version: 66.03
glider: 16
mission: 9
dive: 13
start: 6 9 108 2 44 42
data:
$ID,16
$MISSION,9
$DIVE,13
$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,-2092590.5
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,023338,6047.055,-539.148,41,1.8,41,-7.2
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-56.2
$GPS2,024350,6047.144,-538.904,12,1.6,17,-7.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.131,0.229
$KALMAN_X,5513.9,-873.1,696.8,-25205.1,1957.6
$KALMAN_Y,-31767.7,1773.4,1050.2,27940.4,-14265.9
$MHEAD_RNG_PITCHd_Wd,322.3,20534,-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,-61.53,0.000,2,0.000,0.000,69,2406,2772
$GC,90,-1.29,-146.6,3.3,-4.5,3,125,10.77,2.85,-17.42,0.000,4,0.163,0.070,2009,890,3381
$GC,327,-1.24,-146.6,43.6,-17.7,13,334,0.00,2.55,0.00,0.000,6,0.000,0.048,2010,2300,3381
$GC,644,-1.10,-146.6,94.8,-16.3,29,646,0.25,0.00,0.00,0.000,6,0.117,0.000,2056,2300,3382
$GC,954,-1.10,-146.6,136.3,-13.1,44,958,0.00,2.62,0.00,0.000,4,0.000,0.058,2056,876,3383
$GC,986,-1.10,-146.6,141.0,-13.3,45,993,0.00,2.58,0.00,0.000,6,0.000,0.048,2056,2301,3382
$GC,1302,-1.10,-146.6,180.9,-12.2,61,1307,0.00,2.62,0.00,0.000,4,0.000,0.060,2056,880,3383
$GC,1381,-1.16,-146.6,190.8,-12.2,64,1387,0.00,2.58,0.00,0.000,6,0.000,0.048,2056,2300,3383
$GC,1696,-1.16,-146.6,231.0,-12.9,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2301,3383
$GC,2006,-1.16,-146.6,268.2,-11.9,95,2010,0.00,2.62,0.00,0.000,4,0.000,0.060,2056,880,3383
$GC,2095,-1.22,-146.6,279.1,-11.7,99,2099,0.00,2.58,0.00,0.000,6,0.000,0.048,2056,2299,3383
$GC,2415,-1.22,-146.6,318.8,-12.6,115,2420,0.00,2.60,0.00,0.000,4,0.000,0.060,2056,886,3383
$GC,2471,-1.30,-146.6,326.0,-12.7,117,2478,0.17,2.58,0.00,0.000,6,0.046,0.049,2008,2301,3383
$GC,2787,-1.18,-146.6,378.8,-17.7,133,2792,0.15,2.62,0.00,0.000,4,0.104,0.061,2040,884,3383
$GC,2850,-1.18,-146.6,388.7,-15.4,136,2854,0.00,2.58,0.00,0.000,6,0.000,0.050,2040,2300,3383
$GC,3176,-1.18,-146.6,439.4,-14.9,152,3180,0.00,2.62,0.00,0.000,4,0.000,0.063,2040,884,3383
$GC,3208,-1.18,-146.6,444.4,-14.6,153,3215,0.00,2.58,0.00,0.000,6,0.000,0.050,2040,2302,3383
$GC,3524,-1.18,-146.6,489.1,-13.5,169,3528,0.00,2.62,0.00,0.000,4,0.000,0.061,2040,885,3383
$GC,3602,-1.18,-146.6,499.2,-12.6,172,3608,0.00,2.58,0.00,0.000,6,0.000,0.051,2040,2300,3383
$GC,3917,-1.18,-146.6,538.4,-12.0,188,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2300,3383
$GC,4227,-1.18,-146.6,574.5,-11.2,203,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2300,3382
$STATE,4471,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4472,begin apogee
$GC,4478,-0.31,0.0,602.6,12.2,215,4614,0.93,0.00,131.05,1.036,6,0.094,0.000,2227,2300,2781
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4618,1.29,146.6,602.6,0.0,222,4753,1.62,0.00,129.82,1.011,6,0.071,0.000,2577,2300,2183
$GC,5049,1.31,162.6,575.6,9.3,243,5071,0.00,2.78,15.60,0.931,4,0.000,0.081,2577,3707,2117
$GC,5133,1.26,162.6,566.8,10.8,246,5139,0.00,2.65,0.00,0.000,6,0.000,0.061,2577,2299,2117
