version: 66.03
glider: 16
mission: 9
dive: 17
start: 6 9 108 13 28 1
data:
$ID,16
$MISSION,9
$DIVE,17
$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,-2092688.5
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,19
$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
$GPS1,132308,6050.352,-547.204,40,1.5,46,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-57.4
$GPS2,132709,6050.367,-547.117,13,1.4,13,-7.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,0.250
$KALMAN_X,5030.8,-259.8,469.9,-32516.3,1215.7
$KALMAN_Y,-37307.7,743.8,813.3,40718.6,-16393.3
$MHEAD_RNG_PITCHd_Wd,327.7,11135,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-71.43,0.000,2,0.000,0.000,72,2301,2987
$GC,100,-1.29,-146.6,4.1,-4.4,4,125,10.77,2.65,-9.00,0.000,4,0.166,0.072,2010,875,3381
$GC,255,-1.18,-146.6,35.3,-17.1,11,260,0.17,2.60,0.00,0.000,6,0.123,0.048,2040,2301,3382
$GC,578,-1.13,-146.6,85.7,-14.7,27,582,0.00,2.62,0.00,0.000,4,0.000,0.068,2040,3707,3382
$GC,642,-1.07,-146.6,95.2,-14.2,30,647,0.12,2.55,0.00,0.000,6,0.115,0.047,2062,2294,3382
$GC,969,-1.07,-146.6,137.2,-12.9,46,973,0.00,2.60,0.00,0.000,4,0.000,0.062,2062,881,3382
$GC,1024,-1.15,-146.6,144.9,-13.3,48,1030,0.00,2.58,0.00,0.000,6,0.000,0.051,2062,2298,3382
$GC,1340,-1.15,-146.6,186.8,-13.4,64,1344,0.00,2.62,0.00,0.000,4,0.000,0.063,2062,883,3383
$GC,1424,-1.23,-146.6,198.6,-13.7,68,1429,0.15,2.58,0.00,0.000,6,0.047,0.051,2018,2300,3383
$GC,1753,-1.13,-146.6,253.5,-16.7,84,1755,0.17,0.00,0.00,0.000,6,0.101,0.000,2050,2300,3383
$GC,2060,-1.13,-146.6,297.3,-13.9,99,2064,0.00,2.62,0.00,0.000,4,0.000,0.064,2051,882,3383
$GC,2105,-1.18,-146.6,303.7,-13.6,101,2110,0.00,2.60,0.00,0.000,6,0.000,0.051,2050,2307,3383
$GC,2427,-1.18,-146.6,346.6,-12.3,117,2431,0.00,2.65,0.00,0.000,4,0.000,0.064,2050,883,3383
$GC,2482,-1.22,-146.6,353.2,-11.8,119,2488,0.00,2.60,0.00,0.000,6,0.000,0.052,2051,2305,3383
$GC,2797,-1.22,-146.6,393.4,-13.1,135,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2305,3383
$STATE,2857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2857,begin apogee
$GC,2863,-0.31,0.0,401.0,12.2,138,2994,0.88,0.00,127.53,0.893,6,0.096,0.000,2228,2305,2781
$STATE,2995,end apogee,CONTROL_FINISHED_OK
$STATE,2995,begin climb
$GC,2998,1.29,146.6,402.6,0.0,144,3133,1.60,2.78,125.62,0.874,4,0.058,0.062,2578,876,2183
$GC,3304,1.34,187.8,385.7,8.1,158,3347,0.00,2.62,36.20,0.840,6,0.000,0.050,2578,2299,2015
$GC,3673,1.40,201.8,352.9,9.4,176,3695,0.12,2.75,13.30,0.777,4,0.051,0.073,2616,3704,1958
$GC,3746,1.31,201.8,344.0,12.6,179,3751,0.17,2.60,0.00,0.000,6,0.100,0.056,2584,2300,1958
$GC,4067,1.37,221.8,313.5,9.1,195,4092,0.00,2.75,18.30,0.797,4,0.000,0.067,2584,880,1876
$GC,4150,1.38,228.7,305.4,9.7,198,4164,0.00,2.62,7.68,0.701,6,0.000,0.050,2584,2305,1847
$GC,4487,1.46,246.3,273.3,9.2,215,4507,0.15,0.00,16.20,0.771,6,0.048,0.000,2626,2305,1776
$GC,4817,1.42,246.3,233.9,12.6,231,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2305,1775
$GC,5126,1.42,246.3,192.5,13.8,246,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2305,1775
$GC,5435,1.42,246.3,151.1,13.4,261,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2305,1774
$GC,5744,1.42,246.3,109.5,13.3,276,5748,0.00,2.65,0.00,0.000,4,0.000,0.063,2627,881,1774
$GC,5811,1.38,246.3,100.0,13.9,279,5816,0.15,2.58,0.00,0.000,6,0.096,0.047,2598,2303,1774
$GC,6133,1.43,246.3,62.5,12.2,295,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2303,1774
$GC,6442,1.50,264.5,29.5,9.2,310,6465,0.12,2.65,16.00,0.634,4,0.051,0.067,2635,3707,1701
$GC,6606,1.41,264.5,6.0,13.0,317,6611,0.15,2.62,0.00,0.000,6,0.093,0.060,2606,2296,1702
$STATE,6658,end climb,SURFACE_DEPTH_REACHED
$STATE,6658,begin surface coast
$FINISH,0.6,1.027145
$STATE,6678,end surface coast,CONTROL_FINISHED_OK
$STATE,6678,begin surface
$SM_CCo,6700,17.27,0.605,0,0,1557,300.00
$SM_GC,1.23,0.00,0.00,17.27,0.000,0.000,0.605,72,2294,1557,-10.24,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1885
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,325.7,84.2
$24V_AH,23.6,6.395
$10V_AH,10.1,2.575
$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,25.900,57.900,360.825,17.275,0.000,18.111,26.592,103.836,3.250,0.000,0.000,15.680,646.731,4764.493,443.270,829.807,288.094,33.343,892.083,0.000,808.910,0.000,18.587
$DEVICE_MAMPS,166.439,72.865,892.788,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.133,216.053,262.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15991,321
$CAP_FILE_SIZE,59227,0
$CFSIZE,260165632,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090608,152102,6050.994,-547.228,16,1.6,25,-7.3