version: 66.03
glider: 16
mission: 9
dive: 28
start: 6 10 108 15 14 11
data:
$ID,16
$MISSION,9
$DIVE,28
$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,-2093014.2
$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,15
$R_STBD_OVSHOOT,21
$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
$GPS1,150829,6047.454,-551.320,14,6.2,33,-7.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.3
$GPS2,151323,6047.436,-551.284,18,3.4,37,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.198,-0.145
$KALMAN_X,-14994.5,2188.6,1145.9,-19439.6,-25727.7
$KALMAN_Y,-29826.3,-469.9,-179.2,30056.1,6614.1
$MHEAD_RNG_PITCHd_Wd,138.4,105481,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-60.58,0.000,2,0.000,0.000,72,2303,2737
$GC,91,-1.08,-146.6,3.1,-4.1,3,128,10.93,2.67,-19.83,0.000,4,0.163,0.079,2055,878,3379
$GC,381,-0.98,-146.6,42.9,-13.0,15,386,0.15,2.62,0.00,0.000,6,0.114,0.058,2082,2301,3379
$GC,704,-0.92,-146.6,78.2,-11.5,31,708,0.00,2.65,0.00,0.000,4,0.000,0.069,2082,879,3380
$GC,896,-0.92,-146.6,101.7,-12.3,39,902,0.00,2.62,0.00,0.000,6,0.000,0.058,2082,2308,3381
$GC,1212,-0.86,-146.6,141.0,-12.3,55,1214,0.15,0.00,0.00,0.000,6,0.107,0.000,2110,2308,3381
$GC,1521,-0.86,-146.6,172.7,-9.9,70,1525,0.00,2.67,0.00,0.000,4,0.000,0.071,2110,879,3382
$GC,1576,-0.93,-146.6,178.3,-10.8,72,1582,0.00,2.62,0.00,0.000,6,0.000,0.060,2110,2303,3382
$GC,1892,-0.93,-146.6,208.8,-10.1,88,1896,0.00,2.67,0.00,0.000,4,0.000,0.074,2110,880,3382
$GC,1931,-1.00,-146.6,212.7,-10.3,90,1937,0.15,2.62,0.00,0.000,6,0.046,0.061,2066,2303,3382
$GC,2261,-0.90,-146.6,252.6,-12.1,106,2266,0.15,2.67,0.00,0.000,4,0.094,0.074,2099,880,3382
$GC,2317,-0.96,-146.6,259.1,-10.3,108,2323,0.00,2.62,0.00,0.000,6,0.000,0.061,2099,2302,3381
$GC,2632,-0.96,-146.6,293.4,-10.9,124,2636,0.00,2.67,0.00,0.000,4,0.000,0.074,2099,879,3382
$GC,2672,-1.01,-146.6,297.5,-10.6,126,2677,0.00,2.62,0.00,0.000,6,0.000,0.062,2099,2298,3382
$GC,2998,-1.01,-146.6,333.2,-11.1,142,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2298,3382
$GC,3307,-1.01,-146.6,366.8,-10.5,157,3312,0.00,2.67,0.00,0.000,4,0.000,0.076,2099,880,3382
$GC,3352,-1.05,-146.6,371.5,-10.3,159,3357,0.12,2.62,0.00,0.000,6,0.051,0.061,2062,2301,3382
$GC,3673,-0.94,-146.6,408.4,-11.2,175,3678,0.15,2.70,0.00,0.000,4,0.097,0.077,2094,875,3382
$GC,3706,-0.94,-146.6,411.7,-8.9,176,3712,0.00,2.65,0.00,0.000,6,0.000,0.063,2095,2303,3382
$GC,4022,-0.94,-146.6,439.8,-8.6,192,4026,0.00,2.70,0.00,0.000,4,0.000,0.078,2095,878,3382
$GC,4054,-0.94,-146.6,442.8,-9.5,193,4060,0.00,2.65,0.00,0.000,6,0.000,0.064,2094,2305,3382
$GC,4370,-0.94,-146.6,474.6,-11.1,209,4379,0.00,2.70,0.00,0.000,4,0.000,0.087,2094,3716,3381
$GC,4442,-0.94,-146.6,483.3,-12.0,212,4447,0.00,2.65,0.00,0.000,6,0.000,0.065,2094,2292,3381
$GC,4768,-0.94,-146.6,515.1,-8.9,228,4772,0.00,2.67,0.00,0.000,4,0.000,0.079,2094,877,3381
$GC,4818,-0.99,-146.6,519.7,-8.9,230,4822,0.00,2.65,0.00,0.000,6,0.000,0.065,2095,2301,3381
$STATE,5069,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5069,begin apogee
$GC,5075,-0.31,0.0,542.1,8.8,242,5212,0.68,0.00,130.32,1.010,6,0.100,0.000,2231,2301,2781
$STATE,5212,end apogee,CONTROL_FINISHED_OK
$STATE,5213,begin climb
$GC,5215,1.08,146.6,547.7,0.0,249,5358,1.42,2.80,129.93,0.986,4,0.080,0.078,2532,879,2182
$GC,5441,1.13,192.7,540.7,6.3,259,5489,0.00,2.70,41.05,0.963,6,0.000,0.066,2532,2301,1995
$GC,5800,1.18,192.7,512.6,8.4,277,5802,0.12,0.00,0.00,0.000,6,0.056,0.000,2566,2301,1994
