version: 66.04
glider: 502
mission: 2
dive: 21
start: 9 17 109 13 56 33
data:
$ID,502
$MISSION,2
$DIVE,21
$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,-2453.3313
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,135013,4806.062,-12221.831,13,1.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-78.8
$GPS2,135538,4806.045,-12221.840,13,1.3,13,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.197
$KALMAN_X,-2706.0,243.2,-185.9,2813.8,-253.4
$KALMAN_Y,-2297.1,-2533.9,48.4,3967.4,-1785.8
$MHEAD_RNG_PITCHd_Wd,317.6,4499,-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,13,begin dive
$GC,14,-0.49,-146.6,0.0,0.0,0,61,0.00,0.00,-44.92,0.000,2,0.000,0.000,432,2238,3051
$GC,63,-0.49,-146.6,3.3,-5.8,8,101,9.50,2.35,-21.88,0.000,4,0.235,0.068,2837,3658,3963
$GC,348,-0.49,-146.6,30.8,-9.9,71,355,0.00,2.22,0.00,0.000,6,0.000,0.048,2837,2237,3965
$GC,421,-0.49,-146.6,38.5,-10.5,87,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2236,3965
$GC,496,-0.49,-146.6,46.3,-10.7,103,502,0.00,2.20,0.00,0.000,4,0.000,0.057,2837,840,3965
$GC,525,-0.49,-146.6,49.8,-11.0,109,532,0.00,2.20,0.00,0.000,6,0.000,0.045,2828,2253,3965
$GC,668,-0.49,-146.6,65.7,-11.0,140,675,0.00,2.25,0.00,0.000,4,0.000,0.055,2827,830,3966
$GC,694,-0.49,-146.6,68.6,-11.0,145,700,0.12,2.22,0.00,0.000,6,0.137,0.045,2853,2262,3966
$GC,838,-0.49,-146.6,81.3,-8.7,176,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2262,3966
$STATE,883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,883,begin apogee
$GC,887,-0.16,0.0,85.1,9.0,185,993,0.30,0.00,99.70,0.652,6,0.108,0.000,2959,2068,3424
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,994,begin climb
$GC,995,0.49,146.6,89.1,0.0,204,1114,0.57,2.45,111.72,0.631,4,0.077,0.049,3166,3504,2826
$GC,1169,0.49,146.6,78.8,9.9,237,1175,0.00,2.30,0.00,0.000,6,0.000,0.048,3176,2085,2822
$GC,1312,0.49,146.6,64.9,9.7,268,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2821
$GC,1453,0.49,146.6,51.4,9.5,299,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2821
$GC,1594,0.49,146.6,38.6,8.7,330,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2821
$GC,1665,0.49,146.6,32.3,9.0,346,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2820
$GC,1738,0.49,146.6,25.7,9.0,362,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2820
$GC,1810,0.49,146.6,19.5,8.5,378,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2820
$GC,1881,0.49,146.6,13.8,8.1,394,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2820
$GC,1953,0.49,146.6,8.3,7.3,410,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2085,2820
$GC,2024,0.63,261.3,5.2,2.8,426,2111,0.12,2.33,79.47,0.596,4,0.066,0.051,3240,3496,2356
$STATE,2130,end climb,SURFACE_DEPTH_REACHED
$STATE,2130,begin surface coast
$FINISH,1.7,1.019070
$STATE,2187,end surface coast,CONTROL_FINISHED_OK
$STATE,2187,begin surface
$SM_CCo,2203,49.83,0.565,0,0,1874,380.21
$SM_GC,2.30,0.00,0.00,49.83,0.000,0.000,0.565,439,2235,1874,-8.04,-0.37,380.21
$IRIDIUM_FIX,4751.72,-12219.12,121298,131324
$TT8_MAMPS,0.028379
$HUMID,2106
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,17.40
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,85.1,7.2
$24V_AH,24.3,6.105
$10V_AH,10.7,2.449
$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,18.225,22.900,290.900,49.825,0.000,29.014,26.779,190.706,12.250,0.000,0.000,13.748,692.728,457.447,382.413,747.007,316.277,33.309,802.159,0.000,735.762,0.000,6.994,0.000
$DEVICE_MAMPS,235.469,68.263,651.950,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,305.990,551.992,482.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31865,458
$CAP_FILE_SIZE,45723,0
$CFSIZE,260165632,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,143513,4806.133,-12221.987,26,1.2,33,18.3