version: 66.03
glider: 16
mission: 9
dive: 5
start: 6 7 108 23 30 10
data:
$ID,16
$MISSION,9
$DIVE,5
$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,-6
$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,-2092443.5
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,231607,6045.877,-520.659,38,2.0,43,-7.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.5
$GPS2,232827,6045.958,-520.600,11,2.0,11,-7.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.252,-0.077
$KALMAN_X,985.6,551.0,-475.4,-4366.7,-7.7
$KALMAN_Y,-4291.0,-1351.1,-1918.0,4416.4,3134.6
$MHEAD_RNG_PITCHd_Wd,305.4,35206,-18.1,-10.000
$D_GRID,735
$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,-1.29,-146.6,0.0,0.0,0,106,0.00,0.00,-81.10,0.000,2,0.000,0.000,71,2505,3222
$GC,110,-1.29,-146.6,5.2,-6.0,4,132,10.85,2.65,-3.08,0.000,4,0.166,0.070,2011,1089,3381
$GC,340,-1.21,-146.6,50.3,-17.0,14,345,0.12,2.55,0.00,0.000,6,0.128,0.048,2032,2499,3381
$GC,662,-1.14,-146.6,99.7,-14.9,30,666,0.00,2.60,0.00,0.000,4,0.000,0.054,2032,1081,3382
$GC,791,-1.14,-146.6,118.3,-14.6,36,796,0.00,2.58,0.00,0.000,6,0.000,0.049,2032,2499,3382
$GC,1118,-1.08,-146.6,168.1,-15.2,52,1123,0.15,2.60,0.00,0.000,4,0.123,0.056,2062,1086,3382
$GC,1214,-1.15,-146.6,180.8,-13.2,56,1218,0.00,2.58,0.00,0.000,6,0.000,0.051,2062,2497,3383
$GC,1530,-1.15,-146.6,223.2,-14.0,71,1534,0.00,2.60,0.00,0.000,4,0.000,0.056,2062,1082,3383
$GC,1647,-1.23,-146.6,239.4,-13.2,76,1652,0.15,2.60,0.00,0.000,6,0.049,0.052,2020,2502,3383
$GC,1963,-1.14,-146.6,289.5,-15.6,91,1968,0.15,2.62,0.00,0.000,4,0.102,0.059,2051,1086,3383
$GC,2071,-1.19,-146.6,303.6,-12.8,96,2075,0.00,2.60,0.00,0.000,6,0.000,0.055,2051,2505,3383
$GC,2397,-1.19,-146.6,344.1,-11.9,112,2401,0.00,2.62,0.00,0.000,4,0.000,0.059,2051,1085,3383
$GC,2551,-1.24,-146.6,362.1,-11.6,119,2556,0.00,2.60,0.00,0.000,6,0.000,0.056,2051,2503,3383
$GC,2878,-1.24,-146.6,400.6,-11.4,135,2882,0.00,2.62,0.00,0.000,4,0.000,0.061,2051,1088,3383
$GC,3001,-1.29,-146.6,414.0,-10.6,140,3008,0.15,2.60,0.00,0.000,6,0.051,0.057,2011,2502,3383
$GC,3318,-1.18,-146.6,459.2,-14.9,156,3319,0.15,0.00,0.00,0.000,6,0.108,0.000,2038,2506,3382
$GC,3627,-1.18,-146.6,502.1,-13.9,171,3631,0.00,2.62,0.00,0.000,4,0.000,0.064,2038,1089,3382
$GC,3816,-1.18,-146.6,528.3,-13.0,179,3822,0.00,2.60,0.00,0.000,6,0.000,0.061,2038,2500,3381
$GC,4132,-1.18,-146.6,570.0,-12.5,195,4136,0.00,2.62,0.00,0.000,4,0.000,0.064,2038,1091,3380
$GC,4199,-1.18,-146.6,578.4,-12.9,198,4204,0.00,2.62,0.00,0.000,6,0.000,0.062,2038,2500,3380
$GC,4521,-1.18,-146.6,618.7,-12.4,214,4525,0.00,2.65,0.00,0.000,4,0.000,0.067,2038,1086,3379
$GC,4697,-1.18,-146.6,639.9,-11.6,222,4701,0.00,2.65,0.00,0.000,6,0.000,0.065,2038,2504,3379
$GC,5023,-1.18,-146.6,679.2,-11.9,238,5028,0.00,2.65,0.00,0.000,4,0.000,0.068,2038,1091,3378
$GC,5118,-1.18,-146.6,690.6,-11.6,242,5123,0.00,2.62,0.00,0.000,6,0.000,0.067,2038,2500,3377
$GC,5434,-1.18,-146.6,728.3,-11.9,257,5438,0.00,2.65,0.00,0.000,4,0.000,0.070,2038,1092,3376
$STATE,5486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5486,begin apogee
$GC,5495,-0.31,0.0,735.2,11.7,259,5631,0.95,0.00,132.82,1.167,6,0.110,0.000,2227,2302,2781
$STATE,5632,end apogee,CONTROL_FINISHED_OK
$STATE,5632,begin climb
$GC,5635,1.29,146.6,741.0,0.0,266,5778,1.70,2.83,131.62,1.134,4,0.087,0.083,2577,3706,2183
$GC,5837,1.23,165.6,733.9,9.1,275,5861,0.00,2.65,18.42,1.045,6,0.000,0.061,2577,2298,2106
