version: 66.03
glider: 16
mission: 9
dive: 22
start: 6 10 108 0 20 35
data:
$ID,16
$MISSION,9
$DIVE,22
$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,-2092819.4
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,001533,6052.078,-553.466,58,1.6,59,-7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-58.9
$GPS2,001947,6052.061,-553.360,11,3.0,30,-7.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_NW
$TGT_LATLONG,6055.000,-555.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,0.244
$KALMAN_X,6056.1,-827.0,41.1,-38176.2,3110.0
$KALMAN_Y,-49242.9,1495.2,1048.4,54797.4,-38193.2
$MHEAD_RNG_PITCHd_Wd,352.2,5640,-16.2,-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,-1.15,-124.6,0.0,0.0,0,86,0.00,0.00,-61.38,0.000,2,0.000,0.000,68,2295,2765
$GC,90,-1.17,-146.6,3.1,-4.5,3,125,10.95,2.62,-17.50,0.000,4,0.166,0.073,2039,889,3379
$GC,339,-1.09,-146.6,42.9,-14.7,14,344,0.12,2.58,0.00,0.000,6,0.118,0.051,2060,2302,3380
$GC,660,-1.01,-146.6,88.1,-13.8,30,665,0.00,2.62,0.00,0.000,4,0.000,0.060,2060,877,3380
$GC,716,-1.01,-146.6,95.8,-13.4,32,722,0.00,2.58,0.00,0.000,6,0.000,0.050,2060,2300,3380
$GC,1032,-0.95,-146.6,136.1,-12.4,48,1034,0.17,0.00,0.00,0.000,6,0.108,0.000,2093,2300,3380
$GC,1340,-0.95,-146.6,166.0,-10.0,63,1345,0.00,2.62,0.00,0.000,4,0.000,0.062,2093,880,3380
$GC,1385,-1.03,-146.6,170.7,-10.4,65,1390,0.00,2.58,0.00,0.000,6,0.000,0.051,2093,2299,3380
$GC,1707,-1.03,-146.6,206.6,-11.8,81,1711,0.00,2.62,0.00,0.000,4,0.000,0.064,2093,881,3380
$GC,1796,-1.12,-146.6,217.3,-11.2,85,1801,0.17,2.58,0.00,0.000,6,0.045,0.053,2043,2300,3380
$GC,2120,-1.02,-146.6,262.2,-13.5,101,2121,0.17,0.00,0.00,0.000,6,0.096,0.000,2076,2300,3380
$GC,2426,-1.02,-146.6,296.6,-11.2,116,2431,0.00,2.62,0.00,0.000,4,0.000,0.064,2076,879,3380
$GC,2527,-1.07,-146.6,308.0,-11.2,120,2534,0.00,2.58,0.00,0.000,6,0.000,0.054,2076,2299,3380
$STATE,2696,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2696,begin apogee
$GC,2702,-0.31,0.0,328.2,11.9,129,2832,0.75,0.00,125.70,0.834,6,0.096,0.000,2229,2299,2781
$STATE,2832,end apogee,CONTROL_FINISHED_OK
$STATE,2833,begin climb
$GC,2835,1.17,146.6,333.3,0.0,135,2968,1.52,2.72,124.05,0.821,4,0.079,0.072,2550,3705,2183
$GC,3047,1.15,170.3,325.4,7.0,145,3073,0.00,2.60,21.38,0.772,6,0.000,0.052,2550,2298,2086
$GC,3390,1.20,174.8,299.7,7.8,162,3400,0.00,2.65,5.50,0.605,4,0.000,0.063,2550,883,2068
$GC,3452,1.20,174.8,294.6,8.2,165,3456,0.00,2.60,0.00,0.000,6,0.000,0.051,2550,2299,2066
$GC,3779,1.26,181.3,268.9,7.7,181,3788,0.10,0.00,7.05,0.654,6,0.053,0.000,2584,2299,2041
$GC,4088,1.22,181.3,241.1,9.1,196,4092,0.00,2.65,0.00,0.000,4,0.000,0.074,2584,3705,2041
$GC,4143,1.11,181.3,235.5,10.7,198,4150,0.22,2.58,0.00,0.000,6,0.100,0.054,2542,2300,2041
$GC,4460,1.20,198.9,212.7,7.2,214,4479,0.00,0.00,15.95,0.729,6,0.000,0.000,2542,2301,1970
$GC,4789,1.31,216.4,189.4,7.2,230,4812,0.17,2.67,15.98,0.714,4,0.044,0.064,2596,881,1897
$GC,4881,1.23,216.4,180.9,9.8,234,4886,0.15,2.60,0.00,0.000,6,0.096,0.051,2568,2298,1897
$GC,5207,1.24,218.2,155.1,7.9,250,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2298,1897
$GC,5517,1.24,218.2,130.5,8.4,265,5521,0.00,2.65,0.00,0.000,4,0.000,0.072,2568,3709,1898
$GC,5572,1.24,218.2,125.2,9.5,267,5578,0.00,2.58,0.00,0.000,6,0.000,0.053,2568,2301,1897
$GC,5888,1.24,218.2,99.2,8.1,283,5892,0.00,2.62,0.00,0.000,4,0.000,0.064,2568,880,1897
$GC,5932,1.24,218.9,95.3,8.0,285,5936,0.00,2.60,0.00,0.000,6,0.000,0.051,2568,2308,1896
$GC,6253,1.24,218.9,68.1,8.7,301,6258,0.00,0.00,3.80,0.449,6,0.000,0.000,2568,2308,1887
$GC,6563,1.24,218.9,42.5,8.1,316,6568,0.00,2.62,0.00,0.000,4,0.000,0.072,2567,3710,1888
$GC,6686,1.24,218.9,30.1,10.5,321,6693,0.00,2.55,0.00,0.000,6,0.000,0.051,2568,2298,1888
$STATE,6979,end climb,SURFACE_DEPTH_REACHED
$STATE,6979,begin surface coast
$FINISH,0.5,1.012985
$STATE,7001,end surface coast,CONTROL_FINISHED_OK
$STATE,7001,begin surface
$SM_CCo,7022,38.75,0.623,0,0,1558,300.00
$SM_GC,1.63,0.00,0.00,38.75,0.000,0.000,0.623,69,2297,1558,-10.26,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1874
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,251.0,85.8
$24V_AH,23.6,6.856
$10V_AH,10.1,2.791
$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,25.350,62.700,319.400,38.750,0.000,17.992,25.043,97.184,2.000,0.000,0.000,31.180,665.401,5063.943,452.455,858.849,283.722,33.333,887.454,0.000,826.901,0.000,13.768
$DEVICE_MAMPS,165.672,73.632,834.496,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.606,227.535,307.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15901,337
$CAP_FILE_SIZE,59304,0
$CFSIZE,260165632,257298432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100608,021932,6052.931,-552.956,17,6.4,36,-7.4