version: 66.03
glider: 16
mission: 9
dive: 15
start: 6 9 108 8 47 39
data:
$ID,16
$MISSION,9
$DIVE,15
$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,-2092640
$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,16
$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
$GPS1,083925,6047.873,-545.660,41,1.2,58,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-56.0
$GPS2,084645,6047.842,-545.666,16,1.8,16,-7.3
$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,4344.4,138.7,-852.3,-29558.3,2191.2
$KALMAN_Y,-36443.9,1669.8,954.6,34118.0,-15530.1
$MHEAD_RNG_PITCHd_Wd,334.9,15696,-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,-61.53,0.000,2,0.000,0.000,76,2299,2787
$GC,90,-1.29,-146.6,3.4,-4.1,3,127,10.95,2.70,-15.60,0.000,4,0.168,0.074,2012,880,3380
$GC,206,-1.16,-146.6,25.0,-18.5,8,211,0.17,2.60,0.00,0.000,6,0.127,0.051,2042,2303,3380
$GC,522,-1.09,-146.6,72.9,-14.2,23,526,0.00,2.65,0.00,0.000,4,0.000,0.072,2042,3708,3381
$GC,566,-1.01,-146.6,80.0,-15.3,25,571,0.20,2.55,0.00,0.000,6,0.111,0.047,2079,2298,3381
$GC,888,-1.01,-146.6,121.3,-12.7,41,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2297,3381
$GC,1197,-1.05,-146.6,158.2,-12.1,56,1201,0.00,2.60,0.00,0.000,4,0.000,0.061,2079,883,3382
$GC,1276,-1.15,-146.6,167.9,-11.9,59,1283,0.15,2.58,0.00,0.000,6,0.047,0.050,2036,2298,3381
$GC,1592,-1.07,-146.6,214.2,-14.9,75,1594,0.15,0.00,0.00,0.000,6,0.101,0.000,2064,2297,3381
$GC,1901,-1.07,-146.6,254.7,-12.4,90,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2298,3382
$GC,2210,-1.07,-146.6,292.4,-12.2,105,2215,0.00,2.62,0.00,0.000,4,0.000,0.061,2064,878,3382
$GC,2255,-1.14,-146.6,297.8,-11.8,107,2260,0.00,2.58,0.00,0.000,6,0.000,0.049,2064,2298,3382
$GC,2576,-1.14,-146.6,335.5,-11.4,123,2580,0.00,2.65,0.00,0.000,4,0.000,0.074,2064,3712,3382
$GC,2631,-1.14,-146.6,342.6,-12.3,125,2637,0.00,2.55,0.00,0.000,6,0.000,0.050,2064,2301,3382
$GC,2947,-1.14,-146.6,382.9,-13.0,141,2951,0.00,2.62,0.00,0.000,4,0.000,0.064,2064,880,3382
$GC,2991,-1.22,-146.6,389.7,-15.1,143,2996,0.15,2.60,0.00,0.000,6,0.048,0.052,2022,2300,3381
$GC,3312,-1.13,-146.6,449.3,-16.9,159,3317,0.15,2.65,0.00,0.000,4,0.104,0.076,2053,3710,3382
$GC,3380,-1.13,-146.6,458.8,-12.4,162,3384,0.00,2.58,0.00,0.000,6,0.000,0.051,2053,2296,3382
$STATE,3704,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3704,begin apogee
$GC,3712,-0.31,0.0,495.6,11.1,178,3847,0.88,0.00,129.88,0.972,6,0.096,0.000,2231,2296,2781
$STATE,3847,end apogee,CONTROL_FINISHED_OK
$STATE,3847,begin climb
$GC,3850,1.29,146.6,500.8,0.0,185,3987,1.60,2.78,128.15,0.947,4,0.067,0.077,2575,3713,2183
$GC,4036,1.29,185.7,492.4,8.2,193,4077,0.00,2.65,34.83,0.916,6,0.000,0.054,2575,2294,2024
