version: 66.03
glider: 16
mission: 9
dive: 12
start: 6 8 108 23 36 49
data:
$ID,16
$MISSION,9
$DIVE,12
$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,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,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,-2092572.4
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$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
$GPS1,233137,6045.832,-540.112,39,1.5,39,-7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-57.7
$GPS2,233557,6045.856,-540.062,14,1.7,14,-7.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.091,0.247
$KALMAN_X,1752.9,-273.7,480.6,-22836.6,-2144.5
$KALMAN_Y,-29898.1,945.8,1265.4,24330.3,-13882.0
$MHEAD_RNG_PITCHd_Wd,328.7,21624,-18.1,-10.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.29,-146.6,0.0,0.0,0,86,0.00,0.00,-61.45,0.000,2,0.000,0.000,75,2407,2745
$GC,90,-1.29,-146.6,3.2,-4.3,3,126,10.80,2.65,-19.48,0.000,4,0.165,0.068,2012,982,3380
$GC,331,-1.23,-146.6,40.1,-15.3,13,336,0.00,2.58,0.00,0.000,6,0.000,0.048,2012,2400,3380
$GC,659,-1.11,-146.6,89.1,-14.8,29,664,0.20,2.60,0.00,0.000,4,0.115,0.057,2052,988,3381
$GC,744,-1.15,-146.6,99.5,-11.9,33,749,0.00,2.58,0.00,0.000,6,0.000,0.048,2052,2407,3381
$GC,1073,-1.15,-146.6,140.0,-12.8,49,1077,0.00,2.60,0.00,0.000,4,0.000,0.057,2053,988,3382
$GC,1140,-1.20,-146.6,148.5,-11.9,52,1144,0.00,2.58,0.00,0.000,6,0.000,0.051,2053,2400,3382
$GC,1460,-1.20,-146.6,190.0,-13.3,68,1465,0.00,2.60,0.00,0.000,4,0.000,0.058,2052,987,3383
$GC,1516,-1.26,-146.6,197.6,-13.3,70,1523,0.12,2.58,0.00,0.000,6,0.051,0.052,2015,2401,3383
$GC,1833,-1.15,-146.6,247.3,-16.2,86,1838,0.15,2.62,0.00,0.000,4,0.105,0.060,2047,983,3383
$GC,1895,-1.19,-146.6,256.6,-14.7,89,1899,0.00,2.58,0.00,0.000,6,0.000,0.054,2047,2400,3383
$GC,2221,-1.19,-146.6,306.1,-15.2,105,2225,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,980,3383
$GC,2298,-1.19,-146.6,317.9,-15.0,108,2304,0.00,2.60,0.00,0.000,6,0.000,0.054,2047,2402,3383
$GC,2614,-1.19,-146.6,363.4,-13.9,124,2618,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,985,3383
$GC,2680,-1.24,-146.6,372.7,-13.8,127,2685,0.00,2.58,0.00,0.000,6,0.000,0.051,2047,2399,3383
$GC,3001,-1.24,-146.6,417.4,-13.5,143,3006,0.00,2.60,0.00,0.000,4,0.000,0.059,2047,988,3383
$GC,3087,-1.29,-146.6,428.8,-13.9,147,3092,0.12,2.58,0.00,0.000,6,0.051,0.053,2010,2404,3383
$GC,3416,-1.18,-146.6,478.7,-15.0,163,3421,0.17,2.62,0.00,0.000,4,0.106,0.058,2045,981,3383
$GC,3534,-1.23,-146.6,494.0,-12.5,168,3538,0.00,2.60,0.00,0.000,6,0.000,0.052,2045,2403,3383
$GC,3849,-1.23,-146.6,532.4,-12.6,183,3853,0.00,2.62,0.00,0.000,4,0.000,0.064,2045,989,3383
$GC,3921,-1.23,-146.6,541.4,-12.1,186,3925,0.00,2.60,0.00,0.000,6,0.000,0.058,2045,2402,3383
$GC,4237,-1.23,-146.6,578.7,-11.9,201,4242,0.00,2.65,0.00,0.000,4,0.000,0.066,2045,987,3383
$GC,4345,-1.28,-146.6,591.5,-12.0,206,4350,0.12,2.62,0.00,0.000,6,0.057,0.061,2011,2404,3383
$STATE,4608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4608,begin apogee
$GC,4615,-0.31,0.0,628.8,14.4,219,4751,1.12,0.00,131.32,1.068,6,0.127,0.000,2225,2297,2781
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4754,1.29,146.6,635.9,0.0,226,4893,1.75,2.75,130.05,1.045,4,0.090,0.067,2580,893,2182
