version: 66.03
glider: 16
mission: 9
dive: 8
start: 6 8 108 10 9 6
data:
$ID,16
$MISSION,9
$DIVE,8
$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,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,-2092507.1
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,100355,6044.598,-531.771,23,1.9,40,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-56.3
$GPS2,100814,6044.568,-531.758,12,1.9,12,-7.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,0.194
$KALMAN_X,1872.1,-548.8,-1249.4,-13454.6,2709.1
$KALMAN_Y,-13512.4,751.8,-917.8,7932.9,-3072.4
$MHEAD_RNG_PITCHd_Wd,319.8,28479,-18.1,-10.000
$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,-1.29,-146.6,0.0,0.0,0,105,0.00,0.00,-80.53,0.000,2,0.000,0.000,70,2500,3215
$GC,109,-1.29,-146.6,5.4,-6.3,4,130,10.85,0.00,-3.20,0.000,6,0.166,0.000,2010,2500,3381
$GC,442,-1.17,-146.6,65.7,-16.0,20,443,0.17,0.00,0.00,0.000,6,0.127,0.000,2041,2500,3382
$GC,749,-1.17,-146.6,107.5,-13.3,35,753,0.00,2.62,0.00,0.000,4,0.000,0.058,2041,1074,3384
$GC,883,-1.17,-146.6,124.9,-12.2,41,887,0.00,2.60,0.00,0.000,6,0.000,0.053,2040,2505,3382
$GC,1203,-1.17,-146.6,168.2,-13.7,57,1208,0.00,2.62,0.00,0.000,4,0.000,0.059,2040,1080,3384
$GC,1288,-1.17,-146.6,179.5,-12.8,61,1293,0.00,2.60,0.00,0.000,6,0.000,0.054,2041,2503,3384
$GC,1615,-1.17,-146.6,222.9,-13.0,77,1619,0.00,2.65,0.00,0.000,4,0.000,0.061,2041,1073,3384
$GC,1748,-1.17,-146.6,239.8,-12.3,83,1753,0.00,2.62,0.00,0.000,6,0.000,0.055,2041,2499,3384
$GC,2069,-1.17,-146.6,281.6,-13.0,99,2074,0.00,2.62,0.00,0.000,4,0.000,0.061,2041,1082,3384
$GC,2147,-1.17,-146.6,291.9,-12.5,102,2154,0.00,2.62,0.00,0.000,6,0.000,0.058,2041,2502,3384
$GC,2463,-1.17,-146.6,336.0,-14.7,118,2467,0.00,2.65,0.00,0.000,4,0.000,0.062,2041,1074,3384
$GC,2597,-1.17,-146.6,355.0,-13.5,124,2601,0.00,2.65,0.00,0.000,6,0.000,0.058,2041,2503,3384
$GC,2918,-1.17,-146.6,401.4,-14.2,140,2922,0.00,2.65,0.00,0.000,4,0.000,0.063,2041,1076,3384
$GC,3048,-1.17,-146.6,418.8,-13.6,146,3052,0.00,2.62,0.00,0.000,6,0.000,0.060,2041,2502,3384
$GC,3374,-1.17,-146.6,463.4,-14.0,162,3378,0.00,2.65,0.00,0.000,4,0.000,0.065,2041,1080,3384
$GC,3505,-1.17,-146.6,480.9,-13.9,168,3509,0.00,2.65,0.00,0.000,6,0.000,0.064,2041,2502,3384
$GC,3832,-1.17,-146.6,526.4,-13.4,184,3836,0.00,2.65,0.00,0.000,4,0.000,0.067,2041,1083,3383
$GC,3988,-1.17,-146.6,546.0,-12.4,191,3992,0.00,2.67,0.00,0.000,6,0.000,0.065,2041,2505,3383
$GC,4308,-1.17,-146.6,584.6,-12.2,207,4313,0.00,2.67,0.00,0.000,4,0.000,0.068,2041,1083,3382
$GC,4420,-1.17,-146.6,598.3,-12.4,212,4424,0.00,2.67,0.00,0.000,6,0.000,0.068,2041,2500,3382
$GC,4741,-1.17,-146.6,638.1,-12.4,228,4745,0.00,2.67,0.00,0.000,4,0.000,0.071,2041,1083,3381
$GC,4853,-1.21,-146.6,652.1,-11.6,233,4857,0.00,2.70,0.00,0.000,6,0.000,0.071,2040,2505,3381
$STATE,5047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5047,begin apogee
$GC,5054,-0.31,0.0,675.7,12.8,243,5190,0.95,0.00,131.82,1.122,6,0.108,0.000,2227,2285,2781
$STATE,5191,end apogee,CONTROL_FINISHED_OK
$STATE,5191,begin climb
$GC,5194,1.29,146.6,682.0,0.0,250,5336,1.73,2.72,130.15,1.094,4,0.099,0.071,2573,891,2183
$GC,5594,1.32,231.8,677.8,6.1,268,5675,0.00,2.67,75.95,1.087,6,0.000,0.063,2573,2301,1834
