version: 66.03
glider: 16
mission: 9
dive: 27
start: 6 10 108 12 14 14
data:
$ID,16
$MISSION,9
$DIVE,27
$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,-2092975.6
$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,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
$GPS1,120551,6047.987,-554.310,37,2.2,56,-7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.0
$GPS2,121326,6047.991,-554.266,17,1.6,34,-7.3
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCS_SE
$TGT_LATLONG,6010.000,-425.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.207,-0.132
$KALMAN_X,-14353.5,433.3,1266.3,-21126.2,-27984.0
$KALMAN_Y,-34227.5,1113.1,-40.9,33754.3,-959.1
$MHEAD_RNG_PITCHd_Wd,137.8,108234,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.08,-146.6,0.0,0.0,0,88,0.00,0.00,-61.40,0.000,2,0.000,0.000,70,2303,2778
$GC,92,-1.08,-146.6,3.3,-4.6,3,127,11.00,2.67,-17.12,0.000,4,0.165,0.082,2058,3704,3379
$GC,375,-0.93,-146.6,45.9,-14.4,15,382,0.20,2.55,0.00,0.000,6,0.098,0.051,2096,2292,3379
$GC,692,-0.93,-146.6,80.1,-10.6,31,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2292,3380
$GC,1000,-0.93,-146.6,111.9,-10.0,46,1004,0.00,2.60,0.00,0.000,4,0.000,0.064,2096,880,3380
$GC,1078,-0.93,-146.6,119.6,-10.0,49,1084,0.00,2.60,0.00,0.000,6,0.000,0.054,2096,2300,3381
$GC,1396,-0.93,-146.6,151.7,-10.1,65,1400,0.00,2.62,0.00,0.000,4,0.000,0.065,2096,886,3380
$GC,1462,-0.93,-146.6,158.8,-10.1,68,1467,0.00,2.60,0.00,0.000,6,0.000,0.056,2096,2304,3380
$GC,1783,-0.93,-146.6,191.0,-10.1,84,1788,0.00,2.65,0.00,0.000,4,0.000,0.067,2096,882,3380
$GC,1851,-0.93,-146.6,197.8,-10.4,87,1856,0.00,2.60,0.00,0.000,6,0.000,0.057,2096,2302,3381
$GC,2172,-0.93,-146.6,231.8,-10.7,103,2176,0.00,2.65,0.00,0.000,4,0.000,0.070,2096,879,3381
$GC,2222,-0.93,-146.6,237.5,-11.1,105,2226,0.00,2.60,0.00,0.000,6,0.000,0.058,2096,2299,3381
$GC,2538,-0.93,-146.6,270.8,-10.7,120,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2300,3381
$GC,2846,-0.93,-146.6,303.3,-10.4,135,2851,0.00,2.65,0.00,0.000,4,0.000,0.069,2096,877,3380
$GC,2926,-0.98,-146.6,311.3,-9.9,138,2932,0.00,2.62,0.00,0.000,6,0.000,0.059,2096,2305,3381
$GC,3242,-0.98,-146.6,342.1,-9.6,154,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2305,3380
$GC,3551,-0.98,-146.6,371.1,-9.5,169,3555,0.00,2.65,0.00,0.000,4,0.000,0.069,2096,884,3380
$GC,3578,-0.98,-146.6,373.8,-9.9,170,3582,0.00,2.62,0.00,0.000,6,0.000,0.059,2096,2307,3380
$GC,3893,-0.98,-146.6,405.1,-9.4,185,3898,0.00,2.65,0.00,0.000,4,0.000,0.068,2096,886,3380
$GC,3949,-1.03,-146.6,410.7,-10.0,187,3955,0.00,2.60,0.00,0.000,6,0.000,0.061,2097,2300,3380
$GC,4265,-1.03,-146.6,438.5,-9.1,203,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2300,3380
$GC,4574,-1.03,-146.6,468.4,-9.8,218,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2300,3380
$STATE,4819,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4819,begin apogee
$GC,4825,-0.31,0.0,493.5,10.1,230,4962,0.65,0.00,129.32,0.960,6,0.095,0.000,2228,2300,2781
$STATE,4963,end apogee,CONTROL_FINISHED_OK
$STATE,4963,begin climb
$GC,4965,1.08,146.6,499.0,0.0,237,5103,1.45,2.78,128.90,0.937,4,0.075,0.081,2533,3710,2182
$GC,5145,1.08,215.6,494.4,5.5,245,5213,0.00,2.65,60.45,0.920,6,0.000,0.063,2534,2298,1902
