version: 66.03
glider: 105
mission: 3
dive: 5
start: 8 31 108 17 2 30
data:
$ID,105
$MISSION,3
$DIVE,5
$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,300
$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,11
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$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,-1588409.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2046
$C_ROLL_CLIMB,2146
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2831
$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,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-17.830805
$PRESSURE_SLOPE,0.0001163108
$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,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$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,0.0043115509
$SEABIRD_T_H,0.00064421911
$SEABIRD_T_I,2.4441668e-05
$SEABIRD_T_J,2.6855823e-06
$SEABIRD_C_G,-10.00054
$SEABIRD_C_H,1.1273263
$SEABIRD_C_I,-0.0013333842
$SEABIRD_C_J,0.00018589634
$GPS1,165531,6117.109,-757.922,39,1.6,39,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.8
$GPS2,170138,6117.077,-758.110,11,1.6,16,-8.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.146,-0.220
$KALMAN_X,-2931.3,888.3,-1369.1,5591.5,-1790.9
$KALMAN_Y,4436.5,297.5,-96.8,-3905.8,2967.5
$MHEAD_RNG_PITCHd_Wd,155.1,40462,-18.1,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.47,-146.6,0.0,0.0,0,86,0.00,0.00,-61.50,0.000,2,0.000,0.000,391,2020,3168
$GC,90,-1.47,-146.6,3.7,-6.4,3,112,9.73,2.50,-5.45,0.000,4,0.132,0.051,2224,3451,3432
$GC,352,-1.47,-146.6,43.2,-13.9,14,359,0.00,2.35,0.00,0.000,6,0.000,0.026,2224,2053,3433
$GC,668,-1.47,-146.6,88.8,-14.8,30,672,0.00,2.42,0.00,0.000,4,0.000,0.041,2224,653,3435
$GC,886,-1.47,-146.6,122.8,-15.2,40,890,0.00,2.35,0.00,0.000,6,0.000,0.027,2224,2047,3436
$GC,1215,-1.47,-146.6,168.4,-12.8,56,1219,0.00,2.42,0.00,0.000,4,0.000,0.042,2224,659,3436
$GC,1426,-1.47,-146.6,196.4,-11.1,65,1434,0.00,2.38,0.00,0.000,6,0.000,0.028,2224,2042,3436
$GC,1742,-1.47,-146.6,230.9,-10.4,81,1746,0.00,2.42,0.00,0.000,4,0.000,0.044,2224,659,3436
$GC,1894,-1.47,-146.6,248.3,-10.9,88,1899,0.00,2.35,0.00,0.000,6,0.000,0.030,2224,2041,3436
$GC,2221,-1.47,-146.6,282.8,-11.4,104,2225,0.00,2.42,0.00,0.000,4,0.000,0.045,2224,661,3436
$GC,2315,-1.47,-146.6,294.5,-13.0,108,2319,0.00,2.38,0.00,0.000,6,0.000,0.031,2224,2053,3436
$GC,2630,-1.47,-146.6,333.4,-12.9,123,2635,0.00,2.50,0.00,0.000,4,0.000,0.054,2224,656,3436
$GC,2703,-1.47,-146.6,342.9,-13.1,126,2707,0.00,2.40,0.00,0.000,6,0.000,0.035,2224,2052,3436
$GC,3019,-1.47,-146.6,382.6,-12.5,141,3023,0.00,2.50,0.00,0.000,4,0.000,0.057,2224,3440,3436
$GC,3057,-1.47,-146.6,387.6,-12.9,142,3063,0.00,2.40,0.00,0.000,6,0.000,0.035,2224,2056,3436
$GC,3373,-1.47,-146.6,425.3,-11.8,158,3377,0.00,2.47,0.00,0.000,4,0.000,0.052,2224,650,3436
$GC,3534,-1.47,-146.6,445.0,-12.7,165,3539,0.00,2.42,0.00,0.000,6,0.000,0.036,2223,2040,3436
