version: 66.03
glider: 16
mission: 9
dive: 220
start: 7 23 108 18 14 52
data:
$ID,16
$MISSION,9
$DIVE,220
$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,-2097739.2
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,180938,6358.896,-1329.320,32,1.8,32,-12.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.5
$GPS2,181433,6358.863,-1329.209,14,1.8,14,-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,352.5,4217,-22.1,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.43,-43.3,0.0,0.0,0,148,0.00,0.00,-120.35,0.000,6,0.000,0.000,73,2251,2958
$GC,151,-1.46,-76.9,3.9,-2.9,6,174,10.65,2.72,-3.42,0.000,4,0.170,0.080,1971,815,3097
$GC,388,-1.30,-76.9,49.7,-17.4,16,393,0.22,2.58,0.00,0.000,6,0.136,0.048,2010,2235,3098
$GC,704,-1.21,-76.9,100.7,-16.2,31,709,0.12,2.60,0.00,0.000,4,0.139,0.065,2030,3639,3098
$GC,813,-1.16,-76.9,118.5,-16.8,36,817,0.00,2.55,0.00,0.000,6,0.000,0.049,2030,2231,3099
$GC,1139,-1.16,-76.9,168.2,-14.8,52,1143,0.00,2.58,0.00,0.000,4,0.000,0.061,2030,814,3099
$GC,1205,-1.20,-76.9,177.6,-13.4,55,1210,0.00,2.55,0.00,0.000,6,0.000,0.048,2031,2228,3099
$GC,1528,-1.20,-76.9,225.4,-15.4,71,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2228,3099
$GC,1836,-1.20,-76.9,264.4,-12.7,86,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2229,3099
$GC,2145,-1.20,-76.9,298.2,-11.1,101,2150,0.00,2.60,0.00,0.000,4,0.000,0.061,2031,815,3099
$GC,2264,-1.25,-76.9,311.2,-9.8,106,2268,0.00,2.55,0.00,0.000,6,0.000,0.049,2031,2229,3100
$GC,2580,-1.25,-76.9,347.8,-10.7,121,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2230,3099
$GC,2889,-1.25,-76.9,390.5,-14.5,136,2894,0.00,2.62,0.00,0.000,4,0.000,0.074,2031,3639,3099
$GC,2929,-1.25,-76.9,396.6,-14.3,138,2934,0.00,2.58,0.00,0.000,6,0.000,0.056,2030,2225,3099
$STATE,2986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2986,begin apogee
$GC,2993,-0.31,0.0,403.9,12.5,141,3068,1.00,0.00,68.50,0.884,6,0.110,0.000,2227,2225,2780
$STATE,3069,end apogee,CONTROL_FINISHED_OK
$STATE,3069,begin climb
$GC,3072,1.46,76.9,408.8,0.0,145,3148,1.77,2.70,66.70,0.874,4,0.059,0.065,2618,829,2467
$GC,3403,1.41,85.0,398.0,5.2,160,3417,0.00,2.58,8.38,0.748,6,0.000,0.053,2618,2242,2434
$GC,3735,1.40,112.6,386.2,3.5,176,3765,0.00,2.72,24.45,0.854,4,0.000,0.074,2618,3648,2321
$GC,4019,1.34,112.6,358.4,10.3,189,4024,0.15,2.62,0.00,0.000,6,0.113,0.059,2591,2232,2321
$GC,4347,1.41,125.5,334.1,4.8,205,4368,0.00,2.75,12.00,0.794,4,0.000,0.077,2591,3649,2269
$GC,4495,1.41,133.3,327.4,5.3,211,4509,0.00,2.62,8.52,0.750,6,0.000,0.060,2591,2231,2237
$GC,4837,1.49,133.3,305.3,6.4,228,4839,0.15,0.00,0.00,0.000,6,0.056,0.000,2630,2231,2236
$GC,5147,1.42,133.3,282.5,8.4,243,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2231,2235
$GC,5456,1.35,133.3,263.7,6.1,258,5461,0.15,2.62,0.00,0.000,4,0.114,0.069,2599,827,2234
$GC,5713,1.35,133.3,248.6,8.0,269,5720,0.00,2.60,0.00,0.000,6,0.000,0.052,2599,2248,2233
$GC,6029,1.35,133.3,221.7,9.1,285,6033,0.00,2.62,0.00,0.000,4,0.000,0.074,2599,3652,2232
$GC,6286,1.35,133.3,199.9,7.8,296,6293,0.00,2.60,0.00,0.000,6,0.000,0.056,2599,2230,2232
$GC,6602,1.35,133.3,176.9,7.5,312,6606,0.00,2.65,0.00,0.000,4,0.000,0.070,2599,3648,2232
$GC,6742,1.35,133.3,165.2,8.9,318,6746,0.00,2.55,0.00,0.000,6,0.000,0.054,2598,2240,2232
$GC,7058,1.35,133.3,141.0,7.8,333,7062,0.00,2.62,0.00,0.000,4,0.000,0.067,2599,3648,2231
$GC,7300,1.35,133.3,121.5,8.1,344,7305,0.00,2.55,0.00,0.000,6,0.000,0.052,2599,2234,2232
$GC,7627,1.39,133.3,95.3,7.7,360,7632,0.00,2.62,0.00,0.000,4,0.000,0.067,2599,3648,2232
$GC,7885,1.35,133.3,74.8,8.6,371,7892,0.00,2.53,0.00,0.000,6,0.000,0.051,2599,2240,2233
$GC,8202,1.41,136.3,55.1,5.7,387,8206,0.00,2.62,0.00,0.000,4,0.000,0.067,2599,3652,2233
$GC,8459,1.41,136.3,38.6,6.3,398,8468,0.00,2.53,3.67,0.436,6,0.000,0.051,2598,2241,2225
$GC,8798,1.49,148.0,21.4,4.9,415,8819,0.12,2.60,11.27,0.592,4,0.052,0.059,2636,824,2176
$GC,9072,1.43,148.0,2.3,7.1,427,9076,0.00,2.08,0.00,0.000,3,0.000,0.045,2636,1989,2176
$STATE,9077,end climb,SURFACE_DEPTH_REACHED
$STATE,9077,begin surface coast
$FINISH,1.2,1.026890
$STATE,9081,end surface coast,CONTROL_FINISHED_OK
$STATE,9081,begin surface
$SM_CCo,9104,208.30,0.601,1,0,508,557.32
$SM_GC,1.25,0.00,0.00,208.30,0.000,0.000,0.601,73,2238,508,-10.24,0.23,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1835
$TCM_TEMP,19.80
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,401.3,12.3
$24V_AH,23.7,38.630
$10V_AH,10.2,19.693
$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,25.625,78.175,203.500,208.300,0.000,17.982,28.246,127.061,7.750,0.000,0.000,14.322,903.828,6379.027,569.857,1387.739,383.369,0.000,1237.390,0.000,1353.907,0.000,26.066
$DEVICE_MAMPS,169.507,79.768,883.584,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.421,291.505,348.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,427
$CAP_FILE_SIZE,79620,0
$CFSIZE,260165632,244867072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,230708,205134,6358.791,-1330.722,41,1.2,44,-12.7