version: 66.03
glider: 16
mission: 9
dive: 223
start: 7 24 108 0 41 29
data:
$ID,16
$MISSION,9
$DIVE,223
$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,-2097820.2
$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,23
$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
$GPS1,003708,6400.844,-1325.318,40,1.3,40,-12.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-57.4
$GPS2,004108,6400.934,-1325.127,11,1.4,11,-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,157.8,35979,-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,25,-0.85,-146.6,0.0,0.0,0,147,0.00,0.00,-120.78,0.000,2,0.000,0.000,69,2230,3048
$GC,151,-0.85,-146.6,4.5,-3.7,6,176,11.45,2.65,-6.93,0.000,4,0.170,0.077,2107,3635,3380
$GC,280,-0.65,-146.6,27.3,-12.5,11,287,0.25,2.53,0.00,0.000,6,0.092,0.049,2155,2230,3380
$GC,598,-0.58,-146.6,55.2,-8.2,27,602,0.00,2.62,0.00,0.000,4,0.000,0.067,2155,3635,3380
$GC,654,-0.53,-146.6,60.1,-8.9,29,661,0.15,2.53,0.00,0.000,6,0.094,0.048,2185,2229,3380
$GC,970,-0.58,-146.6,82.3,-7.2,45,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2229,3380
$GC,1280,-0.62,-146.6,100.2,-5.2,60,1284,0.00,2.65,0.00,0.000,4,0.000,0.070,2185,3643,3381
$GC,1307,-0.62,-146.6,101.9,-6.2,61,1311,0.00,2.55,0.00,0.000,6,0.000,0.048,2185,2229,3381
$GC,1624,-0.67,-146.6,117.4,-3.5,76,1629,0.15,2.60,0.00,0.000,4,0.042,0.061,2130,809,3381
$GC,1669,-0.58,-146.6,120.7,-7.5,78,1674,0.20,2.58,0.00,0.000,6,0.087,0.051,2170,2227,3381
$GC,1990,-0.58,-146.6,140.9,-7.0,94,1994,0.00,2.60,0.00,0.000,4,0.000,0.061,2170,815,3381
$GC,2041,-0.64,-146.6,144.3,-7.4,96,2046,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,2232,3381
$GC,2357,-0.64,-146.6,159.4,-5.4,111,2362,0.00,2.62,0.00,0.000,4,0.000,0.070,2170,3643,3381
$GC,2397,-0.64,-146.6,161.8,-6.5,113,2402,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2228,3381
$GC,2725,-0.64,-146.6,173.3,-1.6,129,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2228,3380
$GC,3034,-0.64,-146.6,184.6,-5.8,144,3038,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3641,3381
$GC,3077,-0.64,-146.6,188.2,-8.2,146,3082,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,2225,3381
$GC,3399,-0.64,-146.6,208.5,-5.0,162,3404,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,3638,3380
$GC,3440,-0.64,-146.6,210.9,-4.9,164,3444,0.00,2.55,0.00,0.000,6,0.000,0.054,2170,2233,3381
$GC,3766,-0.68,-146.6,230.7,-6.4,180,3771,0.00,2.65,0.00,0.000,4,0.000,0.074,2170,3641,3381
$GC,3861,-0.68,-146.6,237.8,-6.6,184,3866,0.00,2.58,0.00,0.000,6,0.000,0.052,2170,2219,3381
$STATE,3968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3968,begin apogee
$GC,3974,-0.31,0.0,245.5,7.1,189,4101,0.30,0.00,123.55,0.778,6,0.094,0.000,2230,2219,2781
$STATE,4102,end apogee,CONTROL_FINISHED_OK
$STATE,4102,begin climb
$GC,4105,0.85,146.6,251.8,0.0,195,4236,1.17,2.70,122.20,0.759,4,0.073,0.067,2481,828,2182
$GC,4273,0.89,150.8,247.7,5.9,203,4283,0.00,2.62,5.07,0.550,6,0.000,0.052,2481,2246,2165
$GC,4600,1.19,360.9,233.5,0.3,219,4786,0.32,2.78,171.80,0.762,4,0.045,0.076,2564,3647,1309
$GC,4905,1.12,360.9,210.5,9.6,233,4910,0.00,2.62,0.00,0.000,6,0.000,0.064,2564,2244,1307
$GC,5226,1.07,360.9,186.6,6.7,249,5231,0.15,2.67,0.00,0.000,4,0.091,0.074,2531,3647,1307
$GC,5254,1.12,360.9,184.6,6.8,250,5258,0.00,2.60,0.00,0.000,6,0.000,0.058,2531,2237,1307
$GC,5570,1.12,360.9,162.4,7.2,265,5574,0.00,2.62,0.00,0.000,4,0.000,0.067,2530,827,1305
$GC,5619,1.18,360.9,158.6,7.7,267,5625,0.12,2.55,0.00,0.000,6,0.051,0.050,2565,2242,1305
$GC,5936,1.12,360.9,129.4,9.6,282,5941,0.12,2.65,0.00,0.000,4,0.093,0.065,2541,825,1305
$GC,5969,1.12,360.9,126.3,8.9,283,5976,0.00,2.55,0.00,0.000,6,0.000,0.049,2542,2241,1305
$GC,6285,1.12,360.9,100.4,8.1,299,6289,0.00,2.62,0.00,0.000,4,0.000,0.065,2542,828,1305
$GC,6312,1.12,360.9,98.1,8.1,300,6316,0.00,2.55,0.00,0.000,6,0.000,0.048,2541,2240,1305
$GC,6628,1.12,360.9,71.4,8.9,315,6633,0.00,2.62,0.00,0.000,4,0.000,0.065,2541,826,1305
$GC,6656,1.12,360.9,68.7,9.4,316,6660,0.00,2.58,0.00,0.000,6,0.000,0.048,2541,2249,1305
$GC,6973,1.12,360.9,40.2,8.5,331,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2249,1306
$GC,7282,1.12,360.9,13.6,8.1,346,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2249,1305
$STATE,7443,end climb,SURFACE_DEPTH_REACHED
$STATE,7443,begin surface coast
$FINISH,0.6,1.026728
$STATE,7465,end surface coast,CONTROL_FINISHED_OK
$STATE,7465,begin surface
$SM_CCo,7487,95.68,0.606,0,0,509,557.32
$SM_GC,1.28,0.00,0.00,95.68,0.000,0.000,0.606,73,2250,509,-10.24,0.57,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1906
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.7,17.5
$ALTIM_BOTTOM_PING,225.4,28.8
$24V_AH,23.8,38.941
$10V_AH,10.2,19.824
$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,25.075,83.400,422.625,95.675,0.000,17.974,27.060,97.538,2.500,0.000,0.000,11.925,697.176,5303.988,628.976,895.850,310.691,0.000,1121.580,0.000,876.892,0.000,14.874
$DEVICE_MAMPS,169.507,77.467,777.738,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.305,239.270,377.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19135,355
$CAP_FILE_SIZE,65096,0
$CFSIZE,260165632,244776960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240708,024927,6401.724,-1318.669,36,2.3,55,-12.6