$GC,5007,1.26,182.6,624.3,8.4,238,5049,0.00,2.62,32.45,1.010,6,0.000,0.056,2580,2299,2036
$GC,5359,1.29,203.3,592.6,9.1,255,5383,0.00,2.83,19.10,0.981,4,0.000,0.081,2580,3725,1952
$GC,5470,1.29,203.3,581.6,10.2,260,5474,0.00,2.67,0.00,0.000,6,0.000,0.061,2580,2304,1952
$GC,5796,1.33,244.8,553.4,8.1,276,5841,0.00,2.80,37.60,1.019,4,0.000,0.074,2580,890,1782
$GC,5934,1.41,271.1,541.1,8.8,282,5964,0.12,2.65,24.00,0.989,6,0.061,0.059,2612,2298,1676
$GC,6281,1.41,271.1,501.6,12.3,299,6286,0.00,2.75,0.00,0.000,4,0.000,0.084,2612,3713,1674
$GC,6314,1.41,271.1,496.9,13.5,300,6320,0.00,2.65,0.00,0.000,6,0.000,0.063,2612,2302,1675
$GC,6630,1.41,271.1,456.4,13.0,316,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2302,1675
$GC,6939,1.41,271.1,413.7,13.7,331,6944,0.00,2.67,0.00,0.000,4,0.000,0.070,2612,884,1674
$GC,6994,1.41,271.1,406.0,14.5,333,7000,0.00,2.60,0.00,0.000,6,0.000,0.054,2612,2302,1673
$GC,7310,1.41,271.1,364.6,13.0,349,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2301,1673
$GC,7619,1.41,271.1,324.3,13.2,364,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2302,1673
$GC,7928,1.41,271.1,285.3,12.6,379,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2301,1673
$GC,8238,1.41,271.1,247.9,11.9,394,8242,0.00,2.65,0.00,0.000,4,0.000,0.062,2612,880,1674
$GC,8281,1.41,271.1,242.7,11.4,396,8286,0.00,2.60,0.00,0.000,6,0.000,0.048,2612,2303,1674
$GC,8602,1.41,271.1,206.4,11.3,412,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2303,1675
$GC,8912,1.41,271.1,171.3,11.3,427,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2303,1674
$GC,9223,1.41,271.1,136.5,11.2,442,9227,0.00,2.62,0.00,0.000,4,0.000,0.060,2612,881,1675
$GC,9295,1.41,271.1,128.2,11.2,445,9299,0.00,2.58,0.00,0.000,6,0.000,0.046,2612,2301,1675
$GC,9611,1.41,271.1,94.9,10.1,460,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2301,1675
$GC,9920,1.41,271.1,62.2,11.0,475,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2301,1676
$GC,10229,1.41,271.1,28.7,11.2,490,10233,0.00,2.62,0.00,0.000,4,0.000,0.068,2612,3710,1677
$GC,10269,1.46,271.1,23.2,14.0,492,10274,0.00,2.58,0.00,0.000,6,0.000,0.051,2612,2293,1677
$STATE,10470,end climb,SURFACE_DEPTH_REACHED
$STATE,10470,begin surface coast
$FINISH,0.5,1.020731
$STATE,10492,end surface coast,CONTROL_FINISHED_OK
$STATE,10492,begin surface
$SM_CCo,10515,13.90,0.590,0,0,1558,300.00
$SM_GC,1.50,0.00,0.00,13.90,0.000,0.000,0.590,71,2406,1558,-10.25,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1910
$TCM_TEMP,16.30
$XPDR_PINGS,32
$ALTIM_TOP_PING,18.1,16.6
$ALTIM_BOTTOM_PING,576.2,61.8
$24V_AH,23.5,5.833
$10V_AH,10.1,2.336
$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,25.750,100.300,374.525,13.900,0.000,17.984,27.165,114.396,13.000,0.000,0.000,14.643,976.063,7736.789,480.427,1260.860,344.136,33.344,1130.863,0.000,1228.057,0.000,34.766
$DEVICE_MAMPS,164.905,84.370,1068.431,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.126,340.687,339.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25387,503
$CAP_FILE_SIZE,85249,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,090608,023338,6047.055,-539.148,41,1.8,41,-7.2