version: 66.03
glider: 16
mission: 9
dive: 10
start: 6 8 108 16 54 43
data:
$ID,16
$MISSION,9
$DIVE,10
$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,-2092542
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,164608,6045.342,-534.576,37,1.6,37,-7.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.4
$GPS2,165351,6045.333,-534.515,17,1.6,17,-7.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.156,0.212
$KALMAN_X,3722.6,571.8,145.0,-20325.6,567.2
$KALMAN_Y,-19943.6,22.6,101.0,15495.2,-7993.4
$MHEAD_RNG_PITCHd_Wd,321.4,25701,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.29,-146.6,0.0,0.0,0,87,0.00,0.00,-60.62,0.000,2,0.000,0.000,72,2510,2771
$GC,91,-1.29,-146.6,3.2,-4.3,3,126,10.80,2.67,-17.27,0.000,4,0.164,0.068,2011,1086,3379
$GC,188,-1.18,-146.6,18.8,-15.4,7,193,0.15,2.58,0.00,0.000,6,0.127,0.052,2037,2493,3380
$GC,506,-1.12,-146.6,62.7,-12.9,22,510,0.00,2.60,0.00,0.000,4,0.000,0.057,2037,1083,3381
$GC,697,-1.12,-146.6,86.4,-11.8,30,704,0.00,2.60,0.00,0.000,6,0.000,0.052,2037,2503,3382
$GC,1014,-1.06,-146.6,129.0,-14.0,46,1019,0.15,2.62,0.00,0.000,4,0.118,0.058,2067,1085,3382
$GC,1114,-1.14,-146.6,141.1,-11.5,50,1121,0.00,2.60,0.00,0.000,6,0.000,0.054,2067,2502,3382
$GC,1431,-1.14,-146.6,176.4,-10.9,66,1435,0.00,2.62,0.00,0.000,4,0.000,0.059,2067,1085,3382
$GC,1561,-1.22,-146.6,190.7,-11.0,72,1566,0.15,2.60,0.00,0.000,6,0.047,0.054,2024,2499,3382
$GC,1889,-1.13,-146.6,236.4,-14.4,88,1894,0.15,2.62,0.00,0.000,4,0.102,0.062,2055,1089,3382
$GC,1968,-1.19,-146.6,247.1,-12.3,91,1974,0.00,2.60,0.00,0.000,6,0.000,0.058,2055,2499,3382
$GC,2283,-1.19,-146.6,288.5,-13.6,107,2287,0.00,2.62,0.00,0.000,4,0.000,0.063,2055,1089,3382
$GC,2425,-1.25,-146.6,307.1,-13.0,113,2430,0.12,2.60,0.00,0.000,6,0.051,0.058,2018,2500,3383
$GC,2741,-1.16,-146.6,356.4,-15.9,128,2746,0.15,2.62,0.00,0.000,4,0.104,0.061,2046,1082,3382
$GC,2875,-1.16,-146.6,374.9,-12.6,134,2882,0.00,2.62,0.00,0.000,6,0.000,0.058,2046,2502,3382
$GC,3203,-1.16,-146.6,419.3,-12.8,150,3208,0.00,2.62,0.00,0.000,4,0.000,0.062,2047,1088,3383
$GC,3368,-1.16,-146.6,437.9,-11.0,157,3372,0.00,2.62,0.00,0.000,6,0.000,0.058,2046,2506,3382
$GC,3683,-1.16,-146.6,474.3,-11.5,172,3687,0.00,2.62,0.00,0.000,4,0.000,0.062,2046,1087,3382
$GC,3738,-1.21,-146.6,480.6,-11.3,174,3744,0.00,2.62,0.00,0.000,6,0.000,0.059,2046,2506,3382
$GC,4054,-1.21,-146.6,515.0,-11.2,190,4058,0.00,2.62,0.00,0.000,4,0.000,0.064,2046,1087,3382
$GC,4139,-1.26,-146.6,524.4,-10.7,194,4143,0.00,2.60,0.00,0.000,6,0.000,0.061,2046,2499,3382
$GC,4465,-1.26,-146.6,563.4,-12.2,210,4469,0.00,2.62,0.00,0.000,4,0.000,0.065,2047,1089,3382
$GC,4606,-1.30,-146.6,580.1,-11.2,216,4612,0.15,2.65,0.00,0.000,6,0.052,0.064,2005,2505,3382
$GC,4923,-1.17,-146.6,622.8,-13.4,231,4925,0.20,0.00,0.00,0.000,6,0.109,0.000,2042,2508,3381
$GC,5232,-1.17,-146.6,658.1,-11.6,246,5236,0.00,2.67,0.00,0.000,4,0.000,0.070,2042,1088,3380
$STATE,5336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5336,begin apogee
$GC,5345,-0.31,0.0,670.7,12.1,251,5481,0.98,0.00,131.98,1.100,6,0.126,0.000,2227,2307,2781
$STATE,5481,end apogee,CONTROL_FINISHED_OK
$STATE,5481,begin climb
$GC,5484,1.29,146.6,677.5,0.0,258,5627,1.70,2.85,130.32,1.071,4,0.092,0.085,2576,3710,2182
$GC,5811,1.20,154.6,654.4,9.6,273,5825,0.00,2.67,8.73,0.896,6,0.000,0.065,2576,2303,2150
