version: 66.06
glider: 501
mission: 2
dive: 12
start: 1 14 110 4 19 48
data:
$ID,501
$MISSION,2
$DIVE,12
$D_SURF,5
$D_FLARE,5
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,5
$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,100
$T_MISSION,105
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,120
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51850
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,330
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4815.4766
$TGT_DEFAULT_LON,-12230.145
$TGT_AUTO_DEFAULT,1
$SM_CC,600
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33130.164
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3805
$ROLL_DEG,50
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,432
$VBD_MAX,3960
$C_VBD,3385
$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,50
$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,-79.500114
$PRESSURE_SLOPE,0.00011616675
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.58
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,87
$DEVICE3,101
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042778454
$SEABIRD_T_H,0.00061740389
$SEABIRD_T_I,2.0755566e-05
$SEABIRD_T_J,1.9309739e-06
$SEABIRD_C_G,-9.9587898
$SEABIRD_C_H,1.1116555
$SEABIRD_C_I,-0.00091855833
$SEABIRD_C_J,0.00016386856
$GPS1,041155,4806.380,-12222.141,29,1.9,48,18.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.5
$GPS2,041926,4806.408,-12222.138,13,1.8,13,18.3
$SPEED_LIMITS,0.087,0.199
$TGT_NAME,HEADING
$TGT_LATLONG,4815.760,-12230.249
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,311.7,20000,-7.3,-5.000
$D_GRID,150
$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,-0.39,-145.9,0.0,0.0,0,113,0.00,0.00,-96.32,0.000,2,0.000,0.000,115,2158,3692,0,0,0,0,0,0
$GC,115,-0.39,-145.9,5.6,-4.1,15,138,10.25,2.88,-6.00,0.000,4,0.247,0.059,2553,367,3963,0,0,0,0,0,0
$GC,350,-0.39,-145.9,27.6,-8.9,59,358,0.00,2.95,0.00,0.000,6,0.000,0.061,2553,2141,3963,0,0,0,0,0,0
$GC,437,-0.39,-145.9,34.4,-7.6,75,444,0.00,2.75,0.00,0.000,4,0.000,0.073,2553,3796,3963,0,0,0,0,0,0
$GC,462,-0.39,-145.9,36.3,-7.7,79,469,0.00,2.67,0.00,0.000,6,0.000,0.051,2553,2137,3963,0,0,0,0,0,0
$GC,547,-0.39,-145.9,43.1,-7.9,95,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2137,3963,0,0,0,0,0,0
$GC,700,-0.39,-145.9,55.2,-7.8,126,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2136,3963,0,0,0,0,0,0
$GC,857,-0.39,-145.9,66.5,-7.4,157,862,0.00,2.72,0.00,0.000,4,0.000,0.072,2553,3802,3963,0,0,0,0,0,0
$GC,879,-0.39,-145.9,68.3,-7.4,161,885,0.00,2.65,0.00,0.000,6,0.000,0.054,2553,2137,3963,0,0,0,0,0,0
$GC,1034,-0.39,-145.9,79.3,-6.9,192,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2136,3963,0,0,0,0,0,0
$GC,1191,-0.39,-145.9,90.0,-7.0,223,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2136,3963,0,0,0,0,0,0
$GC,1346,-0.39,-145.9,100.5,-6.7,254,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2136,3963,0,0,0,0,0,0
