version: 66.03
glider: 16
mission: 9
dive: 7
start: 6 8 108 6 44 48
data:
$ID,16
$MISSION,9
$DIVE,7
$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,330
$T_MISSION,360
$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,-2092494.5
$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,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
$GPS1,063825,6044.554,-526.957,29,1.9,46,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.0
$GPS2,064308,6044.482,-526.986,15,1.8,32,-7.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.183,0.190
$KALMAN_X,2334.3,-592.5,209.7,-10994.8,-1016.5
$KALMAN_Y,-12530.8,840.1,347.8,5490.9,-5721.2
$MHEAD_RNG_PITCHd_Wd,314.8,31866,-18.1,-10.000
$D_GRID,681
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.29,-146.6,0.0,0.0,0,88,0.00,0.00,-61.20,0.000,2,0.000,0.000,65,2506,2739
$GC,92,-1.29,-146.6,3.2,-4.5,3,128,10.82,2.62,-19.20,0.000,4,0.164,0.065,2012,1083,3379
$GC,175,-1.18,-146.6,14.6,-15.4,6,180,0.15,2.58,0.00,0.000,6,0.117,0.049,2038,2497,3379
$GC,504,-1.14,-146.6,61.3,-14.7,22,508,0.00,2.60,0.00,0.000,4,0.000,0.054,2038,1082,3380
$GC,547,-1.14,-146.6,68.0,-13.4,24,552,0.00,2.58,0.00,0.000,6,0.000,0.050,2038,2500,3380
$GC,869,-1.08,-146.6,114.3,-14.4,40,874,0.12,2.60,0.00,0.000,4,0.116,0.055,2060,1088,3381
$GC,977,-1.15,-146.6,128.0,-11.8,45,982,0.00,2.58,0.00,0.000,6,0.000,0.051,2059,2500,3381
$GC,1305,-1.15,-146.6,168.7,-12.1,61,1309,0.00,2.60,0.00,0.000,4,0.000,0.056,2060,1089,3381
$GC,1439,-1.24,-146.6,184.7,-11.3,67,1444,0.15,2.60,0.00,0.000,6,0.045,0.052,2016,2506,3382
$GC,1762,-1.14,-146.6,232.3,-15.6,83,1767,0.15,2.62,0.00,0.000,4,0.104,0.058,2047,1089,3382
$GC,1851,-1.14,-146.6,245.0,-13.4,87,1855,0.00,2.58,0.00,0.000,6,0.000,0.055,2047,2500,3382
$GC,2172,-1.14,-146.6,287.0,-12.8,103,2176,0.00,2.62,0.00,0.000,4,0.000,0.059,2047,1082,3382
$GC,2294,-1.18,-146.6,302.2,-12.2,108,2300,0.00,2.62,0.00,0.000,6,0.000,0.056,2047,2505,3382
$GC,2610,-1.18,-146.6,342.0,-12.6,124,2614,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,1088,3382
$GC,2727,-1.18,-146.6,355.7,-11.8,129,2731,0.00,2.60,0.00,0.000,6,0.000,0.057,2047,2501,3382
$GC,3042,-1.18,-146.6,392.9,-11.7,144,3046,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,1087,3382
$GC,3153,-1.18,-146.6,405.7,-11.1,149,3158,0.00,2.60,0.00,0.000,6,0.000,0.058,2047,2505,3382
$GC,3474,-1.18,-146.6,443.4,-11.9,165,3479,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,1082,3382
$GC,3592,-1.22,-146.6,457.1,-11.2,170,3597,0.00,2.62,0.00,0.000,6,0.000,0.058,2047,2503,3382
$GC,3908,-1.22,-146.6,496.7,-13.2,185,3912,0.00,2.62,0.00,0.000,4,0.000,0.063,2047,1088,3382
$GC,3940,-1.22,-146.6,501.2,-13.8,186,3946,0.00,2.60,0.00,0.000,6,0.000,0.061,2047,2501,3381
$GC,4256,-1.22,-146.6,544.7,-12.9,202,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2500,3382
$GC,4565,-1.22,-146.6,579.4,-11.2,217,4569,0.00,2.65,0.00,0.000,4,0.000,0.067,2047,1088,3381
$GC,4742,-1.29,-146.6,598.8,-11.9,225,4747,0.12,2.65,0.00,0.000,6,0.058,0.066,2014,2503,3381
$GC,5071,-1.19,-146.6,646.9,-14.1,241,5076,0.12,2.67,0.00,0.000,4,0.116,0.069,2036,1088,3380
$GC,5222,-1.19,-146.6,667.8,-14.5,248,5227,0.00,2.65,0.00,0.000,6,0.000,0.070,2037,2499,3379
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5326,-0.31,0.0,681.1,12.8,253,5463,0.98,0.00,131.73,1.127,6,0.110,0.000,2227,2296,2780
$STATE,5464,end apogee,CONTROL_FINISHED_OK
$STATE,5464,begin climb
