version: 66.03
glider: 16
mission: 9
dive: 20
start: 6 9 108 19 51 5
data:
$ID,16
$MISSION,9
$DIVE,20
$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,412.5
$T_MISSION,440
$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,-2092770.6
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,194558,6050.870,-551.063,37,2.3,56,-7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-54.2
$GPS2,195017,6050.862,-551.050,11,4.4,30,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.046,0.241
$KALMAN_X,6630.0,200.4,-285.6,-37351.3,4298.6
$KALMAN_Y,-46450.9,1183.1,1103.7,50065.0,-33560.9
$MHEAD_RNG_PITCHd_Wd,342.4,8448,-14.8,-8.000
$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,-1.08,-146.6,0.0,0.0,0,86,0.00,0.00,-61.40,0.000,2,0.000,0.000,69,2301,2823
$GC,90,-1.08,-146.6,3.8,-5.7,3,120,10.90,2.60,-13.82,0.000,4,0.160,0.070,2058,880,3380
$GC,182,-0.98,-146.6,20.9,-15.1,7,187,0.15,2.60,0.00,0.000,6,0.110,0.048,2085,2307,3380
$GC,504,-0.91,-146.6,56.1,-9.7,23,508,0.00,2.62,0.00,0.000,4,0.000,0.059,2085,883,3380
$GC,637,-0.91,-146.6,70.0,-10.3,29,642,0.00,2.58,0.00,0.000,6,0.000,0.049,2085,2303,3380
$GC,960,-0.86,-146.6,104.7,-10.5,45,965,0.15,2.62,0.00,0.000,4,0.102,0.067,2117,3713,3380
$GC,1009,-0.86,-146.6,109.9,-9.5,47,1014,0.00,2.55,0.00,0.000,6,0.000,0.049,2117,2302,3380
$GC,1326,-0.90,-146.6,139.2,-9.3,62,1330,0.00,2.60,0.00,0.000,4,0.000,0.063,2117,884,3382
$GC,1398,-0.99,-146.6,145.8,-8.7,65,1403,0.15,2.58,0.00,0.000,6,0.046,0.050,2072,2299,3381
$GC,1714,-0.91,-146.6,180.6,-10.7,80,1716,0.15,0.00,0.00,0.000,6,0.091,0.000,2101,2299,3381
$GC,2023,-0.91,-146.6,207.6,-8.8,95,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2299,3381
$GC,2332,-0.91,-146.6,235.6,-8.9,110,2336,0.00,2.62,0.00,0.000,4,0.000,0.064,2102,880,3382
$GC,2450,-0.96,-146.6,247.3,-11.4,115,2454,0.00,2.58,0.00,0.000,6,0.000,0.051,2101,2301,3381
$GC,2766,-0.96,-146.6,275.6,-8.9,130,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2301,3382
$GC,3074,-0.96,-146.6,306.0,-10.1,145,3079,0.00,2.62,0.00,0.000,4,0.000,0.063,2101,881,3381
$GC,3115,-1.02,-146.6,310.0,-10.2,147,3120,0.12,2.60,0.00,0.000,6,0.051,0.052,2065,2307,3381
$GC,3443,-0.92,-146.6,350.2,-12.5,163,3445,0.17,0.00,0.00,0.000,6,0.094,0.000,2099,2307,3381
$STATE,3521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3521,begin apogee
$GC,3527,-0.31,0.0,358.8,10.3,167,3657,0.65,0.00,126.18,0.861,6,0.098,0.000,2229,2307,2781
$STATE,3657,end apogee,CONTROL_FINISHED_OK
$STATE,3658,begin climb
$GC,3660,1.08,146.6,364.3,0.0,173,3795,1.42,2.72,125.75,0.847,4,0.082,0.068,2529,3707,2183
$GC,3953,1.12,178.2,352.0,6.9,187,3988,0.00,2.60,28.20,0.806,6,0.000,0.054,2529,2301,2054
$GC,4319,1.23,222.8,328.2,6.4,205,4361,0.17,0.00,39.25,0.815,6,0.044,0.000,2579,2300,1871
$GC,4666,1.19,222.8,294.9,9.8,222,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2300,1871
$GC,4975,1.15,222.8,262.1,10.8,237,4980,0.15,2.67,0.00,0.000,4,0.092,0.071,2546,3713,1871
$GC,5037,1.15,222.8,255.6,10.4,240,5041,0.00,2.62,0.00,0.000,6,0.000,0.055,2546,2292,1871
$GC,5364,1.20,222.8,225.9,9.2,256,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2292,1871
$GC,5673,1.24,222.8,198.2,8.7,271,5678,0.10,2.62,0.00,0.000,4,0.058,0.066,2577,881,1870
$GC,5729,1.18,222.8,192.4,10.6,273,5735,0.00,2.58,0.00,0.000,6,0.000,0.049,2577,2299,1870
$GC,6045,1.14,222.8,161.2,9.7,289,6047,0.15,0.00,0.00,0.000,6,0.094,0.000,2547,2299,1870
$GC,6355,1.19,222.8,136.0,8.2,304,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2300,1870
$GC,6664,1.21,240.8,111.4,7.3,319,6683,0.00,0.00,15.85,0.678,6,0.000,0.000,2547,2299,1799
$GC,6995,1.30,260.5,84.7,7.3,335,7015,0.15,0.00,17.62,0.667,6,0.050,0.000,2591,2299,1719
$GC,7324,1.25,260.5,53.7,10.5,351,7328,0.00,2.62,0.00,0.000,4,0.000,0.061,2590,881,1718
$GC,7432,1.20,260.5,40.8,12.6,356,7437,0.15,2.58,0.00,0.000,6,0.092,0.048,2561,2303,1718
$GC,7759,1.26,317.1,9.5,5.9,372,7811,0.00,2.65,46.78,0.635,4,0.000,0.063,2561,3707,1487
$STATE,7831,end climb,SURFACE_DEPTH_REACHED
$STATE,7831,begin surface coast
$FINISH,1.3,1.027192
$STATE,7839,end surface coast,CONTROL_FINISHED_OK
$STATE,7839,begin surface
$SM_CCo,7923,0.00,0.000,0,0,1487,317.42
$SM_GC,1.48,10.88,0.00,0.00,0.035,0.000,0.000,74,2300,1487,-10.17,-0.03,317.42
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1875
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.6,999.0
$ALTIM_BOTTOM_PING,327.1,39.7
$24V_AH,23.6,6.676
$10V_AH,10.1,2.705
$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,25.625,57.525,399.625,0.000,0.000,18.060,25.897,101.346,3.000,0.000,0.000,31.261,724.954,5786.438,469.611,916.763,289.176,33.339,933.012,0.000,880.699,0.000,21.418
$DEVICE_MAMPS,159.536,71.331,861.341,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.097,253.810,333.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19081,376
$CAP_FILE_SIZE,63026,0
$CFSIZE,260165632,257355776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090608,220408,6051.282,-553.298,24,1.4,24,-7.3