version: 66.04
glider: 502
mission: 2
dive: 15
start: 9 17 109 8 57 9
data:
$ID,502
$MISSION,2
$DIVE,15
$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,-2320.5698
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,085028,4805.435,-12221.790,8,3.1,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.4
$GPS2,085616,4805.382,-12221.744,16,3.2,35,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.020,0.215
$KALMAN_X,-1908.0,-241.1,17.4,2412.4,105.7
$KALMAN_Y,-124.7,107.3,75.8,-2092.9,-1424.4
$MHEAD_RNG_PITCHd_Wd,347.0,5593,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.49,-146.6,0.0,0.0,0,62,0.00,0.00,-45.28,0.000,2,0.000,0.000,435,2251,3039
$GC,64,-0.49,-146.6,3.0,-5.1,8,101,9.62,2.25,-20.35,0.000,4,0.242,0.064,2835,3668,3962
$GC,137,-0.49,-146.6,12.3,-9.1,22,143,0.00,2.25,0.00,0.000,6,0.000,0.046,2836,2237,3962
$GC,209,-0.49,-146.6,19.1,-9.6,38,215,0.00,2.22,0.00,0.000,4,0.000,0.055,2835,830,3963
$GC,262,-0.49,-146.6,24.5,-10.5,49,269,0.00,2.22,0.00,0.000,6,0.000,0.044,2825,2253,3963
$GC,336,-0.49,-146.6,32.4,-10.6,65,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2254,3963
$GC,409,-0.49,-146.6,40.8,-11.6,81,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2254,3964
$GC,551,-0.49,-146.6,57.3,-11.6,112,558,0.00,2.25,0.00,0.000,4,0.000,0.054,2825,829,3965
$GC,577,-0.49,-146.6,60.4,-11.8,117,584,0.12,2.22,0.00,0.000,6,0.140,0.044,2851,2261,3965
$GC,723,-0.49,-146.6,74.8,-9.5,148,730,0.00,2.25,0.00,0.000,4,0.000,0.054,2851,836,3964
$GC,753,-0.49,-146.6,78.0,-9.9,154,759,0.00,2.20,0.00,0.000,6,0.000,0.044,2845,2253,3965
$STATE,775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,775,begin apogee
$GC,779,-0.16,0.0,80.0,10.2,158,886,0.32,0.00,99.15,0.638,6,0.112,0.000,2956,2076,3425
$STATE,886,end apogee,CONTROL_FINISHED_OK
$STATE,886,begin climb
$GC,888,0.49,146.6,84.1,0.0,177,1005,0.57,0.00,111.57,0.628,6,0.077,0.000,3165,2076,2826
$GC,1141,0.49,146.6,67.0,9.0,228,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2076,2823
$GC,1285,0.49,146.6,54.3,8.9,259,1291,0.00,2.28,0.00,0.000,4,0.000,0.051,3165,3506,2822
$GC,1364,0.49,146.6,46.6,9.7,276,1371,0.00,2.25,0.00,0.000,6,0.000,0.049,3173,2084,2820
$GC,1506,0.49,146.6,34.1,8.7,307,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2084,2820
$GC,1577,0.49,146.6,28.2,8.3,323,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2084,2821
$GC,1648,0.49,146.6,22.2,8.4,339,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2084,2820
$GC,1719,0.49,146.6,16.0,8.7,355,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2084,2820
$GC,1791,0.49,146.6,9.8,8.5,371,1797,0.00,2.22,0.00,0.000,4,0.000,0.061,3179,675,2820
$GC,2046,0.75,356.2,5.0,0.1,429,2083,0.20,2.17,31.58,0.600,2,0.056,0.043,3274,2095,2657
$STATE,2084,end climb,NO_VERTICAL_VELOCITY
$STATE,2084,begin surface
$SM_CCo,2086,268.67,0.558,3,0,419,737.11
$SM_GC,0.97,7.55,0.00,0.00,0.040,0.000,0.000,433,2266,413,-7.96,0.51,738.83
$IRIDIUM_FIX,4748.51,-12224.57,121298,080858
$TT8_MAMPS,0.028379
$HUMID,2092
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.10
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,80.0,7.0
$24V_AH,24.3,5.560
$10V_AH,10.7,2.161
$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,18.400,27.325,242.300,268.675,0.000,24.461,25.586,196.593,12.500,0.000,0.000,36.974,670.015,532.663,583.240,737.514,313.691,33.319,981.956,0.000,700.071,0.000,5.444,0.000
$DEVICE_MAMPS,241.605,64.428,638.144,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,290.893,534.552,467.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28590,435
$CAP_FILE_SIZE,46638,0
$CFSIZE,260165632,258330624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170909,093928,4805.537,-12221.739,12,2.7,31,18.3