version: 66.04
glider: 502
mission: 2
dive: 17
start: 9 17 109 10 33 27
data:
$ID,502
$MISSION,2
$DIVE,17
$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,-2373.2722
$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,30
$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
$GPS1,102656,4805.664,-12221.655,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-78.7
$GPS2,103232,4805.647,-12221.631,14,1.4,14,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,0.201
$KALMAN_X,-3267.4,223.0,445.2,3024.6,-870.6
$KALMAN_Y,330.4,-1086.1,-605.1,-195.9,-961.2
$MHEAD_RNG_PITCHd_Wd,320.5,5251,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-45.17,0.000,2,0.000,0.000,428,2234,3054
$GC,64,-0.49,-146.6,3.1,-5.5,8,99,9.52,0.00,-20.15,0.000,6,0.237,0.000,2846,2232,3962
$GC,166,-0.49,-146.6,16.2,-10.4,29,171,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2232,3963
$GC,236,-0.49,-146.6,23.0,-9.8,45,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2232,3963
$GC,308,-0.49,-146.6,30.1,-10.0,61,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2232,3963
$GC,379,-0.49,-146.6,37.2,-10.0,77,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2232,3964
$GC,453,-0.49,-146.6,44.4,-9.7,93,459,0.00,2.20,0.00,0.000,4,0.000,0.055,2846,837,3964
$GC,483,-0.49,-146.6,47.3,-9.9,99,490,0.00,2.20,0.00,0.000,6,0.000,0.044,2842,2248,3964
$GC,626,-0.49,-146.6,61.3,-9.5,130,632,0.00,2.22,0.00,0.000,4,0.000,0.055,2842,838,3964
$GC,671,-0.49,-146.6,65.7,-10.0,139,677,0.00,2.22,0.00,0.000,6,0.000,0.046,2841,2261,3964
$GC,815,-0.49,-146.6,79.3,-9.5,170,822,0.00,2.25,0.00,0.000,4,0.000,0.055,2841,837,3964
$STATE,828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,829,begin apogee
$GC,834,-0.16,0.0,80.4,9.6,172,941,0.35,0.00,99.10,0.647,6,0.117,0.000,2957,2098,3425
$STATE,942,end apogee,CONTROL_FINISHED_OK
$STATE,942,begin climb
$GC,943,0.49,146.6,84.7,0.0,191,1066,0.57,2.35,111.95,0.633,4,0.076,0.051,3166,3492,2824
$GC,1116,0.49,146.6,73.6,10.5,224,1123,0.00,2.28,0.00,0.000,6,0.000,0.048,3174,2085,2821
$GC,1260,0.49,146.6,59.4,9.7,255,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2084,2821
$GC,1402,0.49,146.6,45.5,9.4,286,1409,0.00,2.28,0.00,0.000,4,0.000,0.060,3179,669,2820
$GC,1451,0.49,146.6,40.9,9.5,296,1457,0.00,2.22,0.00,0.000,6,0.000,0.043,3179,2096,2820
$GC,1590,0.49,146.6,28.2,9.0,327,1596,0.00,2.20,0.00,0.000,4,0.000,0.052,3179,3496,2820
$GC,1657,0.49,146.6,21.5,9.6,342,1664,0.00,2.22,0.00,0.000,6,0.000,0.049,3182,2080,2819
$GC,1730,0.49,146.6,15.9,7.6,358,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2080,2819
$GC,1802,0.49,146.6,11.2,6.5,374,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2080,2819
$GC,1873,0.51,160.0,7.2,5.6,390,1891,0.00,2.28,10.73,0.556,4,0.000,0.051,3181,3491,2770
$STATE,2086,end climb,NO_VERTICAL_VELOCITY
$STATE,2086,begin surface
$SM_CCo,2088,289.65,0.556,6,0,420,737.11
$SM_GC,1.09,7.30,0.00,0.00,0.039,0.000,0.000,426,2244,413,-7.97,-0.11,738.83
$IRIDIUM_FIX,4748.51,-12220.12,121298,090922
$TT8_MAMPS,0.027612
$HUMID,2078
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.10
$XPDR_PINGS,48
$ALTIM_BOTTOM_PING,80.4,6.9
$24V_AH,24.3,5.736
$10V_AH,10.7,2.258
$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,17.750,30.975,221.775,289.650,0.000,31.376,36.322,189.979,12.500,0.000,0.000,14.421,678.414,532.679,611.930,719.799,323.297,33.308,1010.672,0.000,705.887,0.000,5.445,0.000
$DEVICE_MAMPS,237.003,59.826,646.581,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,293.194,537.369,468.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28707,438
$CAP_FILE_SIZE,46730,0
$CFSIZE,260165632,258260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,170909,111602,4805.745,-12221.868,9,1.5,9,18.3