$GC,4389,1.36,193.9,459.4,9.6,210,4403,0.00,2.72,8.73,0.803,4,0.000,0.071,2575,880,1990
$GC,4530,1.41,198.4,445.4,9.8,216,4541,0.15,2.65,5.60,0.712,6,0.048,0.054,2617,2304,1972
$GC,4851,1.47,246.4,416.0,7.8,231,4896,0.00,0.00,42.28,0.923,6,0.000,0.000,2617,2304,1776
$GC,5200,1.47,246.4,379.0,12.1,248,5204,0.00,2.70,0.00,0.000,4,0.000,0.081,2617,3713,1775
$GC,5262,1.47,246.4,371.2,11.7,251,5266,0.00,2.65,0.00,0.000,6,0.000,0.061,2617,2302,1775
$GC,5588,1.47,246.4,335.3,10.9,267,5592,0.00,2.70,0.00,0.000,4,0.000,0.072,2618,880,1774
$GC,5650,1.47,246.4,328.3,11.1,270,5654,0.00,2.65,0.00,0.000,6,0.000,0.055,2617,2303,1774
$GC,5976,1.47,246.4,292.8,10.4,286,5980,0.00,2.70,0.00,0.000,4,0.000,0.081,2617,3710,1774
$GC,6065,1.47,246.4,282.4,11.5,290,6069,0.00,2.65,0.00,0.000,6,0.000,0.060,2617,2297,1774
$GC,6386,1.47,254.3,250.4,9.6,306,6400,0.00,2.75,8.00,0.709,4,0.000,0.072,2617,880,1744
$GC,6464,1.48,256.6,242.7,9.9,309,6475,0.00,2.62,3.78,0.527,6,0.000,0.052,2617,2301,1735
$GC,6784,1.48,256.6,210.9,10.0,325,6788,0.00,2.70,0.00,0.000,4,0.000,0.080,2617,3713,1735
$GC,6868,1.48,256.6,201.4,11.6,329,6873,0.00,2.62,0.00,0.000,6,0.000,0.060,2617,2301,1735
$GC,7195,1.52,256.6,166.4,11.1,345,7200,0.00,2.67,0.00,0.000,4,0.000,0.072,2617,881,1735
$GC,7240,1.52,256.6,161.1,11.9,347,7244,0.00,2.62,0.00,0.000,6,0.000,0.054,2617,2304,1735
$GC,7561,1.52,256.6,125.3,11.6,363,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2304,1735
$GC,7870,1.56,256.6,91.3,11.5,378,7872,0.10,0.00,0.00,0.000,6,0.058,0.000,2648,2304,1736
$GC,8179,1.56,256.6,51.6,12.8,393,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2304,1735
$GC,8489,1.56,256.6,12.6,11.5,408,8493,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3713,1736
$STATE,8575,end climb,SURFACE_DEPTH_REACHED
$STATE,8575,begin surface coast
$FINISH,0.4,1.027170
$STATE,8582,end surface coast,CONTROL_FINISHED_OK
$STATE,8582,begin surface
$SM_CCo,8606,20.88,0.614,0,0,1557,300.00
$SM_GC,1.37,0.00,0.00,20.88,0.000,0.000,0.614,69,2300,1557,-10.26,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1887
$TCM_TEMP,18.80
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,477.2,26.6
$24V_AH,23.5,6.196
$10V_AH,10.1,2.494
$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,25.925,84.725,361.225,20.875,0.000,36.366,62.836,178.342,10.750,0.000,0.000,16.422,806.266,6355.656,470.703,1003.827,443.662,33.346,1001.475,0.000,976.718,0.000,28.185
$DEVICE_MAMPS,167.973,80.535,971.789,614.367,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,303.623,278.432,296.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22269,412
$CAP_FILE_SIZE,74874,0
$CFSIZE,260165632,257503232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090608,111332,6049.088,-547.318,86,1.1,86,-7.3