version: 66.04
glider: 502
mission: 2
dive: 19
start: 9 17 109 12 18 21
data:
$ID,502
$MISSION,2
$DIVE,19
$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,-2423.3889
$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,26
$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
$GPS1,120607,4805.877,-12221.816,33,1.1,33,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.4
$GPS2,121728,4805.831,-12221.758,12,3.3,31,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.003,0.216
$KALMAN_X,-2281.2,-139.8,-125.9,2811.2,-78.0
$KALMAN_Y,-639.4,-1815.9,-599.1,1844.8,-938.9
$MHEAD_RNG_PITCHd_Wd,340.9,4880,-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,-100.75,0.000,2,0.000,0.000,424,2248,3074
$GC,120,-0.49,-146.6,3.1,-3.1,18,157,9.40,2.25,-20.52,0.000,4,0.233,0.067,2838,3657,3964
$GC,253,-0.49,-146.6,17.8,-9.0,46,259,0.00,2.22,0.00,0.000,6,0.000,0.046,2839,2239,3965
$GC,325,-0.49,-146.6,24.8,-9.5,62,331,0.00,2.22,0.00,0.000,4,0.000,0.055,2839,827,3965
$GC,345,-0.49,-146.6,27.0,-10.0,66,352,0.00,2.22,0.00,0.000,6,0.000,0.044,2829,2256,3965
$GC,418,-0.49,-146.6,35.0,-11.1,82,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2257,3965
$GC,491,-0.49,-146.6,43.5,-11.4,98,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2257,3966
$GC,634,-0.49,-146.6,59.3,-10.8,129,640,0.00,2.25,0.00,0.000,4,0.000,0.054,2829,829,3966
$GC,690,-0.49,-146.6,65.6,-11.3,141,697,0.12,2.20,0.00,0.000,6,0.137,0.044,2854,2248,3966
$GC,834,-0.49,-146.6,78.6,-8.8,172,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2249,3966
$STATE,856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,856,begin apogee
$GC,860,-0.16,0.0,80.4,8.8,176,967,0.30,0.00,99.10,0.645,6,0.107,0.000,2960,2069,3424
$STATE,967,end apogee,CONTROL_FINISHED_OK
$STATE,967,begin climb
$GC,969,0.49,146.6,84.2,0.0,195,1087,0.57,2.42,111.40,0.620,4,0.074,0.048,3168,3496,2826
$GC,1133,0.49,146.6,74.2,9.9,226,1139,0.00,2.28,0.00,0.000,6,0.000,0.047,3177,2090,2822
$GC,1278,0.49,146.6,60.1,9.6,257,1284,0.00,2.30,0.00,0.000,4,0.000,0.059,3179,668,2821
$GC,1325,0.49,146.6,55.5,9.6,267,1331,0.00,2.22,0.00,0.000,6,0.000,0.041,3179,2092,2821
$GC,1469,0.49,146.6,42.0,9.4,298,1475,0.00,2.20,0.00,0.000,4,0.000,0.051,3179,3493,2819
$GC,1532,0.49,146.6,35.6,10.2,312,1539,0.00,2.22,0.00,0.000,6,0.000,0.048,3181,2083,2818
$GC,1605,0.49,146.6,29.1,8.5,328,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2082,2818
$GC,1676,0.49,146.6,22.9,9.0,344,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2082,2818
$GC,1747,0.49,146.6,16.4,9.0,360,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2082,2819
$GC,1819,0.49,146.6,10.3,7.9,376,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2082,2818
$GC,1890,0.53,178.3,6.3,5.1,392,1920,0.00,2.28,23.58,0.581,4,0.000,0.051,3181,3506,2697
$GC,2082,0.79,386.9,4.9,0.2,434,2102,0.22,2.25,14.38,0.565,2,0.052,0.048,3284,2069,2625
$STATE,2103,end climb,NO_VERTICAL_VELOCITY
$STATE,2103,begin surface
$SM_CCo,2105,257.80,0.552,3,0,419,737.11
$SM_GC,1.00,7.57,0.00,0.00,0.040,0.000,0.000,431,2263,412,-7.96,0.40,739.08
$IRIDIUM_FIX,4748.51,-12219.12,121298,121204
$TT8_MAMPS,0.027612
$HUMID,2074
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.90
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,80.4,6.9
$24V_AH,24.4,5.943
$10V_AH,10.7,2.355
$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,18.200,32.125,248.450,257.800,0.000,80.589,194.404,185.980,9.500,0.000,0.000,32.319,658.831,634.123,619.389,735.335,530.957,33.320,1034.895,0.000,705.182,0.000,5.448,0.000
$DEVICE_MAMPS,233.168,66.729,645.047,552.240,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,290.978,540.011,471.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28756,437
$CAP_FILE_SIZE,49046,0
$CFSIZE,260165632,258195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170909,130026,4805.974,-12221.818,10,1.6,10,18.3