version: 66.03
glider: 16
mission: 9
dive: 25
start: 6 10 108 6 40 43
data:
$ID,16
$MISSION,9
$DIVE,25
$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,-2092909.2
$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,19
$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
$GPS1,063447,6050.379,-552.045,13,3.2,32,-7.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.1
$GPS2,063955,6050.376,-552.115,38,1.5,42,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,-0.125
$KALMAN_X,-5178.7,243.8,183.9,-27035.1,-21630.6
$KALMAN_Y,-40674.1,2307.9,576.1,42782.6,-15117.6
$MHEAD_RNG_PITCHd_Wd,140.3,109697,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.08,-146.6,0.0,0.0,0,88,0.00,0.00,-61.42,0.000,2,0.000,0.000,65,2301,2783
$GC,92,-1.08,-146.6,3.1,-4.2,3,127,10.98,2.62,-18.17,0.000,4,0.163,0.074,2053,883,3379
$GC,382,-0.99,-146.6,40.9,-12.8,16,387,0.15,2.60,0.00,0.000,6,0.109,0.051,2084,2305,3379
$GC,709,-0.92,-146.6,79.9,-11.9,32,714,0.00,2.62,0.00,0.000,4,0.000,0.061,2083,883,3379
$GC,788,-0.92,-146.6,89.0,-10.9,35,794,0.00,2.58,0.00,0.000,6,0.000,0.051,2083,2305,3379
$GC,1104,-0.86,-146.6,120.6,-9.7,51,1109,0.15,2.62,0.00,0.000,4,0.100,0.062,2115,884,3380
$GC,1212,-0.93,-146.6,129.5,-8.5,56,1216,0.00,2.58,0.00,0.000,6,0.000,0.051,2115,2301,3380
$GC,1538,-0.93,-146.6,155.7,-7.1,72,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2301,3380
$GC,1847,-0.93,-146.6,180.3,-8.8,87,1851,0.00,2.62,0.00,0.000,4,0.000,0.064,2115,884,3380
$GC,1925,-1.02,-146.6,187.4,-9.1,90,1932,0.17,2.58,0.00,0.000,6,0.043,0.054,2065,2301,3380
$GC,2242,-0.92,-146.6,226.3,-12.5,106,2244,0.17,0.00,0.00,0.000,6,0.095,0.000,2099,2301,3380
$GC,2551,-0.92,-146.6,260.2,-11.1,121,2555,0.00,2.62,0.00,0.000,4,0.000,0.065,2099,880,3381
$GC,2595,-0.96,-146.6,265.4,-11.2,123,2599,0.00,2.60,0.00,0.000,6,0.000,0.054,2099,2307,3380
$GC,2916,-0.96,-146.6,300.5,-11.1,139,2920,0.00,2.65,0.00,0.000,4,0.000,0.066,2099,878,3380
$GC,2949,-0.96,-146.6,304.4,-11.4,140,2956,0.00,2.60,0.00,0.000,6,0.000,0.054,2099,2307,3380
$GC,3266,-0.96,-146.6,338.7,-10.7,156,3270,0.00,2.65,0.00,0.000,4,0.000,0.066,2099,880,3380
$GC,3332,-1.02,-146.6,346.0,-10.7,159,3337,0.00,2.60,0.00,0.000,6,0.000,0.054,2099,2305,3380
$GC,3653,-1.02,-146.6,378.8,-10.1,175,3658,0.00,2.65,0.00,0.000,4,0.000,0.065,2099,875,3380
$GC,3732,-1.07,-146.6,386.8,-9.9,178,3739,0.15,2.60,0.00,0.000,6,0.048,0.054,2056,2302,3380
$STATE,3839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3839,begin apogee
$GC,3845,-0.31,0.0,399.9,12.4,184,3974,0.85,0.00,125.32,0.880,6,0.100,0.000,2227,2301,2781
$STATE,3975,end apogee,CONTROL_FINISHED_OK
$STATE,3975,begin climb
$GC,3978,1.08,146.6,405.8,0.0,190,4107,1.42,0.00,124.62,0.868,6,0.074,0.000,2532,2301,2183
$GC,4411,1.11,171.3,382.1,7.1,211,4440,0.00,2.72,22.33,0.825,4,0.000,0.064,2531,886,2081
