version: 66.03
glider: 16
mission: 9
dive: 21
start: 6 9 108 22 11 52
data:
$ID,16
$MISSION,9
$DIVE,21
$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,-2092787.6
$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,15
$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
$GPS1,220408,6051.282,-553.298,24,1.4,24,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-56.2
$GPS2,221103,6051.258,-553.179,16,1.6,16,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.018,0.245
$KALMAN_X,5516.2,-277.1,-93.2,-37880.7,1489.6
$KALMAN_Y,-48478.7,1331.2,1130.5,52634.3,-35522.8
$MHEAD_RNG_PITCHd_Wd,354.0,7122,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-81.18,0.000,2,0.000,0.000,73,2298,3165
$GC,110,-1.08,-146.6,5.1,-6.3,4,132,10.98,2.60,-4.12,0.000,4,0.163,0.071,2055,878,3381
$GC,340,-0.99,-146.6,45.3,-13.5,14,345,0.15,2.58,0.00,0.000,6,0.112,0.050,2082,2298,3381
$GC,662,-0.93,-146.6,82.7,-11.9,30,666,0.00,2.62,0.00,0.000,4,0.000,0.061,2082,880,3382
$GC,762,-0.93,-146.6,95.0,-12.0,34,768,0.00,2.60,0.00,0.000,6,0.000,0.051,2082,2304,3382
$GC,1080,-0.87,-146.6,131.6,-11.3,50,1082,0.15,0.00,0.00,0.000,6,0.107,0.000,2110,2303,3383
$GC,1387,-0.87,-146.6,161.3,-9.5,65,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2304,3383
$GC,1696,-0.87,-146.6,190.9,-9.6,80,1700,0.00,2.62,0.00,0.000,4,0.000,0.064,2109,881,3383
$GC,1781,-0.93,-146.6,198.8,-9.4,84,1785,0.00,2.58,0.00,0.000,6,0.000,0.051,2109,2303,3383
$GC,2107,-0.93,-146.6,228.9,-9.0,100,2111,0.00,2.65,0.00,0.000,4,0.000,0.066,2110,876,3383
$GC,2185,-0.99,-146.6,236.2,-9.4,103,2191,0.12,2.60,0.00,0.000,6,0.051,0.053,2072,2302,3383
$GC,2501,-0.91,-146.6,272.7,-11.6,119,2506,0.15,2.65,0.00,0.000,4,0.097,0.066,2104,877,3383
$GC,2579,-0.98,-146.6,280.0,-8.7,122,2585,0.00,2.60,0.00,0.000,6,0.000,0.053,2104,2303,3383
$GC,2895,-0.98,-146.6,309.6,-10.1,138,2899,0.00,2.62,0.00,0.000,4,0.000,0.067,2104,881,3382
$GC,2939,-1.03,-146.6,314.5,-11.2,140,2944,0.15,2.58,0.00,0.000,6,0.047,0.055,2059,2300,3383
$STATE,3072,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3072,begin apogee
$GC,3078,-0.31,0.0,332.1,13.3,147,3208,0.88,0.00,126.00,0.835,6,0.114,0.000,2230,2299,2781
$STATE,3208,end apogee,CONTROL_FINISHED_OK
$STATE,3209,begin climb
$GC,3211,1.08,146.6,335.4,0.0,153,3346,1.40,2.72,123.95,0.817,4,0.072,0.063,2531,874,2182
$GC,3395,1.14,199.8,330.1,6.1,162,3447,0.00,2.65,45.53,0.793,6,0.000,0.051,2531,2306,1966
$GC,3758,1.21,199.8,302.7,8.2,180,3760,0.15,0.00,0.00,0.000,6,0.048,0.000,2577,2307,1966
$GC,4065,1.13,199.8,275.4,9.0,195,4067,0.15,0.00,0.00,0.000,6,0.092,0.000,2548,2307,1965
$GC,4374,1.13,199.8,248.0,9.6,210,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2307,1965
$GC,4684,1.13,199.8,219.3,8.9,225,4688,0.00,2.65,0.00,0.000,4,0.000,0.064,2548,879,1965
$GC,4733,1.13,199.8,214.6,9.1,227,4737,0.00,2.60,0.00,0.000,6,0.000,0.051,2548,2302,1965
$GC,5048,1.13,199.8,187.7,8.2,242,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2302,1965
$GC,5358,1.13,199.8,160.4,8.9,257,5362,0.00,2.65,0.00,0.000,4,0.000,0.064,2548,878,1965
$GC,5430,1.13,199.8,153.7,8.9,260,5434,0.00,2.60,0.00,0.000,6,0.000,0.050,2548,2305,1964
$GC,5746,1.13,199.8,125.8,8.8,275,5750,0.00,2.62,0.00,0.000,4,0.000,0.073,2548,3706,1964
$GC,5812,1.13,199.8,119.2,9.7,278,5816,0.00,2.58,0.00,0.000,6,0.000,0.057,2548,2299,1964
$GC,6133,1.13,199.8,92.6,8.0,294,6137,0.00,2.62,0.00,0.000,4,0.000,0.066,2548,880,1964
$GC,6182,1.13,199.8,88.3,8.6,296,6186,0.00,2.58,0.00,0.000,6,0.000,0.050,2548,2301,1964
$GC,6500,1.13,199.8,61.5,8.9,311,6504,0.00,2.65,0.00,0.000,4,0.000,0.064,2548,872,1964
$GC,6584,1.13,199.8,53.6,9.7,315,6589,0.00,2.60,0.00,0.000,6,0.000,0.048,2548,2307,1964
$GC,6912,1.16,223.1,28.2,7.2,331,6937,0.00,2.67,19.92,0.630,4,0.000,0.072,2548,3705,1871
$GC,6995,1.16,223.1,20.4,10.1,335,7000,0.00,2.58,0.00,0.000,6,0.000,0.054,2548,2298,1871
$STATE,7242,end climb,SURFACE_DEPTH_REACHED
$STATE,7243,begin surface coast
$FINISH,0.4,1.025377
$STATE,7264,end surface coast,CONTROL_FINISHED_OK
$STATE,7264,begin surface
$SM_CCo,7285,37.08,0.610,0,0,1558,300.00
$SM_GC,1.58,0.00,0.00,37.08,0.000,0.000,0.610,69,2297,1558,-10.26,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,301.2,39.9
$24V_AH,23.6,6.769
$10V_AH,10.1,2.749
$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,25.025,68.075,315.400,37.075,0.000,36.660,54.802,159.100,2.750,0.000,0.000,16.327,688.229,5326.550,450.139,879.948,402.806,33.334,905.351,0.000,858.871,0.000,19.764
$DEVICE_MAMPS,163.371,72.865,835.263,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,256.232,235.649,322.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15937,348
$CAP_FILE_SIZE,62322,0
$CFSIZE,260165632,257331200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100608,001533,6052.078,-553.466,58,1.6,59,-7.4