version: 66.06
glider: 501
mission: 2
dive: 14
start: 1 14 110 7 23 41
data:
$ID,501
$MISSION,2
$DIVE,14
$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,4815.8589
$TGT_DEFAULT_LON,-12230.29
$TGT_AUTO_DEFAULT,1
$SM_CC,724.35907
$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,-33771.883
$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,28
$R_STBD_OVSHOOT,13
$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
$GPS1,053646,4806.506,-12222.179,301,99.0,301,18.3
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-78.0
$GPS2,053646,4806.506,-12222.179,301,99.0,301,18.3
$SPEED_LIMITS,0.087,0.199
$TGT_NAME,HEADING
$TGT_LATLONG,4815.859,-12230.290
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.39,-145.9,0.0,0.0,0,94,0.00,0.00,-77.57,0.000,2,0.000,0.000,110,2137,2851,0,0,0,0,0,0
$GC,96,-0.39,-145.9,5.7,-4.7,12,137,9.93,2.80,-25.55,0.000,4,0.240,0.088,2554,3810,3961,0,0,0,0,0,0
$GC,155,-0.39,-145.9,9.2,-6.3,21,162,0.00,2.65,0.00,0.000,6,0.000,0.051,2553,2156,3961,0,0,0,0,0,0
$GC,241,-0.39,-145.9,14.7,-6.5,37,249,0.00,2.88,0.00,0.000,4,0.000,0.058,2554,386,3961,0,0,0,0,0,0
$GC,345,-0.39,-145.9,22.8,-8.4,56,352,0.00,2.92,0.00,0.000,6,0.000,0.064,2554,2139,3961,0,0,0,0,0,0
$GC,431,-0.39,-145.9,29.9,-8.2,72,439,0.00,2.80,0.00,0.000,4,0.000,0.084,2554,3798,3962,0,0,0,0,0,0
$GC,473,-0.39,-145.9,33.2,-8.2,79,481,0.00,2.67,0.00,0.000,6,0.000,0.056,2553,2145,3962,0,0,0,0,0,0
$GC,560,-0.39,-145.9,40.1,-8.1,95,566,0.00,2.85,0.00,0.000,4,0.000,0.061,2554,377,3961,0,0,0,0,0,0
$GC,586,-0.39,-145.9,42.3,-8.0,100,593,0.00,2.97,0.00,0.000,6,0.000,0.067,2554,2150,3961,0,0,0,0,0,0
$GC,743,-0.39,-145.9,54.0,-7.2,131,749,0.00,2.78,0.00,0.000,4,0.000,0.084,2553,3809,3961,0,0,0,0,0,0
$GC,788,-0.39,-145.9,57.4,-7.2,140,796,0.00,2.67,0.00,0.000,6,0.000,0.058,2554,2157,3961,0,0,0,0,0,0
$GC,946,-0.39,-145.9,68.1,-7.0,171,952,0.00,2.83,0.00,0.000,4,0.000,0.062,2553,375,3961,0,0,0,0,0,0
$GC,962,-0.39,-145.9,69.5,-7.0,174,969,0.00,2.97,0.00,0.000,6,0.000,0.067,2553,2157,3962,0,0,0,0,0,0
$GC,1122,-0.39,-145.9,80.1,-6.5,205,1127,0.00,2.75,0.00,0.000,4,0.000,0.083,2554,3809,3962,0,0,0,0,0,0
$GC,1164,-0.39,-145.9,83.0,-6.5,213,1170,0.00,2.62,0.00,0.000,6,0.000,0.058,2554,2167,3962,0,0,0,0,0,0
$GC,1317,-0.39,-145.9,93.0,-6.5,244,1325,0.00,2.90,0.00,0.000,4,0.000,0.063,2554,385,3962,0,0,0,0,0,0
$GC,1356,-0.39,-145.9,95.7,-7.0,251,1362,0.00,2.95,0.00,0.000,6,0.000,0.066,2554,2174,3962,0,0,0,0,0,0
$GC,1509,-0.39,-145.9,105.7,-6.3,282,1517,0.00,2.72,0.00,0.000,4,0.000,0.081,2554,3804,3962,0,0,0,0,0,0
$GC,1549,-0.39,-145.9,108.1,-6.2,289,1554,0.00,2.62,0.00,0.000,6,0.000,0.058,2554,2160,3962,0,0,0,0,0,0
$STATE,1610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1611,begin apogee
