version: 66.03
glider: 16
mission: 9
dive: 219
start: 7 23 108 15 49 16
data:
$ID,16
$MISSION,9
$DIVE,219
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,2
$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,557.32159
$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,-2097724.2
$T_RSLEEP,12
$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,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$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,0
$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,4
$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
$GPS1,154331,6358.655,-1329.147,39,1.2,39,-12.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.9
$GPS2,154857,6358.721,-1328.899,12,1.3,12,-12.7
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,350.7,4552,-20.3,-6.000
$D_GRID,990
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.32,-50.8,0.0,0.0,0,149,0.00,0.00,-120.93,0.000,2,0.000,0.000,69,2245,2891
$GC,153,-1.37,-95.1,3.4,-2.5,6,178,10.80,2.67,-7.40,0.000,4,0.170,0.071,1994,810,3169
$GC,431,-1.22,-95.1,49.1,-17.5,18,437,0.20,2.58,0.00,0.000,6,0.123,0.048,2030,2231,3170
$GC,748,-1.14,-95.1,92.8,-12.0,33,750,0.10,0.00,0.00,0.000,6,0.127,0.000,2046,2231,3170
$GC,1057,-1.14,-95.1,128.9,-14.7,48,1061,0.00,2.62,0.00,0.000,4,0.000,0.067,2046,3649,3170
$GC,1101,-1.09,-95.1,136.3,-16.3,50,1105,0.00,2.58,0.00,0.000,6,0.000,0.051,2046,2228,3170
$GC,1423,-1.09,-95.1,181.3,-13.8,66,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2228,3170
$GC,1732,-1.09,-95.1,224.7,-13.9,81,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2228,3170
$GC,2041,-1.09,-95.1,267.1,-14.2,96,2045,0.00,2.60,0.00,0.000,4,0.000,0.064,2046,810,3171
$GC,2118,-1.09,-95.1,278.0,-14.3,99,2124,0.00,2.58,0.00,0.000,6,0.000,0.050,2046,2231,3171
$GC,2434,-1.09,-95.1,320.0,-13.4,115,2438,0.00,2.60,0.00,0.000,4,0.000,0.061,2046,814,3171
$GC,2604,-1.09,-95.1,343.1,-13.6,122,2610,0.00,2.58,0.00,0.000,6,0.000,0.052,2046,2229,3171
$GC,2919,-1.09,-95.1,381.8,-12.3,138,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2230,3171
$STATE,3226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3226,begin apogee
$GC,3233,-0.31,0.0,414.9,10.1,153,3319,0.93,0.00,83.03,0.896,6,0.110,0.000,2228,2230,2781
$STATE,3320,end apogee,CONTROL_FINISHED_OK
$STATE,3320,begin climb
$GC,3323,1.37,95.1,417.8,0.0,157,3414,1.73,2.70,81.78,0.883,4,0.077,0.065,2591,828,2394
$GC,3668,1.32,95.1,392.3,10.9,172,3674,0.00,2.60,0.00,0.000,6,0.000,0.055,2591,2240,2392
$GC,3983,1.40,167.0,377.7,0.3,188,4050,0.00,2.75,61.42,0.876,4,0.000,0.077,2591,3651,2099
$GC,4162,1.46,167.0,364.6,10.4,196,4167,0.12,2.65,0.00,0.000,6,0.054,0.063,2625,2234,2100
$GC,4478,1.46,167.0,327.8,11.1,211,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2235,2098
$GC,4788,1.37,167.0,298.0,6.2,226,4793,0.15,2.65,0.00,0.000,4,0.093,0.072,2591,820,2098
$GC,5012,1.37,167.0,279.8,6.2,236,5016,0.00,2.62,0.00,0.000,6,0.000,0.055,2591,2243,2096
$GC,5332,1.37,167.0,258.2,7.8,252,5337,0.00,2.67,0.00,0.000,4,0.000,0.069,2591,821,2095
$GC,5455,1.37,167.0,248.3,8.5,257,5461,0.00,2.60,0.00,0.000,6,0.000,0.053,2591,2242,2094
$GC,5771,1.37,167.0,222.7,8.6,273,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2241,2094
$GC,6081,1.41,167.0,196.5,9.2,288,6086,0.00,2.62,0.00,0.000,4,0.000,0.071,2591,3650,2094
$GC,6176,1.41,167.0,186.8,10.1,292,6180,0.00,2.58,0.00,0.000,6,0.000,0.055,2591,2237,2094
$GC,6491,1.41,167.0,152.5,11.1,307,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2237,2094
$GC,6801,1.41,167.0,119.1,10.7,322,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2237,2094
$GC,7110,1.46,167.0,88.0,10.1,337,7112,0.12,0.00,0.00,0.000,6,0.053,0.000,2627,2237,2094
$GC,7421,1.38,167.0,56.7,9.4,352,7426,0.15,2.65,0.00,0.000,4,0.099,0.067,2595,3655,2094
$GC,7595,1.38,167.0,41.7,9.5,360,7600,0.00,2.58,0.00,0.000,6,0.000,0.052,2595,2233,2095
$GC,7923,1.38,167.0,15.2,7.7,376,7927,0.00,2.58,0.00,0.000,4,0.000,0.061,2595,822,2095
$GC,8102,1.38,167.0,2.5,6.3,384,8106,0.00,2.55,0.00,0.000,6,0.000,0.045,2594,2248,2095
$STATE,8111,end climb,SURFACE_DEPTH_REACHED
$STATE,8111,begin surface coast
$FINISH,0.6,1.014441
$STATE,8133,end surface coast,CONTROL_FINISHED_OK
$STATE,8133,begin surface
$SM_CCo,8155,194.23,0.607,0,0,508,557.32
$SM_GC,1.27,0.00,0.00,194.23,0.000,0.000,0.607,74,2250,508,-10.24,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1857
$TCM_TEMP,17.60
$XPDR_PINGS,19
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,401.2,23.1
$24V_AH,23.7,38.535
$10V_AH,10.1,19.638
$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,25.300,57.600,226.225,194.225,0.000,18.124,27.725,157.799,8.250,0.000,0.000,12.687,770.857,5894.676,555.979,1071.678,385.020,0.000,1081.613,0.000,1045.049,0.000,26.199
$DEVICE_MAMPS,169.507,77.467,895.856,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.890,262.403,315.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19130,386
$CAP_FILE_SIZE,66192,0
$CFSIZE,260165632,244924416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230708,180938,6358.896,-1329.320,32,1.8,32,-12.7