1742,0.74,146.6,43.0,14.0,317,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2150,2925
$GC,1905,0.74,146.6,19.9,13.7,348,1913,0.00,2.28,0.00,0.000,4,0.000,0.056,2945,3551,2924
$GC,1925,0.74,146.6,17.1,13.9,351,1933,0.00,2.20,0.00,0.000,6,0.000,0.038,2948,2146,2924
$GC,2013,0.74,146.6,6.4,11.0,367,2021,0.00,2.22,0.00,0.000,4,0.000,0.047,2948,738,2924
$STATE,2038,end climb,SURFACE_DEPTH_REACHED
$STATE,2038,begin surface coast
$FINISH,3.1,1.017746
$STATE,2081,end surface coast,CONTROL_FINISHED_OK
$STATE,2081,begin surface
$SM_CCo,2099,350.85,0.532,0,0,670,700.07
$SM_GC,2.08,0.00,0.00,350.85,0.000,0.000,0.532,110,2160,670,-8.13,0.40,700.07
$IRIDIUM_FIX,4748.51,-12226.29,150898,141406
$TT8_MAMPS,0.029146
$HUMID,2065
$INTERNAL_PRESSURE,8.94394
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.7,30.1
$24V_AH,24.4,2.492
$10V_AH,10.7,1.361
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.575,27.225,190.300,350.850,0.000,31.063,29.296,153.486,1.000,0.000,0.000,13.753,583.268,156.613,592.170,1145.889,286.777,33.341,1019.690,0.000,613.507,0.000,9.895,0.000
$DEVICE_MAMPS,302.198,57.525,617.435,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,257.304,956.438,376.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19095,379
$CAP_FILE_SIZE,40668,0
$CFSIZE,260165632,258752512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210509,160810,4806.535,-12222.552,11,2.3,30,18.3