$GC,1615,-0.24,0.0,111.7,5.8,301,1725,0.20,0.00,103.43,0.594,6,0.132,0.000,2615,1983,3384,0,0,0,0,0,0
$STATE,1726,end apogee,CONTROL_FINISHED_OK
$STATE,1726,begin climb
$GC,1727,0.39,145.9,114.4,0.0,321,1848,0.60,3.20,108.70,0.568,4,0.104,0.084,2815,3755,2789,0,0,0,0,0,0
$GC,1870,0.39,145.9,102.5,10.7,347,1876,0.00,2.97,0.00,0.000,6,0.000,0.064,2815,1995,2788,0,0,0,0,0,0
$GC,2023,0.39,145.9,87.3,9.2,378,2031,0.00,3.03,0.00,0.000,4,0.000,0.071,2815,217,2785,0,0,0,0,0,0
$GC,2056,0.39,145.9,84.5,9.0,384,2063,0.00,3.03,0.00,0.000,6,0.000,0.067,2815,1987,2785,0,0,0,0,0,0
$GC,2213,0.39,145.9,70.7,8.7,415,2219,0.00,2.97,0.00,0.000,4,0.000,0.081,2816,3758,2785,0,0,0,0,0,0
$GC,2278,0.39,145.9,63.4,11.0,428,2286,0.00,2.92,0.00,0.000,6,0.000,0.064,2815,2000,2785,0,0,0,0,0,0
$GC,2435,0.39,145.9,49.1,8.9,459,2441,0.00,2.95,0.00,0.000,4,0.000,0.071,2815,220,2785,0,0,0,0,0,0
$GC,2458,0.39,145.9,47.1,8.8,463,2463,0.00,2.97,0.00,0.000,6,0.000,0.067,2816,2002,2785,0,0,0,0,0,0
$GC,2617,0.39,145.9,33.2,8.6,494,2624,0.00,2.97,0.00,0.000,4,0.000,0.084,2815,3755,2785,0,0,0,0,0,0
$GC,2657,0.39,145.9,29.2,9.5,501,2665,0.00,2.88,0.00,0.000,6,0.000,0.064,2816,2012,2785,0,0,0,0,0,0
$GC,2744,0.39,145.9,21.6,8.2,517,2752,0.00,3.00,0.00,0.000,4,0.000,0.072,2816,215,2785,0,0,0,0,0,0
$GC,2769,0.39,145.9,19.7,8.0,521,2776,0.00,3.05,0.00,0.000,6,0.000,0.071,2816,2019,2785,0,0,0,0,0,0
$GC,2855,0.39,145.9,13.2,7.5,537,2863,0.00,3.00,0.00,0.000,4,0.000,0.071,2816,227,2785,0,0,0,0,0,0
$GC,2887,0.39,145.9,10.9,7.7,542,2894,0.00,2.95,0.00,0.000,6,0.000,0.072,2816,1969,2785,0,0,0,0,0,0
$GC,2974,0.49,226.1,7.7,3.1,558,3041,0.10,3.08,59.60,0.513,4,0.117,0.080,2858,3768,2463,0,0,0,0,0,0
$FREEZE,6.48,8.569,-1.289,0,2,0
$STATE,3188,end climb,NO_VERTICAL_VELOCITY
$STATE,3188,begin surface
$SM_CCo,3190,380.85,0.492,0,0,431,724.36
$SM_GC,2.32,7.80,0.00,0.00,0.058,0.000,0.000,115,2129,428,-8.01,-0.59,725.34
$RAFOS_CLK,280
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12217.40,100499,070753
$TT8_MAMPS,0.029913
$HUMID,42.91
$INTERNAL_PRESSURE,6.6625
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,41.5
$24V_AH,24.4,11.761
$10V_AH,10.1,6.236
$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,18.625,98.325,271.725,380.850,0.000,295.928,625.826,425.232,0.750,0.000,303.495,952.160,885.879,677.969,2003.745,1570.021,0.000,1339.378,0.000,1717.682,0.000,5.529,0.000
$DEVICE_MAMPS,240.071,88.205,593.658,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,404.538,854.285,1374.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$MEM,270004
$DATA_FILE_SIZE,41421,596
$CAP_FILE_SIZE,88471,0
$CFSIZE,260165632,255320064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.4
$GPS,140110,053646,4806.506,-12222.179,301,99.0,301,18.3