version: 66.04
glider: 502
mission: 2
dive: 22
start: 9 17 109 14 41 27
data:
$ID,502
$MISSION,2
$DIVE,22
$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,-2469.3513
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,143513,4806.133,-12221.987,26,1.2,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.8
$GPS2,144032,4806.123,-12222.003,15,1.3,15,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.019,0.215
$KALMAN_X,-1851.6,-222.1,-297.9,2332.2,407.9
$KALMAN_Y,-2028.4,-3727.5,218.4,4864.2,-1780.2
$MHEAD_RNG_PITCHd_Wd,346.8,4264,-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,-146.6,0.0,0.0,0,67,0.00,0.00,-50.83,0.000,2,0.000,0.000,439,2235,3217
$GC,69,-0.49,-146.6,3.3,-5.0,9,100,9.65,0.00,-17.23,0.000,6,0.243,0.000,2845,2233,3962
$GC,165,-0.49,-146.6,14.4,-10.3,29,171,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2233,3963
$GC,235,-0.49,-146.6,21.7,-10.3,45,241,0.00,2.22,0.00,0.000,4,0.000,0.056,2845,836,3964
$GC,265,-0.49,-146.6,25.1,-11.0,51,271,0.00,2.22,0.00,0.000,6,0.000,0.046,2838,2253,3964
$GC,337,-0.49,-146.6,33.0,-11.0,67,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2253,3964
$GC,408,-0.49,-146.6,40.8,-11.0,83,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2253,3965
$GC,550,-0.49,-146.6,55.8,-10.2,114,557,0.00,2.25,0.00,0.000,4,0.000,0.056,2838,835,3965
$GC,586,-0.49,-146.6,59.6,-10.7,121,592,0.00,2.22,0.00,0.000,6,0.000,0.046,2828,2259,3965
$GC,729,-0.49,-146.6,75.7,-11.4,152,736,0.00,2.25,0.00,0.000,4,0.000,0.056,2828,835,3965
$GC,755,-0.49,-146.6,78.8,-11.6,157,762,0.12,2.22,0.00,0.000,6,0.137,0.047,2854,2261,3965
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,770,begin apogee
$GC,774,-0.16,0.0,80.1,11.8,159,880,0.30,0.00,99.62,0.647,6,0.110,0.000,2958,2067,3423
$STATE,881,end apogee,CONTROL_FINISHED_OK
$STATE,881,begin climb
$GC,883,0.49,146.6,84.4,0.0,178,1001,0.57,2.45,111.38,0.627,4,0.077,0.049,3168,3501,2826
$GC,1034,0.49,146.6,75.8,9.1,206,1040,0.00,2.30,0.00,0.000,6,0.000,0.048,3177,2092,2822
$GC,1178,0.49,146.6,61.8,9.7,237,1184,0.00,2.30,0.00,0.000,4,0.000,0.061,3179,676,2822
$GC,1217,0.49,146.6,57.8,9.9,245,1223,0.00,2.22,0.00,0.000,6,0.000,0.043,3179,2089,2821
$GC,1361,0.49,146.6,43.8,9.7,276,1367,0.00,2.22,0.00,0.000,4,0.000,0.051,3179,3499,2821
$GC,1430,0.49,146.6,36.6,10.6,291,1437,0.00,2.25,0.00,0.000,6,0.000,0.048,3187,2073,2820
$GC,1503,0.49,146.6,29.8,9.0,307,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2073,2821
$GC,1574,0.49,146.6,23.4,8.7,323,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2073,2820
$GC,1645,0.49,146.6,17.4,8.7,339,1652,0.00,2.25,0.00,0.000,4,0.000,0.051,3187,3504,2820
$GC,1695,0.49,146.6,12.6,9.6,350,1701,0.00,2.25,0.00,0.000,6,0.000,0.050,3191,2081,2819
$GC,1769,0.49,146.6,6.4,8.4,366,1775,0.00,2.25,0.00,0.000,4,0.000,0.061,3200,667,2819
$GC,1825,0.62,248.4,4.5,3.2,378,1895,0.00,2.20,65.30,0.593,6,0.000,0.044,3201,2094,2411
$STATE,1922,end climb,SURFACE_DEPTH_REACHED
$STATE,1922,begin surface coast
$FINISH,0.7,1.019055
$STATE,2117,end surface coast,CONTROL_FINISHED_OK
$STATE,2117,begin surface
$SM_CCo,2131,62.72,0.584,0,0,1874,380.21
$SM_GC,2.31,0.00,0.00,62.72,0.000,0.000,0.584,435,2260,1874,-8.06,0.34,380.21
$IRIDIUM_FIX,4748.51,-12224.57,121298,141412
$TT8_MAMPS,0.028379
$HUMID,2119
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,18.90
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,80.1,6.9
$24V_AH,24.3,6.180
$10V_AH,10.7,2.495
$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,17.875,36.650,276.300,62.725,0.000,24.391,34.873,180.550,10.500,0.000,0.000,15.389,675.594,429.757,391.741,727.323,305.965,33.308,805.430,0.000,711.484,0.000,5.446,0.000
$DEVICE_MAMPS,243.139,61.360,647.348,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,294.056,552.806,482.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28761,441
$CAP_FILE_SIZE,47500,0
$CFSIZE,260165632,258097152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,151904,4806.280,-12222.016,10,2.3,29,18.3