version: 66.03
glider: 16
mission: 9
dive: 61
start: 6 19 108 12 58 54
data:
$ID,16
$MISSION,9
$DIVE,61
$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,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,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,-2093971.4
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,17
$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,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
$GPS1,124026,6040.055,-733.107,41,2.0,41,-8.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-50.1
$GPS2,125802,6040.229,-733.074,17,1.7,17,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,WTB_4
$TGT_LATLONG,6045.000,-730.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,0.129
$KALMAN_X,-96731.3,2323.2,653.7,-29345.0,-8091.5
$KALMAN_Y,-64382.2,680.7,-1458.9,51366.0,1058.3
$MHEAD_RNG_PITCHd_Wd,25.7,9263,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.85,-146.6,0.0,0.0,0,145,0.00,0.00,-116.53,0.000,2,0.000,0.000,68,2306,2801
$GC,148,-0.85,-146.6,3.5,-2.6,6,178,11.48,0.00,-15.30,0.000,6,0.166,0.000,2110,2306,3379
$GC,475,-0.63,-146.6,40.2,-11.3,22,480,0.22,2.70,0.00,0.000,4,0.097,0.067,2157,868,3379
$GC,553,-0.63,-146.6,47.9,-8.8,25,559,0.00,2.65,0.00,0.000,6,0.000,0.055,2157,2305,3379
$GC,870,-0.63,-146.6,76.0,-8.9,41,875,0.00,2.67,0.00,0.000,4,0.000,0.065,2157,872,3380
$GC,1027,-0.63,-146.6,91.0,-9.4,48,1031,0.00,2.62,0.00,0.000,6,0.000,0.054,2157,2307,3379
$GC,1350,-0.63,-146.6,121.0,-9.3,64,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2307,3379
$GC,1658,-0.63,-146.6,149.9,-9.2,79,1663,0.00,2.65,0.00,0.000,4,0.000,0.067,2157,883,3379
$GC,1752,-0.63,-146.6,158.7,-9.1,83,1757,0.00,2.62,0.00,0.000,6,0.000,0.055,2157,2300,3379
$GC,2074,-0.63,-146.6,188.2,-9.0,99,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2299,3379
$GC,2383,-0.63,-146.6,213.1,-8.2,114,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2300,3379
$STATE,2588,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2588,begin apogee
$GC,2595,-0.31,0.0,231.6,9.6,124,2722,0.35,0.00,122.90,0.775,6,0.091,0.000,2229,2191,2781
$STATE,2723,end apogee,CONTROL_FINISHED_OK
$STATE,2723,begin climb
$GC,2725,0.85,146.6,239.9,0.0,130,2856,1.17,2.85,121.22,0.763,4,0.075,0.077,2479,3616,2183
$GC,2943,0.99,278.0,240.0,2.4,140,3061,0.17,2.65,108.10,0.755,6,0.046,0.061,2523,2204,1646
$GC,3370,0.99,278.0,215.0,6.2,161,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2204,1646
$GC,3679,0.99,278.0,193.2,7.1,176,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2204,1645
$GC,3989,0.99,278.0,170.6,7.2,191,3993,0.00,2.67,0.00,0.000,4,0.000,0.076,2524,3614,1645
$GC,4055,0.99,278.0,165.3,8.0,194,4059,0.00,2.65,0.00,0.000,6,0.000,0.061,2524,2192,1645
$GC,4376,0.99,278.0,141.4,7.7,210,4380,0.00,2.65,0.00,0.000,4,0.000,0.068,2524,772,1645
$GC,4416,0.99,278.0,138.5,7.8,212,4420,0.00,2.60,0.00,0.000,6,0.000,0.050,2524,2204,1644
$GC,4742,0.99,278.0,114.3,7.1,228,4746,0.00,2.67,0.00,0.000,4,0.000,0.075,2524,3616,1644
$GC,4804,0.99,278.0,109.1,8.2,231,4809,0.00,2.65,0.00,0.000,6,0.000,0.062,2524,2192,1645
$GC,5131,0.99,278.0,85.4,7.8,247,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2192,1645
$GC,5441,0.99,278.0,60.4,7.9,262,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2192,1644
$GC,5750,0.99,278.0,39.3,6.8,277,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2192,1645
$GC,6061,1.04,278.0,20.8,6.5,292,6065,0.00,2.62,0.00,0.000,4,0.000,0.068,2524,780,1644
$GC,6123,1.04,278.0,16.6,7.0,295,6128,0.00,2.58,0.00,0.000,6,0.000,0.050,2524,2201,1644
$STATE,6345,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,0.6,1.027176
$STATE,6367,end surface coast,CONTROL_FINISHED_OK
$STATE,6367,begin surface
$SM_CCo,6389,133.50,0.611,0,0,509,557.32
$SM_GC,1.02,0.00,0.00,133.50,0.000,0.000,0.611,73,2314,509,-10.24,0.40,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1783
$TCM_TEMP,17.90
$XPDR_PINGS,12
$ALTIM_TOP_PING,20.0,18.7
$ALTIM_BOTTOM_PING,225.6,15.2
$24V_AH,23.7,12.872
$10V_AH,10.1,6.424
$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,24.000,42.925,352.225,133.500,0.000,69.818,101.585,617.147,4.500,0.000,0.000,16.947,584.141,4689.266,583.950,766.347,949.795,33.356,987.691,0.000,748.173,0.000,11.930
$DEVICE_MAMPS,165.672,77.467,775.437,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.481,206.898,356.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15964,307
$CAP_FILE_SIZE,64193,0
$CFSIZE,260165632,254615552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190608,144854,6042.062,-730.142,36,1.7,38,-8.1