version: 66.03
glider: 16
mission: 9
dive: 6
start: 6 8 108 3 4 8
data:
$ID,16
$MISSION,9
$DIVE,6
$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,-2092461.1
$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,22
$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
$GPS1,025755,6045.916,-521.496,46,1.7,63,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-57.1
$GPS2,030227,6045.915,-521.353,17,1.6,17,-7.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,0.155
$KALMAN_X,3375.6,123.8,486.7,-7976.7,1682.4
$KALMAN_Y,-7691.2,529.4,723.4,3216.2,-1468.4
$MHEAD_RNG_PITCHd_Wd,306.1,34649,-18.1,-10.000
$D_GRID,719
$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,-1.29,-146.6,0.0,0.0,0,88,0.00,0.00,-61.30,0.000,2,0.000,0.000,72,2507,2735
$GC,92,-1.29,-146.6,3.1,-4.4,3,127,10.77,2.60,-18.70,0.000,4,0.164,0.066,2010,1082,3380
$GC,253,-1.20,-146.6,29.1,-16.2,10,258,0.15,2.60,0.00,0.000,6,0.127,0.049,2036,2508,3380
$GC,576,-1.14,-146.6,76.6,-14.7,26,580,0.00,2.60,0.00,0.000,4,0.000,0.055,2036,1089,3380
$GC,715,-1.14,-146.6,96.9,-14.3,32,719,0.00,2.55,0.00,0.000,6,0.000,0.050,2036,2505,3380
$GC,1031,-1.09,-146.6,143.0,-15.0,47,1036,0.15,2.62,0.00,0.000,4,0.115,0.057,2066,1083,3381
$GC,1186,-1.17,-146.6,162.4,-11.4,54,1190,0.00,2.60,0.00,0.000,6,0.000,0.051,2066,2505,3381
$GC,1514,-1.17,-146.6,200.8,-11.4,70,1518,0.00,2.62,0.00,0.000,4,0.000,0.060,2066,1090,3382
$GC,1684,-1.25,-146.6,219.3,-10.6,77,1690,0.20,2.58,0.00,0.000,6,0.043,0.052,2011,2498,3381
$GC,2000,-1.14,-146.6,264.4,-14.3,93,2005,0.17,2.62,0.00,0.000,4,0.101,0.060,2048,1082,3382
$GC,2085,-1.18,-146.6,274.7,-11.1,97,2089,0.00,2.60,0.00,0.000,6,0.000,0.054,2048,2500,3382
$GC,2416,-1.18,-146.6,314.1,-11.5,113,2421,0.00,2.62,0.00,0.000,4,0.000,0.061,2048,1083,3382
$GC,2571,-1.22,-146.6,330.8,-10.6,120,2575,0.00,2.60,0.00,0.000,6,0.000,0.055,2048,2503,3382
$GC,2897,-1.22,-146.6,371.3,-13.0,136,2902,0.00,2.62,0.00,0.000,4,0.000,0.061,2047,1088,3383
$GC,3006,-1.27,-146.6,384.9,-12.5,141,3011,0.12,2.60,0.00,0.000,6,0.053,0.055,2012,2503,3383
$GC,3334,-1.17,-146.6,435.0,-15.4,157,3339,0.15,2.62,0.00,0.000,4,0.106,0.062,2044,1092,3383
$GC,3482,-1.17,-146.6,454.6,-13.4,163,3487,0.00,2.60,0.00,0.000,6,0.000,0.057,2044,2503,3383
$GC,3797,-1.17,-146.6,495.7,-12.6,179,3802,0.00,2.62,0.00,0.000,4,0.000,0.063,2044,1085,3383
$GC,3950,-1.17,-146.6,515.1,-12.3,186,3955,0.00,2.60,0.00,0.000,6,0.000,0.058,2044,2499,3383
$GC,4276,-1.17,-146.6,556.4,-12.2,202,4281,0.00,2.62,0.00,0.000,4,0.000,0.064,2044,1091,3381
$GC,4339,-1.22,-146.6,563.4,-11.0,205,4343,0.00,2.60,0.00,0.000,6,0.000,0.060,2044,2499,3381
$GC,4666,-1.22,-146.6,599.3,-10.8,221,4670,0.00,2.65,0.00,0.000,4,0.000,0.066,2044,1085,3381
$GC,4788,-1.27,-146.6,612.7,-10.2,226,4795,0.00,2.65,0.00,0.000,6,0.000,0.063,2044,2503,3381
$GC,5104,-1.27,-146.6,647.7,-11.3,242,5108,0.00,2.65,0.00,0.000,4,0.000,0.068,2044,1090,3380
$GC,5188,-1.32,-146.6,657.1,-10.4,246,5193,0.15,2.62,0.00,0.000,6,0.058,0.066,2005,2501,3379
$GC,5521,-1.21,-146.6,702.4,-14.1,262,5527,0.15,2.67,0.00,0.000,4,0.112,0.071,2032,1088,3378
$GC,5607,-1.21,-146.6,713.7,-11.1,266,5611,0.00,2.65,0.00,0.000,6,0.000,0.067,2032,2501,3377
$STATE,5662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5662,begin apogee
$GC,5669,-0.31,0.0,720.6,11.9,269,5806,1.00,0.00,131.07,1.153,6,0.104,0.000,2231,2297,2781
$STATE,5806,end apogee,CONTROL_FINISHED_OK
$STATE,5807,begin climb
$GC,5809,1.29,146.6,724.7,0.0,276,5949,1.67,2.83,131.68,1.121,4,0.077,0.084,2580,3713,2183
$GC,6019,1.25,181.8,716.1,8.4,286,6058,0.00,2.65,32.55,1.075,6,0.000,0.061,2580,2303,2039
