version: 66.04
glider: 502
mission: 2
dive: 18
start: 9 17 109 11 22 32
data:
$ID,502
$MISSION,2
$DIVE,18
$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,-2390.4395
$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
$GPS1,111602,4805.745,-12221.868,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.1
$GPS2,112137,4805.721,-12221.848,11,1.5,16,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,0.210
$KALMAN_X,-2434.4,-89.0,86.8,2585.2,-331.8
$KALMAN_Y,-4.8,-1489.7,-719.2,800.3,-897.7
$MHEAD_RNG_PITCHd_Wd,354.5,4989,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-100.80,0.000,2,0.000,0.000,426,2244,3082
$GC,120,-0.49,-146.6,3.2,-3.1,18,156,9.35,0.00,-19.88,0.000,6,0.231,0.000,2848,2242,3965
$GC,222,-0.49,-146.6,15.9,-9.5,39,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2243,3965
$GC,293,-0.49,-146.6,22.3,-9.0,55,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2242,3965
$GC,363,-0.49,-146.6,28.5,-8.8,71,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2243,3965
$GC,434,-0.49,-146.6,34.8,-9.1,87,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2243,3966
$GC,506,-0.49,-146.6,41.5,-9.3,103,512,0.00,2.22,0.00,0.000,4,0.000,0.055,2849,830,3966
$GC,540,-0.49,-146.6,44.9,-9.7,110,547,0.00,2.22,0.00,0.000,6,0.000,0.044,2845,2258,3967
$GC,685,-0.49,-146.6,59.3,-10.0,141,691,0.00,2.25,0.00,0.000,4,0.000,0.055,2845,834,3967
$GC,737,-0.49,-146.6,64.7,-10.6,152,743,0.00,2.20,0.00,0.000,6,0.000,0.045,2841,2251,3967
$GC,880,-0.49,-146.6,79.3,-10.1,183,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2251,3966
$STATE,894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,894,begin apogee
$GC,898,-0.16,0.0,80.3,9.9,185,1004,0.32,0.00,99.45,0.640,6,0.114,0.000,2953,2074,3424
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1006,0.49,146.6,84.7,0.0,204,1125,0.60,2.42,111.05,0.614,4,0.075,0.049,3171,3499,2826
$GC,1171,0.49,146.6,74.5,10.2,235,1177,0.00,2.28,0.00,0.000,6,0.000,0.048,3178,2096,2822
$GC,1314,0.49,146.6,60.0,10.1,266,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2095,2821
$GC,1457,0.49,146.6,46.6,9.1,297,1463,0.00,2.28,0.00,0.000,4,0.000,0.058,3184,665,2821
$GC,1509,0.49,146.6,41.9,9.1,308,1516,0.00,2.22,0.00,0.000,6,0.000,0.043,3184,2094,2821
$GC,1647,0.49,146.6,29.3,9.2,339,1653,0.00,2.20,0.00,0.000,4,0.000,0.052,3184,3497,2820
$GC,1736,0.49,146.6,20.4,9.8,359,1743,0.00,2.22,0.00,0.000,6,0.000,0.048,3191,2073,2819
$GC,1809,0.49,146.6,13.7,9.3,375,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2072,2819
$GC,1880,0.49,146.6,8.2,7.1,391,1887,0.00,2.22,0.00,0.000,4,0.000,0.051,3191,3500,2819
$STATE,2083,end climb,NO_VERTICAL_VELOCITY
$STATE,2083,begin surface
$SM_CCo,2086,307.62,0.548,10,0,419,737.11
$SM_GC,1.04,7.35,0.00,0.00,0.040,0.000,0.000,424,2250,413,-7.98,0.06,738.83
$IRIDIUM_FIX,4748.51,-12226.29,121298,101007
$TT8_MAMPS,0.028379
$HUMID,2085
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.00
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,80.3,6.9
$24V_AH,24.4,5.836
$10V_AH,10.8,2.305
$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,17.625,27.100,210.500,307.625,0.000,30.795,24.241,200.354,10.250,0.000,0.000,16.542,663.738,522.906,673.011,721.297,320.792,33.321,1077.226,0.000,704.461,0.000,5.445,0.000
$DEVICE_MAMPS,230.867,58.292,640.445,547.638,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,291.875,538.998,470.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28651,437
$CAP_FILE_SIZE,46051,0
$CFSIZE,260165632,258232320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,170909,120607,4805.877,-12221.816,33,1.1,33,18.3