version: 66.04
glider: 502
mission: 2
dive: 24
start: 9 17 109 16 18 28
data:
$ID,502
$MISSION,2
$DIVE,24
$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,-2516.6716
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,160902,4806.382,-12222.235,13,2.0,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.2
$GPS2,161734,4806.365,-12222.253,14,2.2,33,18.3
$SPEED_LIMITS,0.104,0.216
$TGT_NAME,EIGHTOFDOOM
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.034,0.213
$KALMAN_X,-2592.1,316.1,-65.7,1993.7,36.4
$KALMAN_Y,-1507.1,-5449.0,-47.5,6780.3,-871.2
$MHEAD_RNG_PITCHd_Wd,332.5,3719,-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,-146.6,0.0,0.0,0,118,0.00,0.00,-101.10,0.000,2,0.000,0.000,428,2260,3076
$GC,120,-0.49,-146.6,3.0,-2.9,18,157,9.48,2.28,-21.20,0.000,4,0.236,0.067,2838,3650,3963
$GC,227,-0.49,-146.6,13.9,-8.9,40,234,0.00,2.20,0.00,0.000,6,0.000,0.046,2838,2240,3963
$GC,301,-0.49,-146.6,21.0,-9.6,56,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2239,3964
$GC,372,-0.49,-146.6,28.4,-10.6,72,378,0.00,2.22,0.00,0.000,4,0.000,0.057,2837,833,3964
$GC,415,-0.49,-146.6,33.3,-11.5,81,422,0.00,2.20,0.00,0.000,6,0.000,0.046,2830,2242,3965
$GC,489,-0.49,-146.6,41.5,-11.3,97,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2242,3965
$GC,632,-0.49,-146.6,57.5,-11.1,128,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2242,3965
$GC,775,-0.49,-146.6,73.2,-11.2,159,781,0.00,2.22,0.00,0.000,4,0.000,0.057,2830,839,3965
$GC,832,-0.49,-146.6,79.7,-11.3,171,844,0.12,2.20,0.00,0.000,6,0.137,0.047,2858,2248,3965
$STATE,848,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,848,begin apogee
$GC,853,-0.16,0.0,81.6,10.9,173,959,0.28,0.00,99.47,0.647,6,0.109,0.000,2956,2073,3424
$STATE,960,end apogee,CONTROL_FINISHED_OK
$STATE,960,begin climb
$GC,961,0.49,146.6,84.9,0.0,192,1079,0.57,0.00,111.80,0.631,6,0.076,0.000,3165,2073,2826
$GC,1215,0.49,146.6,67.6,8.7,243,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2073,2822
$GC,1356,0.49,146.6,55.4,8.6,274,1362,0.00,2.28,0.00,0.000,4,0.000,0.051,3165,3501,2821
$GC,1403,0.49,146.6,50.9,9.3,284,1409,0.00,2.25,0.00,0.000,6,0.000,0.049,3172,2086,2819
$GC,1548,0.49,146.6,38.6,8.5,315,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2085,2819
$GC,1620,0.49,146.6,32.4,8.6,331,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2085,2819
$GC,1690,0.49,146.6,26.6,8.3,347,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2085,2819
$GC,1762,0.49,146.6,20.9,7.9,363,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2085,2818
$GC,1833,0.49,146.6,15.4,7.7,379,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2085,2818
$GC,1904,0.49,146.6,10.0,7.3,395,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2085,2818
$GC,1975,0.49,146.6,5.1,6.7,411,1981,0.00,2.25,0.00,0.000,4,0.000,0.061,3176,665,2818
$STATE,2155,end climb,NO_VERTICAL_VELOCITY
$STATE,2155,begin surface
$SM_CCo,2157,287.80,0.574,3,0,420,737.11
$SM_GC,1.04,7.28,0.00,0.00,0.038,0.000,0.000,427,2249,412,-7.97,0.03,739.08
$IRIDIUM_FIX,4751.72,-12223.57,121298,161606
$TT8_MAMPS,0.028379
$HUMID,2065
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,18.90
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,80.3,6.9
$24V_AH,24.3,6.384
$10V_AH,10.7,2.594
$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,17.725,23.000,211.275,287.800,0.000,61.871,105.751,184.603,9.750,0.000,0.000,34.950,685.534,599.285,624.740,761.718,421.635,33.310,1042.549,0.000,728.136,0.000,5.460,0.000
$DEVICE_MAMPS,236.236,67.496,646.581,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,302.137,557.972,487.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31854,452
$CAP_FILE_SIZE,47292,0
$CFSIZE,260165632,258031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170909,170156,4806.545,-12222.385,10,1.3,10,18.3