$GC,5466,1.29,146.6,690.6,0.0,260,5604,1.73,0.00,131.32,1.098,6,0.084,0.000,2581,2296,2183
$GC,5917,1.28,184.2,666.4,8.3,282,5953,0.00,0.00,34.35,1.066,6,0.000,0.000,2582,2296,2031
$GC,6262,1.33,228.1,636.1,8.0,299,6308,0.00,2.75,39.92,1.069,4,0.000,0.076,2581,893,1851
$GC,6365,1.34,239.0,626.1,9.5,304,6381,0.00,2.67,10.80,0.954,6,0.000,0.064,2582,2305,1806
$GC,6691,1.41,239.0,591.2,11.8,319,6696,0.12,2.72,0.00,0.000,4,0.065,0.074,2612,892,1806
$GC,6732,1.35,239.0,585.9,13.8,321,6736,0.00,2.67,0.00,0.000,6,0.000,0.065,2612,2303,1805
$GC,7058,1.35,239.0,542.4,14.1,337,7062,0.00,2.72,0.00,0.000,4,0.000,0.074,2612,889,1805
$GC,7130,1.29,239.0,532.6,14.2,340,7135,0.17,2.67,0.00,0.000,6,0.109,0.064,2581,2300,1804
$GC,7446,1.35,239.0,496.7,11.3,355,7451,0.00,2.75,0.00,0.000,4,0.000,0.088,2581,3710,1805
$GC,7559,1.35,239.0,482.1,13.6,360,7564,0.00,2.65,0.00,0.000,6,0.000,0.064,2580,2302,1805
$GC,7881,1.43,239.0,445.0,11.8,376,7886,0.15,2.75,0.00,0.000,4,0.064,0.087,2620,3710,1803
$GC,7943,1.34,239.0,436.3,14.9,379,7949,0.15,2.65,0.00,0.000,6,0.108,0.063,2594,2296,1804
$GC,8270,1.34,239.0,399.9,10.5,395,8274,0.00,2.75,0.00,0.000,4,0.000,0.084,2594,3710,1803
$GC,8326,1.34,239.0,393.8,11.3,397,8333,0.00,2.62,0.00,0.000,6,0.000,0.060,2595,2298,1803
$GC,8642,1.40,246.9,363.8,9.6,413,8652,0.00,0.00,7.88,0.811,6,0.000,0.000,2594,2298,1774
$GC,8951,1.40,246.9,333.0,10.2,428,8955,0.00,2.72,0.00,0.000,4,0.000,0.080,2592,3713,1774
$GC,9013,1.40,246.9,326.1,11.8,431,9018,0.00,2.62,0.00,0.000,6,0.000,0.058,2594,2299,1774
$GC,9340,1.40,246.9,291.2,10.8,447,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2299,1774
$GC,9650,1.44,246.9,258.4,10.6,462,9654,0.00,2.72,0.00,0.000,4,0.000,0.075,2594,3719,1775
$GC,9711,1.44,246.9,251.1,12.0,465,9716,0.00,2.62,0.00,0.000,6,0.000,0.054,2594,2293,1775
$GC,10038,1.44,246.9,215.1,11.4,481,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2294,1775
$GC,10348,1.49,246.9,180.4,11.1,496,10350,0.15,0.00,0.00,0.000,6,0.054,0.000,2634,2294,1776
$GC,10659,1.42,246.9,140.0,13.1,511,10664,0.12,2.70,0.00,0.000,4,0.097,0.072,2611,3713,1777
$GC,10699,1.42,246.9,134.4,13.4,513,10703,0.00,2.60,0.00,0.000,6,0.000,0.053,2611,2297,1776
$GC,11025,1.42,246.9,96.0,11.3,529,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,1777
$GC,11335,1.42,246.9,59.5,12.3,544,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,1777
$GC,11644,1.42,246.9,22.6,11.0,559,11648,0.00,2.67,0.00,0.000,4,0.000,0.068,2611,3716,1778
$STATE,11810,end climb,SURFACE_DEPTH_REACHED
$STATE,11810,begin surface coast
$FINISH,0.6,1.027078
$STATE,11817,end surface coast,CONTROL_FINISHED_OK
$STATE,11817,begin surface
$SM_CCo,11841,26.02,0.627,0,0,1558,300.00
$SM_GC,1.13,0.00,0.00,26.02,0.000,0.000,0.627,71,2502,1558,-10.25,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1924
$TCM_TEMP,17.30
$XPDR_PINGS,42
$ALTIM_TOP_PING,19.9,18.2
$ALTIM_BOTTOM_PING,650.8,43.7
$24V_AH,23.4,5.204
$10V_AH,10.1,2.045
$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,26.300,116.475,356.000,26.025,0.000,18.045,26.463,117.213,16.250,0.000,0.000,32.712,1123.809,8732.754,509.940,1436.359,402.348,33.333,1218.813,0.000,1381.050,0.000,39.592
$DEVICE_MAMPS,164.138,88.205,1127.490,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.190,385.315,351.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28501,567
$CAP_FILE_SIZE,97563,0
$CFSIZE,260165632,257843200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,080608,100355,6044.598,-531.771,23,1.9,40,-7.1