version: 66.03
glider: 16
mission: 9
dive: 14
start: 6 9 108 5 51 36
data:
$ID,16
$MISSION,9
$DIVE,14
$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,-2092623
$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,18
$R_STBD_OVSHOOT,19
$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
$GPS1,054228,6047.455,-541.190,27,2.3,46,-7.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-58.2
$GPS2,055046,6047.433,-541.050,12,2.6,31,-7.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.142,0.222
$KALMAN_X,6989.7,-527.7,-622.5,-27617.9,5161.5
$KALMAN_Y,-33941.4,1906.7,504.0,31069.6,-13843.7
$MHEAD_RNG_PITCHd_Wd,325.3,18818,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.29,-146.6,0.0,0.0,0,88,0.00,0.00,-60.83,0.000,2,0.000,0.000,65,2301,2756
$GC,92,-1.29,-146.6,3.1,-4.1,3,127,10.82,2.62,-18.38,0.000,4,0.163,0.069,2012,880,3381
$GC,256,-1.18,-146.6,27.7,-15.7,10,261,0.15,2.58,0.00,0.000,6,0.129,0.046,2038,2304,3381
$GC,573,-1.13,-146.6,74.1,-13.8,25,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2304,3381
$GC,883,-1.08,-146.6,117.5,-14.6,40,888,0.15,2.62,0.00,0.000,4,0.123,0.057,2067,880,3382
$GC,947,-1.16,-146.6,126.1,-13.3,43,952,0.00,2.55,0.00,0.000,6,0.000,0.044,2067,2296,3382
$GC,1274,-1.16,-146.6,167.4,-12.6,59,1278,0.00,2.60,0.00,0.000,4,0.000,0.057,2068,883,3382
$GC,1347,-1.25,-146.6,176.6,-12.6,62,1352,0.20,2.58,0.00,0.000,6,0.041,0.046,2011,2304,3383
$GC,1663,-1.13,-146.6,227.4,-16.4,77,1665,0.20,0.00,0.00,0.000,6,0.098,0.000,2050,2304,3383
$GC,1971,-1.13,-146.6,270.6,-13.5,92,1976,0.00,2.62,0.00,0.000,4,0.000,0.059,2050,884,3383
$GC,2027,-1.18,-146.6,278.2,-12.9,94,2033,0.00,2.58,0.00,0.000,6,0.000,0.048,2050,2302,3383
$GC,2343,-1.18,-146.6,316.3,-11.3,110,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2302,3383
$GC,2652,-1.18,-146.6,350.0,-10.8,125,2657,0.00,2.62,0.00,0.000,4,0.000,0.061,2050,883,3383
$GC,2742,-1.23,-146.6,359.7,-10.9,129,2747,0.00,2.60,0.00,0.000,6,0.000,0.051,2050,2306,3383
$GC,3069,-1.23,-146.6,397.2,-11.7,145,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2305,3383
$GC,3379,-1.23,-146.6,430.9,-9.7,160,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2305,3383
$GC,3688,-1.23,-146.6,464.6,-10.1,175,3692,0.00,2.62,0.00,0.000,4,0.000,0.062,2050,884,3383
$GC,3738,-1.29,-146.6,469.7,-9.8,177,3743,0.15,2.58,0.00,0.000,6,0.049,0.051,2008,2299,3383
$GC,4056,-1.18,-146.6,509.9,-13.2,192,4061,0.15,2.67,0.00,0.000,4,0.107,0.077,2039,3709,3382
$GC,4100,-1.13,-146.6,516.0,-12.7,194,4105,0.00,2.58,0.00,0.000,6,0.000,0.056,2039,2302,3382
$GC,4421,-1.13,-146.6,553.4,-11.7,210,4425,0.00,2.67,0.00,0.000,4,0.000,0.071,2039,876,3382
$GC,4492,-1.13,-146.6,562.6,-12.6,213,4497,0.00,2.62,0.00,0.000,6,0.000,0.058,2039,2298,3381
$STATE,4764,end dive,NO_VERTICAL_VELOCITY
$STATE,4765,begin apogee
$GC,4771,-0.31,0.0,570.9,0.0,226,4907,0.93,0.00,130.38,1.037,6,0.084,0.000,2232,2298,2781
