version: 66.03
glider: 16
mission: 9
dive: 26
start: 6 10 108 9 18 47
data:
$ID,16
$MISSION,9
$DIVE,26
$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,-2092940.4
$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,20
$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
$GPS1,091026,6048.960,-554.324,24,1.7,42,-7.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.1
$GPS2,091759,6048.914,-554.346,10,3.0,29,-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,-11353.2,-10.7,995.6,-23455.9,-28766.6
$KALMAN_Y,-37802.5,2250.4,-54.9,37907.2,-7245.8
$MHEAD_RNG_PITCHd_Wd,138.5,109408,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-81.32,0.000,2,0.000,0.000,71,2297,3259
$GC,110,-1.08,-146.6,5.4,-6.4,4,132,11.02,2.67,-2.22,0.000,4,0.166,0.082,2054,3699,3381
$GC,363,-0.92,-146.6,53.3,-13.9,15,368,0.22,2.53,0.00,0.000,6,0.097,0.048,2099,2295,3381
$GC,684,-0.92,-146.6,91.3,-12.0,31,689,0.00,2.60,0.00,0.000,4,0.000,0.062,2098,881,3381
$GC,751,-0.92,-146.6,99.3,-11.6,34,756,0.00,2.58,0.00,0.000,6,0.000,0.051,2097,2297,3382
$GC,1074,-0.92,-146.6,134.5,-10.3,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2296,3382
$GC,1381,-0.92,-146.6,162.8,-9.3,65,1385,0.00,2.62,0.00,0.000,4,0.000,0.063,2098,879,3382
$GC,1420,-0.92,-146.6,166.5,-10.0,67,1425,0.00,2.60,0.00,0.000,6,0.000,0.054,2098,2301,3382
$GC,1746,-0.92,-146.6,203.4,-12.3,83,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2301,3382
$GC,2056,-0.92,-146.6,239.0,-11.1,98,2060,0.00,2.62,0.00,0.000,4,0.000,0.064,2098,886,3382
$GC,2128,-0.96,-146.6,247.0,-11.0,101,2132,0.00,2.60,0.00,0.000,6,0.000,0.054,2098,2305,3382
$GC,2444,-0.96,-146.6,278.6,-10.0,116,2448,0.00,2.62,0.00,0.000,4,0.000,0.065,2098,885,3382
$GC,2506,-1.02,-146.6,284.7,-9.5,119,2510,0.00,2.60,0.00,0.000,6,0.000,0.054,2098,2305,3382
$GC,2832,-1.02,-146.6,316.9,-10.0,135,2836,0.00,2.62,0.00,0.000,4,0.000,0.065,2098,886,3382
$GC,2894,-1.07,-146.6,323.0,-9.9,138,2899,0.15,2.60,0.00,0.000,6,0.048,0.057,2053,2301,3382
$GC,3223,-0.94,-146.6,363.6,-12.5,154,3228,0.17,2.62,0.00,0.000,4,0.097,0.067,2092,887,3383
$GC,3295,-0.94,-146.6,371.5,-9.7,157,3300,0.00,2.60,0.00,0.000,6,0.000,0.057,2092,2303,3382
$GC,3611,-0.94,-146.6,401.9,-9.3,172,3615,0.00,2.62,0.00,0.000,4,0.000,0.066,2092,886,3382
$GC,3672,-0.94,-146.6,407.2,-8.9,175,3677,0.00,2.60,0.00,0.000,6,0.000,0.058,2091,2300,3382
$GC,4000,-0.94,-146.6,436.7,-10.8,191,4004,0.00,2.62,0.00,0.000,4,0.000,0.066,2091,887,3382
$GC,4032,-0.94,-146.6,440.6,-11.0,192,4038,0.00,2.60,0.00,0.000,6,0.000,0.057,2091,2303,3382
$STATE,4160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4160,begin apogee
$GC,4166,-0.31,0.0,454.7,10.4,199,4297,0.68,0.00,127.68,0.930,6,0.095,0.000,2229,2303,2781
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4301,1.08,146.6,461.1,0.0,205,4434,1.42,0.00,127.88,0.908,6,0.074,0.000,2532,2303,2183
$GC,4739,1.16,212.8,442.6,5.6,227,4805,0.00,2.78,57.92,0.889,4,0.000,0.067,2532,884,1913
$GC,4834,1.22,212.8,435.8,8.5,231,4841,0.15,2.65,0.00,0.000,6,0.048,0.054,2575,2304,1913
$GC,5150,1.15,212.8,405.6,9.5,247,5155,0.12,2.67,0.00,0.000,4,0.096,0.077,2552,3708,1913
