version: 66.03
glider: 103
mission: 9
dive: 9
start: 9 1 108 8 26 26
data:
$ID,103
$MISSION,9
$DIVE,9
$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,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,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,-102600.25
$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,2200
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,22
$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,2
$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,0
$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
$GPS1,082215,6118.312,-751.914,13,1.7,13,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.3
$GPS2,082609,6118.365,-751.813,16,1.6,16,-8.5
$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,158.6,39248,-18.2,-10.000
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.70,-146.6,0.0,0.0,0,78,0.00,0.00,-51.05,0.000,2,0.000,0.000,48,2208,3104
$GC,81,-1.70,-146.6,3.3,-5.0,3,107,11.32,2.70,-8.10,0.000,4,0.166,0.084,1991,791,3502
$GC,360,-1.70,-146.6,47.3,-14.3,15,365,0.00,2.55,0.00,0.000,6,0.000,0.052,1991,2198,3502
$GC,677,-1.70,-146.6,91.6,-15.2,30,681,0.00,2.70,0.00,0.000,4,0.000,0.085,1991,3611,3502
$GC,934,-1.70,-146.6,129.2,-14.5,41,940,0.00,2.55,0.00,0.000,6,0.000,0.057,1991,2200,3503
$GC,1250,-1.70,-146.6,171.5,-13.6,57,1254,0.00,2.67,0.00,0.000,4,0.000,0.078,1991,780,3503
$GC,1379,-1.70,-146.6,190.0,-14.9,63,1384,0.00,2.62,0.00,0.000,6,0.000,0.061,1991,2200,3503
$GC,1706,-1.70,-146.6,236.7,-14.2,79,1710,0.00,2.70,0.00,0.000,4,0.000,0.080,1991,785,3503
$GC,1828,-1.70,-146.6,255.1,-15.3,84,1834,0.00,2.60,0.00,0.000,6,0.000,0.062,1991,2204,3503
$GC,2144,-1.70,-146.6,299.3,-13.7,100,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2204,3502
$GC,2453,-1.70,-146.6,340.4,-13.0,115,2458,0.00,2.67,0.00,0.000,4,0.000,0.079,1991,790,3502
$GC,2618,-1.70,-146.6,362.7,-14.0,122,2623,0.00,2.58,0.00,0.000,6,0.000,0.061,1991,2198,3502
$GC,2934,-1.70,-146.6,405.5,-14.0,137,2938,0.00,2.67,0.00,0.000,4,0.000,0.078,1991,782,3502
$GC,3001,-1.70,-146.6,415.5,-15.1,140,3005,0.00,2.60,0.00,0.000,6,0.000,0.060,1991,2204,3502
$GC,3322,-1.70,-146.6,460.8,-13.0,156,3326,0.00,2.67,0.00,0.000,4,0.000,0.074,1991,780,3502
$GC,3417,-1.70,-146.6,474.3,-13.0,160,3421,0.00,2.58,0.00,0.000,6,0.000,0.057,1991,2199,3501
$GC,3732,-1.70,-146.6,511.6,-11.1,175,3737,0.00,2.67,0.00,0.000,4,0.000,0.082,1991,3616,3501
$GC,3805,-1.70,-146.6,519.6,-10.6,178,3809,0.00,2.60,0.00,0.000,6,0.000,0.060,1991,2193,3501
$GC,4121,-1.70,-146.6,548.0,-8.8,193,4126,0.00,2.62,0.00,0.000,4,0.000,0.074,1991,780,3500
$GC,4177,-1.70,-146.6,553.6,-9.5,195,4184,0.00,2.58,0.00,0.000,6,0.000,0.058,1991,2201,3500
$GC,4494,-1.70,-146.6,581.9,-9.8,211,4499,0.00,2.67,0.00,0.000,4,0.000,0.077,1991,783,3500
$GC,4584,-1.70,-146.6,592.2,-11.4,215,4588,0.00,2.60,0.00,0.000,6,0.000,0.060,1991,2205,3500
$GC,4906,-1.70,-146.6,630.0,-12.5,231,4910,0.00,2.72,0.00,0.000,4,0.000,0.084,1991,780,3498
$GC,5000,-1.70,-146.6,643.1,-14.4,235,5005,0.00,2.62,0.00,0.000,6,0.000,0.066,1991,2199,3498
$GC,5316,-1.70,-146.6,684.8,-12.6,250,5320,0.00,2.72,0.00,0.000,4,0.000,0.089,1991,783,3496
$GC,5382,-1.70,-146.6,693.4,-12.8,253,5387,0.00,2.62,0.00,0.000,6,0.000,0.067,1991,2198,3495
$GC,5703,-1.70,-146.6,734.8,-12.1,269,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2198,3494