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4911,1.29,146.6,570.7,0.0,233,5048,1.62,2.78,129.38,1.012,4,0.077,0.071,2575,880,2182
$GC,5146,1.36,206.6,559.3,7.3,243,5205,0.00,2.67,53.00,0.990,6,0.000,0.058,2575,2300,1938
$GC,5537,1.45,208.9,521.6,9.9,262,5546,0.15,2.72,3.38,0.551,4,0.055,0.072,2618,895,1929
$GC,5591,1.38,208.9,515.0,12.1,264,5596,0.00,2.62,0.00,0.000,6,0.000,0.057,2618,2299,1929
$GC,5907,1.38,208.9,479.8,10.9,279,5911,0.00,2.75,0.00,0.000,4,0.000,0.084,2618,3716,1929
$GC,5951,1.30,208.9,474.4,12.6,281,5956,0.20,2.67,0.00,0.000,6,0.107,0.064,2582,2299,1928
$GC,6273,1.44,267.7,448.4,7.3,297,6331,0.15,0.00,51.97,0.974,6,0.061,0.000,2620,2299,1688
$GC,6641,1.44,267.7,407.9,11.7,315,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2299,1688
$GC,6950,1.50,267.7,367.8,12.9,330,6955,0.00,2.75,0.00,0.000,4,0.000,0.084,2620,3710,1688
$GC,7035,1.50,267.7,356.5,13.4,334,7040,0.00,2.67,0.00,0.000,6,0.000,0.065,2620,2299,1688
$GC,7362,1.55,267.7,316.0,12.7,350,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2299,1688
$GC,7672,1.60,267.7,277.2,12.6,365,7673,0.12,0.00,0.00,0.000,6,0.058,0.000,2654,2299,1688
$GC,7981,1.55,267.7,233.7,14.0,380,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2299,1688
$GC,8290,1.51,267.7,192.0,13.5,395,8292,0.12,0.00,0.00,0.000,6,0.106,0.000,2631,2299,1688
$GC,8599,1.51,267.7,155.1,11.9,410,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2299,1688
$GC,8909,1.51,267.7,119.5,10.8,425,8913,0.00,2.67,0.00,0.000,4,0.000,0.071,2631,878,1688
$GC,8971,1.51,267.7,112.5,11.2,428,8976,0.00,2.62,0.00,0.000,6,0.000,0.053,2631,2303,1689
$GC,9298,1.51,267.7,75.5,11.2,444,9302,0.00,2.65,0.00,0.000,4,0.000,0.074,2631,3707,1689
$GC,9392,1.51,267.7,63.3,13.3,448,9396,0.00,2.60,0.00,0.000,6,0.000,0.056,2631,2296,1690
$GC,9708,1.55,267.7,25.3,11.6,463,9713,0.00,2.70,0.00,0.000,4,0.000,0.075,2631,3714,1690
$GC,9794,1.60,267.7,14.6,13.1,467,9798,0.00,2.60,0.00,0.000,6,0.000,0.056,2631,2300,1691
$STATE,9912,end climb,SURFACE_DEPTH_REACHED
$STATE,9912,begin surface coast
$FINISH,0.6,1.027121
$STATE,9934,end surface coast,CONTROL_FINISHED_OK
$STATE,9934,begin surface
$SM_CCo,9956,15.68,0.607,0,0,1557,300.00
$SM_GC,1.36,0.00,0.00,15.68,0.000,0.000,0.607,77,2300,1557,-10.23,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1939
$TCM_TEMP,14.90
$XPDR_PINGS,33
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,23.5,6.080
$10V_AH,10.1,2.445
$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,26.325,79.225,368.100,15.675,0.000,36.802,55.641,214.841,13.500,0.000,0.000,31.823,910.910,7474.406,466.531,1132.470,493.524,33.343,1044.122,0.000,1082.768,0.000,38.694
$DEVICE_MAMPS,163.371,84.370,1036.984,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.016,321.352,320.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25437,474
$CAP_FILE_SIZE,81228,0
$CFSIZE,260165632,257536000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090608,083925,6047.873,-545.660,41,1.2,58,-7.3