version: 66.04
glider: 501
mission: 2
dive: 16
start: 5 22 109 12 4 10
data:
$ID,501
$MISSION,2
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,4
$T_NO_W,720
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-10
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51563.699
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5874.875
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,113
$PITCH_MAX,3940
$C_PITCH,2664
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3805
$ROLL_DEG,40
$C_ROLL_DIVE,2323
$C_ROLL_CLIMB,2323
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,432
$VBD_MAX,3960
$C_VBD,2741
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-78.200256
$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,1
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.58
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0042778454
$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
$GPS1,115434,4805.264,-12221.240,11,2.2,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.8
$GPS2,120314,4805.265,-12221.244,13,1.3,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.169,0.198
$KALMAN_X,-257.2,-46.3,-5.3,1497.5,91.1
$KALMAN_Y,-1532.8,-214.1,-144.9,-1117.6,-29.0
$MHEAD_RNG_PITCHd_Wd,301.3,1651,-17.5,-10.000
$D_GRID,110
$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,-0.76,-146.6,0.0,0.0,0,112,0.00,0.00,-95.75,0.000,2,0.000,0.000,112,2335,3079
$GC,114,-0.76,-146.6,3.3,-4.6,17,139,9.90,2.30,-6.53,0.000,4,0.259,0.073,2412,3736,3340
$GC,391,-0.76,-146.6,34.6,-12.7,78,397,0.00,2.15,0.00,0.000,6,0.000,0.035,2412,2323,3342
$GC,464,-0.76,-146.6,43.7,-12.3,91,470,0.00,2.25,0.00,0.000,4,0.000,0.058,2412,3736,3342
$GC,623,-0.76,-146.6,64.4,-12.6,127,629,0.00,2.15,0.00,0.000,6,0.000,0.035,2412,2316,3342
$GC,764,-0.76,-146.6,80.6,-11.8,152,770,0.00,2.25,0.00,0.000,4,0.000,0.058,2412,3735,3342
$GC,807,-0.76,-146.6,86.1,-13.3,161,813,0.00,2.15,0.00,0.000,6,0.000,0.036,2412,2310,3342
$GC,948,-0.76,-146.6,102.3,-11.4,186,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2309,3342
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1023,-0.33,0.0,110.6,11.6,199,1132,0.45,0.00,105.45,0.584,6,0.146,0.000,2550,2309,2741
$STATE,1133,end apogee,CONTROL_FINISHED_OK
$STATE,1133,begin climb
$GC,1134,0.76,146.6,114.9,0.0,218,1254,1.10,2.33,109.18,0.558,4,0.111,0.044,2909,910,2142
$GC,1291,0.76,146.6,95.3,17.2,247,1297,0.00,2.30,0.00,0.000,6,0.000,0.044,2909,2326,2140
$GC,1432,0.76,146.6,69.6,18.5,272,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2326,2138
$GC,1571,0.76,146.6,44.3,17.7,297,1578,0.00,2.22,0.00,0.000,4,0.000,0.044,2911,906,2137
$GC,1644,0.76,146.6,32.6,15.2,313,1650,0.00,2.25,0.00,0.000,6,0.000,0.044,2911,2336,2137
$GC,1717,0.76,146.6,20.4,16.7,326,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2336,2136
$GC,1789,0.76,146.6,8.9,15.6,339,1796,0.00,2.22,0.00,0.000,4,0.000,0.044,2911,907,2136
$STATE,1826,end climb,SURFACE_DEPTH_REACHED
$STATE,1826,begin surface coast
$FINISH,2.7,1.020263
$STATE,1863,end surface coast,CONTROL_FINISHED_OK
$STATE,1863,begin surface
$SM_CCo,1879,232.57,0.500,0,0,431,566.39
$SM_CCo,2114,0.00,0.000,0,0,430,566.88
$SM_CCo,2116,0.00,0.000,0,0,430,566.88
$SM_GC,1.39,0.00,0.00,0.00,0.000,0.000,0.000,105,2337,430,-8.00,0.40,566.88
$IRIDIUM_FIX,4745.30,-12220.12,160898,121223
$TT8_MAMPS,0.027612
$HUMID,1614
$INTERNAL_PRESSURE,8.95751
$TCM_TEMP,16.20
$XPDR_PINGS,2
$24V_AH,24.6,4.923
$10V_AH,10.6,2.690
$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,19.400,26.875,214.625,232.575,0.000,52.391,145.198,189.185,1.500,0.000,0.000,13.384,535.333,554.539,520.894,604.941,439.416,33.332,864.891,0.000,586.309,0.000,7.180,0.000
$DEVICE_MAMPS,259.246,72.865,584.454,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.782,580.610,503.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19253,355
$CAP_FILE_SIZE,40887,0
$CFSIZE,260165632,258342912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220509,124013,4805.380,-12221.448,8,1.3,14,18.3