$GC,6013,-1.70,-146.6,770.3,-11.8,284,6017,0.00,2.75,0.00,0.000,4,0.000,0.092,1991,789,3492
$GC,6097,-1.70,-146.6,780.8,-11.9,288,6102,0.00,2.62,0.00,0.000,6,0.000,0.071,1991,2201,3491
$STATE,6297,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6297,begin apogee
$GC,6304,-0.42,0.0,801.5,10.7,298,6728,1.50,0.00,353.65,0.831,6,0.117,0.000,2279,2360,2901
$STATE,6729,end apogee,CONTROL_FINISHED_OK
$STATE,6729,begin climb
$GC,6732,1.70,146.6,807.4,0.0,319,7031,2.15,2.85,257.90,0.864,4,0.062,0.087,2740,935,2302
$GC,7284,1.98,377.8,807.4,-0.6,344,7722,0.28,2.70,378.95,0.885,6,0.043,0.071,2813,2353,1360
$GC,8038,1.98,377.8,704.5,19.8,381,8043,0.00,2.65,0.00,0.000,4,0.000,0.064,2813,931,1351
$GC,8101,1.98,377.8,693.0,18.3,384,8105,0.00,2.60,0.00,0.000,6,0.000,0.052,2813,2351,1351
$GC,8427,1.98,377.8,635.6,17.2,400,8432,0.00,2.70,0.00,0.000,4,0.000,0.079,2814,3757,1350
$GC,8551,1.98,377.8,612.0,19.4,405,8557,0.00,2.53,0.00,0.000,6,0.000,0.044,2813,2335,1349
$GC,8867,1.98,377.8,556.6,19.1,421,8871,0.00,2.72,0.00,0.000,4,0.000,0.077,2814,3762,1348
$GC,8984,1.98,377.8,530.7,22.2,426,8988,0.00,2.50,0.00,0.000,6,0.000,0.043,2813,2345,1348
$GC,9300,1.98,377.8,460.6,21.1,441,9305,0.00,2.67,0.00,0.000,4,0.000,0.073,2813,3757,1346
$GC,9379,1.98,377.8,442.2,23.4,444,9385,0.00,2.47,0.00,0.000,6,0.000,0.039,2813,2347,1346
$GC,9694,1.98,377.8,375.7,20.8,460,9699,0.00,2.65,0.00,0.000,4,0.000,0.068,2813,3762,1346
$GC,9779,1.98,377.8,356.0,23.6,464,9784,0.00,2.47,0.00,0.000,6,0.000,0.037,2814,2343,1346
$GC,10106,1.98,377.8,285.7,21.5,480,10111,0.00,2.62,0.00,0.000,4,0.000,0.064,2814,3759,1346
$GC,10179,1.98,377.8,268.6,24.5,483,10183,0.00,2.45,0.00,0.000,6,0.000,0.035,2814,2349,1346
$GC,10495,1.98,377.8,200.7,21.3,498,10499,0.00,2.62,0.00,0.000,4,0.000,0.064,2814,3767,1346
$GC,10595,1.98,377.8,177.9,22.1,502,10601,0.00,2.47,0.00,0.000,6,0.000,0.035,2814,2345,1346
$GC,10913,1.98,377.8,117.2,18.5,518,10917,0.00,2.62,0.00,0.000,4,0.000,0.064,2813,3760,1348
$GC,11020,1.98,377.8,93.5,21.0,523,11025,0.00,2.45,0.00,0.000,6,0.000,0.037,2814,2350,1348
$GC,11348,1.98,377.8,31.7,19.3,539,11352,0.00,2.62,0.00,0.000,4,0.000,0.065,2814,3767,1350
$GC,11381,1.98,377.8,24.6,21.8,540,11387,0.00,2.47,0.00,0.000,6,0.000,0.036,2814,2349,1350
$STATE,11509,end climb,SURFACE_DEPTH_REACHED
$STATE,11510,begin surface coast
$FINISH,-0.2,1.012556
$STATE,11530,end surface coast,CONTROL_FINISHED_OK
$STATE,11530,begin surface
$SM_CCo,11614,0.00,0.000,0,0,1350,380.46
$SM_GC,0.66,12.23,0.00,0.00,0.029,0.000,0.000,50,2210,1350,-10.60,0.28,380.46
$IRIDIUM_FIX,6050.49,-836.27,261197,080832
$TT8_MAMPS,0.028379
$HUMID,1819
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,727.4,82.7
$24V_AH,23.3,5.683
$10V_AH,10.0,1.705
$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,27.475,121.150,990.500,0.000,0.000,0.000,0.000,0.000,11.500,0.000,0.000,16.539,1028.137,7794.711,1033.107,1647.484,179.409,0.000,1968.210,0.000,1590.162,0.000,42.837
$DEVICE_MAMPS,166.439,109.681,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.068,364.979,307.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28619,548
$CAP_FILE_SIZE,105443,0
$CFSIZE,260165632,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,28,0
$GPS,010908,114128,6118.998,-750.780,31,7.1,50,-8.5