$GC,6178,1.28,213.1,705.5,7.8,292,6223,0.00,0.00,43.35,1.103,6,0.000,0.000,2577,2298,1912
$GC,6528,1.35,229.6,674.1,9.2,309,6550,0.00,2.83,16.08,1.035,4,0.000,0.084,2577,3714,1844
$GC,6601,1.35,229.6,666.2,11.0,312,6606,0.00,2.67,0.00,0.000,6,0.000,0.061,2576,2297,1844
$GC,6923,1.43,238.3,635.4,9.6,328,6938,0.15,2.75,9.05,0.956,4,0.059,0.076,2618,889,1809
$GC,6983,1.35,238.3,628.5,11.6,330,6990,0.12,2.65,0.00,0.000,6,0.113,0.062,2596,2300,1809
$GC,7299,1.35,238.3,596.2,10.2,346,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,1808
$GC,7608,1.35,238.3,561.6,11.2,361,7612,0.00,2.72,0.00,0.000,4,0.000,0.084,2596,3710,1807
$GC,7715,1.35,238.3,548.5,12.0,366,7720,0.00,2.65,0.00,0.000,6,0.000,0.061,2596,2293,1807
$GC,8041,1.35,238.3,513.0,10.6,382,8046,0.00,2.67,0.00,0.000,4,0.000,0.074,2596,887,1807
$GC,8142,1.35,238.3,501.6,11.0,386,8148,0.00,2.62,0.00,0.000,6,0.000,0.059,2596,2301,1807
$GC,8457,1.35,238.3,467.5,10.6,402,8462,0.00,2.70,0.00,0.000,4,0.000,0.082,2596,3711,1806
$GC,8485,1.35,238.3,464.2,11.9,403,8489,0.00,2.62,0.00,0.000,6,0.000,0.058,2596,2295,1806
$GC,8801,1.37,262.7,434.7,8.9,418,8824,0.00,0.00,21.77,0.963,6,0.000,0.000,2596,2295,1711
$GC,9130,1.42,262.7,400.4,11.1,434,9135,0.00,2.72,0.00,0.000,4,0.000,0.077,2596,3716,1710
$GC,9163,1.42,262.7,396.3,12.1,435,9169,0.00,2.60,0.00,0.000,6,0.000,0.056,2596,2299,1710
$GC,9479,1.47,262.7,362.2,10.8,451,9481,0.10,0.00,0.00,0.000,6,0.070,0.000,2621,2299,1710
$GC,9788,1.47,262.7,323.5,12.5,466,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2299,1710
$GC,10097,1.47,262.7,283.4,13.2,481,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2299,1711
$GC,10406,1.47,262.7,244.6,12.3,496,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2299,1711
$GC,10716,1.47,262.7,207.2,12.2,511,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2299,1712
$GC,11025,1.47,262.7,167.8,13.2,526,11029,0.00,2.67,0.00,0.000,4,0.000,0.070,2621,3714,1713
$GC,11058,1.42,262.7,162.8,14.8,527,11064,0.00,2.58,0.00,0.000,6,0.000,0.051,2622,2298,1713
$GC,11374,1.42,262.7,119.9,13.5,543,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2298,1713
$GC,11683,1.42,262.7,81.2,12.0,558,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2298,1714
$GC,11992,1.42,262.7,42.4,12.2,573,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2298,1715
$GC,12303,1.42,262.7,3.3,13.2,588,12307,0.00,2.62,0.00,0.000,4,0.000,0.064,2622,884,1716
$STATE,12310,end climb,SURFACE_DEPTH_REACHED
$STATE,12310,begin surface coast
$FINISH,0.8,1.027012
$STATE,12319,end surface coast,CONTROL_FINISHED_OK
$STATE,12319,begin surface
$SM_CCo,12344,18.23,0.609,0,0,1558,300.00
$SM_GC,1.26,0.00,0.00,18.23,0.000,0.000,0.609,73,2505,1558,-10.24,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1931
$TCM_TEMP,17.30
$XPDR_PINGS,43
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,23.4,4.953
$10V_AH,10.1,1.919
$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,25.900,111.000,373.125,18.225,0.000,69.585,107.035,301.865,17.250,0.000,0.000,11.867,1148.625,9282.011,511.108,1459.159,755.719,33.337,1247.251,0.000,1420.530,0.000,44.311
$DEVICE_MAMPS,165.672,84.370,1166.607,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.941,399.726,344.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,589
$CAP_FILE_SIZE,104589,0
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,080608,025755,6045.916,-521.496,46,1.7,63,-7.0