$GC,6142,1.24,187.1,626.8,8.5,289,6173,0.00,0.00,29.48,1.030,6,0.000,0.000,2575,2303,2018
$GC,6471,1.27,213.4,598.2,8.8,305,6501,0.00,2.83,24.40,1.016,4,0.000,0.089,2576,3714,1910
$GC,6574,1.27,213.4,588.1,10.1,309,6581,0.00,2.67,0.00,0.000,6,0.000,0.062,2576,2301,1910
$GC,6891,1.33,218.0,558.3,9.8,325,6898,0.00,0.00,5.35,0.784,6,0.000,0.000,2576,2302,1892
$GC,7200,1.40,218.0,525.7,10.9,340,7201,0.12,0.00,0.00,0.000,6,0.063,0.000,2607,2301,1891
$GC,7508,1.40,218.0,488.4,11.5,355,7513,0.00,2.72,0.00,0.000,4,0.000,0.076,2607,878,1890
$GC,7575,1.32,218.0,481.0,10.9,358,7580,0.00,2.67,0.00,0.000,6,0.000,0.062,2607,2298,1890
$GC,7896,1.32,218.0,446.3,11.4,374,7900,0.00,2.75,0.00,0.000,4,0.000,0.084,2607,3718,1889
$GC,8060,1.25,218.0,425.4,13.0,381,8065,0.17,2.65,0.00,0.000,6,0.105,0.060,2575,2297,1889
$GC,8376,1.33,223.8,394.0,9.7,396,8384,0.00,0.00,6.40,0.771,6,0.000,0.000,2575,2296,1868
$GC,8686,1.42,233.0,363.9,9.6,411,8701,0.15,2.75,9.62,0.825,4,0.057,0.077,2617,3716,1831
$GC,8774,1.34,233.0,352.8,13.4,414,8780,0.15,2.62,0.00,0.000,6,0.104,0.056,2590,2298,1830
$GC,9095,1.34,233.0,317.3,11.0,430,9100,0.00,2.65,0.00,0.000,4,0.000,0.068,2590,884,1831
$GC,9158,1.34,233.0,309.9,11.8,433,9162,0.00,2.62,0.00,0.000,6,0.000,0.052,2590,2306,1830
$GC,9484,1.34,233.0,272.2,11.5,449,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2306,1832
$GC,9793,1.38,233.0,237.3,11.2,464,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2305,1832
$GC,10103,1.42,233.0,204.3,10.7,479,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2306,1832
$GC,10412,1.48,233.0,171.9,10.2,494,10417,0.15,2.65,0.00,0.000,4,0.052,0.071,2636,3717,1832
$GC,10479,1.36,233.0,162.8,13.6,497,10484,0.20,2.60,0.00,0.000,6,0.099,0.051,2598,2295,1833
$GC,10801,1.36,233.0,126.2,11.0,513,10805,0.00,2.60,0.00,0.000,4,0.000,0.062,2598,885,1833
$GC,10844,1.36,233.0,121.0,11.8,515,10849,0.00,2.53,0.00,0.000,6,0.000,0.048,2598,2301,1833
$GC,11166,1.36,233.0,85.0,11.1,531,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2301,1834
$GC,11475,1.36,233.0,50.5,11.2,546,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2301,1836
$GC,11785,1.40,233.0,16.1,10.9,561,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2301,1836
$STATE,11926,end climb,SURFACE_DEPTH_REACHED
$STATE,11926,begin surface coast
$FINISH,0.6,1.002212
$STATE,11948,end surface coast,CONTROL_FINISHED_OK
$STATE,11948,begin surface
$SM_CCo,11971,32.60,0.615,0,0,1557,300.00
$SM_GC,1.61,0.00,0.00,32.60,0.000,0.000,0.615,69,2503,1557,-10.26,0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1908
$TCM_TEMP,17.40
$XPDR_PINGS,37
$ALTIM_TOP_PING,18.4,18.3
$ALTIM_BOTTOM_PING,650.9,29.3
$24V_AH,23.4,5.583
$10V_AH,10.1,2.225
$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,26.625,105.825,346.275,32.600,0.000,36.364,58.418,198.451,15.000,0.000,0.000,17.496,1120.848,8899.166,487.553,1468.255,499.276,33.338,1221.727,0.000,1426.380,0.000,39.558
$DEVICE_MAMPS,164.138,88.972,1099.878,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.800,386.260,363.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28606,569
$CAP_FILE_SIZE,100424,0
$CFSIZE,260165632,257695744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,080608,201607,6044.867,-539.228,41,1.6,41,-7.2