version: 66.06
glider: 501
mission: 2
dive: 19
start: 1 14 110 14 33 36
data:
$ID,501
$MISSION,2
$DIVE,19
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,1
$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,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34884.402
$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,23
$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,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,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
$GPS1,142436,4808.262,-12223.489,35,1.0,35,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.3
$GPS2,143314,4808.501,-12223.618,15,1.6,15,18.3
$SPEED_LIMITS,0.087,0.199
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$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,122.2,1203,-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,-145.9,0.0,0.0,0,126,0.00,0.00,-109.00,0.000,2,0.000,0.000,106,2163,3770,0,0,0,0,0,0
$GC,128,-0.39,-145.9,5.3,-4.8,17,149,10.15,0.00,-4.57,0.000,6,0.243,0.000,2552,2163,3962,0,0,0,0,0,0
$GC,228,-0.39,-145.9,13.5,-6.8,35,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2163,3962,0,0,0,0,0,0
$GC,314,-0.39,-145.9,19.5,-7.3,51,321,0.00,2.72,0.00,0.000,4,0.000,0.071,2552,3801,3962,0,0,0,0,0,0
$GC,356,-0.39,-145.9,22.6,-7.6,58,363,0.00,2.67,0.00,0.000,6,0.000,0.051,2553,2141,3962,0,0,0,0,0,0
$GC,442,-0.39,-145.9,30.0,-8.3,74,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2141,3962,0,0,0,0,0,0
$GC,528,-0.39,-145.9,36.8,-7.8,90,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2141,3962,0,0,0,0,0,0
$GC,610,-0.39,-145.9,43.2,-7.5,106,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2141,3962,0,0,0,0,0,0
$GC,767,-0.39,-145.9,54.4,-7.2,137,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2141,3963,0,0,0,0,0,0
$GC,919,-0.39,-145.9,65.4,-6.9,168,927,0.00,2.75,0.00,0.000,4,0.000,0.074,2552,3795,3962,0,0,0,0,0,0
$GC,951,-0.39,-145.9,67.6,-7.0,174,959,0.00,2.65,0.00,0.000,6,0.000,0.056,2552,2152,3963,0,0,0,0,0,0
$GC,1109,-0.39,-145.9,78.1,-6.7,205,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2152,3962,0,0,0,0,0,0
$GC,1264,-0.39,-145.9,88.3,-6.6,236,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2152,3962,0,0,0,0,0,0
$GC,1420,-0.39,-145.9,98.1,-6.3,267,1425,0.00,2.85,0.00,0.000,4,0.000,0.059,2552,373,3962,0,0,0,0,0,0
$GC,1442,-0.39,-145.9,99.7,-6.5,271,1448,0.00,2.92,0.00,0.000,6,0.000,0.064,2552,2157,3962,0,0,0,0,0,0
$STATE,1504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1504,begin apogee
$GC,1507,-0.24,0.0,103.7,6.4,283,1618,0.20,0.00,102.85,0.582,6,0.130,0.000,2615,1981,3384,0,0,0,0,0,0
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1620,0.39,145.9,106.6,0.0,303,1734,0.60,0.00,107.80,0.555,6,0.104,0.000,2815,1981,2789,0,0,0,0,0,0
$GC,1883,0.39,145.9,84.2,9.4,354,1891,0.00,3.03,0.00,0.000,4,0.000,0.074,2815,3752,2787,0,0,0,0,0,0
$GC,1905,0.39,145.9,81.6,9.7,358,1913,0.00,2.90,0.00,0.000,6,0.000,0.061,2814,2013,2786,0,0,0,0,0,0
$GC,2063,0.39,145.9,66.6,9.2,389,2068,0.00,2.97,0.00,0.000,4,0.000,0.067,2815,224,2786,0,0,0,0,0,0
$GC,2086,0.39,145.9,64.5,9.1,393,2091,0.00,2.97,0.00,0.000,6,0.000,0.064,2815,2001,2786,0,0,0,0,0,0
$GC,2239,0.39,145.9,50.5,9.0,424,2247,0.00,2.95,0.00,0.000,4,0.000,0.075,2815,3757,2786,0,0,0,0,0,0
$GC,2293,0.39,145.9,44.7,10.7,434,2300,0.00,2.88,0.00,0.000,6,0.000,0.061,2815,2008,2785,0,0,0,0,0,0
$GC,2455,0.39,145.9,29.4,9.2,465,2462,0.00,2.97,0.00,0.000,4,0.000,0.068,2815,221,2785,0,0,0,0,0,0
$GC,2490,0.39,145.9,26.4,8.9,471,2498,0.00,2.97,0.00,0.000,6,0.000,0.065,2815,1999,2785,0,0,0,0,0,0
$GC,2577,0.39,145.9,18.7,8.8,487,2584,0.00,2.92,0.00,0.000,4,0.000,0.077,2815,3746,2785,0,0,0,0,0,0
$GC,2659,0.39,145.9,10.8,10.0,502,2667,0.00,2.83,0.00,0.000,6,0.000,0.061,2815,2021,2786,0,0,0,0,0,0
$GC,2746,0.39,145.9,5.6,5.3,518,2754,0.00,2.97,0.00,0.000,4,0.000,0.066,2815,217,2785,0,0,0,0,0,0
$FREEZE,5.29,8.676,-1.248,0,1,0
$STATE,2931,end climb,NO_VERTICAL_VELOCITY
$STATE,2931,begin surface
$SM_CCo,2933,383.30,0.490,0,0,432,724.36
$SM_GC,1.18,7.55,0.00,0.00,0.049,0.000,0.000,110,2152,427,-8.01,0.03,725.59
$RAFOS_CLK,141
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,100499,141450
$TT8_MAMPS,0.029913
$HUMID,42.83
$INTERNAL_PRESSURE,6.6625
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,33.6
$24V_AH,24.5,12.461
$10V_AH,10.2,6.708
$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,18.500,52.550,210.650,383.300,0.000,52.530,81.190,215.739,0.500,0.000,15.628,882.144,382.268,636.072,1602.796,447.370,0.000,1226.561,0.000,1605.246,0.000,5.506,0.000
$DEVICE_MAMPS,243.139,77.467,582.153,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,376.284,805.637,1296.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$MEM,269172
$DATA_FILE_SIZE,38274,553
$CAP_FILE_SIZE,65457,0
$CFSIZE,260165632,255156224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.0
$GPS,140110,153132,4808.525,-12223.438,13,1.2,13,18.3