$GC,4486,1.12,178.0,376.3,7.8,214,4500,0.00,2.62,7.20,0.700,6,0.000,0.051,2532,2307,2055
$GC,4830,1.17,181.8,350.4,7.9,231,4841,0.10,2.67,5.03,0.614,4,0.055,0.064,2563,885,2039
$GC,4893,1.10,181.8,344.8,9.5,234,4898,0.12,2.60,0.00,0.000,6,0.097,0.051,2540,2301,2038
$GC,5219,1.10,181.8,317.7,8.4,250,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2300,2038
$GC,5528,1.10,181.8,290.6,8.8,265,5533,0.00,2.65,0.00,0.000,4,0.000,0.065,2540,882,2038
$GC,5578,1.10,181.8,285.8,9.4,267,5583,0.00,2.60,0.00,0.000,6,0.000,0.052,2539,2307,2038
$GC,5894,1.10,181.8,256.1,9.6,282,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2307,2038
$GC,6203,1.10,184.6,229.1,7.9,297,6209,0.00,0.00,4.03,0.527,6,0.000,0.000,2540,2306,2029
$GC,6513,1.11,192.3,205.7,7.7,312,6527,0.00,2.70,7.90,0.671,4,0.000,0.073,2539,3710,1997
$GC,6579,1.11,192.3,200.0,8.8,315,6584,0.00,2.58,0.00,0.000,6,0.000,0.056,2539,2301,1997
$GC,6907,1.12,197.6,175.3,7.8,331,6918,0.00,2.65,6.15,0.614,4,0.000,0.064,2539,877,1975
$GC,6947,1.12,200.8,172.0,7.9,333,6957,0.00,2.60,4.35,0.531,6,0.000,0.051,2539,2301,1962
$GC,7274,1.20,231.5,148.1,6.9,349,7307,0.10,2.70,26.52,0.728,4,0.058,0.064,2572,893,1837
$GC,7325,1.15,231.5,143.8,8.2,351,7329,0.00,2.60,0.00,0.000,6,0.000,0.050,2572,2305,1837
$GC,7641,1.15,231.5,114.5,9.3,366,7645,0.00,2.62,0.00,0.000,4,0.000,0.071,2572,3707,1837
$GC,7668,1.11,231.5,111.8,10.1,367,7673,0.15,2.58,0.00,0.000,6,0.094,0.055,2543,2303,1837
$GC,7986,1.17,231.5,86.9,8.3,382,7990,0.00,2.62,0.00,0.000,4,0.000,0.066,2542,880,1837
$GC,8009,1.24,231.5,84.8,8.9,383,8014,0.12,2.60,0.00,0.000,6,0.052,0.051,2574,2305,1837
$GC,8330,1.24,231.5,52.4,10.9,399,8335,0.00,2.62,0.00,0.000,4,0.000,0.073,2574,3707,1837
$GC,8408,1.24,231.5,42.7,11.9,402,8415,0.00,2.58,0.00,0.000,6,0.000,0.056,2574,2299,1837
$GC,8724,1.24,231.5,10.5,10.4,418,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2298,1837
$STATE,8825,end climb,SURFACE_DEPTH_REACHED
$STATE,8825,begin surface coast
$FINISH,0.5,1.013437
$STATE,8847,end surface coast,CONTROL_FINISHED_OK
$STATE,8847,begin surface
$SM_CCo,8868,33.40,0.624,0,0,1557,300.00
$SM_GC,1.65,0.00,0.00,33.40,0.000,0.000,0.624,72,2297,1557,-10.25,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1878
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.5
$ALTIM_BOTTOM_PING,376.9,32.2
$24V_AH,23.6,7.150
$10V_AH,10.1,2.926
$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,25.525,89.125,333.450,33.400,0.000,18.031,25.183,137.609,3.000,0.000,0.000,42.399,835.878,6498.249,472.532,1060.944,350.825,33.335,1010.200,0.000,1011.931,0.000,21.702
$DEVICE_MAMPS,162.604,73.632,879.749,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.816,286.809,346.856,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22334,424
$CAP_FILE_SIZE,75329,0
$CFSIZE,260165632,257167360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,100608,091026,6048.960,-554.324,24,1.7,42,-7.3