version: 66.03
glider: 16
mission: 9
dive: 300
start: 8 4 108 7 34 36
data:
$ID,16
$MISSION,9
$DIVE,300
$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,-2099785.5
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2330
$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,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
$GPS1,072307,6411.708,-1126.146,12,1.8,28,-11.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-53.1
$GPS2,073417,6411.753,-1126.363,11,2.2,30,-11.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WV
$TGT_LATLONG,6427.000,-1150.000
$TGT_RADIUS,5000.000
$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,337.8,33968,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.95,0.000,2,0.000,0.000,72,2248,3011
$GC,151,-0.85,-146.6,4.5,-3.9,6,176,11.70,2.62,-7.85,0.000,4,0.172,0.077,2142,3640,3380
$GC,255,-0.72,-146.6,22.3,-11.2,10,262,0.15,2.55,0.00,0.000,6,0.097,0.048,2171,2227,3380
$GC,572,-0.72,-146.6,48.8,-7.7,26,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,880,-0.72,-146.6,73.6,-8.2,41,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2227,3380
$GC,1190,-0.72,-146.6,93.1,-5.9,56,1194,0.00,2.65,0.00,0.000,4,0.000,0.067,2171,3640,3381
$GC,1235,-0.72,-146.6,95.9,-6.4,58,1239,0.00,2.55,0.00,0.000,6,0.000,0.046,2171,2223,3381
$GC,1556,-0.72,-146.6,117.8,-7.3,74,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,1867,-0.72,-146.6,144.5,-9.3,89,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,2175,-0.72,-146.6,173.1,-8.5,104,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,2484,-0.72,-146.6,192.3,-5.3,119,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2223,3381
$GC,2792,-0.72,-146.6,214.8,-9.0,134,2797,0.00,2.58,0.00,0.000,4,0.000,0.060,2171,817,3381
$GC,2834,-0.79,-146.6,218.4,-9.5,136,2838,0.00,2.58,0.00,0.000,6,0.000,0.048,2171,2233,3381
$GC,3163,-0.79,-146.6,250.1,-10.3,152,3167,0.00,2.62,0.00,0.000,4,0.000,0.058,2171,811,3381
$GC,3202,-0.88,-146.6,254.5,-10.7,154,3208,0.15,2.58,0.00,0.000,6,0.044,0.048,2124,2229,3381
$GC,3532,-0.76,-146.6,289.1,-9.9,170,3537,0.15,2.62,0.00,0.000,4,0.087,0.072,2157,3640,3381
$GC,3588,-0.76,-146.6,294.2,-8.1,172,3593,0.00,2.55,0.00,0.000,6,0.000,0.051,2157,2231,3381
$STATE,3860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3860,begin apogee
$GC,3866,-0.31,0.0,312.6,7.1,186,3995,0.50,0.00,125.90,0.824,6,0.088,0.000,2260,2231,2781
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3996,begin climb
$GC,3999,0.85,146.6,316.2,0.0,192,4131,1.15,2.65,124.50,0.809,4,0.070,0.061,2508,828,2182
$GC,4194,0.92,269.5,314.4,2.6,201,4306,0.00,2.60,103.68,0.802,6,0.000,0.049,2508,2240,1681
$GC,4616,0.98,279.8,287.3,5.7,222,4629,0.17,0.00,10.05,0.697,6,0.048,0.000,2557,2240,1639
$GC,4926,0.90,279.8,262.0,7.2,237,4928,0.17,0.00,0.00,0.000,6,0.087,0.000,2522,2240,1639
$GC,5234,0.90,279.8,237.4,9.9,252,5238,0.00,2.65,0.00,0.000,4,0.000,0.064,2522,829,1637
$GC,5301,0.90,279.8,230.5,10.2,255,5305,0.00,2.60,0.00,0.000,6,0.000,0.050,2522,2248,1637
$GC,5622,0.90,279.8,200.8,8.4,271,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2248,1637
$GC,5931,0.90,279.8,177.1,7.6,286,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2248,1637
$GC,6241,0.90,279.8,156.1,6.1,301,6246,0.00,2.65,0.00,0.000,4,0.000,0.061,2522,829,1636
$GC,6286,0.94,279.8,153.3,6.2,303,6291,0.00,2.58,0.00,0.000,6,0.000,0.048,2522,2247,1636
$GC,6607,1.01,344.3,138.7,4.2,319,6667,0.12,0.00,53.58,0.717,6,0.048,0.000,2559,2247,1376
$GC,6979,0.96,344.3,107.8,9.8,337,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2247,1375
$GC,7286,0.96,344.3,72.5,12.2,352,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2247,1376
$GC,7595,0.96,344.3,42.3,8.3,367,7599,0.00,2.65,0.00,0.000,4,0.000,0.060,2559,824,1376
$GC,7628,0.96,344.3,39.4,8.4,368,7634,0.00,2.55,0.00,0.000,6,0.000,0.046,2559,2242,1375
$GC,7944,0.96,344.3,9.4,9.8,384,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2242,1375
$STATE,8046,end climb,SURFACE_DEPTH_REACHED
$STATE,8046,begin surface coast
$FINISH,0.6,1.021675
$STATE,8066,end surface coast,CONTROL_FINISHED_OK
$STATE,8066,begin surface
$SM_CCo,8088,104.22,0.604,0,0,508,557.32
$SM_GC,1.27,0.00,0.00,104.22,0.000,0.000,0.604,72,2243,508,-10.38,0.37,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1891
$TCM_TEMP,17.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.2,17.6
$ALTIM_BOTTOM_PING,277.0,44.8
$24V_AH,23.7,49.319
$10V_AH,10.2,24.642
$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,25.100,46.825,417.700,104.225,0.000,69.343,105.836,242.056,3.500,0.000,0.000,31.329,711.268,6068.469,631.472,867.935,594.682,0.000,1075.520,0.000,834.019,0.000,18.156
$DEVICE_MAMPS,171.808,76.700,823.758,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.060,263.623,375.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19108,390
$CAP_FILE_SIZE,61973,0
$CFSIZE,260165632,241438720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,095231,6414.366,-1126.531,37,1.8,42,-11.6