$GC,6389,1.25,181.8,680.6,10.2,304,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2303,2037
$GC,6696,1.25,187.4,650.8,9.7,319,6707,0.00,2.78,5.93,0.851,4,0.000,0.084,2580,3713,2017
$GC,6769,1.20,187.4,643.4,10.5,322,6774,0.00,2.67,0.00,0.000,6,0.000,0.064,2580,2295,2017
$GC,7085,1.20,188.8,612.9,9.9,337,7089,0.00,2.78,0.00,0.000,4,0.000,0.084,2580,3714,2016
$GC,7163,1.15,188.8,604.9,10.1,340,7170,0.15,2.65,0.00,0.000,6,0.114,0.064,2553,2301,2016
$GC,7479,1.27,212.7,577.4,8.9,356,7505,0.10,0.00,23.20,1.050,6,0.070,0.000,2578,2301,1913
$GC,7829,1.34,219.6,541.8,9.7,373,7843,0.00,2.78,7.60,0.894,4,0.000,0.077,2579,890,1885
$GC,7957,1.34,219.6,528.4,10.8,378,7963,0.00,2.67,0.00,0.000,6,0.000,0.061,2578,2309,1884
$GC,8273,1.41,228.4,497.7,9.6,394,8288,0.12,2.75,9.50,0.915,4,0.063,0.081,2609,3715,1849
$GC,8440,1.34,228.4,478.3,10.9,400,8447,0.00,2.65,0.00,0.000,6,0.000,0.061,2609,2294,1849
$GC,8756,1.34,228.4,443.5,11.5,416,8761,0.00,2.67,0.00,0.000,4,0.000,0.071,2609,883,1848
$GC,8796,1.29,228.4,438.8,11.7,418,8802,0.15,2.62,0.00,0.000,6,0.109,0.057,2582,2302,1848
$GC,9123,1.34,228.4,404.3,10.6,434,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2302,1848
$GC,9433,1.40,228.4,370.3,11.1,449,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2302,1848
$GC,9742,1.46,228.4,336.4,11.0,464,9744,0.17,0.00,0.00,0.000,6,0.058,0.000,2625,2302,1848
$GC,10051,1.39,228.4,296.6,12.9,479,10053,0.12,0.00,0.00,0.000,6,0.103,0.000,2603,2302,1849
$GC,10360,1.39,228.4,261.4,11.2,494,10364,0.00,2.65,0.00,0.000,4,0.000,0.073,2603,3713,1849
$GC,10422,1.34,228.4,254.1,12.1,497,10427,0.00,2.60,0.00,0.000,6,0.000,0.054,2603,2292,1849
$GC,10749,1.34,228.4,218.6,10.9,513,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2292,1850
$GC,11058,1.34,228.4,184.8,11.2,528,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2292,1851
$GC,11367,1.34,228.4,150.9,11.0,543,11372,0.00,2.67,0.00,0.000,4,0.000,0.069,2603,3713,1851
$GC,11452,1.34,228.4,140.2,13.4,547,11457,0.00,2.58,0.00,0.000,6,0.000,0.051,2603,2297,1851
$GC,11779,1.34,228.4,102.0,11.7,563,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2297,1852
$GC,12088,1.34,228.4,67.9,10.7,578,12092,0.00,2.60,0.00,0.000,4,0.000,0.062,2603,887,1853
$GC,12132,1.34,228.4,63.0,11.1,580,12136,0.00,2.58,0.00,0.000,6,0.000,0.046,2603,2311,1853
$GC,12453,1.34,228.4,28.8,10.8,596,12457,0.00,2.60,0.00,0.000,4,0.000,0.067,2603,3707,1854
$GC,12502,1.34,228.4,22.9,11.9,598,12506,0.00,2.55,0.00,0.000,6,0.000,0.048,2603,2296,1854
$STATE,12692,end climb,SURFACE_DEPTH_REACHED
$STATE,12692,begin surface coast
$FINISH,0.9,1.027239
$STATE,12715,end surface coast,CONTROL_FINISHED_OK
$STATE,12715,begin surface
$SM_CCo,12737,34.67,0.627,0,0,1558,300.00
$SM_GC,1.40,0.00,0.00,34.67,0.000,0.000,0.627,66,2506,1558,-10.27,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1903
$TCM_TEMP,17.10
$XPDR_PINGS,44
$ALTIM_TOP_PING,18.0,15.7
$ALTIM_BOTTOM_PING,702.4,36.8
$24V_AH,23.4,5.078
$10V_AH,10.1,1.984
$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,26.475,122.100,341.525,34.675,0.000,18.034,26.421,122.017,17.750,0.000,0.000,17.046,1214.109,9376.528,513.370,1570.442,426.305,33.328,1287.180,0.000,1521.024,0.000,48.661
$DEVICE_MAMPS,164.138,84.370,1152.801,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.871,412.848,367.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,608
$CAP_FILE_SIZE,105580,0
$CFSIZE,260165632,257880064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,080608,063825,6044.554,-526.957,29,1.9,46,-7.1