version: 66.06
glider: 501
mission: 2
dive: 11
start: 1 14 110 3 12 47
data:
$ID,501
$MISSION,2
$DIVE,11
$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,4806.0859
$TGT_DEFAULT_LON,-12206.265
$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,-33114.605
$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,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
$GPS1,030608,4806.101,-12222.006,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.8
$GPS2,031225,4806.125,-12222.034,10,1.7,10,18.3
$SPEED_LIMITS,0.087,0.199
$TGT_NAME,HEADING
$TGT_LATLONG,4815.477,-12230.145
$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,13,begin dive
$GC,14,-0.39,-145.9,0.0,0.0,0,126,0.00,0.00,-107.95,0.000,6,0.000,0.000,111,2159,3961,0,0,0,0,0,0
$GC,128,-0.39,-145.9,4.6,-3.4,17,144,10.18,2.65,0.00,0.000,4,0.245,0.053,2547,3808,3962,0,0,0,0,0,0
$GC,229,-0.39,-145.9,20.0,-9.8,35,237,0.00,2.67,0.00,0.000,6,0.000,0.048,2547,2145,3962,0,0,0,0,0,0
$GC,316,-0.39,-145.9,26.8,-7.7,51,324,0.00,2.88,0.00,0.000,4,0.000,0.055,2547,377,3962,0,0,0,0,0,0
$GC,348,-0.39,-145.9,29.5,-8.3,56,355,0.00,2.92,0.00,0.000,6,0.000,0.059,2547,2141,3962,0,0,0,0,0,0
$GC,434,-0.39,-145.9,36.5,-7.9,72,442,0.00,2.75,0.00,0.000,4,0.000,0.071,2547,3798,3962,0,0,0,0,0,0
$GC,486,-0.39,-145.9,40.5,-7.9,81,492,0.00,2.62,0.00,0.000,6,0.000,0.051,2547,2147,3962,0,0,0,0,0,0
$GC,640,-0.39,-145.9,52.2,-7.4,112,648,0.00,2.85,0.00,0.000,4,0.000,0.056,2547,385,3962,0,0,0,0,0,0
$GC,660,-0.39,-145.9,53.6,-7.4,115,665,0.00,2.92,0.00,0.000,6,0.000,0.060,2547,2169,3961,0,0,0,0,0,0
$GC,813,-0.39,-145.9,64.6,-6.9,146,821,0.00,2.70,0.00,0.000,4,0.000,0.072,2547,3807,3962,0,0,0,0,0,0
$GC,862,-0.39,-145.9,67.7,-6.7,155,868,0.00,2.58,0.00,0.000,6,0.000,0.049,2547,2175,3962,0,0,0,0,0,0
$GC,1016,-0.39,-145.9,78.0,-6.6,186,1024,0.00,2.88,0.00,0.000,4,0.000,0.055,2547,385,3962,0,0,0,0,0,0
$GC,1053,-0.39,-145.9,80.7,-6.8,192,1060,0.00,2.95,0.00,0.000,6,0.000,0.061,2547,2173,3962,0,0,0,0,0,0
$GC,1209,-0.39,-145.9,91.0,-6.6,223,1215,0.00,2.62,0.00,0.000,4,0.000,0.072,2547,3802,3962,0,0,0,0,0,0
$GC,1256,-0.39,-145.9,94.3,-6.8,232,1263,0.00,2.58,0.00,0.000,6,0.000,0.051,2547,2187,3962,0,0,0,0,0,0
$GC,1413,-0.39,-145.9,104.7,-6.6,263,1419,0.00,2.85,0.00,0.000,4,0.000,0.056,2547,377,3962,0,0,0,0,0,0
$GC,1449,-0.39,-145.9,107.1,-6.7,270,1456,0.00,2.97,0.00,0.000,6,0.000,0.061,2547,2184,3962,0,0,0,0,0,0
$STATE,1545,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1545,begin apogee
$GC,1549,-0.24,0.0,112.9,5.9,289,1660,0.20,0.00,102.65,0.589,6,0.131,0.000,2609,1972,3385,0,0,0,0,0,0
$STATE,1661,end apogee,CONTROL_FINISHED_OK
$STATE,1661,begin climb
$GC,1662,0.39,145.9,115.7,0.0,309,1783,0.60,3.00,108.22,0.562,4,0.106,0.062,2812,242,2789,0,0,0,0,0,0
