version: 66.03
glider: 16
mission: 9
dive: 224
start: 7 24 108 2 54 30
data:
$ID,16
$MISSION,9
$DIVE,224
$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,-2097859.5
$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,22
$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
$GPS1,024927,6401.724,-1318.669,36,2.3,55,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-55.6
$GPS2,025411,6401.797,-1318.394,18,2.3,37,-12.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,BT2
$TGT_LATLONG,6345.000,-1300.000
$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,166.8,34565,-11.0,-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,-0.85,-146.6,0.0,0.0,0,148,0.00,0.00,-121.25,0.000,2,0.000,0.000,72,2252,3023
$GC,152,-0.85,-146.6,4.7,-4.1,6,177,11.48,2.60,-7.57,0.000,4,0.170,0.077,2109,3637,3381
$GC,264,-0.65,-146.6,23.3,-10.9,11,269,0.22,2.58,0.00,0.000,6,0.094,0.053,2154,2224,3382
$GC,593,-0.59,-146.6,50.2,-7.8,27,597,0.00,2.65,0.00,0.000,4,0.000,0.067,2154,3641,3382
$GC,633,-0.54,-146.6,53.9,-8.5,29,638,0.15,2.55,0.00,0.000,6,0.093,0.049,2183,2227,3382
$GC,961,-0.54,-146.6,72.4,-5.4,45,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2228,3383
$GC,1270,-0.59,-146.6,87.2,-4.2,60,1275,0.00,2.65,0.00,0.000,4,0.000,0.069,2183,3645,3382
$GC,1292,-0.59,-146.6,88.4,-4.7,61,1296,0.00,2.55,0.00,0.000,6,0.000,0.048,2183,2227,3382
$GC,1615,-0.63,-146.6,102.8,-4.9,77,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2227,3382
$GC,1923,-0.68,-146.6,123.0,-7.4,92,1924,0.15,0.00,0.00,0.000,6,0.041,0.000,2135,2227,3382
$GC,2231,-0.58,-146.6,156.1,-10.8,107,2233,0.17,0.00,0.00,0.000,6,0.083,0.000,2169,2227,3382
$GC,2541,-0.58,-146.6,187.6,-11.7,122,2545,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3641,3382
$GC,2591,-0.58,-146.6,194.9,-15.0,124,2595,0.00,2.55,0.00,0.000,6,0.000,0.050,2169,2226,3383
$STATE,2904,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2904,begin apogee
$GC,2911,-0.31,0.0,231.3,11.0,139,3036,0.30,0.00,122.78,0.761,6,0.082,0.000,2231,2225,2781
$STATE,3037,end apogee,CONTROL_FINISHED_OK
$STATE,3037,begin climb
$GC,3040,0.85,146.6,235.4,0.0,145,3167,1.17,0.00,121.78,0.742,6,0.073,0.000,2481,2224,2183
$GC,3489,0.90,146.6,228.9,7.0,167,3494,0.00,2.70,0.00,0.000,4,0.000,0.070,2481,3653,2183
$GC,3623,0.90,146.6,217.6,8.8,173,3628,0.00,2.58,0.00,0.000,6,0.000,0.051,2482,2234,2182
$GC,3944,0.90,146.6,188.9,8.0,189,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2234,2182
$GC,4255,1.22,396.0,182.9,-0.8,204,4469,0.35,2.72,202.07,0.724,4,0.051,0.068,2566,3646,1165
$GC,4509,1.22,396.0,168.0,10.3,216,4513,0.00,2.58,0.00,0.000,6,0.000,0.054,2566,2242,1165
$GC,4831,1.16,396.0,136.1,10.1,232,4835,0.00,2.60,0.00,0.000,4,0.000,0.064,2566,828,1164
$GC,4908,1.16,396.0,128.1,9.6,235,4914,0.00,2.55,0.00,0.000,6,0.000,0.048,2566,2239,1164
$GC,5226,1.16,396.0,97.2,10.2,251,5230,0.00,2.65,0.00,0.000,4,0.000,0.065,2566,821,1164
$GC,5249,1.16,396.0,94.7,10.0,252,5253,0.00,2.58,0.00,0.000,6,0.000,0.048,2566,2240,1164
$GC,5570,1.16,396.0,60.8,10.8,268,5574,0.00,2.62,0.00,0.000,4,0.000,0.064,2566,828,1163
$GC,5603,1.16,396.0,57.1,11.1,269,5609,0.00,2.55,0.00,0.000,6,0.000,0.049,2566,2240,1164
$GC,5919,1.16,396.0,25.3,9.2,285,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2240,1164
$STATE,6204,end climb,SURFACE_DEPTH_REACHED
$STATE,6205,begin surface coast
$FINISH,0.6,1.026918
$STATE,6226,end surface coast,CONTROL_FINISHED_OK
$STATE,6227,begin surface
$SM_CCo,6248,78.75,0.594,0,0,509,557.32
$SM_GC,1.26,0.00,0.00,78.75,0.000,0.000,0.594,68,2241,509,-10.27,0.31,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1869
$TCM_TEMP,17.70
$XPDR_PINGS,18
$ALTIM_TOP_PING,18.6,18.0
$ALTIM_BOTTOM_PING,202.4,37.5
$24V_AH,23.8,39.056
$10V_AH,10.2,19.866
$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,24.775,46.900,446.625,78.750,0.000,18.101,27.670,114.056,6.000,0.000,0.000,38.439,568.524,4383.613,590.697,780.424,299.671,0.000,1012.327,0.000,739.198,0.000,13.258
$DEVICE_MAMPS,170.274,77.467,760.864,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.922,202.455,351.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15988,300
$CAP_FILE_SIZE,50168,0
$CFSIZE,260165632,244764672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240708,044108,6401.268,-1312.385,31,1.5,31,-12.6