$GC,6107,1.13,192.7,482.6,9.4,292,6112,0.00,2.75,0.00,0.000,4,0.000,0.085,2566,885,1993
$GC,6125,1.06,192.7,480.9,9.3,293,6130,0.17,2.70,0.00,0.000,6,0.098,0.067,2533,2304,1993
$GC,6452,1.10,227.7,456.8,6.7,309,6493,0.00,2.83,31.33,0.956,4,0.000,0.091,2533,3715,1852
$GC,6544,1.14,227.7,450.1,8.1,313,6548,0.00,2.70,0.00,0.000,6,0.000,0.071,2533,2300,1851
$GC,6865,1.24,254.5,427.3,7.0,329,6895,0.17,2.80,24.15,0.932,4,0.054,0.083,2581,884,1743
$GC,6940,1.18,254.5,420.2,10.7,332,6947,0.12,2.67,0.00,0.000,6,0.104,0.064,2558,2303,1742
$GC,7256,1.18,254.5,390.3,9.8,348,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2303,1742
$GC,7565,1.18,254.5,359.0,10.1,363,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2303,1742
$GC,7874,1.18,254.5,329.1,9.8,378,7879,0.00,2.72,0.00,0.000,4,0.000,0.077,2558,879,1741
$GC,7919,1.18,254.5,324.6,9.8,380,7923,0.00,2.62,0.00,0.000,6,0.000,0.061,2558,2302,1740
$GC,8240,1.18,254.5,293.6,9.7,396,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2301,1741
$GC,8549,1.18,254.5,264.7,9.3,411,8553,0.00,2.70,0.00,0.000,4,0.000,0.074,2558,882,1741
$GC,8576,1.18,254.5,262.0,9.5,412,8580,0.00,2.62,0.00,0.000,6,0.000,0.058,2557,2303,1741
$GC,8892,1.18,257.4,234.7,7.9,427,8898,0.00,0.00,4.18,0.563,6,0.000,0.000,2558,2303,1730
$GC,9201,1.18,257.4,210.0,8.3,442,9205,0.00,2.65,0.00,0.000,4,0.000,0.080,2558,3707,1731
$GC,9227,1.18,257.4,207.5,9.6,443,9232,0.00,2.62,0.00,0.000,6,0.000,0.063,2558,2299,1732
$GC,9543,1.18,257.4,179.3,8.9,458,9547,0.00,2.65,0.00,0.000,4,0.000,0.073,2558,878,1732
$GC,9588,1.18,257.4,174.9,10.7,460,9593,0.00,2.62,0.00,0.000,6,0.000,0.058,2558,2304,1732
$GC,9910,1.22,257.4,142.3,10.1,476,9915,0.00,2.70,0.00,0.000,4,0.000,0.073,2558,874,1732
$GC,9937,1.22,257.4,139.2,10.4,477,9942,0.00,2.62,0.00,0.000,6,0.000,0.057,2558,2303,1732
$GC,10253,1.22,257.4,108.9,9.5,492,10258,0.00,2.65,0.00,0.000,4,0.000,0.077,2558,3706,1732
$GC,10286,1.22,257.4,105.4,10.1,493,10293,0.00,2.60,0.00,0.000,6,0.000,0.062,2558,2299,1733
$GC,10604,1.27,257.4,76.9,9.1,509,10609,0.00,2.65,0.00,0.000,4,0.000,0.073,2558,882,1733
$GC,10682,1.27,257.4,68.9,9.2,512,10689,0.00,2.60,0.00,0.000,6,0.000,0.058,2558,2304,1733
$GC,11000,1.34,266.6,43.8,7.7,528,11014,0.15,0.00,9.62,0.612,6,0.048,0.000,2607,2304,1693
$GC,11334,1.24,266.6,7.3,11.1,544,11336,0.20,0.00,0.00,0.000,6,0.085,0.000,2567,2304,1694
$STATE,11391,end climb,SURFACE_DEPTH_REACHED
$STATE,11391,begin surface coast
$FINISH,0.5,1.026993
$STATE,11414,end surface coast,CONTROL_FINISHED_OK
$STATE,11414,begin surface
$SM_CCo,11436,16.65,0.607,0,0,1557,300.00
$SM_GC,1.64,0.00,0.00,16.65,0.000,0.000,0.607,69,2304,1557,-10.26,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1907
$TCM_TEMP,17.40
$XPDR_PINGS,33
$ALTIM_TOP_PING,18.8,16.4
$ALTIM_BOTTOM_PING,500.2,50.3
$24V_AH,23.5,7.492
$10V_AH,10.1,3.094
$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,25.650,117.450,370.575,16.650,0.000,18.287,28.005,123.133,12.750,0.000,0.000,37.942,1047.188,8507.674,507.717,1316.511,374.140,33.341,1187.518,0.000,1258.633,0.000,32.794
$DEVICE_MAMPS,162.604,90.506,1010.139,607.464,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.914,370.634,376.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28622,548
$CAP_FILE_SIZE,92764,0
$CFSIZE,260165632,257032192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100608,182628,6046.280,-549.708,25,4.4,44,-7.3