version: 66.03
glider: 16
mission: 9
dive: 2
start: 6 7 108 14 40 39
data:
$ID,16
$MISSION,9
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1090
$D_NO_BLEED,200
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2091904.8
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,143614,6047.876,-516.770,8,1.5,13,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-56.0
$GPS2,143903,6047.901,-516.736,15,1.3,15,-7.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.021
$KALMAN_X,98.3,98.3,98.3,-116.6,451.6
$KALMAN_Y,85.7,85.7,85.7,186.1,393.8
$MHEAD_RNG_PITCHd_Wd,302.5,228086,-18.1,-10.000
$D_GRID,764
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.29,-146.6,0.0,0.0,0,162,0.00,0.00,-135.68,0.000,2,0.000,0.000,68,2496,3275
$GC,165,-1.29,-146.6,4.1,-3.7,7,187,10.77,2.62,-2.15,0.000,4,0.163,0.068,2013,1090,3381
$GC,391,-1.18,-146.6,45.4,-14.8,17,396,0.15,2.53,0.00,0.000,6,0.126,0.045,2038,2502,3381
$GC,719,-1.12,-146.6,87.5,-13.4,33,723,0.00,2.60,0.00,0.000,4,0.000,0.056,2038,1086,3381
$GC,858,-1.12,-146.6,106.2,-12.9,39,862,0.00,2.53,0.00,0.000,6,0.000,0.047,2036,2499,3380
$GC,1174,-1.06,-146.6,149.8,-14.0,54,1182,0.15,2.58,0.00,0.000,4,0.120,0.056,2068,1091,3380
$GC,1290,-1.13,-146.6,163.7,-11.8,59,1295,0.00,2.53,0.00,0.000,6,0.000,0.051,2068,2500,3380
$GC,1617,-1.13,-146.6,199.9,-11.3,75,1622,0.00,2.60,0.00,0.000,4,0.000,0.058,2068,1085,3379
$GC,1757,-1.21,-146.6,215.2,-10.4,81,1762,0.15,2.55,0.00,0.000,6,0.045,0.051,2025,2498,3379
$STATE,2017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2018,begin apogee
$GC,2026,-0.31,0.0,252.3,14.8,94,2156,1.00,0.00,121.82,0.767,6,0.096,0.000,2228,2290,2781
$STATE,2157,end apogee,CONTROL_FINISHED_OK
$STATE,2157,begin climb
$GC,2160,1.29,146.6,260.9,0.0,101,2291,1.62,2.72,120.30,0.749,4,0.072,0.061,2576,3710,2183
$GC,2373,1.36,213.2,253.8,7.0,111,2435,0.00,2.58,55.17,0.731,6,0.000,0.049,2576,2305,1910
$GC,2748,1.51,249.4,224.3,8.4,129,2784,0.25,0.00,30.90,0.707,6,0.041,0.000,2640,2306,1763
$GC,3094,1.46,249.4,178.0,14.4,146,3099,0.12,2.62,0.00,0.000,4,0.100,0.064,2617,3713,1762
$GC,3166,1.46,249.4,167.2,14.2,149,3171,0.00,2.58,0.00,0.000,6,0.000,0.050,2617,2302,1762
$GC,3484,1.46,249.4,125.5,13.3,164,3488,0.00,2.60,0.00,0.000,4,0.000,0.060,2617,889,1762
$GC,3533,1.46,249.4,118.4,13.8,166,3537,0.00,2.55,0.00,0.000,6,0.000,0.042,2617,2304,1762
$GC,3850,1.46,249.4,76.7,12.5,181,3855,0.00,2.58,0.00,0.000,4,0.000,0.061,2617,3707,1762
$GC,3878,1.46,249.4,72.7,13.6,182,3882,0.00,2.55,0.00,0.000,6,0.000,0.048,2617,2299,1762
$GC,4194,1.46,249.4,34.5,12.2,197,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2299,1761
$STATE,4480,end climb,SURFACE_DEPTH_REACHED
$STATE,4480,begin surface coast
$FINISH,0.4,1.026927
$STATE,4502,end surface coast,CONTROL_FINISHED_OK
$STATE,4502,begin surface
$SM_CCo,4524,145.10,0.596,0,0,509,557.32
$SM_CCo,4673,0.00,0.000,0,0,509,557.32
$SM_CCo,4677,0.00,0.000,0,0,509,557.32
$SM_GC,0.98,0.00,0.00,0.00,0.000,0.000,0.000,69,2505,509,-10.26,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1871
$TCM_TEMP,17.50
$XPDR_PINGS,179
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,252.3,6.9
$24V_AH,23.7,4.396
$10V_AH,10.1,1.690
$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
$DEVICE_SECS,25.300,42.025,328.200,145.100,0.000,0.000,0.000,0.000,46.500,0.000,0.000,15.344,454.594,3005.604,592.809,624.598,118.356,30.176,938.471,0.000,606.968,0.000,13.533
$DEVICE_MAMPS,162.604,68.263,767.000,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,154.024,141.757,227.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9695,212
$CAP_FILE_SIZE,57342,0
$CFSIZE,260165632,258113536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,070608,155958,6047.609,-517.573,23,2.6,42,-7.0