$GC,5200,1.15,212.8,400.6,10.4,249,5205,0.00,2.62,0.00,0.000,6,0.000,0.059,2552,2296,1913
$GC,5516,1.15,212.8,371.8,8.5,264,5520,0.00,2.65,0.00,0.000,4,0.000,0.069,2551,884,1911
$GC,5555,1.15,212.8,368.5,8.7,266,5560,0.00,2.62,0.00,0.000,6,0.000,0.055,2552,2303,1911
$GC,5882,1.15,212.8,343.6,8.1,282,5886,0.00,2.67,0.00,0.000,4,0.000,0.068,2552,883,1910
$GC,5937,1.15,212.8,339.0,8.6,284,5943,0.00,2.62,0.00,0.000,6,0.000,0.054,2552,2308,1910
$GC,6252,1.15,212.8,312.8,8.5,300,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2308,1910
$GC,6562,1.15,212.8,285.4,8.8,315,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2308,1910
$GC,6871,1.15,212.8,259.8,8.4,330,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2308,1909
$GC,7180,1.15,212.8,233.3,8.4,345,7185,0.00,2.65,0.00,0.000,4,0.000,0.066,2551,883,1909
$GC,7213,1.15,212.8,230.3,9.2,346,7219,0.00,2.60,0.00,0.000,6,0.000,0.052,2551,2307,1909
$GC,7529,1.15,212.8,202.5,8.9,362,7533,0.00,2.65,0.00,0.000,4,0.000,0.076,2552,3711,1909
$GC,7573,1.15,212.8,198.3,9.5,364,7577,0.00,2.60,0.00,0.000,6,0.000,0.057,2551,2301,1909
$GC,7894,1.18,240.6,174.3,7.0,380,7919,0.00,0.00,23.83,0.735,6,0.000,0.000,2552,2301,1800
$GC,8224,1.26,267.4,150.2,7.0,396,8255,0.00,2.70,23.95,0.716,4,0.000,0.064,2552,874,1689
$GC,8273,1.31,273.1,146.5,7.8,398,8286,0.15,2.62,6.15,0.591,6,0.050,0.051,2594,2301,1667
$GC,8597,1.26,273.1,116.5,9.8,414,8601,0.00,2.65,0.00,0.000,4,0.000,0.066,2594,880,1667
$GC,8624,1.21,273.1,113.4,10.3,415,8630,0.15,2.60,0.00,0.000,6,0.093,0.051,2564,2303,1666
$GC,8940,1.21,273.1,88.1,8.2,430,8944,0.00,2.65,0.00,0.000,4,0.000,0.065,2564,880,1667
$GC,8996,1.25,273.1,83.0,9.5,432,9002,0.00,2.58,0.00,0.000,6,0.000,0.053,2564,2301,1667
$GC,9311,1.25,273.1,54.2,9.8,448,9316,0.00,2.65,0.00,0.000,4,0.000,0.074,2564,3710,1667
$GC,9333,1.25,273.1,51.8,10.7,449,9338,0.00,2.60,0.00,0.000,6,0.000,0.056,2564,2297,1667
$GC,9655,1.25,273.1,21.6,9.2,465,9659,0.00,2.62,0.00,0.000,4,0.000,0.066,2564,875,1667
$GC,9677,1.25,273.1,19.1,11.4,466,9681,0.00,2.60,0.00,0.000,6,0.000,0.052,2564,2303,1667
$STATE,9871,end climb,SURFACE_DEPTH_REACHED
$STATE,9871,begin surface coast
$FINISH,0.4,1.027048
$STATE,9893,end surface coast,CONTROL_FINISHED_OK
$STATE,9893,begin surface
$SM_CCo,9915,13.23,0.583,0,0,1557,300.00
$SM_GC,1.68,0.00,0.00,13.23,0.000,0.000,0.583,70,2303,1557,-10.25,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1870
$TCM_TEMP,16.30
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,19.3
$ALTIM_BOTTOM_PING,400.1,63.6
$24V_AH,23.6,7.261
$10V_AH,10.1,2.980
$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,25.075,105.025,367.400,13.225,0.000,36.382,59.932,180.773,4.750,0.000,0.000,30.506,912.761,7387.310,515.759,1107.210,465.343,33.340,1079.695,0.000,1070.649,0.000,23.410
$DEVICE_MAMPS,166.439,82.069,930.371,582.920,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.048,322.157,357.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25444,477
$CAP_FILE_SIZE,81725,0
$CFSIZE,260165632,257122304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100608,120551,6047.987,-554.310,37,2.2,56,-7.3