version: 66.03
glider: 103
mission: 9
dive: 4
start: 8 31 108 12 53 28
data:
$ID,103
$MISSION,9
$DIVE,4
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-3
$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,1
$FERRY_MAX,55
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-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,-102403.41
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2370
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-13.228578
$PRESSURE_SLOPE,0.0001162
$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,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,124851,6117.124,-756.879,12,1.7,12,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.6
$GPS2,125256,6117.083,-756.744,10,1.6,16,-8.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,151.4,39719,-18.2,-10.000
$D_GRID,854
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.70,-146.6,0.0,0.0,0,87,0.00,0.00,-61.25,0.000,2,0.000,0.000,49,2283,3468
$GC,91,-1.70,-146.6,5.1,-9.4,3,113,11.27,2.75,-0.47,0.000,4,0.167,0.088,1993,3712,3502
$GC,366,-1.70,-146.6,54.1,-14.4,15,371,0.00,2.53,0.00,0.000,6,0.000,0.058,1993,2325,3502
$GC,687,-1.70,-146.6,96.4,-12.7,31,692,0.00,2.70,0.00,0.000,4,0.000,0.076,1993,880,3502
$GC,912,-1.70,-146.6,124.2,-12.3,41,916,0.00,2.60,0.00,0.000,6,0.000,0.061,1994,2301,3502
$GC,1232,-1.70,-146.6,163.0,-12.3,57,1237,0.00,2.62,0.00,0.000,4,0.000,0.071,1993,887,3502
$GC,1340,-1.70,-146.6,177.1,-12.9,62,1344,0.00,2.60,0.00,0.000,6,0.000,0.061,1994,2306,3502
$GC,1666,-1.70,-146.6,222.4,-13.8,78,1671,0.00,2.70,0.00,0.000,4,0.000,0.091,1994,3715,3502
$GC,1716,-1.70,-146.6,229.3,-14.0,80,1720,0.00,2.58,0.00,0.000,6,0.000,0.060,1994,2299,3502
$GC,2032,-1.70,-146.6,270.4,-13.0,95,2036,0.00,2.62,0.00,0.000,4,0.000,0.074,1994,883,3502
$GC,2289,-1.70,-146.6,305.3,-14.0,106,2295,0.00,2.60,0.00,0.000,6,0.000,0.061,1993,2304,3502
$GC,2606,-1.70,-146.6,350.8,-15.0,122,2610,0.00,2.60,0.00,0.000,4,0.000,0.069,1994,887,3502
$GC,2702,-1.70,-146.6,365.5,-15.4,126,2706,0.00,2.58,0.00,0.000,6,0.000,0.058,1994,2304,3502
$GC,3018,-1.70,-146.6,409.2,-14.0,141,3022,0.00,2.60,0.00,0.000,4,0.000,0.066,1994,887,3501
$GC,3202,-1.70,-146.6,434.2,-13.8,149,3207,0.00,2.55,0.00,0.000,6,0.000,0.054,1994,2303,3501
$GC,3518,-1.70,-146.6,471.3,-11.0,164,3522,0.00,2.58,0.00,0.000,4,0.000,0.064,1993,885,3501
$GC,3775,-1.70,-146.6,501.2,-11.3,175,3781,0.00,2.53,0.00,0.000,6,0.000,0.054,1994,2300,3501
$GC,4091,-1.70,-146.6,536.3,-10.8,191,4096,0.00,2.58,0.00,0.000,4,0.000,0.061,1993,877,3500
$GC,4351,-1.70,-146.6,568.9,-10.9,202,4357,0.00,2.55,0.00,0.000,6,0.000,0.051,1993,2305,3499
$GC,4667,-1.70,-146.6,600.0,-10.1,218,4674,0.00,2.60,0.00,0.000,4,0.000,0.061,1994,877,3499
$GC,4741,-1.70,-146.6,608.2,-10.6,221,4746,0.00,2.58,0.00,0.000,6,0.000,0.054,1994,2303,3498
