version: 66.06
glider: 501
mission: 2
dive: 16
start: 1 14 110 11 0 42
data:
$ID,501
$MISSION,2
$DIVE,16
$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,4807
$TGT_DEFAULT_LON,-12223
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34814.055
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,053646,4806.506,-12222.179,301,99.0,301,18.3
$_CALLS,10
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-74.8
$GPS2,110021,4808.081,-12223.692,107,6.3,126,18.3
$SPEED_LIMITS,0.087,0.199
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,138.5,2177,-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,-145.9,0.0,0.0,0,120,0.00,0.00,-103.03,0.000,2,0.000,0.000,112,2154,3492,0,0,0,0,0,0
$GC,122,-0.39,-145.9,5.4,-3.2,16,150,10.07,2.70,-11.62,0.000,4,0.242,0.081,2550,3800,3962,0,0,0,0,0,0
$GC,178,-0.39,-145.9,8.3,-5.7,25,186,0.00,2.67,0.00,0.000,6,0.000,0.050,2549,2137,3963,0,0,0,0,0,0
$GC,265,-0.39,-145.9,14.2,-7.0,41,272,0.00,2.85,0.00,0.000,4,0.000,0.057,2549,389,3962,0,0,0,0,0,0
$GC,286,-0.39,-145.9,15.9,-7.2,44,294,0.00,2.95,0.00,0.000,6,0.000,0.062,2549,2155,3963,0,0,0,0,0,0
$GC,373,-0.39,-145.9,22.9,-8.0,60,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2155,3962,0,0,0,0,0,0
$GC,459,-0.39,-145.9,30.1,-8.5,76,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2155,3962,0,0,0,0,0,0
$GC,545,-0.39,-145.9,37.2,-8.3,92,552,0.00,2.72,0.00,0.000,4,0.000,0.072,2549,3798,3962,0,0,0,0,0,0
$GC,587,-0.39,-145.9,40.4,-8.0,99,592,0.00,2.62,0.00,0.000,6,0.000,0.052,2549,2152,3962,0,0,0,0,0,0
$GC,740,-0.39,-145.9,52.1,-7.2,130,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2151,3963,0,0,0,0,0,0
$GC,896,-0.39,-145.9,63.3,-7.1,161,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2151,3963,0,0,0,0,0,0
$GC,1049,-0.39,-145.9,74.0,-6.7,192,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2151,3963,0,0,0,0,0,0
$GC,1208,-0.39,-145.9,84.4,-6.6,223,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2151,3962,0,0,0,0,0,0
$GC,1360,-0.39,-145.9,95.0,-6.9,254,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2151,3962,0,0,0,0,0,0
$GC,1517,-0.39,-145.9,105.3,-6.6,285,1523,0.00,2.72,0.00,0.000,4,0.000,0.074,2549,3808,3963,0,0,0,0,0,0
$GC,1550,-0.39,-145.9,107.4,-6.5,291,1555,0.00,2.60,0.00,0.000,6,0.000,0.054,2549,2155,3963,0,0,0,0,0,0
$STATE,1591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1591,begin apogee
$GC,1594,-0.24,0.0,110.1,6.2,299,1705,0.20,0.00,103.60,0.595,6,0.134,0.000,2610,1985,3384,0,0,0,0,0,0
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1706,begin climb
$GC,1707,0.39,145.9,112.9,0.0,319,1828,0.60,3.12,108.60,0.567,4,0.105,0.076,2810,3750,2789,0,0,0,0,0,0
$GC,1849,0.39,145.9,101.4,10.0,345,1855,0.00,2.95,0.00,0.000,6,0.000,0.061,2811,2002,2788,0,0,0,0,0,0
$GC,2003,0.39,145.9,86.6,9.2,376,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2003,2786,0,0,0,0,0,0
$GC,2160,0.39,145.9,72.3,9.1,407,2165,0.00,2.97,0.00,0.000,4,0.000,0.067,2812,211,2786,0,0,0,0,0,0
$GC,2192,0.39,145.9,69.4,8.9,413,2198,0.00,2.97,0.00,0.000,6,0.000,0.064,2812,1993,2785,0,0,0,0,0,0
$GC,2346,0.39,145.9,55.3,9.0,444,2354,0.00,2.95,0.00,0.000,4,0.000,0.075,2811,3751,2785,0,0,0,0,0,0
$GC,2415,0.39,145.9,48.1,11.0,457,2420,0.00,2.88,0.00,0.000,6,0.000,0.061,2812,1987,2785,0,0,0,0,0,0
$GC,2572,0.39,145.9,33.4,9.1,488,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1987,2785,0,0,0,0,0,0
$GC,2657,0.39,145.9,25.9,8.7,504,2665,0.00,2.92,0.00,0.000,4,0.000,0.067,2812,224,2785,0,0,0,0,0,0
$GC,2682,0.39,145.9,23.8,8.5,508,2690,0.00,2.95,0.00,0.000,6,0.000,0.064,2812,1996,2785,0,0,0,0,0,0
$GC,2769,0.39,145.9,16.7,8.2,524,2776,0.00,2.92,0.00,0.000,4,0.000,0.076,2812,3749,2785,0,0,0,0,0,0
$GC,2841,0.39,145.9,9.9,9.7,537,2849,0.00,2.85,0.00,0.000,6,0.000,0.061,2813,2009,2785,0,0,0,0,0,0
$GC,2928,0.42,170.3,5.4,4.4,553,2956,0.00,2.97,18.80,0.507,4,0.000,0.065,2812,222,2689,0,0,0,0,0,0
$FREEZE,5.27,8.680,-1.417,0,4,0
$STATE,3103,end climb,NO_VERTICAL_VELOCITY
$STATE,3103,begin surface
$SM_CCo,3105,407.45,0.493,0,0,431,724.36
$SM_GC,1.65,7.55,0.00,0.00,0.048,0.000,0.000,106,2156,425,-8.02,0.17,726.08
$RAFOS_CLK,303
$RAFOS,1,1263468784,11.566700,11.551111,43,42,40,0,0,0,368,1033,385,0,0,0
$RAFOS,0,1263468181,11.400000,11.383611,43,41,40,0,0,0,1363,823,310,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12217.40,100499,111100
$TT8_MAMPS,0.029146
$HUMID,43.03
$INTERNAL_PRESSURE,6.65274
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,39.6
$24V_AH,24.4,12.111
$10V_AH,10.1,6.460
$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,18.425,57.900,231.000,407.450,0.000,295.253,347.148,1523.881,0.500,0.000,129.433,930.308,885.068,677.683,1798.646,2426.566,0.000,1301.933,0.000,1684.931,960.000,5.523,0.000
$DEVICE_MAMPS,242.372,80.535,595.192,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,397.952,839.597,1350.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$MEM,268892
$DATA_FILE_SIZE,41533,585
$CAP_FILE_SIZE,111404,0
$CFSIZE,260165632,255135744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.2
$GPS,140110,120206,4807.980,-12223.516,11,1.5,22,18.3