version: 66.03
glider: 16
mission: 9
dive: 19
start: 6 9 108 17 26 26
data:
$ID,16
$MISSION,9
$DIVE,19
$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,412.5
$T_MISSION,440
$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,-2092738.8
$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,17
$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
$GPS1,172125,6051.016,-548.456,26,1.3,43,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.3
$GPS2,172538,6050.993,-548.397,15,1.4,32,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.097,0.225
$KALMAN_X,8170.1,-17.1,-583.4,-35980.3,10027.2
$KALMAN_Y,-42315.4,777.4,734.7,46946.7,-29696.9
$MHEAD_RNG_PITCHd_Wd,328.6,9509,-14.8,-8.000
$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,-1.08,-146.6,0.0,0.0,0,86,0.00,0.00,-61.12,0.000,2,0.000,0.000,69,2297,2766
$GC,90,-1.08,-146.6,3.1,-3.6,3,127,11.05,2.60,-18.38,0.000,4,0.161,0.071,2057,880,3378
$GC,178,-0.93,-146.6,14.4,-13.1,7,183,0.20,2.58,0.00,0.000,6,0.110,0.047,2094,2301,3379
$GC,500,-0.93,-146.6,52.3,-12.4,23,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2301,3379
$GC,809,-0.89,-146.6,88.5,-11.5,38,813,0.00,2.62,0.00,0.000,4,0.000,0.060,2094,875,3379
$GC,909,-0.89,-146.6,100.4,-12.0,42,915,0.00,2.58,0.00,0.000,6,0.000,0.048,2094,2302,3379
$GC,1225,-0.89,-146.6,137.2,-11.4,58,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2301,3380
$GC,1533,-0.89,-146.6,172.6,-11.4,73,1538,0.00,2.62,0.00,0.000,4,0.000,0.061,2094,880,3380
$GC,1651,-0.89,-146.6,186.2,-12.0,78,1655,0.00,2.58,0.00,0.000,6,0.000,0.049,2094,2300,3380
$GC,1966,-0.89,-146.6,224.9,-12.1,93,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2300,3380
$GC,2275,-0.89,-146.6,258.4,-10.3,108,2280,0.00,2.62,0.00,0.000,4,0.000,0.061,2094,877,3380
$GC,2360,-0.89,-146.6,266.7,-9.5,112,2365,0.00,2.58,0.00,0.000,6,0.000,0.049,2094,2302,3380
$GC,2687,-0.89,-146.6,297.2,-9.1,128,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2302,3379
$GC,2996,-0.89,-146.6,324.8,-9.1,143,3003,0.00,2.62,0.00,0.000,4,0.000,0.061,2094,875,3380
$GC,3093,-0.89,-146.6,333.8,-10.0,147,3097,0.00,2.60,0.00,0.000,6,0.000,0.050,2094,2306,3380
$GC,3413,-0.89,-146.6,364.3,-9.8,163,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2306,3380
$STATE,3535,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3535,begin apogee
$GC,3541,-0.31,0.0,376.5,9.8,169,3669,0.68,0.00,124.62,0.851,6,0.101,0.000,2228,2306,2781
$STATE,3670,end apogee,CONTROL_FINISHED_OK
$STATE,3670,begin climb
$GC,3673,1.08,146.6,381.9,0.0,175,3802,1.45,0.00,124.12,0.848,6,0.084,0.000,2532,2306,2183
$GC,4106,1.13,191.7,362.6,6.4,196,4151,0.00,2.72,38.90,0.819,4,0.000,0.071,2532,3714,1999
$GC,4261,1.13,191.7,349.8,9.2,203,4266,0.00,2.62,0.00,0.000,6,0.000,0.054,2532,2297,1999
$GC,4588,1.20,191.7,322.9,8.5,219,4590,0.12,0.00,0.00,0.000,6,0.049,0.000,2571,2297,1999
$GC,4898,1.15,191.7,291.9,10.2,234,4900,0.10,0.00,0.00,0.000,6,0.097,0.000,2551,2297,1998
$GC,5206,1.15,191.7,262.6,9.6,249,5211,0.00,2.65,0.00,0.000,4,0.000,0.066,2551,875,1998
$GC,5263,1.15,191.7,257.2,9.8,251,5269,0.00,2.60,0.00,0.000,6,0.000,0.048,2551,2301,1998
$GC,5579,1.15,191.7,228.9,8.2,267,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2301,1998
$GC,5888,1.15,194.6,204.5,7.9,282,5894,0.00,0.00,4.03,0.516,6,0.000,0.000,2551,2301,1987
$GC,6198,1.19,233.8,182.6,6.6,297,6239,0.00,2.72,33.58,0.750,4,0.000,0.063,2551,884,1827
$GC,6286,1.19,233.8,175.9,8.2,301,6290,0.00,2.60,0.00,0.000,6,0.000,0.048,2551,2305,1827
$GC,6612,1.24,233.8,148.8,8.7,317,6616,0.00,2.62,0.00,0.000,4,0.000,0.069,2552,3709,1827
$GC,6657,1.24,233.8,144.5,9.7,319,6661,0.00,2.58,0.00,0.000,6,0.000,0.052,2551,2296,1827
$GC,6978,1.28,233.8,115.2,9.4,335,6983,0.12,2.60,0.00,0.000,4,0.051,0.062,2590,886,1827
$GC,7034,1.20,233.8,108.8,11.9,337,7041,0.15,2.55,0.00,0.000,6,0.094,0.048,2561,2301,1827
$GC,7351,1.20,233.8,79.5,8.9,353,7355,0.00,2.62,0.00,0.000,4,0.000,0.069,2561,3711,1826
$GC,7436,1.20,233.8,71.1,10.1,357,7440,0.00,2.58,0.00,0.000,6,0.000,0.053,2561,2295,1827
$GC,7762,1.20,233.8,42.9,8.2,373,7767,0.00,2.60,0.00,0.000,4,0.000,0.063,2561,883,1827
$GC,7908,1.20,234.2,31.9,8.0,379,7914,0.00,2.55,0.00,0.000,6,0.000,0.047,2561,2301,1826
$STATE,8201,end climb,SURFACE_DEPTH_REACHED
$STATE,8201,begin surface coast
$FINISH,0.3,1.014238
$STATE,8223,end surface coast,CONTROL_FINISHED_OK
$STATE,8223,begin surface
$SM_CCo,8244,31.12,0.611,0,0,1557,300.00
$SM_GC,1.25,0.00,0.00,31.12,0.000,0.000,0.611,70,2301,1557,-10.26,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1878
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,325.6,60.3
$24V_AH,23.6,6.577
$10V_AH,10.1,2.660
$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,24.625,62.625,325.250,31.125,0.000,17.981,24.101,99.263,2.750,0.000,0.000,32.347,754.727,6085.994,449.110,958.786,289.904,33.338,931.816,0.000,923.435,0.000,18.549
$DEVICE_MAMPS,161.070,71.331,851.370,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.593,266.958,333.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19187,395
$CAP_FILE_SIZE,62663,0
$CFSIZE,260165632,257388544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090608,194558,6050.870,-551.063,37,2.3,56,-7.3