$GC,5449,1.29,193.9,538.1,8.6,262,5482,0.00,2.80,28.27,0.976,4,0.000,0.084,2577,3705,1990
$GC,5533,1.29,193.9,529.4,11.5,265,5537,0.00,2.67,0.00,0.000,6,0.000,0.063,2577,2294,1990
$GC,5854,1.34,193.9,497.0,10.4,281,5859,0.00,2.75,0.00,0.000,4,0.000,0.082,2577,3707,1988
$GC,5955,1.34,193.9,485.6,11.6,285,5961,0.00,2.62,0.00,0.000,6,0.000,0.061,2577,2300,1988
$GC,6271,1.39,193.9,452.1,11.4,301,6276,0.12,2.72,0.00,0.000,4,0.060,0.080,2610,3707,1987
$GC,6366,1.27,193.9,439.5,12.8,305,6372,0.17,2.60,0.00,0.000,6,0.105,0.058,2578,2296,1987
$GC,6682,1.31,193.9,406.7,10.2,320,6687,0.00,2.70,0.00,0.000,4,0.000,0.075,2579,3707,1986
$GC,6745,1.31,193.9,399.8,11.6,323,6749,0.00,2.60,0.00,0.000,6,0.000,0.055,2578,2298,1986
$GC,7072,1.36,197.9,367.7,9.8,339,7081,0.00,2.67,4.32,0.630,4,0.000,0.065,2578,880,1974
$GC,7121,1.36,197.9,362.5,10.9,341,7125,0.00,2.60,0.00,0.000,6,0.000,0.050,2578,2300,1974
$GC,7442,1.42,204.4,331.2,9.7,357,7452,0.15,0.00,7.25,0.744,6,0.057,0.000,2618,2300,1947
$GC,7751,1.36,204.4,295.6,11.8,372,7753,0.12,0.00,0.00,0.000,6,0.100,0.000,2595,2300,1947
$GC,8060,1.36,204.4,261.1,11.4,387,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2300,1947
$GC,8369,1.36,204.4,224.2,12.3,402,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2300,1947
$GC,8679,1.36,204.4,189.4,10.9,417,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2301,1948
$GC,8988,1.36,204.4,156.7,10.3,432,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2300,1948
$GC,9298,1.36,204.4,124.3,10.4,447,9302,0.00,2.62,0.00,0.000,4,0.000,0.061,2595,884,1949
$GC,9386,1.36,204.4,114.8,10.7,451,9391,0.00,2.55,0.00,0.000,6,0.000,0.044,2595,2301,1949
$GC,9708,1.38,216.8,83.8,9.4,467,9727,0.00,0.00,12.35,0.656,6,0.000,0.000,2595,2301,1897
$GC,10039,1.39,230.3,51.2,9.4,483,10056,0.00,0.00,13.12,0.634,6,0.000,0.000,2595,2302,1841
$GC,10367,1.43,230.3,15.2,10.6,499,10371,0.00,2.62,0.00,0.000,4,0.000,0.059,2595,884,1841
$GC,10416,1.43,230.3,9.7,10.6,501,10420,0.00,2.55,0.00,0.000,6,0.000,0.042,2595,2301,1841
$STATE,10502,end climb,SURFACE_DEPTH_REACHED
$STATE,10503,begin surface coast
$FINISH,0.6,1.026738
$STATE,10524,end surface coast,CONTROL_FINISHED_OK
$STATE,10524,begin surface
$SM_CCo,10546,33.50,0.618,0,0,1557,300.00
$SM_GC,1.48,0.00,0.00,33.50,0.000,0.000,0.618,66,2301,1557,-10.28,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1880
$TCM_TEMP,17.50
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.1,18.2
$ALTIM_BOTTOM_PING,550.8,61.0
$24V_AH,23.5,5.954
$10V_AH,10.1,2.392
$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,25.425,84.300,341.800,33.500,0.000,69.214,96.362,213.457,11.500,0.000,0.000,17.531,957.073,8025.917,499.563,1152.491,566.570,33.341,1079.824,0.000,1119.651,0.000,36.079
$DEVICE_MAMPS,162.604,84.370,1036.217,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.674,342.461,341.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25413,506
$CAP_FILE_SIZE,84337,0
$CFSIZE,260165632,257576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090608,054228,6047.455,-541.190,27,2.3,46,-7.2