version: 66.03
glider: 16
mission: 9
dive: 18
start: 6 9 108 15 25 50
data:
$ID,16
$MISSION,9
$DIVE,18
$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,-2092705.8
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,152102,6050.994,-547.228,16,1.6,25,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-57.4
$GPS2,152458,6050.976,-547.158,14,1.9,14,-7.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.122,0.234
$KALMAN_X,7501.4,-431.9,-157.2,-34216.9,6501.6
$KALMAN_Y,-39086.6,631.7,512.3,44052.4,-18669.7
$MHEAD_RNG_PITCHd_Wd,323.9,10266,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.29,-146.6,0.0,0.0,0,106,0.00,0.00,-80.60,0.000,2,0.000,0.000,72,2294,3157
$GC,110,-1.29,-146.6,5.0,-5.7,4,132,10.82,2.65,-4.50,0.000,4,0.167,0.077,2010,873,3380
$GC,224,-1.16,-146.6,32.0,-18.5,9,229,0.17,2.60,0.00,0.000,6,0.124,0.048,2040,2304,3380
$GC,553,-1.10,-146.6,84.7,-16.4,25,557,0.00,2.62,0.00,0.000,4,0.000,0.068,2041,3713,3379
$GC,609,-1.04,-146.6,93.9,-15.6,27,616,0.17,2.55,0.00,0.000,6,0.107,0.048,2073,2296,3380
$GC,925,-1.08,-146.6,129.8,-10.8,43,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2295,3381
$GC,1234,-1.12,-146.6,162.7,-11.1,58,1238,0.00,2.60,0.00,0.000,4,0.000,0.064,2073,881,3381
$GC,1306,-1.23,-146.6,170.6,-10.7,61,1311,0.20,2.60,0.00,0.000,6,0.042,0.051,2017,2304,3381
$GC,1622,-1.12,-146.6,217.5,-16.1,76,1624,0.20,0.00,0.00,0.000,6,0.099,0.000,2055,2304,3382
$GC,1931,-1.12,-146.6,255.0,-11.2,91,1935,0.00,2.65,0.00,0.000,4,0.000,0.064,2055,878,3382
$GC,2031,-1.18,-146.6,266.3,-11.0,95,2038,0.00,2.60,0.00,0.000,6,0.000,0.053,2055,2303,3382
$GC,2347,-1.18,-146.6,305.4,-12.9,111,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2302,3382
$GC,2657,-1.18,-146.6,345.9,-13.0,126,2661,0.00,2.65,0.00,0.000,4,0.000,0.066,2055,882,3382
$GC,2751,-1.24,-146.6,358.2,-13.0,130,2757,0.12,2.60,0.00,0.000,6,0.052,0.053,2020,2305,3382
$STATE,2922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2922,begin apogee
$GC,2928,-0.31,0.0,383.4,15.2,138,3062,1.02,0.00,126.15,0.874,6,0.097,0.000,2227,2304,2782
$STATE,3063,end apogee,CONTROL_FINISHED_OK
$STATE,3063,begin climb
$GC,3066,1.29,146.6,390.9,0.0,145,3203,1.67,2.78,125.22,0.854,4,0.073,0.063,2581,875,2183
$GC,3245,1.33,224.6,385.2,6.5,153,3319,0.00,2.62,66.38,0.835,6,0.000,0.050,2580,2301,1865
$GC,3643,1.41,225.9,347.9,9.9,173,3648,0.12,2.67,0.00,0.000,4,0.051,0.074,2618,3709,1864
$GC,3828,1.35,225.9,323.8,13.2,181,3833,0.15,2.60,0.00,0.000,6,0.098,0.057,2591,2302,1864
$GC,4144,1.39,225.9,290.4,10.5,196,4148,0.00,2.67,0.00,0.000,4,0.000,0.068,2590,876,1864
$GC,4183,1.39,225.9,286.1,10.5,198,4188,0.00,2.60,0.00,0.000,6,0.000,0.049,2591,2299,1862
$GC,4510,1.43,225.9,249.8,11.5,214,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2299,1863
$GC,4820,1.47,225.9,214.8,11.4,229,4821,0.12,0.00,0.00,0.000,6,0.054,0.000,2628,2299,1862
$GC,5129,1.40,225.9,177.5,11.6,244,5131,0.12,0.00,0.00,0.000,6,0.100,0.000,2605,2299,1863
$GC,5438,1.40,225.9,144.8,10.1,259,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2299,1863
$GC,5749,1.40,225.9,112.5,10.7,274,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2299,1862
$GC,6057,1.40,225.9,79.0,11.6,289,6061,0.00,2.62,0.00,0.000,4,0.000,0.070,2604,3709,1862
$GC,6089,1.40,225.9,75.1,11.2,290,6096,0.00,2.55,0.00,0.000,6,0.000,0.052,2604,2298,1862
$GC,6407,1.40,225.9,43.7,10.7,306,6411,0.00,2.65,0.00,0.000,4,0.000,0.067,2605,3712,1862
$GC,6501,1.40,225.9,31.4,12.2,310,6505,0.00,2.58,0.00,0.000,6,0.000,0.054,2604,2300,1862
$STATE,6773,end climb,SURFACE_DEPTH_REACHED
$STATE,6773,begin surface coast
$FINISH,0.5,1.027165
$STATE,6795,end surface coast,CONTROL_FINISHED_OK
$STATE,6795,begin surface
$SM_CCo,6817,35.62,0.604,0,0,1558,300.00
$SM_GC,1.26,0.00,0.00,35.62,0.000,0.000,0.604,70,2299,1558,-10.25,-0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1865
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.7
$ALTIM_BOTTOM_PING,377.2,14.5
$24V_AH,23.6,6.487
$10V_AH,10.1,2.614
$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,25.900,52.475,317.750,35.625,0.000,18.313,26.494,98.778,3.750,0.000,0.000,16.647,637.968,4950.345,448.090,786.495,279.625,33.334,861.682,0.000,770.196,0.000,21.650
$DEVICE_MAMPS,167.206,77.467,874.380,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.162,218.398,278.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16010,324
$CAP_FILE_SIZE,56066,0
$CFSIZE,260165632,257433600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090608,172125,6051.016,-548.456,26,1.3,43,-7.3