version: 66.03
glider: 16
mission: 9
dive: 16
start: 6 9 108 11 19 1
data:
$ID,16
$MISSION,9
$DIVE,16
$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,-2092672.2
$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,11
$R_STBD_OVSHOOT,16
$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
$GPS1,111332,6049.088,-547.318,86,1.1,86,-7.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-57.5
$GPS2,111811,6049.101,-547.264,11,3.3,30,-7.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.054,0.258
$KALMAN_X,3201.0,201.4,340.2,-31133.7,-1261.8
$KALMAN_Y,-37191.0,1218.0,1219.0,37372.9,-16465.3
$MHEAD_RNG_PITCHd_Wd,334.8,12957,-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,21,begin dive
$GC,24,-1.29,-146.6,0.0,0.0,0,96,0.00,0.00,-70.75,0.000,2,0.000,0.000,69,2299,2950
$GC,100,-1.29,-146.6,3.6,-3.6,4,130,10.85,2.67,-10.48,0.000,4,0.168,0.077,2011,871,3379
$GC,270,-1.21,-146.6,35.7,-18.0,11,277,0.12,2.62,0.00,0.000,6,0.132,0.052,2031,2310,3380
$GC,588,-1.13,-146.6,83.6,-14.6,27,590,0.10,0.00,0.00,0.000,6,0.140,0.000,2047,2310,3380
$GC,895,-1.13,-146.6,126.3,-14.3,42,900,0.00,2.67,0.00,0.000,4,0.000,0.063,2047,869,3380
$GC,940,-1.13,-146.6,132.8,-14.1,44,944,0.00,2.60,0.00,0.000,6,0.000,0.050,2047,2301,3379
$GC,1260,-1.13,-146.6,179.1,-14.5,60,1265,0.00,2.65,0.00,0.000,4,0.000,0.063,2047,871,3380
$GC,1293,-1.13,-146.6,184.1,-14.5,61,1299,0.00,2.60,0.00,0.000,6,0.000,0.051,2047,2300,3380
$GC,1609,-1.13,-146.6,227.9,-13.8,77,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2300,3380
$GC,1918,-1.13,-146.6,270.0,-13.4,92,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2299,3381
$GC,2228,-1.13,-146.6,309.9,-12.3,107,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2300,3380
$GC,2537,-1.13,-146.6,344.4,-10.3,122,2541,0.00,2.65,0.00,0.000,4,0.000,0.065,2047,875,3380
$GC,2595,-1.18,-146.6,350.1,-9.3,124,2601,0.00,2.60,0.00,0.000,6,0.000,0.052,2047,2300,3380
$GC,2911,-1.18,-146.6,386.9,-13.4,140,2915,0.00,2.65,0.00,0.000,4,0.000,0.064,2047,875,3380
$GC,2983,-1.25,-146.6,397.1,-13.8,143,2988,0.00,2.60,0.00,0.000,6,0.000,0.053,2047,2299,3380
$STATE,3234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3234,begin apogee
$GC,3241,-0.31,0.0,428.5,11.2,155,3371,0.90,0.00,127.18,0.914,6,0.100,0.000,2228,2299,2781
$STATE,3372,end apogee,CONTROL_FINISHED_OK
$STATE,3372,begin climb
$GC,3375,1.29,146.6,432.9,0.0,161,3507,1.62,0.00,126.72,0.898,6,0.068,0.000,2573,2299,2183
$GC,3807,1.31,164.6,404.9,9.2,182,3826,0.00,0.00,16.80,0.831,6,0.000,0.000,2575,2299,2110
$GC,4136,1.40,249.5,383.2,6.1,198,4216,0.12,0.00,73.00,0.880,6,0.056,0.000,2613,2299,1764
$GC,4525,1.40,249.5,341.4,12.3,217,4530,0.00,2.70,0.00,0.000,4,0.000,0.067,2613,871,1762
$GC,4603,1.40,249.5,331.1,12.0,220,4610,0.00,2.60,0.00,0.000,6,0.000,0.051,2613,2299,1762
$GC,4919,1.40,249.5,294.5,11.7,236,4924,0.00,2.67,0.00,0.000,4,0.000,0.074,2613,3711,1762
$GC,4970,1.40,249.5,287.9,12.9,238,4974,0.00,2.62,0.00,0.000,6,0.000,0.056,2613,2295,1762
$GC,5285,1.40,249.5,250.0,12.1,253,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2295,1761
$GC,5594,1.40,249.5,214.5,11.1,268,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2295,1762
$GC,5903,1.40,249.5,179.5,11.4,283,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2296,1761
$GC,6213,1.40,249.5,144.2,11.6,298,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2295,1762
$GC,6524,1.40,249.5,106.1,12.7,313,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2295,1761
$GC,6832,1.40,249.5,61.5,14.8,328,6836,0.00,2.62,0.00,0.000,4,0.000,0.064,2613,880,1761
$GC,6875,1.40,249.5,55.4,12.9,330,6880,0.00,2.58,0.00,0.000,6,0.000,0.049,2613,2301,1761
$GC,7197,1.40,249.5,16.8,11.1,346,7202,0.00,2.62,0.00,0.000,4,0.000,0.067,2614,3709,1761
$STATE,7306,end climb,SURFACE_DEPTH_REACHED
$STATE,7306,begin surface coast
$FINISH,1.0,1.027164
$STATE,7312,end surface coast,CONTROL_FINISHED_OK
$STATE,7313,begin surface
$SM_CCo,7337,23.88,0.619,0,0,1558,300.00
$SM_GC,0.85,0.00,0.00,23.88,0.000,0.000,0.619,73,2301,1558,-10.24,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1892
$TCM_TEMP,19.40
$XPDR_PINGS,20
$ALTIM_TOP_PING,18.9,18.1
$ALTIM_BOTTOM_PING,375.8,62.4
$24V_AH,23.5,6.297
$10V_AH,10.1,2.535
$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,24.725,47.400,343.700,23.875,0.000,18.093,27.641,116.714,8.250,0.000,0.000,31.624,662.372,5433.593,459.983,793.557,300.772,33.341,864.581,0.000,759.650,0.000,24.709
$DEVICE_MAMPS,167.973,76.700,914.264,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,258.659,236.575,267.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15916,351
$CAP_FILE_SIZE,53734,0
$CFSIZE,260165632,257499136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090608,132308,6050.352,-547.204,40,1.5,46,-7.3