version: 66.03
glider: 16
mission: 9
dive: 222
start: 7 23 108 22 43 41
data:
$ID,16
$MISSION,9
$DIVE,222
$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,-2097807.5
$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,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,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
$GPS1,223611,6359.644,-1329.861,11,3.0,30,-12.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-55.1
$GPS2,224323,6359.718,-1329.772,13,5.8,32,-12.7
$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,150.9,36575,-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,-116.28,0.000,2,0.000,0.000,72,2237,2897
$GC,148,-0.85,-146.6,3.5,-2.8,6,179,11.43,2.65,-11.90,0.000,4,0.169,0.077,2106,3639,3381
$GC,253,-0.65,-146.6,19.3,-11.9,10,260,0.25,2.55,0.00,0.000,6,0.090,0.052,2156,2228,3381
$GC,569,-0.57,-146.6,44.9,-7.4,26,573,0.00,2.60,0.00,0.000,4,0.000,0.061,2156,810,3380
$GC,596,-0.57,-146.6,47.2,-7.3,27,600,0.00,2.58,0.00,0.000,6,0.000,0.046,2156,2235,3380
$GC,915,-0.52,-146.6,69.6,-6.7,42,920,0.15,2.60,0.00,0.000,4,0.095,0.064,2189,3641,3381
$GC,948,-0.57,-146.6,71.8,-5.3,43,955,0.00,2.53,0.00,0.000,6,0.000,0.049,2189,2232,3380
$GC,1266,-0.62,-146.6,91.1,-6.6,59,1271,0.12,2.60,0.00,0.000,4,0.044,0.060,2146,813,3380
$GC,1330,-0.62,-146.6,96.9,-9.4,62,1335,0.00,2.58,0.00,0.000,6,0.000,0.047,2146,2236,3380
$GC,1658,-0.54,-146.6,129.9,-9.8,78,1660,0.17,0.00,0.00,0.000,6,0.084,0.000,2181,2236,3380
$GC,1972,-0.58,-146.6,150.9,-6.5,93,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2236,3381
$GC,2276,-0.58,-146.6,172.4,-6.9,108,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2237,3381
$GC,2585,-0.63,-146.6,194.6,-6.7,123,2590,0.00,2.62,0.00,0.000,4,0.000,0.061,2182,813,3381
$GC,2631,-0.74,-146.6,197.5,-6.4,125,2636,0.20,2.55,0.00,0.000,6,0.039,0.047,2124,2230,3381
$STATE,2887,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2887,begin apogee
$GC,2894,-0.31,0.0,222.4,11.3,138,3019,0.52,0.00,122.47,0.754,6,0.084,0.000,2231,2229,2781
$STATE,3020,end apogee,CONTROL_FINISHED_OK
$STATE,3020,begin climb
$GC,3023,0.85,146.6,228.4,0.0,144,3153,1.15,2.70,121.05,0.741,4,0.071,0.059,2480,821,2182
$GC,3236,0.86,156.8,221.1,5.7,154,3252,0.00,2.60,10.38,0.646,6,0.000,0.047,2480,2246,2141
$GC,3563,1.01,237.7,206.6,3.8,169,3638,0.15,2.72,66.53,0.722,4,0.045,0.067,2532,3648,1812
$GC,3655,0.96,237.7,201.5,6.4,173,3660,0.12,2.60,0.00,0.000,6,0.089,0.053,2506,2236,1812
$GC,3971,0.96,237.7,180.8,7.1,188,3976,0.00,2.60,0.00,0.000,4,0.000,0.063,2506,827,1811
$GC,4011,0.96,237.7,177.8,7.9,190,4015,0.00,2.58,0.00,0.000,6,0.000,0.047,2506,2245,1810
$GC,4338,0.96,237.7,153.6,7.0,206,4342,0.00,2.62,0.00,0.000,4,0.000,0.062,2506,827,1810
$GC,4370,0.96,237.7,151.2,7.0,207,4376,0.00,2.55,0.00,0.000,6,0.000,0.047,2506,2242,1809
$GC,4687,0.96,242.1,131.5,5.9,223,4697,0.00,2.65,4.97,0.515,4,0.000,0.061,2506,818,1793
$GC,4726,0.96,242.1,128.9,6.9,225,4731,0.00,2.55,0.00,0.000,6,0.000,0.048,2506,2242,1793
$GC,5054,0.96,242.1,109.6,6.2,241,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1793
$GC,5363,0.96,242.1,87.2,8.3,256,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2242,1793
$GC,5673,0.96,242.1,60.1,8.5,271,5678,0.00,2.62,0.00,0.000,4,0.000,0.062,2505,821,1793
$GC,5697,0.96,242.1,58.0,8.4,272,5701,0.00,2.55,0.00,0.000,6,0.000,0.048,2506,2240,1792
$GC,6018,0.96,242.1,35.5,6.8,288,6023,0.00,2.60,0.00,0.000,4,0.000,0.067,2505,3647,1792
$GC,6130,0.96,242.1,26.8,7.8,293,6134,0.00,2.55,0.00,0.000,6,0.000,0.052,2506,2239,1792
$GC,6452,0.96,242.1,6.7,6.2,309,6456,0.00,2.62,0.00,0.000,4,0.000,0.067,2506,3647,1792
$GC,6484,0.96,242.1,4.4,6.9,310,6490,0.00,2.55,0.00,0.000,6,0.000,0.053,2506,2232,1793
$STATE,6529,end climb,SURFACE_DEPTH_REACHED
$STATE,6529,begin surface coast
$FINISH,0.5,1.024125
$STATE,6553,end surface coast,CONTROL_FINISHED_OK
$STATE,6553,begin surface
$SM_CCo,6574,152.82,0.600,0,0,509,557.32
$SM_GC,1.40,0.00,0.00,152.82,0.000,0.000,0.600,69,2230,509,-10.26,0.00,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1845
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,150.9,79.5
$24V_AH,23.8,38.825
$10V_AH,10.2,19.778
$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,24.800,67.525,325.400,152.825,0.000,48.677,63.055,135.527,0.750,0.000,0.000,33.143,623.903,4745.202,593.012,802.759,406.741,0.000,1019.767,0.000,771.477,0.000,7.216
$DEVICE_MAMPS,168.740,76.700,753.961,599.794,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.851,212.125,381.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,314
$CAP_FILE_SIZE,57548,0
$CFSIZE,260165632,244822016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240708,003708,6400.844,-1325.318,40,1.3,40,-12.7