version: 66.03
glider: 16
mission: 9
dive: 23
start: 6 10 108 2 25 17
data:
$ID,16
$MISSION,9
$DIVE,23
$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,-2092854.5
$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,19
$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
$GPS1,021932,6052.931,-552.956,17,6.4,36,-7.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.3
$GPS2,022429,6052.908,-552.931,14,3.8,33,-7.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,-0.117
$KALMAN_X,6893.0,-805.9,-46.5,-38557.3,5619.0
$KALMAN_Y,-49895.0,1777.4,1051.6,56733.1,-39180.8
$MHEAD_RNG_PITCHd_Wd,141.8,113481,-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,22,begin dive
$GC,25,-1.08,-146.6,0.0,0.0,0,106,0.00,0.00,-79.20,0.000,2,0.000,0.000,68,2296,3222
$GC,110,-1.08,-146.6,5.4,-5.8,4,132,11.05,2.67,-3.10,0.000,4,0.166,0.084,2055,3716,3381
$GC,323,-0.91,-146.6,46.4,-14.3,13,328,0.22,2.55,0.00,0.000,6,0.095,0.047,2099,2296,3382
$GC,640,-0.91,-146.6,83.4,-11.4,28,645,0.00,2.60,0.00,0.000,4,0.000,0.063,2099,884,3383
$GC,781,-0.96,-146.6,97.7,-9.8,34,785,0.00,2.55,0.00,0.000,6,0.000,0.051,2098,2301,3382
$GC,1097,-0.96,-146.6,127.9,-9.5,49,1101,0.00,2.62,0.00,0.000,4,0.000,0.062,2098,881,3383
$GC,1136,-0.96,-146.6,131.8,-9.3,51,1141,0.00,2.58,0.00,0.000,6,0.000,0.051,2098,2302,3383
$GC,1463,-0.96,-146.6,157.4,-7.0,67,1468,0.00,2.62,0.00,0.000,4,0.000,0.063,2098,880,3383
$GC,1553,-1.00,-146.6,164.4,-7.9,71,1557,0.00,2.58,0.00,0.000,6,0.000,0.051,2098,2303,3383
$GC,1873,-1.00,-146.6,196.2,-11.0,87,1878,0.00,2.65,0.00,0.000,4,0.000,0.074,2098,3716,3383
$GC,1900,-1.00,-146.6,199.7,-12.8,88,1905,0.00,2.55,0.00,0.000,6,0.000,0.050,2098,2302,3384
$GC,2221,-1.00,-146.6,237.2,-11.7,104,2225,0.00,2.60,0.00,0.000,4,0.000,0.064,2098,886,3383
$GC,2283,-1.05,-146.6,244.0,-10.5,107,2288,0.12,2.58,0.00,0.000,6,0.051,0.052,2060,2300,3383
$GC,2612,-0.94,-146.6,284.3,-12.0,123,2614,0.17,0.00,0.00,0.000,6,0.094,0.000,2093,2300,3383
$GC,2919,-0.94,-146.6,314.5,-9.5,138,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2299,3383
$STATE,3123,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3123,begin apogee
$GC,3129,-0.31,0.0,337.5,10.7,148,3258,0.68,0.00,126.12,0.853,6,0.095,0.000,2231,2299,2780
$STATE,3259,end apogee,CONTROL_FINISHED_OK
$STATE,3259,begin climb
$GC,3262,1.08,146.6,339.6,0.0,154,3397,1.35,2.70,125.00,0.839,4,0.047,0.061,2536,880,2182
$GC,3427,1.18,238.9,336.9,4.7,162,3512,0.00,2.62,78.57,0.817,6,0.000,0.050,2536,2302,1806
$GC,3840,1.27,238.9,306.1,8.0,182,3845,0.15,2.65,0.00,0.000,4,0.047,0.064,2582,887,1805
$GC,3862,1.27,238.9,304.1,9.0,183,3867,0.00,2.60,0.00,0.000,6,0.000,0.050,2582,2304,1805
$GC,4183,1.22,238.9,269.6,11.6,199,4187,0.00,2.62,0.00,0.000,4,0.000,0.069,2582,3707,1805
$GC,4223,1.15,238.9,264.8,12.5,201,4228,0.17,2.58,0.00,0.000,6,0.092,0.054,2549,2304,1805
$GC,4550,1.21,251.5,237.0,7.5,217,4568,0.00,0.00,12.18,0.716,6,0.000,0.000,2549,2304,1755
$GC,4879,1.33,309.4,216.5,5.9,233,4932,0.20,0.00,49.30,0.767,6,0.043,0.000,2603,2304,1519
$GC,5227,1.33,309.4,172.1,15.2,250,5231,0.00,2.65,0.00,0.000,4,0.000,0.066,2603,880,1518
$GC,5334,1.33,309.4,155.7,15.4,255,5338,0.00,2.60,0.00,0.000,6,0.000,0.051,2603,2299,1518
$GC,5662,1.33,309.4,112.9,11.4,271,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2298,1518
$GC,5970,1.33,309.4,81.7,10.6,286,5974,0.00,2.65,0.00,0.000,4,0.000,0.071,2603,3714,1518
$GC,5991,1.33,309.4,78.8,12.6,287,5995,0.00,2.60,0.00,0.000,6,0.000,0.055,2604,2299,1518
$GC,6313,1.33,309.4,34.9,12.6,303,6318,0.00,2.62,0.00,0.000,4,0.000,0.067,2603,883,1518
$GC,6431,1.27,309.4,19.2,13.2,308,6436,0.15,2.58,0.00,0.000,6,0.092,0.048,2574,2301,1518
$STATE,6580,end climb,SURFACE_DEPTH_REACHED
$STATE,6580,begin surface coast
$FINISH,0.6,1.027228
$STATE,6601,end surface coast,CONTROL_FINISHED_OK
$STATE,6602,begin surface
$SM_CCo,6683,0.00,0.000,0,0,1517,310.06
$SM_GC,1.26,10.88,0.00,0.00,0.038,0.000,0.000,73,2301,1517,-10.18,0.03,310.06
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1882
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,276.9,69.2
$24V_AH,23.6,6.958
$10V_AH,10.1,2.831
$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,25.150,62.625,391.175,0.000,0.000,18.021,28.264,136.337,2.500,0.000,0.000,34.473,629.066,4741.234,464.960,830.939,319.995,33.336,900.819,0.000,791.019,0.000,15.357
$DEVICE_MAMPS,166.439,83.603,852.904,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.074,213.144,276.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16045,316
$CAP_FILE_SIZE,57488,0
$CFSIZE,260165632,257269760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100608,041809,6051.809,-551.702,53,2.0,53,-7.3