version: 66.03
glider: 103
mission: 9
dive: 10
start: 9 1 108 11 51 7
data:
$ID,103
$MISSION,9
$DIVE,10
$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,-102624.76
$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,10
$R_STBD_OVSHOOT,15
$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
$GPS1,114128,6118.998,-750.780,31,7.1,50,-8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-59.8
$GPS2,115050,6118.929,-750.654,12,1.6,23,-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,160.6,39659,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-75.97,0.000,6,0.000,0.000,50,2206,3502
$GC,110,-1.70,-146.6,6.5,-9.3,4,131,11.48,2.70,0.00,0.000,4,0.172,0.069,2000,785,3503
$GC,384,-1.70,-146.6,54.4,-14.7,16,389,0.00,2.62,0.00,0.000,6,0.000,0.066,2000,2198,3505
$GC,705,-1.70,-146.6,94.6,-14.2,32,710,0.00,2.70,0.00,0.000,4,0.000,0.080,2000,785,3506
$GC,963,-1.70,-146.6,135.8,-15.9,43,970,0.00,2.62,0.00,0.000,6,0.000,0.064,2000,2210,3507
$GC,1279,-1.70,-146.6,178.9,-13.0,59,1284,0.00,2.72,0.00,0.000,4,0.000,0.078,2000,780,3507
$GC,1509,-1.70,-146.6,207.1,-11.4,69,1513,0.00,2.62,0.00,0.000,6,0.000,0.063,2000,2202,3508
$GC,1825,-1.70,-146.6,236.4,-8.8,84,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2202,3508
$GC,2134,-1.70,-146.6,263.3,-8.8,99,2139,0.00,2.70,0.00,0.000,4,0.000,0.081,2000,787,3507
$GC,2202,-1.70,-146.6,269.8,-9.7,102,2206,0.00,2.60,0.00,0.000,6,0.000,0.062,2001,2200,3508
$GC,2523,-1.70,-146.6,296.5,-8.0,118,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2200,3508
$GC,2832,-1.70,-146.6,320.0,-7.7,133,2837,0.00,2.70,0.00,0.000,4,0.000,0.081,2001,786,3508
$GC,2997,-1.70,-146.6,334.3,-9.2,140,3001,0.00,2.60,0.00,0.000,6,0.000,0.062,2000,2200,3508
$GC,3313,-1.70,-146.6,363.8,-9.6,155,3317,0.00,2.70,0.00,0.000,4,0.000,0.081,2000,786,3508
$GC,3477,-1.70,-146.6,381.4,-11.1,162,3482,0.00,2.60,0.00,0.000,6,0.000,0.063,2000,2202,3508
$GC,3793,-1.70,-146.6,413.4,-10.3,177,3797,0.00,2.70,0.00,0.000,4,0.000,0.081,2000,786,3508
$GC,3951,-1.70,-146.6,430.5,-12.0,184,3956,0.00,2.58,0.00,0.000,6,0.000,0.060,2001,2200,3508
$GC,4273,-1.70,-146.6,474.8,-14.5,200,4280,0.00,2.65,0.00,0.000,4,0.000,0.075,2000,783,3508
$GC,4417,-1.70,-146.6,497.0,-15.1,206,4421,0.00,2.58,0.00,0.000,6,0.000,0.055,2000,2204,3508
$GC,4737,-1.70,-146.6,540.2,-11.4,222,4742,0.00,2.65,0.00,0.000,4,0.000,0.073,2000,783,3508
$GC,4829,-1.70,-146.6,550.5,-11.2,226,4834,0.00,2.58,0.00,0.000,6,0.000,0.057,2000,2197,3508
$GC,5151,-1.70,-146.6,582.7,-9.7,242,5155,0.00,2.70,0.00,0.000,4,0.000,0.086,2000,3611,3507
$GC,5195,-1.70,-146.6,587.4,-10.5,244,5199,0.00,2.60,0.00,0.000,6,0.000,0.063,2000,2198,3507
$GC,5516,-1.70,-146.6,618.7,-10.5,260,5520,0.00,2.67,0.00,0.000,4,0.000,0.082,2001,784,3506
$GC,5555,-1.70,-146.6,623.1,-11.4,262,5559,0.00,2.62,0.00,0.000,6,0.000,0.064,2000,2199,3506
$GC,5881,-1.70,-146.6,659.9,-11.0,278,5886,0.00,2.72,0.00,0.000,4,0.000,0.085,2000,781,3504
$GC,5909,-1.70,-146.6,663.1,-11.4,279,5913,0.00,2.62,0.00,0.000,6,0.000,0.065,2000,2198,3504
$GC,6224,-1.70,-146.6,698.5,-11.2,294,6229,0.00,2.72,0.00,0.000,4,0.000,0.088,2001,789,3502
$GC,6313,-1.70,-146.6,709.0,-12.5,298,6318,0.00,2.65,0.00,0.000,6,0.000,0.069,2001,2204,3502
$GC,6635,-1.70,-146.6,744.5,-11.3,314,6639,0.00,2.75,0.00,0.000,4,0.000,0.091,2001,790,3499
$GC,6662,-1.70,-146.6,747.7,-11.3,315,6666,0.00,2.65,0.00,0.000,6,0.000,0.071,2000,2201,3499
$GC,6978,-1.70,-146.6,780.7,-10.0,330,6983,0.00,2.75,0.00,0.000,4,0.000,0.091,2000,790,3498
$STATE,7008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7008,begin apogee
$GC,7019,-0.42,0.0,783.8,9.9,331,7414,1.45,0.00,335.55,0.851,6,0.126,0.000,2274,2355,2901
$STATE,7415,end apogee,CONTROL_FINISHED_OK
$STATE,7415,begin climb
$GC,7418,1.70,146.6,792.0,0.0,351,7815,2.17,2.83,327.20,0.795,4,0.059,0.084,2738,943,2303
$GC,8068,1.96,362.7,791.9,0.1,381,8802,0.28,2.67,589.35,0.692,6,0.044,0.069,2807,2356,1574
$STATE,8819,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8823,495.02,0.609,45,1,1048,454.54
$SM_CCo,9549,495.02,0.578,45,1,582,568.85
$SM_CCo,10275,9.85,0.561,0,0,572,571.30
$SM_GC,0.48,12.50,0.00,0.00,0.041,0.000,0.000,54,2355,551,-10.60,0.14,576.46
$IRIDIUM_FIX,6054.92,-751.96,261197,111124
$TT8_MAMPS,0.028379
$HUMID,1845
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,15.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,750.7,42.8
$24V_AH,23.2,6.135
$10V_AH,10.0,1.779
$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,27.875,85.575,1252.100,999.900,0.000,56.311,52.830,238.187,7.750,0.000,0.000,23.885,817.306,7021.678,2722.764,1402.991,590.754,0.000,3645.204,0.000,1339.973,0.000,46.580
$DEVICE_MAMPS,171.808,90.506,851.370,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.058,275.486,209.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19154,418
$CAP_FILE_SIZE,94032,24
$CFSIZE,260165632,256884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,3,0,5,138,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_VBD_ERRORS
$GPS,010908,151208,6119.469,-749.114,31,1.3,31,-8.5