version: 66.04
glider: 502
mission: 2
dive: 14
start: 9 17 109 8 10 56
data:
$ID,502
$MISSION,2
$DIVE,14
$D_SURF,3
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51342
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,-2282.968
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3012
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2248
$C_ROLL_CLIMB,2086
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,3425
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.419655
$PRESSURE_SLOPE,0.00011650941
$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,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$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,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,080502,4805.379,-12221.561,12,1.7,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-77.5
$GPS2,081001,4805.335,-12221.533,11,1.7,16,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.087,0.197
$KALMAN_X,-2014.8,-257.0,-47.3,2860.3,-27.2
$KALMAN_Y,1049.4,72.4,-112.6,-3126.2,-240.1
$MHEAD_RNG_PITCHd_Wd,317.9,5801,-9.9,-6.024
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.49,-146.6,0.0,0.0,0,62,0.00,0.00,-45.70,0.000,2,0.000,0.000,430,2255,3054
$GC,64,-0.49,-146.6,3.1,-5.4,8,100,9.52,2.22,-20.42,0.000,4,0.237,0.066,2837,3652,3964
$GC,132,-0.49,-146.6,11.0,-8.4,21,138,0.00,2.22,0.00,0.000,6,0.000,0.046,2837,2235,3964
$GC,204,-0.49,-146.6,17.6,-9.2,37,211,0.00,2.22,0.00,0.000,4,0.000,0.055,2837,829,3965
$GC,251,-0.49,-146.6,22.5,-10.4,47,257,0.00,2.22,0.00,0.000,6,0.000,0.045,2826,2249,3965
$GC,325,-0.49,-146.6,30.7,-11.4,63,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2249,3965
$GC,396,-0.49,-146.6,38.8,-11.4,79,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2249,3965
$GC,470,-0.49,-146.6,47.2,-11.2,95,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2249,3965
$GC,613,-0.49,-146.6,63.0,-11.0,126,619,0.00,2.22,0.00,0.000,4,0.000,0.053,2827,833,3966
$GC,666,-0.49,-146.6,69.0,-11.3,137,672,0.12,2.20,0.00,0.000,6,0.139,0.044,2852,2251,3966
$GC,809,-0.49,-146.6,81.9,-8.8,168,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2252,3966
$STATE,847,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,848,begin apogee
$GC,852,-0.16,0.0,85.0,8.4,176,959,0.30,0.00,99.20,0.642,6,0.110,0.000,2957,2072,3424
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,959,begin climb
$GC,961,0.49,146.6,88.7,0.0,195,1079,0.57,2.42,111.55,0.630,4,0.076,0.049,3166,3497,2826
$GC,1135,0.49,146.6,77.3,10.3,228,1141,0.00,2.28,0.00,0.000,6,0.000,0.047,3174,2086,2823
$GC,1279,0.49,146.6,63.7,9.2,259,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2086,2822
$GC,1421,0.49,146.6,50.7,9.2,290,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2086,2821
$GC,1563,0.49,146.6,37.9,9.1,321,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2086,2820
$GC,1635,0.49,146.6,31.6,8.8,337,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2086,2820
$GC,1706,0.49,146.6,25.6,8.4,353,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2086,2820
$GC,1778,0.49,146.6,19.7,8.1,369,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2086,2821
$GC,1850,0.49,146.6,13.4,8.6,385,1856,0.00,2.22,0.00,0.000,4,0.000,0.060,3179,679,2820
$GC,1902,0.49,146.6,9.3,8.3,396,1909,0.00,2.17,0.00,0.000,6,0.000,0.044,3179,2094,2820
$GC,1975,0.65,274.5,6.1,2.4,412,2080,0.12,2.38,97.55,0.599,4,0.068,0.057,3243,678,2304
$STATE,2128,end climb,SURFACE_DEPTH_REACHED
$STATE,2128,begin surface coast
$FINISH,0.2,1.004335
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2258,52.35,0.577,0,0,1874,380.21
$SM_GC,2.14,0.00,0.00,52.35,0.000,0.000,0.577,435,2250,1874,-8.06,0.06,380.21
$IRIDIUM_FIX,4748.51,-12220.12,121298,070725
$TT8_MAMPS,0.028379
$HUMID,2143
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,18.10
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,85.0,7.0
$24V_AH,24.3,5.460
$10V_AH,10.7,2.114
$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,18.050,27.625,308.300,52.350,0.000,28.838,25.156,166.151,14.750,0.000,0.000,16.724,701.238,466.759,404.915,767.615,288.890,33.332,839.374,0.000,751.761,0.000,6.993,0.000
$DEVICE_MAMPS,237.003,65.962,641.979,576.784,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,311.394,568.646,495.592,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31784,467
$CAP_FILE_SIZE,47334,0
$CFSIZE,260165632,258359296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,085028,4805.435,-12221.790,8,3.1,27,18.3