$GC,3858,-1.47,-146.6,479.8,-9.9,181,3862,0.00,2.47,0.00,0.000,4,0.000,0.051,2224,646,3436
$GC,3920,-1.47,-146.6,486.3,-10.1,184,3924,0.00,2.42,0.00,0.000,6,0.000,0.036,2224,2059,3436
$GC,4246,-1.47,-146.6,508.6,-5.3,200,4251,0.00,2.47,0.00,0.000,4,0.000,0.056,2224,3450,3436
$GC,4280,-1.47,-146.6,511.3,-7.9,201,4286,0.00,2.40,0.00,0.000,6,0.000,0.035,2224,2047,3436
$GC,4596,-1.47,-146.6,544.9,-10.7,217,4600,0.00,2.47,0.00,0.000,4,0.000,0.054,2224,643,3436
$GC,4937,-1.47,-146.6,592.3,-15.2,232,4941,0.00,2.42,0.00,0.000,6,0.000,0.038,2224,2042,3436
$GC,5252,-1.47,-146.6,630.3,-11.2,247,5257,0.00,2.53,0.00,0.000,4,0.000,0.058,2224,641,3435
$GC,5331,-1.47,-146.6,638.8,-9.6,250,5337,0.00,2.42,0.00,0.000,6,0.000,0.041,2224,2048,3435
$GC,5646,-1.47,-146.6,671.7,-10.1,266,5651,0.00,2.55,0.00,0.000,4,0.000,0.061,2224,655,3435
$GC,5775,-1.47,-146.6,684.8,-8.9,271,5781,0.00,2.42,0.00,0.000,6,0.000,0.044,2224,2046,3434
$GC,6090,-1.47,-146.6,710.7,-6.5,287,6095,0.00,2.53,0.00,0.000,4,0.000,0.061,2224,648,3432
$GC,6180,-1.47,-146.6,718.5,-8.8,291,6184,0.00,2.45,0.00,0.000,6,0.000,0.044,2224,2047,3432
$GC,6501,-1.47,-146.6,750.8,-11.1,307,6505,0.00,2.55,0.00,0.000,4,0.000,0.063,2224,645,3430
$GC,6601,-1.47,-146.6,762.8,-11.6,311,6607,0.00,2.45,0.00,0.000,6,0.000,0.044,2224,2048,3429
$GC,6916,-1.47,-146.6,802.2,-11.2,327,6921,0.00,2.58,0.00,0.000,4,0.000,0.064,2224,650,3427
$GC,7055,-1.47,-146.6,816.8,-11.0,333,7060,0.00,2.47,0.00,0.000,6,0.000,0.044,2224,2039,3426
$GC,7382,-1.47,-146.6,852.3,-10.8,349,7386,0.00,2.53,0.00,0.000,4,0.000,0.064,2224,649,3424
$STATE,7464,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7464,begin apogee
$GC,7473,-0.36,0.0,862.2,11.4,353,7608,1.17,0.00,130.43,1.483,6,0.085,0.000,2469,2149,2831
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7609,begin climb
$GC,7611,1.47,146.6,865.9,0.0,360,7746,1.85,0.00,129.50,1.413,6,0.054,0.000,2870,2149,2233
$GC,8045,1.48,156.8,832.9,9.5,381,8057,0.00,0.00,10.07,1.243,6,0.000,0.000,2870,2149,2191
$GC,8355,1.48,156.8,797.3,12.9,396,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2149,2188
$GC,8663,1.48,156.8,759.3,10.8,411,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2150,2188
$GC,8972,1.50,171.1,729.6,9.3,426,8990,0.00,0.00,13.80,1.335,6,0.000,0.000,2870,2150,2133
$GC,9303,1.58,232.5,699.6,7.2,442,9361,0.10,0.00,55.97,1.401,6,0.049,0.000,2906,2150,1883
$GC,9672,1.58,232.5,654.8,12.7,460,9676,0.00,2.58,0.00,0.000,4,0.000,0.066,2906,3553,1877
$GC,9715,1.58,232.5,648.4,12.4,462,9720,0.00,2.47,0.00,0.000,6,0.000,0.038,2906,2149,1876
$GC,10039,1.58,232.5,606.5,13.2,478,10043,0.00,2.58,0.00,0.000,4,0.000,0.061,2906,3553,1875
$GC,10178,1.58,232.5,586.0,14.1,484,10182,0.00,2.47,0.00,0.000,6,0.000,0.039,2906,2145,1875
$GC,10493,1.58,232.5,552.1,10.1,499,10498,0.00,2.55,0.00,0.000,4,0.000,0.061,2906,745,1875