$GC,5063,-1.70,-146.6,646.1,-12.1,237,5067,0.00,2.62,0.00,0.000,4,0.000,0.069,1994,885,3498
$GC,5148,-1.70,-146.6,656.2,-11.8,241,5152,0.00,2.60,0.00,0.000,6,0.000,0.060,1994,2303,3497
$GC,5475,-1.70,-146.6,687.9,-8.4,257,5479,0.00,2.67,0.00,0.000,4,0.000,0.076,1994,878,3495
$GC,5525,-1.70,-146.6,693.0,-10.2,259,5529,0.00,2.62,0.00,0.000,6,0.000,0.064,1994,2304,3495
$GC,5841,-1.70,-146.6,719.4,-6.4,274,5845,0.00,2.67,0.00,0.000,4,0.000,0.078,1994,880,3493
$GC,5903,-1.70,-146.6,724.6,-9.5,277,5908,0.00,2.62,0.00,0.000,6,0.000,0.064,1994,2303,3492
$GC,6236,-1.70,-146.6,751.7,-8.8,293,6241,0.00,2.67,0.00,0.000,4,0.000,0.081,1994,888,3490
$GC,6292,-1.70,-146.6,757.2,-9.5,295,6298,0.00,2.60,0.00,0.000,6,0.000,0.066,1994,2301,3490
$GC,6609,-1.70,-146.6,787.3,-9.1,311,6613,0.00,2.67,0.00,0.000,4,0.000,0.081,1993,888,3487
$GC,6671,-1.70,-146.6,792.4,-9.1,314,6676,0.00,2.62,0.00,0.000,6,0.000,0.068,1994,2302,3487
$GC,6998,-1.70,-146.6,822.4,-7.9,330,7002,0.00,2.70,0.00,0.000,4,0.000,0.084,1994,888,3485
$GC,7064,-1.70,-146.6,827.7,-5.9,333,7069,0.00,2.62,0.00,0.000,6,0.000,0.070,1994,2298,3485
$STATE,7341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7341,begin apogee
$GC,7348,-0.42,0.0,855.0,10.7,347,7476,1.48,0.00,123.75,1.408,6,0.121,0.000,2275,2300,2901
$STATE,7476,end apogee,CONTROL_FINISHED_OK
$STATE,7477,begin climb
$GC,7480,1.70,146.6,860.3,0.0,353,7615,2.20,2.72,126.20,1.341,4,0.067,0.064,2741,885,2303
$GC,7825,1.71,161.2,845.8,9.3,369,7847,0.00,2.58,13.88,1.220,6,0.000,0.046,2741,2312,2244
$GC,8157,1.74,181.7,813.1,9.1,385,8181,0.00,2.70,19.17,1.272,4,0.000,0.075,2741,3715,2160
$GC,8239,1.74,181.7,803.2,11.1,388,8245,0.00,2.55,0.00,0.000,6,0.000,0.045,2741,2290,2160
$GC,8555,1.75,191.4,771.9,9.6,404,8570,0.00,2.72,9.98,1.195,4,0.000,0.072,2741,3708,2120
$GC,8666,1.75,191.4,760.9,10.0,408,8670,0.00,2.53,0.00,0.000,6,0.000,0.045,2741,2298,2120
$GC,8987,1.75,191.4,724.2,12.0,424,8991,0.00,2.65,0.00,0.000,4,0.000,0.073,2741,3711,2119
$GC,9049,1.75,191.4,716.5,12.9,427,9053,0.00,2.50,0.00,0.000,6,0.000,0.044,2741,2298,2119
$GC,9375,1.78,219.3,684.7,8.7,443,9405,0.00,2.70,24.60,1.283,4,0.000,0.072,2741,3704,2006
$GC,9462,1.78,219.3,676.0,11.0,447,9466,0.00,2.53,0.00,0.000,6,0.000,0.044,2741,2294,2006
$GC,9783,1.80,234.4,644.6,9.3,463,9804,0.00,2.72,14.07,1.214,4,0.000,0.073,2741,3711,1945
$GC,9905,1.80,234.4,631.3,11.4,468,9910,0.00,2.53,0.00,0.000,6,0.000,0.045,2741,2293,1945
$GC,10221,1.80,234.4,595.8,11.8,483,10226,0.00,2.67,0.00,0.000,4,0.000,0.073,2741,3708,1945
$GC,10311,1.80,234.4,584.4,12.6,487,10315,0.00,2.53,0.00,0.000,6,0.000,0.046,2741,2296,1945
$GC,10632,1.80,234.4,538.5,14.8,503,10636,0.00,2.65,0.00,0.000,4,0.000,0.074,2741,3711,1944
$GC,10694,1.80,234.4,528.7,15.8,506,10699,0.00,2.53,0.00,0.000,6,0.000,0.045,2741,2290,1944
