version: 66.03
glider: 16
mission: 9
dive: 3
start: 6 7 108 16 44 53
data:
$ID,16
$MISSION,9
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$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,1
$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,300
$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,-2092019.4
$T_RSLEEP,2
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,21
$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,2
$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,3
$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
$GPS1,163926,6047.503,-517.035,9,1.8,14,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-52.5
$GPS2,164315,6047.490,-516.974,15,1.2,15,-7.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,B2
$TGT_LATLONG,6141.000,-911.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.236,0.117
$KALMAN_X,305.0,820.9,539.8,-1706.0,372.3
$KALMAN_Y,21.0,-462.7,-182.7,332.8,-214.4
$MHEAD_RNG_PITCHd_Wd,302.7,228227,-18.1,-10.000
$D_GRID,768
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.29,-146.6,0.0,0.0,0,165,0.00,0.00,-137.80,0.000,6,0.000,0.000,74,2507,3380
$GC,168,-1.29,-146.6,6.1,-5.8,7,184,10.77,2.62,0.00,0.000,4,0.164,0.058,2011,1090,3381
$GC,302,-1.21,-146.6,36.2,-15.1,12,307,0.12,2.55,0.00,0.000,6,0.127,0.045,2031,2505,3380
$GC,624,-1.14,-146.6,82.4,-13.9,28,629,0.10,2.60,0.00,0.000,4,0.139,0.055,2047,1089,3379
$GC,764,-1.14,-146.6,100.3,-11.7,34,768,0.00,2.53,0.00,0.000,6,0.000,0.047,2047,2499,3380
$GC,1081,-1.14,-146.6,139.7,-12.5,49,1085,0.00,2.58,0.00,0.000,4,0.000,0.086,2047,1089,3379
$GC,1153,-1.14,-146.6,148.7,-11.6,52,1157,0.00,2.53,0.00,0.000,6,0.000,0.051,2047,2498,3379
$GC,1468,-1.14,-146.6,188.9,-13.1,67,1473,0.00,2.60,0.00,0.000,4,0.000,0.058,2047,1082,3378
$GC,1546,-1.14,-146.6,199.5,-13.3,70,1554,0.00,2.55,0.00,0.000,6,0.000,0.050,2047,2501,3378
$GC,1862,-1.14,-146.6,243.9,-13.8,86,1866,0.00,2.60,0.00,0.000,4,0.000,0.059,2047,1086,3378
$STATE,1914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1914,begin apogee
$GC,1922,-0.31,0.0,250.6,13.3,88,2049,0.88,0.00,122.40,0.766,6,0.096,0.000,2227,2302,2781
$STATE,2049,end apogee,CONTROL_FINISHED_OK
$STATE,2050,begin climb
$GC,2052,1.29,146.6,257.5,0.0,94,2183,1.62,2.72,120.53,0.751,4,0.074,0.063,2573,3711,2183
$GC,2268,1.33,182.8,247.8,8.4,104,2305,0.00,2.58,31.00,0.722,6,0.000,0.049,2574,2299,2035
$GC,2616,1.41,194.7,215.7,9.5,121,2637,0.15,2.65,11.15,0.659,4,0.046,0.058,2623,881,1986
$GC,2677,1.31,194.7,208.4,11.3,123,2684,0.20,2.58,0.00,0.000,6,0.091,0.044,2585,2303,1986
$GC,2993,1.36,194.7,175.4,10.4,139,2997,0.00,2.60,0.00,0.000,4,0.000,0.063,2585,3707,1986
$GC,3042,1.36,194.7,169.7,11.0,141,3046,0.00,2.55,0.00,0.000,6,0.000,0.048,2585,2300,1986
$GC,3359,1.43,210.0,139.7,9.3,156,3381,0.12,2.67,13.45,0.656,4,0.054,0.064,2620,3703,1924
$GC,3485,1.35,210.0,124.8,11.9,161,3490,0.12,2.55,0.00,0.000,6,0.100,0.050,2596,2299,1925
$GC,3801,1.35,210.0,91.4,10.4,176,3805,0.00,2.62,0.00,0.000,4,0.000,0.064,2596,3707,1924
$GC,3885,1.35,210.0,82.0,11.6,180,3890,0.00,2.58,0.00,0.000,6,0.000,0.051,2596,2295,1924
$GC,4212,1.35,210.0,48.1,10.2,196,4217,0.00,2.60,0.00,0.000,4,0.000,0.062,2596,886,1924
$GC,4285,1.35,210.0,40.3,11.6,199,4289,0.00,2.55,0.00,0.000,6,0.000,0.045,2596,2301,1924
$GC,4601,1.38,241.0,8.5,8.6,214,4633,0.00,2.65,25.95,0.615,4,0.000,0.062,2596,3711,1797
$STATE,4659,end climb,SURFACE_DEPTH_REACHED
$STATE,4659,begin surface coast
$FINISH,1.2,1.026971
$STATE,4666,end surface coast,CONTROL_FINISHED_OK
$STATE,4666,begin surface
$SM_CCo,4690,27.55,0.593,0,0,1558,300.00
$SM_GC,1.33,0.00,0.00,27.55,0.000,0.000,0.593,71,2504,1558,-10.25,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1890
$TCM_TEMP,19.60
$XPDR_PINGS,218
$ALTIM_TOP_PING,18.2,17.3
$ALTIM_BOTTOM_PING,250.6,6.9
$24V_AH,23.7,4.544
$10V_AH,10.1,1.745
$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,25.125,61.525,324.475,27.550,0.000,0.000,0.000,0.000,56.250,0.000,0.000,15.840,480.670,3091.327,479.457,667.382,121.160,31.414,852.936,0.000,650.266,0.000,13.525
$DEVICE_MAMPS,164.138,85.904,766.233,592.891,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,156.374,145.272,239.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9684,217
$CAP_FILE_SIZE,71217,1
$CFSIZE,260165632,258072576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,070608,180421,6046.764,-518.314,11,2.0,11,-7.0