version: 66.03
glider: 16
mission: 9
dive: 9
start: 6 8 108 13 26 24
data:
$ID,16
$MISSION,9
$DIVE,9
$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,-2092523.9
$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,22
$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
$GPS1,132107,6045.463,-532.205,38,1.5,49,-7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-60.9
$GPS2,132532,6045.464,-532.175,11,1.4,16,-7.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.160,0.210
$KALMAN_X,2163.6,-115.4,1213.7,-17026.9,-595.8
$KALMAN_Y,-17038.9,-22.6,1295.3,11701.0,-8664.1
$MHEAD_RNG_PITCHd_Wd,317.8,27094,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-60.60,0.000,2,0.000,0.000,74,2505,2738
$GC,89,-1.29,-146.6,3.3,-4.2,3,124,10.80,2.62,-18.55,0.000,4,0.166,0.069,2009,1080,3380
$GC,200,-1.19,-146.6,20.3,-15.4,8,205,0.17,2.60,0.00,0.000,6,0.114,0.052,2040,2498,3380
$GC,529,-1.14,-146.6,69.5,-14.8,24,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2498,3381
$GC,837,-1.09,-146.6,112.9,-14.1,39,842,0.10,2.60,0.00,0.000,4,0.119,0.058,2057,1088,3382
$GC,1016,-1.15,-146.6,134.9,-11.7,47,1020,0.00,2.60,0.00,0.000,6,0.000,0.053,2057,2504,3382
$GC,1336,-1.15,-146.6,174.9,-13.0,63,1341,0.00,2.62,0.00,0.000,4,0.000,0.059,2057,1083,3383
$GC,1489,-1.21,-146.6,194.5,-13.1,69,1495,0.00,2.60,0.00,0.000,6,0.000,0.055,2057,2498,3383
$GC,1804,-1.21,-146.6,238.1,-14.0,85,1809,0.00,2.62,0.00,0.000,4,0.000,0.061,2057,1080,3383
$GC,1939,-1.27,-146.6,256.6,-13.8,91,1944,0.17,2.62,0.00,0.000,6,0.046,0.057,2009,2500,3383
$GC,2260,-1.16,-146.6,310.2,-17.1,107,2265,0.20,2.62,0.00,0.000,4,0.101,0.062,2050,1087,3383
$GC,2386,-1.20,-146.6,327.3,-13.2,112,2392,0.00,2.62,0.00,0.000,6,0.000,0.058,2050,2504,3384
$GC,2701,-1.20,-146.6,367.7,-12.8,128,2705,0.00,2.62,0.00,0.000,4,0.000,0.062,2050,1088,3384
$GC,2848,-1.25,-146.6,385.7,-12.0,134,2854,0.00,2.62,0.00,0.000,6,0.000,0.059,2050,2504,3383
$GC,3164,-1.25,-146.6,424.6,-12.1,150,3168,0.00,2.62,0.00,0.000,4,0.000,0.062,2050,1088,3383
$GC,3328,-1.29,-146.6,443.4,-11.5,157,3333,0.15,2.62,0.00,0.000,6,0.049,0.060,2009,2502,3384
$GC,3649,-1.18,-146.6,489.3,-14.2,173,3654,0.15,2.65,0.00,0.000,4,0.107,0.064,2040,1084,3383
$GC,3721,-1.18,-146.6,498.2,-11.5,176,3726,0.00,2.65,0.00,0.000,6,0.000,0.061,2040,2505,3384
$GC,4038,-1.18,-146.6,536.9,-11.9,191,4042,0.00,2.65,0.00,0.000,4,0.000,0.066,2041,1086,3383
$GC,4223,-1.18,-146.6,558.4,-11.4,199,4227,0.00,2.65,0.00,0.000,6,0.000,0.064,2041,2498,3383
$GC,4538,-1.18,-146.6,597.0,-12.0,214,4542,0.00,2.65,0.00,0.000,4,0.000,0.069,2041,1090,3383
$GC,4622,-1.18,-146.6,607.2,-12.1,218,4627,0.00,2.65,0.00,0.000,6,0.000,0.068,2041,2499,3383
$GC,4949,-1.18,-146.6,648.0,-12.7,234,4953,0.00,2.67,0.00,0.000,4,0.000,0.071,2041,1086,3381
$GC,5071,-1.18,-146.6,663.1,-11.4,239,5078,0.00,2.67,0.00,0.000,6,0.000,0.071,2041,2503,3380
$STATE,5178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5178,begin apogee
$GC,5185,-0.31,0.0,676.6,12.3,245,5321,0.95,0.00,132.00,1.114,6,0.111,0.000,2226,2299,2781
$STATE,5322,end apogee,CONTROL_FINISHED_OK
$STATE,5322,begin climb
$GC,5325,1.29,146.6,679.7,0.0,252,5468,1.65,2.90,130.38,1.083,4,0.074,0.087,2577,3720,2183
$GC,5631,1.27,198.4,669.8,7.6,266,5685,0.00,2.67,46.42,1.058,6,0.000,0.063,2578,2303,1972