$GC,11021,1.83,258.4,489.4,8.9,522,11050,0.12,2.62,21.10,1.151,4,0.057,0.067,2773,898,1847
$GC,11130,1.83,258.4,479.5,10.5,527,11134,0.00,2.50,0.00,0.000,6,0.000,0.044,2772,2301,1847
$GC,11456,1.83,258.4,447.0,10.9,543,11461,0.00,2.62,0.00,0.000,4,0.000,0.071,2772,3709,1847
$GC,11586,1.83,258.4,431.0,13.3,549,11591,0.00,2.47,0.00,0.000,6,0.000,0.042,2773,2300,1847
$GC,11913,1.83,258.4,390.1,12.6,565,11918,0.00,2.62,0.00,0.000,4,0.000,0.068,2773,3710,1847
$GC,12003,1.83,258.4,377.7,13.7,569,12007,0.00,2.50,0.00,0.000,6,0.000,0.043,2773,2301,1847
$GC,12324,1.83,258.4,334.0,13.5,585,12328,0.00,2.62,0.00,0.000,4,0.000,0.070,2773,3706,1848
$GC,12447,1.83,258.4,316.6,13.4,590,12453,0.00,2.50,0.00,0.000,6,0.000,0.044,2773,2298,1849
$GC,12763,1.83,258.4,273.7,13.5,606,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2299,1850
$GC,13072,1.83,258.4,231.1,14.0,621,13076,0.00,2.60,0.00,0.000,4,0.000,0.068,2772,3707,1851
$GC,13167,1.83,258.4,216.7,15.1,625,13171,0.00,2.47,0.00,0.000,6,0.000,0.041,2773,2301,1851
$GC,13483,1.83,258.4,170.2,15.3,640,13487,0.00,2.60,0.00,0.000,4,0.000,0.065,2773,3709,1852
$GC,13504,1.83,258.4,165.5,20.0,641,13508,0.00,2.47,0.00,0.000,6,0.000,0.040,2773,2300,1852
$GC,13825,1.83,258.4,116.6,13.9,657,13830,0.00,2.60,0.00,0.000,4,0.000,0.064,2772,3712,1854
$GC,13866,1.83,258.4,111.0,13.9,659,13870,0.00,2.47,0.00,0.000,6,0.000,0.041,2773,2298,1854
$GC,14193,1.83,258.4,68.4,13.6,675,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2297,1855
$GC,14502,1.83,258.4,30.0,12.2,690,14506,0.00,2.58,0.00,0.000,4,0.000,0.065,2773,886,1856
$GC,14668,1.83,258.4,9.0,12.3,697,14678,0.00,2.50,3.92,0.509,6,0.000,0.048,2773,2296,1847
$STATE,14735,end climb,SURFACE_DEPTH_REACHED
$STATE,14736,begin surface coast
$FINISH,-0.3,1.014974
$STATE,14757,end surface coast,CONTROL_FINISHED_OK
$STATE,14757,begin surface
$SM_CCo,14781,28.45,0.705,0,0,1678,300.00
$SM_GC,0.72,0.00,0.00,28.45,0.000,0.000,0.705,50,2299,1678,-10.67,-0.03,300.00
$IRIDIUM_FIX,6054.92,-804.64,251197,121206
$TT8_MAMPS,0.029146
$HUMID,1842
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.70
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,825.1,40.7
$24V_AH,23.3,4.679
$10V_AH,10.1,1.349
$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,27.200,166.325,356.675,28.450,0.000,0.000,0.000,0.000,20.750,0.000,0.000,15.997,1409.412,10719.985,512.418,2007.727,247.538,0.000,1509.679,0.000,1944.542,0.000,50.860
$DEVICE_MAMPS,167.206,90.506,1408.212,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.188,474.470,387.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34888,702
$CAP_FILE_SIZE,135990,0
$CFSIZE,260165632,257122304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,310808,170137,6116.443,-757.701,39,1.2,39,-8.6