version: 66.04
glider: 502
mission: 2
dive: 23
start: 9 17 109 15 25 39
data:
$ID,502
$MISSION,2
$DIVE,23
$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,-2481.0938
$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,22
$R_STBD_OVSHOOT,33
$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
$GPS1,151904,4806.280,-12222.016,10,2.3,29,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-78.5
$GPS2,152444,4806.262,-12222.030,11,1.4,11,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.196
$KALMAN_X,-2903.8,497.9,-133.7,2470.6,-225.5
$KALMAN_Y,-1643.5,-4793.9,165.8,5856.5,-1561.1
$MHEAD_RNG_PITCHd_Wd,316.9,4036,-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,-44.88,0.000,2,0.000,0.000,435,2260,3036
$GC,63,-0.49,-146.6,3.0,-5.1,8,101,9.57,2.30,-22.50,0.000,4,0.239,0.068,2838,3657,3964
$GC,280,-0.49,-146.6,24.6,-9.6,55,286,0.00,2.22,0.00,0.000,6,0.000,0.047,2838,2240,3965
$GC,353,-0.49,-146.6,32.3,-10.6,71,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2239,3965
$GC,424,-0.49,-146.6,39.7,-10.6,87,430,0.00,2.22,0.00,0.000,4,0.000,0.058,2838,832,3966
$GC,476,-0.49,-146.6,45.3,-10.8,98,482,0.00,2.20,0.00,0.000,6,0.000,0.046,2829,2244,3966
$GC,619,-0.49,-146.6,61.1,-11.3,129,625,0.00,2.25,0.00,0.000,4,0.000,0.056,2829,827,3966
$GC,636,-0.49,-146.6,63.0,-11.4,132,643,0.12,2.22,0.00,0.000,6,0.136,0.046,2854,2253,3966
$GC,781,-0.49,-146.6,76.9,-9.2,163,787,0.00,2.25,0.00,0.000,4,0.000,0.057,2854,839,3966
$GC,818,-0.49,-146.6,80.3,-9.6,170,824,0.00,2.20,0.00,0.000,6,0.000,0.047,2846,2249,3966
$STATE,873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,873,begin apogee
$GC,877,-0.16,0.0,85.4,9.3,181,983,0.32,0.00,99.82,0.640,6,0.110,0.000,2959,2071,3424
$STATE,984,end apogee,CONTROL_FINISHED_OK
$STATE,984,begin climb
$GC,986,0.49,146.6,89.3,0.0,200,1103,0.57,0.00,111.45,0.619,6,0.074,0.000,3168,2071,2826
$GC,1241,0.49,146.6,71.8,8.9,251,1247,0.00,2.30,0.00,0.000,4,0.000,0.051,3168,3499,2822
$GC,1289,0.49,146.6,67.0,9.9,261,1295,0.00,2.25,0.00,0.000,6,0.000,0.049,3177,2094,2820
$GC,1432,0.49,146.6,53.1,9.6,292,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2821
$GC,1574,0.49,146.6,39.8,9.2,323,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2820
$GC,1646,0.49,146.6,33.2,8.9,339,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2820
$GC,1719,0.49,146.6,26.9,8.8,355,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2820
$GC,1790,0.49,146.6,20.8,8.5,371,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2819
$GC,1861,0.49,146.6,15.1,8.2,387,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2819
$GC,1932,0.49,146.6,9.5,7.7,403,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2093,2819
$GC,2003,0.56,206.2,5.6,4.3,419,2056,0.00,2.35,45.28,0.597,4,0.000,0.061,3177,667,2582
$GC,2196,0.81,410.0,4.1,0.3,460,2239,0.28,2.22,37.30,0.583,2,0.063,0.044,3288,2093,2332
$STATE,2240,end climb,NO_VERTICAL_VELOCITY
$STATE,2240,begin surface
$SM_CCo,2242,211.12,0.558,0,0,419,737.11
$SM_GC,1.07,7.60,0.00,0.00,0.040,0.000,0.000,428,2260,413,-7.96,0.31,738.83
$IRIDIUM_FIX,4748.51,-12226.29,121298,141419
$TT8_MAMPS,0.028379
$HUMID,2087
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,18.80
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,85.4,7.0
$24V_AH,24.3,6.280
$10V_AH,10.7,2.544
$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,18.475,27.525,293.850,211.125,0.000,28.062,26.665,208.883,11.750,0.000,0.000,11.114,709.596,558.168,549.548,760.879,336.282,33.313,980.579,0.000,747.550,0.000,6.995,0.000
$DEVICE_MAMPS,238.537,68.263,639.678,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,311.780,566.548,496.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31805,467
$CAP_FILE_SIZE,48712,0
$CFSIZE,260165632,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,160902,4806.382,-12222.235,13,2.0,13,18.3