$GC,6003,1.28,213.7,636.8,9.3,284,6021,0.00,0.00,14.95,0.987,6,0.000,0.000,2577,2305,1909
$GC,6331,1.35,235.1,607.6,9.0,300,6353,0.00,0.00,20.23,1.016,6,0.000,0.000,2578,2305,1822
$GC,6661,1.44,237.1,575.8,9.9,316,6663,0.17,0.00,0.00,0.000,6,0.058,0.000,2619,2305,1821
$GC,6970,1.38,237.1,540.1,11.7,331,6974,0.00,2.72,0.00,0.000,4,0.000,0.078,2621,885,1819
$GC,7054,1.28,237.1,529.7,11.9,335,7060,0.22,2.67,0.00,0.000,6,0.105,0.064,2578,2304,1819
$GC,7382,1.37,239.0,496.6,9.9,351,7389,0.00,0.00,4.40,0.711,6,0.000,0.000,2578,2304,1807
$GC,7691,1.44,239.0,465.4,10.4,366,7697,0.15,2.72,0.00,0.000,4,0.063,0.084,2617,3716,1806
$GC,7787,1.36,239.0,452.9,13.2,370,7792,0.12,2.62,0.00,0.000,6,0.110,0.061,2595,2302,1806
$GC,8102,1.36,239.0,419.7,10.3,385,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2302,1806
$GC,8411,1.36,239.0,388.4,10.2,400,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2302,1806
$GC,8721,1.36,239.0,355.7,10.3,415,8725,0.00,2.67,0.00,0.000,4,0.000,0.069,2595,881,1806
$GC,8777,1.36,239.0,349.6,11.0,417,8783,0.00,2.62,0.00,0.000,6,0.000,0.054,2595,2303,1806
$GC,9092,1.36,239.0,314.9,11.4,433,9097,0.00,2.67,0.00,0.000,4,0.000,0.077,2595,3710,1806
$GC,9136,1.36,239.0,309.7,12.1,435,9141,0.00,2.62,0.00,0.000,6,0.000,0.055,2594,2290,1806
$GC,9458,1.36,239.0,274.5,10.6,451,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2290,1806
$GC,9767,1.36,239.0,240.7,11.3,466,9772,0.00,2.72,0.00,0.000,4,0.000,0.074,2595,3714,1807
$GC,9806,1.36,239.0,235.9,13.0,468,9811,0.00,2.60,0.00,0.000,6,0.000,0.054,2595,2298,1807
$GC,10134,1.40,239.0,199.9,11.2,484,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2299,1807
$GC,10443,1.44,239.0,162.2,12.5,499,10447,0.00,2.62,0.00,0.000,4,0.000,0.064,2595,883,1808
$GC,10492,1.44,239.0,155.7,13.0,501,10497,0.00,2.58,0.00,0.000,6,0.000,0.048,2595,2303,1808
$GC,10808,1.44,239.0,116.9,11.8,516,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2303,1808
$GC,11118,1.48,239.0,82.9,10.8,531,11123,0.12,2.62,0.00,0.000,4,0.054,0.070,2631,3707,1809
$GC,11190,1.39,239.0,73.2,13.6,534,11195,0.15,2.58,0.00,0.000,6,0.099,0.052,2603,2295,1809
$GC,11508,1.39,239.0,36.6,12.1,549,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2295,1810
$GC,11815,1.39,239.0,3.0,10.3,564,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2294,1811
$STATE,11833,end climb,SURFACE_DEPTH_REACHED
$STATE,11833,begin surface coast
$FINISH,0.6,1.027079
$STATE,11855,end surface coast,CONTROL_FINISHED_OK
$STATE,11855,begin surface
$SM_CCo,11877,29.58,0.614,0,0,1557,300.00
$SM_GC,1.31,0.00,0.00,29.58,0.000,0.000,0.614,73,2510,1557,-10.24,0.25,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1905
$TCM_TEMP,17.40
$XPDR_PINGS,41
$ALTIM_TOP_PING,18.0,16.1
$ALTIM_BOTTOM_PING,627.4,57.1
$24V_AH,23.4,5.456
$10V_AH,10.1,2.163
$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,26.275,101.300,348.375,29.575,0.000,18.247,27.040,116.731,15.750,0.000,0.000,16.109,1113.699,8783.438,482.041,1440.002,362.203,33.331,1206.422,0.000,1401.208,0.000,38.016
$DEVICE_MAMPS,166.439,87.438,1114.451,613.600,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.576,383.929,357.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28563,566
$CAP_FILE_SIZE,95688,0
$CFSIZE,260165632,257748992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,080608,164608,6045.342,-534.576,37,1.6,37,-7.2