$GC,10538,1.58,232.5,547.3,10.7,501,10542,0.00,2.47,0.00,0.000,6,0.000,0.040,2906,2148,1874
$GC,10859,1.58,232.5,508.1,10.1,517,10863,0.00,2.55,0.00,0.000,4,0.000,0.061,2906,3552,1873
$GC,10980,1.58,232.5,492.9,14.2,522,10987,0.00,2.45,0.00,0.000,6,0.000,0.035,2906,2142,1872
$GC,11298,1.58,232.5,453.5,11.8,538,11302,0.00,2.55,0.00,0.000,4,0.000,0.051,2906,3556,1872
$GC,11348,1.58,232.5,447.0,12.7,540,11352,0.00,2.42,0.00,0.000,6,0.000,0.032,2906,2144,1872
$GC,11663,1.58,232.5,411.5,11.4,555,11668,0.00,2.53,0.00,0.000,4,0.000,0.050,2906,3555,1873
$GC,11764,1.58,232.5,399.0,13.2,559,11770,0.00,2.42,0.00,0.000,6,0.000,0.031,2906,2142,1873
$GC,12079,1.58,232.5,362.2,12.0,575,12083,0.00,2.53,0.00,0.000,4,0.000,0.048,2906,3555,1875
$GC,12148,1.58,232.5,353.3,13.5,578,12153,0.00,2.40,0.00,0.000,6,0.000,0.031,2906,2144,1875
$GC,12469,1.58,232.5,311.6,13.8,594,12473,0.00,2.53,0.00,0.000,4,0.000,0.048,2906,3561,1877
$GC,12535,1.58,232.5,301.7,14.4,597,12539,0.00,2.42,0.00,0.000,6,0.000,0.029,2906,2137,1877
$GC,12856,1.58,232.5,255.2,14.6,613,12861,0.00,2.55,0.00,0.000,4,0.000,0.048,2906,3556,1878
$GC,12934,1.58,232.5,243.3,14.7,616,12938,0.00,2.40,0.00,0.000,6,0.000,0.029,2906,2142,1878
$GC,13252,1.58,232.5,201.0,12.6,631,13256,0.00,2.50,0.00,0.000,4,0.000,0.047,2906,3555,1880
$GC,13369,1.58,232.5,185.5,13.3,636,13373,0.00,2.40,0.00,0.000,6,0.000,0.028,2906,2137,1880
$GC,13687,1.58,232.5,146.4,12.8,651,13691,0.00,2.50,0.00,0.000,4,0.000,0.046,2907,3555,1881
$GC,13764,1.58,232.5,135.2,14.9,654,13770,0.00,2.40,0.00,0.000,6,0.000,0.028,2906,2137,1882
$GC,14082,1.58,232.5,93.5,13.4,670,14086,0.00,2.50,0.00,0.000,4,0.000,0.044,2907,3555,1882
$GC,14355,1.58,232.5,54.9,12.1,682,14360,0.00,2.38,0.00,0.000,6,0.000,0.027,2906,2144,1882
$GC,14673,1.58,232.5,19.1,10.9,697,14678,0.00,2.47,0.00,0.000,4,0.000,0.044,2906,3555,1883
$STATE,14816,end climb,SURFACE_DEPTH_REACHED
$STATE,14816,begin surface coast
$FINISH,0.9,1.023906
$STATE,14826,end surface coast,CONTROL_FINISHED_OK
$STATE,14826,begin surface
$SM_CCo,14849,56.12,0.827,0,0,1608,300.00
$SM_GC,0.86,0.00,0.00,56.12,0.000,0.000,0.827,392,2037,1608,-9.93,-0.25,300.00
$IRIDIUM_FIX,6054.92,-751.96,251197,121218
$TT8_MAMPS,0.026078
$HUMID,2100
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.3
$ALTIM_BOTTOM_PING,776.4,95.7
$24V_AH,23.2,11.253
$10V_AH,10.1,4.137
$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,23.675,148.150,339.775,56.125,0.000,30.510,24.900,173.487,7.250,0.000,0.000,16.877,1411.820,10727.861,530.211,1900.180,704.494,33.345,1502.366,0.000,1993.939,0.000,47.644
$DEVICE_MAMPS,131.924,65.962,1482.611,826.826,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.563,501.661,390.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34735,704
$CAP_FILE_SIZE,120920,0
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310808,211207,6115.789,-757.400,32,1.3,32,-8.6