version: 66.04
glider: 502
mission: 2
dive: 20
start: 9 17 109 13 12 51
data:
$ID,502
$MISSION,2
$DIVE,20
$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,-2438.9539
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,130026,4805.974,-12221.818,10,1.6,10,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.5
$GPS2,131156,4805.930,-12221.790,14,1.8,14,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,0.216
$KALMAN_X,-2265.6,-68.4,-233.9,2793.4,78.8
$KALMAN_Y,-1576.3,-2078.0,-289.2,2916.5,-1198.9
$MHEAD_RNG_PITCHd_Wd,342.2,4708,-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,13,-0.49,-146.6,0.0,0.0,0,118,0.00,0.00,-101.43,0.000,2,0.000,0.000,432,2262,3086
$GC,120,-0.49,-146.6,3.1,-3.2,18,156,9.45,2.22,-20.67,0.000,4,0.235,0.067,2836,3659,3964
$GC,210,-0.49,-146.6,14.0,-10.0,36,217,0.00,2.22,0.00,0.000,6,0.000,0.046,2836,2241,3964
$GC,283,-0.49,-146.6,21.2,-10.1,52,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2241,3965
$GC,354,-0.49,-146.6,28.6,-10.7,68,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2241,3965
$GC,425,-0.49,-146.6,36.0,-10.5,84,431,0.00,2.22,0.00,0.000,4,0.000,0.055,2836,829,3965
$GC,464,-0.49,-146.6,40.3,-10.9,92,470,0.00,2.20,0.00,0.000,6,0.000,0.044,2828,2244,3965
$GC,609,-0.49,-146.6,56.3,-11.0,123,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2244,3966
$GC,752,-0.49,-146.6,72.1,-11.0,154,758,0.00,2.22,0.00,0.000,4,0.000,0.054,2828,833,3965
$GC,805,-0.49,-146.6,78.3,-11.8,165,811,0.12,2.20,0.00,0.000,6,0.136,0.044,2854,2251,3965
$STATE,823,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,823,begin apogee
$GC,827,-0.16,0.0,80.0,11.4,168,934,0.30,0.00,99.35,0.640,6,0.109,0.000,2959,2073,3424
$STATE,935,end apogee,CONTROL_FINISHED_OK
$STATE,935,begin climb
$GC,936,0.49,146.6,84.1,0.0,187,1053,0.57,0.00,111.50,0.622,6,0.076,0.000,3168,2073,2826
$GC,1189,0.49,146.6,66.6,9.0,238,1196,0.00,2.30,0.00,0.000,4,0.000,0.051,3168,3506,2822
$GC,1242,0.49,146.6,61.4,10.0,249,1248,0.00,2.25,0.00,0.000,6,0.000,0.048,3176,2094,2820
$GC,1386,0.49,146.6,48.0,9.5,280,1392,0.00,2.28,0.00,0.000,4,0.000,0.059,3179,673,2821
$GC,1421,0.49,146.6,44.6,9.3,287,1427,0.00,2.22,0.00,0.000,6,0.000,0.041,3179,2100,2821
$GC,1560,0.49,146.6,32.1,9.1,318,1566,0.00,2.20,0.00,0.000,4,0.000,0.051,3179,3505,2819
$GC,1597,0.49,146.6,28.5,9.5,326,1604,0.00,2.25,0.00,0.000,6,0.000,0.049,3185,2076,2819
$GC,1670,0.49,146.6,21.6,9.3,342,1677,0.00,2.22,0.00,0.000,4,0.000,0.059,3193,676,2819
$GC,1702,0.49,146.6,18.6,9.5,349,1708,0.00,2.20,0.00,0.000,6,0.000,0.043,3194,2098,2819
$GC,1774,0.49,146.6,12.2,8.7,365,1780,0.00,2.17,0.00,0.000,4,0.000,0.052,3195,3493,2819
$GC,1820,0.49,146.6,8.2,8.9,375,1827,0.12,2.20,0.00,0.000,6,0.161,0.048,3171,2084,2818
$GC,1893,0.67,290.6,5.7,2.0,391,2005,0.15,2.35,103.53,0.598,4,0.059,0.051,3248,3496,2239
$STATE,2013,end climb,SURFACE_DEPTH_REACHED
$STATE,2013,begin surface coast
$FINISH,0.2,1.008688
$STATE,2118,end surface coast,CONTROL_FINISHED_OK
$STATE,2118,begin surface
$SM_CCo,2134,44.30,0.562,0,0,1874,380.21
$SM_GC,1.23,0.00,0.00,44.30,0.000,0.000,0.562,433,2238,1874,-8.06,-0.28,380.21
$IRIDIUM_FIX,4748.51,-12224.57,121298,131323
$TT8_MAMPS,0.029146
$HUMID,2100
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,19.00
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,80.0,6.9
$24V_AH,24.4,6.030
$10V_AH,10.7,2.403
$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,18.125,40.275,314.375,44.300,0.000,83.929,211.198,193.981,8.750,0.000,0.000,14.935,644.904,525.912,439.292,718.345,558.138,33.318,869.030,0.000,703.735,0.000,5.445,0.000
$DEVICE_MAMPS,235.469,66.729,639.678,562.211,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,288.938,541.649,472.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28749,436
$CAP_FILE_SIZE,48989,0
$CFSIZE,260165632,258162688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,135013,4806.062,-12221.831,13,1.8,30,18.3