$GC,5997,1.39,236.3,639.4,9.8,288,6009,0.15,2.75,5.55,0.808,4,0.064,0.074,2615,887,1816
$GC,6205,1.32,236.3,614.2,11.0,297,6211,0.15,2.67,0.00,0.000,6,0.110,0.064,2589,2303,1816
$GC,6521,1.33,246.2,582.2,9.5,312,6536,0.00,2.80,9.93,0.944,4,0.000,0.089,2588,3711,1777
$GC,6592,1.33,246.2,574.9,11.3,314,6597,0.00,2.65,0.00,0.000,6,0.000,0.064,2589,2304,1777
$GC,6908,1.40,266.1,547.0,9.1,329,6933,0.00,2.80,18.52,1.009,4,0.000,0.078,2588,889,1696
$GC,6986,1.44,266.1,539.3,10.4,332,6991,0.12,2.70,0.00,0.000,6,0.069,0.064,2619,2306,1697
$GC,7301,1.44,266.1,501.6,11.8,347,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2306,1696
$GC,7611,1.44,266.1,464.9,12.0,362,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2306,1696
$GC,7920,1.44,266.1,425.9,12.0,377,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2305,1695
$GC,8229,1.44,266.1,388.1,12.2,392,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2305,1695
$GC,8538,1.44,266.1,351.4,12.1,407,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2305,1695
$GC,8848,1.44,266.1,313.4,12.4,422,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2305,1695
$GC,9157,1.44,266.1,275.1,12.3,437,9161,0.00,2.65,0.00,0.000,4,0.000,0.076,2619,3715,1695
$GC,9202,1.44,266.1,269.2,14.0,439,9207,0.00,2.60,0.00,0.000,6,0.000,0.054,2619,2296,1695
$GC,9523,1.44,266.1,229.7,12.1,455,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2297,1696
$GC,9833,1.44,266.1,192.5,12.0,470,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2297,1697
$GC,10142,1.44,266.1,155.4,12.1,485,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2297,1696
$GC,10452,1.44,266.1,117.9,12.3,500,10456,0.00,2.70,0.00,0.000,4,0.000,0.071,2619,3722,1697
$GC,10491,1.44,266.1,112.6,13.9,502,10496,0.00,2.60,0.00,0.000,6,0.000,0.052,2619,2293,1698
$GC,10818,1.44,266.1,72.3,12.4,518,10823,0.00,2.60,0.00,0.000,4,0.000,0.064,2619,888,1698
$GC,10874,1.44,266.1,64.6,14.1,520,10880,0.00,2.58,0.00,0.000,6,0.000,0.048,2619,2308,1698
$GC,11190,1.44,266.1,24.1,11.8,536,11194,0.00,2.62,0.00,0.000,4,0.000,0.069,2619,3714,1700
$GC,11301,1.44,266.1,10.3,13.4,541,11305,0.00,2.58,0.00,0.000,6,0.000,0.050,2619,2292,1699
$STATE,11372,end climb,SURFACE_DEPTH_REACHED
$STATE,11372,begin surface coast
$FINISH,0.6,1.027070
$STATE,11394,end surface coast,CONTROL_FINISHED_OK
$STATE,11394,begin surface
$SM_CCo,11416,16.45,0.604,0,0,1557,300.00
$SM_GC,1.33,0.00,0.00,16.45,0.000,0.000,0.604,74,2505,1557,-10.24,0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1936
$TCM_TEMP,17.30
$XPDR_PINGS,46
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,650.2,34.1
$24V_AH,23.4,5.333
$10V_AH,10.1,2.103
$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,25.275,96.375,371.925,16.450,0.000,18.004,24.196,118.053,17.250,0.000,0.000,11.982,1062.901,8400.247,477.163,1415.949,343.937,33.353,1195.763,0.000,1380.095,0.000,39.563
$DEVICE_MAMPS,166.439,88.972,1122.121,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,401.142,370.540,337.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28535,546
$CAP_FILE_SIZE,89759,0
$CFSIZE,260165632,257802240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,080608,132107,6045.463,-532.205,38,1.5,49,-7.1