version: 66.03
glider: 16
mission: 9
dive: 24
start: 6 10 108 4 26 0
data:
$ID,16
$MISSION,9
$DIVE,24
$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,-2092866.2
$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,17
$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
$GPS1,041809,6051.809,-551.702,53,2.0,53,-7.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.0
$GPS2,042509,6051.811,-551.708,11,1.8,11,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,-0.122
$KALMAN_X,1200.5,-88.5,-461.1,-32049.9,-7867.6
$KALMAN_Y,-44838.8,2120.8,1299.1,49044.6,-27930.3
$MHEAD_RNG_PITCHd_Wd,141.4,111256,-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,-61.10,0.000,2,0.000,0.000,72,2302,2740
$GC,90,-1.08,-146.6,3.2,-4.7,3,125,10.93,2.65,-17.65,0.000,4,0.162,0.072,2055,884,3380
$GC,380,-0.98,-146.6,49.9,-17.3,16,385,0.15,2.58,0.00,0.000,6,0.107,0.051,2083,2300,3380
$GC,707,-0.90,-146.6,100.4,-10.8,32,712,0.10,2.62,0.00,0.000,4,0.113,0.061,2101,881,3381
$GC,815,-0.94,-146.6,107.7,-6.3,37,819,0.00,2.58,0.00,0.000,6,0.000,0.050,2101,2301,3381
$GC,1142,-0.94,-146.6,137.6,-11.0,53,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2301,3381
$GC,1450,-0.94,-146.6,173.4,-10.9,68,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2301,3381
$GC,1760,-0.94,-146.6,205.3,-10.3,83,1764,0.00,2.62,0.00,0.000,4,0.000,0.064,2101,880,3381
$GC,1810,-0.99,-146.6,210.9,-10.9,85,1814,0.00,2.60,0.00,0.000,6,0.000,0.051,2101,2311,3381
$GC,2125,-0.99,-146.6,245.4,-10.4,100,2130,0.00,2.65,0.00,0.000,4,0.000,0.065,2101,882,3381
$GC,2199,-1.03,-146.6,253.1,-10.7,103,2204,0.12,2.58,0.00,0.000,6,0.050,0.052,2063,2298,3382
$GC,2517,-0.93,-146.6,293.0,-13.5,118,2518,0.15,0.00,0.00,0.000,6,0.095,0.000,2093,2298,3381
$GC,2823,-0.93,-146.6,328.4,-11.3,133,2828,0.00,2.62,0.00,0.000,4,0.000,0.066,2093,883,3381
$GC,2896,-0.93,-146.6,336.8,-11.8,136,2900,0.00,2.60,0.00,0.000,6,0.000,0.054,2093,2307,3381
$STATE,3003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3003,begin apogee
$GC,3010,-0.31,0.0,348.5,10.8,141,3139,0.68,0.00,126.38,0.857,6,0.090,0.000,2231,2306,2781
$STATE,3140,end apogee,CONTROL_FINISHED_OK
$STATE,3140,begin climb
$GC,3143,1.08,146.6,353.9,0.0,147,3279,1.40,2.78,125.18,0.840,4,0.074,0.072,2530,3711,2182
$GC,3297,1.15,205.6,350.4,5.9,154,3356,0.00,2.62,50.75,0.815,6,0.000,0.056,2530,2302,1942
$GC,3681,1.23,205.6,322.3,8.2,173,3686,0.15,2.67,0.00,0.000,4,0.051,0.067,2576,878,1940
$GC,3715,1.16,205.6,319.5,8.3,174,3721,0.12,2.62,0.00,0.000,6,0.099,0.051,2552,2303,1940
$GC,4030,1.16,205.6,293.2,8.7,190,4035,0.00,2.67,0.00,0.000,4,0.000,0.074,2552,3714,1940
$GC,4058,1.16,205.6,290.4,10.2,191,4062,0.00,2.62,0.00,0.000,6,0.000,0.055,2552,2296,1940
$GC,4374,1.17,212.5,264.1,7.8,206,4383,0.00,0.00,7.40,0.666,6,0.000,0.000,2552,2296,1914
$GC,4683,1.17,212.5,241.9,8.0,221,4687,0.00,2.62,0.00,0.000,4,0.000,0.067,2552,881,1914
$GC,4772,1.17,212.5,234.2,9.4,225,4776,0.00,2.60,0.00,0.000,6,0.000,0.052,2552,2303,1913
$GC,5093,1.18,218.1,206.2,7.8,241,5106,0.00,2.72,6.50,0.634,4,0.000,0.073,2552,3710,1890
$GC,5159,1.18,218.1,200.3,9.1,244,5164,0.00,2.60,0.00,0.000,6,0.000,0.055,2552,2295,1890
$GC,5485,1.18,218.1,172.9,9.2,260,5490,0.00,2.62,0.00,0.000,4,0.000,0.064,2552,876,1890
$GC,5518,1.18,218.1,169.9,8.8,261,5524,0.00,2.58,0.00,0.000,6,0.000,0.051,2553,2299,1890
$GC,5834,1.18,218.1,144.3,8.7,277,5839,0.00,2.65,0.00,0.000,4,0.000,0.074,2552,3710,1890
$GC,5897,1.18,218.1,138.3,9.5,280,5902,0.00,2.58,0.00,0.000,6,0.000,0.055,2552,2298,1890
$GC,6226,1.18,218.1,112.2,8.3,296,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2298,1890
$GC,6534,1.22,218.1,85.3,9.6,311,6539,0.00,2.60,0.00,0.000,4,0.000,0.064,2552,884,1890
$GC,6584,1.22,218.1,80.1,10.3,313,6588,0.00,2.58,0.00,0.000,6,0.000,0.051,2552,2301,1890
$GC,6901,1.26,218.1,53.2,8.6,328,6905,0.00,2.62,0.00,0.000,4,0.000,0.071,2552,3710,1890
$GC,6972,1.26,218.1,46.2,8.7,331,6977,0.00,2.58,0.00,0.000,6,0.000,0.054,2552,2298,1890
$GC,7288,1.26,218.1,20.3,8.7,346,7296,0.00,2.60,0.00,0.000,4,0.000,0.063,2552,878,1889
$GC,7301,1.26,218.1,18.9,8.8,346,7305,0.00,2.58,0.00,0.000,6,0.000,0.050,2552,2301,1890
$STATE,7552,end climb,SURFACE_DEPTH_REACHED
$STATE,7553,begin surface coast
$FINISH,0.5,1.015538
$STATE,7595,end surface coast,CONTROL_FINISHED_OK
$STATE,7595,begin surface
$SM_CCo,7616,38.45,0.611,0,0,1557,300.00
$SM_GC,1.55,0.00,0.00,38.45,0.000,0.000,0.611,66,2302,1557,-10.27,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1846
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,276.4,81.2
$24V_AH,23.6,7.055
$10V_AH,10.1,2.877
$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,24.500,78.625,316.200,38.450,0.000,36.476,52.695,178.092,2.750,0.000,0.000,11.132,715.728,5589.938,438.528,917.758,425.881,33.364,927.134,0.000,900.145,0.000,18.306
$DEVICE_MAMPS,161.837,74.399,856.739,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.050,243.254,322.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19087,360
$CAP_FILE_SIZE,67853,0
$CFSIZE,260165632,257216512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100608,063447,6050.379,-552.045,13,3.2,32,-7.3