$GC,1502,-0.39,-145.9,110.5,-6.3,285,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2136,3963,0,0,0,0,0,0
$STATE,1516,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1516,begin apogee
$GC,1520,-0.24,0.0,111.4,6.1,288,1631,0.20,0.00,103.22,0.591,6,0.133,0.000,2615,1982,3384,0,0,0,0,0,0
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1633,0.39,145.9,114.5,0.0,308,1750,0.57,3.08,108.22,0.564,4,0.104,0.072,2806,3753,2789,0,0,0,0,0,0
$GC,1772,0.39,145.9,103.7,9.8,333,1778,0.00,2.95,0.00,0.000,6,0.000,0.060,2807,2002,2789,0,0,0,0,0,0
$GC,1925,0.39,145.9,89.0,9.1,364,1933,0.00,2.97,0.00,0.000,4,0.000,0.064,2807,228,2787,0,0,0,0,0,0
$GC,1955,0.39,145.9,86.7,9.1,369,1960,0.00,2.95,0.00,0.000,6,0.000,0.061,2807,1994,2787,0,0,0,0,0,0
$GC,2110,0.39,145.9,72.9,8.8,400,2117,0.00,2.95,0.00,0.000,4,0.000,0.074,2807,3751,2787,0,0,0,0,0,0
$GC,2161,0.39,145.9,67.3,10.2,410,2169,0.00,2.88,0.00,0.000,6,0.000,0.059,2807,2004,2787,0,0,0,0,0,0
$GC,2319,0.39,145.9,53.4,8.6,441,2324,0.00,2.92,0.00,0.000,4,0.000,0.064,2807,215,2786,0,0,0,0,0,0
$GC,2341,0.39,145.9,51.6,8.4,445,2347,0.00,2.97,0.00,0.000,6,0.000,0.062,2807,2015,2786,0,0,0,0,0,0
$GC,2498,0.39,145.9,38.6,8.3,476,2506,0.00,2.90,0.00,0.000,4,0.000,0.075,2807,3752,2786,0,0,0,0,0,0
$GC,2543,0.39,145.9,34.0,9.4,484,2551,0.00,2.85,0.00,0.000,6,0.000,0.061,2807,2009,2786,0,0,0,0,0,0
$GC,2630,0.39,145.9,26.6,8.4,500,2638,0.00,2.95,0.00,0.000,4,0.000,0.067,2807,224,2786,0,0,0,0,0,0
$GC,2662,0.39,145.9,24.1,8.1,505,2669,0.00,3.00,0.00,0.000,6,0.000,0.066,2807,2019,2786,0,0,0,0,0,0
$GC,2748,0.39,145.9,17.1,8.0,521,2756,0.00,2.90,0.00,0.000,4,0.000,0.077,2807,3757,2786,0,0,0,0,0,0
$GC,2784,0.39,145.9,14.3,8.0,527,2791,0.00,2.85,0.00,0.000,6,0.000,0.061,2807,2008,2786,0,0,0,0,0,0
$GC,2870,0.40,147.1,9.5,5.0,543,2878,0.00,2.92,0.00,0.000,4,0.000,0.064,2807,224,2786,0,0,0,0,0,0
$FREEZE,8.19,8.938,-1.423,0,1,0
$STATE,3080,end climb,NO_VERTICAL_VELOCITY
$STATE,3080,begin surface
$SM_CCo,3082,438.50,0.493,0,0,431,724.36
$SM_GC,2.11,7.55,0.00,0.00,0.050,0.000,0.000,106,2158,425,-8.03,0.23,726.08
$RAFOS_CLK,149
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,100499,030312
$TT8_MAMPS,0.029913
$HUMID,44.13
$INTERNAL_PRESSURE,6.6625
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,41.0
$24V_AH,24.5,11.468
$10V_AH,10.2,6.036
$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,18.575,64.250,211.450,438.500,0.000,31.238,25.053,301.074,0.500,0.000,14.928,936.921,354.411,690.596,1666.844,439.514,0.000,1294.566,0.000,1667.574,0.000,5.526,0.000
$DEVICE_MAMPS,246.974,77.467,590.590,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,397.269,824.588,1326.970,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$MEM,270036
$DATA_FILE_SIZE,41529,583
$CAP_FILE_SIZE,70458,0
$CFSIZE,260165632,255471616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.7
$GPS,140110,052128,4806.614,-12222.325,11,2.4,30,18.3