$GC,1788,0.39,145.9,106.1,9.4,332,1796,0.00,3.03,0.00,0.000,6,0.000,0.062,2812,1988,2789,0,0,0,0,0,0
$GC,1946,0.39,145.9,91.2,9.4,363,1952,0.00,2.95,0.00,0.000,4,0.000,0.074,2812,3757,2787,0,0,0,0,0,0
$GC,1978,0.39,145.9,87.5,10.0,369,1984,0.00,2.88,0.00,0.000,6,0.000,0.057,2812,1999,2786,0,0,0,0,0,0
$GC,2132,0.39,145.9,72.9,9.1,400,2140,0.00,2.95,0.00,0.000,4,0.000,0.065,2812,227,2786,0,0,0,0,0,0
$GC,2153,0.39,145.9,71.3,9.0,403,2159,0.00,2.95,0.00,0.000,6,0.000,0.062,2813,2001,2786,0,0,0,0,0,0
$GC,2306,0.39,145.9,57.4,9.0,434,2314,0.00,2.92,0.00,0.000,4,0.000,0.074,2812,3752,2786,0,0,0,0,0,0
$GC,2355,0.39,145.9,52.3,10.3,443,2361,0.00,2.83,0.00,0.000,6,0.000,0.056,2812,2003,2786,0,0,0,0,0,0
$GC,2511,0.39,145.9,37.8,9.0,474,2519,0.00,2.92,0.00,0.000,4,0.000,0.064,2812,226,2786,0,0,0,0,0,0
$GC,2531,0.39,145.9,36.0,8.9,477,2539,0.00,2.95,0.00,0.000,6,0.000,0.063,2813,2002,2786,0,0,0,0,0,0
$GC,2618,0.39,145.9,28.6,8.6,493,2625,0.00,2.90,0.00,0.000,4,0.000,0.074,2813,3749,2786,0,0,0,0,0,0
$GC,2653,0.39,145.9,25.1,9.1,499,2661,0.00,2.83,0.00,0.000,6,0.000,0.058,2813,2007,2786,0,0,0,0,0,0
$GC,2740,0.39,145.9,17.5,8.4,515,2747,0.00,2.92,0.00,0.000,4,0.000,0.064,2813,225,2786,0,0,0,0,0,0
$GC,2754,0.39,145.9,16.3,8.2,517,2762,0.00,2.95,0.00,0.000,6,0.000,0.062,2813,2005,2786,0,0,0,0,0,0
$GC,2841,0.39,145.9,10.5,6.3,533,2849,0.00,2.90,0.00,0.000,4,0.000,0.076,2813,3752,2786,0,0,0,0,0,0
$GC,2872,0.39,145.9,8.5,6.2,538,2880,0.00,2.85,0.00,0.000,6,0.000,0.057,2813,1991,2786,0,0,0,0,0,0
$GC,2959,0.51,239.8,5.2,2.8,554,2981,0.12,0.00,19.17,0.507,2,0.103,0.000,2867,1990,2687,0,0,0,0,0,0
$STATE,2982,end climb,SURFACE_DEPTH_REACHED
$STATE,2982,begin surface coast
$FINISH,4.0,1.019291
$STATE,3201,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3201,begin surface
$SM_CCo,3215,238.60,0.482,1,0,937,600.24
$SM_GC,1.86,0.00,0.00,238.60,0.000,0.000,0.482,115,2158,937,-8.05,0.23,600.24
$RAFOS_CLK,140
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,100499,020209
$TT8_MAMPS,0.029913
$HUMID,43.58
$INTERNAL_PRESSURE,6.7211
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,42.7
$24V_AH,24.5,11.351
$10V_AH,10.2,5.954
$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,18.725,91.725,230.050,238.600,0.000,27.868,25.878,240.013,0.500,0.000,12.312,973.976,264.183,520.451,1718.026,373.901,0.000,1171.094,0.000,1723.458,0.000,5.531,0.000
$DEVICE_MAMPS,244.673,75.933,589.056,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,407.284,854.202,1375.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$MEM,270008
$DATA_FILE_SIZE,44531,599
$CAP_FILE_SIZE,75012,0
$CFSIZE,260165632,255508480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1484.7
$GPS,140110,041155,4806.380,-12222.141,29,1.9,48,18.3