version: 66.03
glider: 16
mission: 9
dive: 221
start: 7 23 108 20 56 36
data:
$ID,16
$MISSION,9
$DIVE,221
$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,-2097773.5
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,205134,6358.791,-1330.722,41,1.2,44,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.6
$GPS2,205617,6358.774,-1330.728,13,2.5,32,-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,9.6,4128,-22.6,-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,-1.46,-41.5,0.0,0.0,0,133,0.00,0.00,-106.20,0.000,2,0.000,0.000,73,2240,2676
$GC,137,-1.50,-81.2,3.2,-2.2,6,167,10.60,2.65,-13.50,0.000,4,0.168,0.071,1966,817,3113
$GC,421,-1.35,-81.2,55.2,-20.4,18,428,0.20,2.55,0.00,0.000,6,0.132,0.048,2001,2230,3113
$GC,738,-1.26,-81.2,104.4,-15.0,34,743,0.12,2.62,0.00,0.000,4,0.136,0.065,2021,3648,3113
$GC,857,-1.20,-81.2,124.4,-16.9,39,861,0.00,2.55,0.00,0.000,6,0.000,0.048,2021,2232,3113
$GC,1172,-1.20,-81.2,171.7,-14.1,54,1176,0.00,2.62,0.00,0.000,4,0.000,0.067,2021,3641,3113
$GC,1279,-1.15,-81.2,188.0,-15.1,59,1284,0.12,2.55,0.00,0.000,6,0.130,0.048,2042,2230,3113
$GC,1609,-1.21,-81.2,230.2,-11.7,75,1614,0.00,2.62,0.00,0.000,4,0.000,0.068,2042,3640,3114
$GC,1649,-1.27,-81.2,235.9,-14.2,77,1654,0.00,2.55,0.00,0.000,6,0.000,0.050,2042,2228,3114
$GC,1977,-1.31,-81.2,274.4,-10.8,93,1987,0.12,2.58,0.00,0.000,4,0.049,0.062,2005,817,3115
$STATE,1990,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1990,begin apogee
$GC,2000,-0.31,0.0,276.6,11.1,93,2073,1.12,0.00,69.80,0.783,6,0.123,0.000,2223,2244,2781
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2077,1.50,81.2,279.2,0.0,97,2154,1.85,2.67,68.68,0.774,4,0.064,0.070,2624,3650,2450
$GC,2335,1.44,103.7,272.2,3.8,108,2361,0.00,2.60,20.25,0.738,6,0.000,0.054,2624,2232,2358
$GC,2685,1.54,145.4,260.2,2.0,125,2728,0.00,2.67,35.47,0.766,4,0.000,0.063,2624,824,2187
$GC,2801,1.55,151.5,255.0,5.4,130,2818,0.00,2.60,6.70,0.629,6,0.000,0.051,2624,2242,2163
$GC,3128,1.62,151.5,226.8,8.2,146,3133,0.12,2.65,0.00,0.000,4,0.054,0.066,2659,828,2162
$GC,3184,1.54,151.5,222.2,8.4,148,3190,0.12,2.58,0.00,0.000,6,0.106,0.051,2637,2241,2161
$GC,3499,1.54,151.5,195.8,9.1,164,3503,0.00,2.65,0.00,0.000,4,0.000,0.071,2637,3654,2161
$GC,3757,1.45,151.5,169.3,10.8,175,3764,0.00,2.60,0.00,0.000,6,0.000,0.056,2637,2231,2161
$GC,4075,1.41,151.5,135.5,10.8,191,4080,0.15,2.67,0.00,0.000,4,0.104,0.069,2605,3656,2161
$GC,4333,1.41,151.5,107.4,10.9,202,4339,0.00,2.58,0.00,0.000,6,0.000,0.054,2605,2239,2160
$GC,4650,1.46,151.5,78.9,8.3,218,4654,0.00,2.62,0.00,0.000,4,0.000,0.067,2604,3650,2160
$GC,4847,1.46,151.5,60.4,9.1,227,4851,0.00,2.55,0.00,0.000,6,0.000,0.051,2605,2238,2160
$GC,5175,1.56,160.2,39.1,5.2,243,5189,0.15,2.65,8.20,0.569,4,0.050,0.066,2650,3644,2127
$GC,5246,1.47,160.2,33.9,7.7,246,5251,0.15,2.55,0.00,0.000,6,0.104,0.051,2622,2239,2127
$GC,5567,1.47,160.2,8.7,7.7,262,5571,0.00,2.58,0.00,0.000,4,0.000,0.060,2622,827,2126
$STATE,5654,end climb,SURFACE_DEPTH_REACHED
$STATE,5654,begin surface coast
$FINISH,0.6,1.026945
$STATE,5677,end surface coast,CONTROL_FINISHED_OK
$STATE,5677,begin surface
$SM_CCo,5702,200.93,0.606,0,0,508,557.32
$SM_GC,1.28,0.00,0.00,200.93,0.000,0.000,0.606,73,2236,508,-10.24,0.14,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1843
$TCM_TEMP,19.70
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.5,17.3
$ALTIM_BOTTOM_PING,275.1,6.8
$24V_AH,23.7,38.719
$10V_AH,10.2,19.733
$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,26.000,67.725,209.100,200.925,0.000,18.051,30.553,110.344,3.000,0.000,0.000,33.615,594.622,3832.430,545.370,912.979,311.091,0.000,1004.824,0.000,872.162,0.000,18.058
$DEVICE_MAMPS,167.973,71.331,783.107,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,194.985,180.941,269.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12777,267
$CAP_FILE_SIZE,57469,0
$CFSIZE,260165632,244854784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,230708,223611,6359.644,-1329.861,11,3.0,30,-12.7