$GC,5526,1.15,223.3,466.5,7.7,264,5540,0.00,2.78,8.25,0.779,4,0.000,0.081,2533,3700,1870
$GC,5581,1.20,223.3,461.4,8.4,266,5586,0.12,2.65,0.00,0.000,6,0.053,0.064,2571,2296,1870
$GC,5897,1.16,223.3,431.0,9.7,281,5902,0.00,2.67,0.00,0.000,4,0.000,0.074,2571,883,1869
$GC,5920,1.16,223.3,428.6,10.1,282,5924,0.00,2.65,0.00,0.000,6,0.000,0.059,2571,2303,1868
$GC,6240,1.16,223.3,397.7,10.0,298,6245,0.00,2.70,0.00,0.000,4,0.000,0.074,2571,882,1868
$GC,6268,1.12,223.3,394.8,10.1,299,6273,0.15,2.65,0.00,0.000,6,0.097,0.058,2542,2305,1868
$GC,6585,1.21,273.6,371.7,6.2,314,6631,0.10,0.00,43.75,0.884,6,0.061,0.000,2571,2308,1665
$GC,6933,1.21,273.6,342.2,8.6,331,6938,0.00,2.72,0.00,0.000,4,0.000,0.074,2571,878,1665
$GC,6979,1.21,273.6,338.2,8.8,333,6983,0.00,2.65,0.00,0.000,6,0.000,0.058,2571,2303,1664
$GC,7299,1.21,273.6,307.8,9.7,349,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1664
$GC,7608,1.21,273.6,275.6,10.9,364,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2303,1664
$GC,7918,1.21,273.6,243.4,10.4,379,7922,0.00,2.70,0.00,0.000,4,0.000,0.073,2571,877,1664
$GC,7974,1.21,273.6,237.3,11.0,381,7980,0.00,2.62,0.00,0.000,6,0.000,0.058,2571,2301,1664
$GC,8290,1.21,273.6,204.2,9.9,397,8294,0.00,2.70,0.00,0.000,4,0.000,0.074,2571,878,1664
$GC,8339,1.21,273.6,199.2,10.0,399,8343,0.00,2.62,0.00,0.000,6,0.000,0.057,2571,2300,1664
$GC,8655,1.21,273.6,171.0,8.6,414,8659,0.00,2.67,0.00,0.000,4,0.000,0.074,2571,881,1664
$GC,8676,1.21,273.6,169.2,8.6,415,8681,0.00,2.62,0.00,0.000,6,0.000,0.057,2571,2304,1664
$GC,8997,1.21,273.6,142.6,8.4,431,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2304,1664
$GC,9308,1.21,273.6,113.2,10.0,446,9312,0.00,2.70,0.00,0.000,4,0.000,0.074,2571,874,1664
$GC,9348,1.21,273.6,108.7,11.7,448,9352,0.00,2.62,0.00,0.000,6,0.000,0.057,2571,2303,1664
$GC,9674,1.21,273.6,70.1,12.2,464,9679,0.00,2.67,0.00,0.000,4,0.000,0.074,2571,880,1664
$GC,9695,1.21,273.6,67.3,12.4,465,9700,0.00,2.62,0.00,0.000,6,0.000,0.058,2571,2306,1664
$GC,10019,1.21,273.6,31.7,10.3,481,10023,0.00,2.67,0.00,0.000,4,0.000,0.072,2571,879,1665
$GC,10082,1.21,273.6,25.1,10.6,484,10087,0.00,2.60,0.00,0.000,6,0.000,0.057,2571,2303,1665
$STATE,10323,end climb,SURFACE_DEPTH_REACHED
$STATE,10323,begin surface coast
$FINISH,0.6,1.022997
$STATE,10347,end surface coast,CONTROL_FINISHED_OK
$STATE,10347,begin surface
$SM_CCo,10368,12.52,0.589,0,0,1557,300.00
$SM_GC,1.89,0.00,0.00,12.52,0.000,0.000,0.589,72,2303,1557,-10.25,0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1891
$TCM_TEMP,17.30
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.1,18.6
$ALTIM_BOTTOM_PING,425.7,75.7
$24V_AH,23.6,7.376
$10V_AH,10.1,3.036
$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,24.475,100.700,370.675,12.525,0.000,36.096,133.267,108.009,6.000,0.000,0.000,34.640,944.965,7786.662,496.507,1152.996,461.169,33.351,1085.309,0.000,1107.354,0.000,28.020
$DEVICE_MAMPS,164.905,82.069,959.517,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.612,335.777,358.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25337,497
$CAP_FILE_SIZE,79953,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100608,150829,6047.454,-551.320,14,6.2,33,-7.3