version: 66.03
glider: 105
mission: 3
dive: 6
start: 8 31 108 21 17 54
data:
$ID,105
$MISSION,3
$DIVE,6
$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,-1588421.9
$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,1946
$C_ROLL_CLIMB,2146
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,22
$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
$GPS1,211207,6115.789,-757.400,32,1.3,32,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.4
$GPS2,211702,6115.846,-757.243,11,1.4,11,-8.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.219,-0.146
$KALMAN_X,-5605.0,-464.5,530.0,8482.8,-4341.2
$KALMAN_Y,6878.6,-431.4,252.7,-8238.0,2893.7
$MHEAD_RNG_PITCHd_Wd,132.3,38204,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.47,-146.6,0.0,0.0,0,87,0.00,0.00,-60.80,0.000,2,0.000,0.000,392,2036,3170
$GC,91,-1.47,-146.6,3.7,-6.6,3,113,9.73,2.62,-5.40,0.000,4,0.132,0.054,2225,545,3432
$GC,370,-1.47,-146.6,45.1,-12.4,15,375,0.00,2.40,0.00,0.000,6,0.000,0.026,2225,1964,3434
$GC,688,-1.47,-146.6,87.8,-13.1,30,692,0.00,2.40,0.00,0.000,4,0.000,0.041,2225,3347,3435
$GC,765,-1.47,-146.6,98.4,-12.8,33,771,0.00,2.38,0.00,0.000,6,0.000,0.025,2225,1934,3435
$GC,1083,-1.47,-146.6,132.2,-10.8,49,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1934,3436
$GC,1390,-1.47,-146.6,168.9,-12.2,64,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1934,3436
$GC,1701,-1.47,-146.6,206.5,-12.2,79,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1933,3436
$GC,2008,-1.47,-146.6,244.5,-11.8,94,2012,0.00,2.40,0.00,0.000,4,0.000,0.045,2225,561,3436
$GC,2085,-1.47,-146.6,253.7,-12.1,97,2091,0.00,2.35,0.00,0.000,6,0.000,0.029,2225,1945,3437
$GC,2400,-1.47,-146.6,291.8,-12.4,113,2404,0.00,2.45,0.00,0.000,4,0.000,0.047,2225,558,3437
$GC,2444,-1.47,-146.6,297.6,-13.3,115,2449,0.00,2.38,0.00,0.000,6,0.000,0.031,2225,1945,3437
$GC,2766,-1.47,-146.6,336.2,-11.1,131,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1946,3436
$GC,3075,-1.47,-146.6,370.7,-11.5,146,3080,0.00,2.50,0.00,0.000,4,0.000,0.051,2225,557,3436
$GC,3187,-1.47,-146.6,384.3,-12.7,151,3192,0.00,2.40,0.00,0.000,6,0.000,0.035,2225,1949,3436
$GC,3514,-1.47,-146.6,421.0,-10.8,167,3518,0.00,2.47,0.00,0.000,4,0.000,0.051,2225,560,3436
$GC,3614,-1.47,-146.6,433.1,-12.2,171,3620,0.00,2.40,0.00,0.000,6,0.000,0.035,2225,1955,3436
$GC,3930,-1.47,-146.6,471.9,-11.4,187,3934,0.00,2.47,0.00,0.000,4,0.000,0.051,2225,561,3436
$GC,3985,-1.47,-146.6,478.1,-11.2,189,3991,0.00,2.38,0.00,0.000,6,0.000,0.035,2226,1946,3436
$GC,4301,-1.47,-146.6,507.8,-9.6,205,4305,0.00,2.47,0.00,0.000,4,0.000,0.051,2225,554,3436
$GC,4535,-1.47,-146.6,536.3,-13.1,215,4541,0.00,2.40,0.00,0.000,6,0.000,0.036,2225,1945,3436
$GC,4853,-1.47,-146.6,573.6,-10.7,231,4857,0.00,2.50,0.00,0.000,4,0.000,0.056,2225,3348,3436
$GC,4942,-1.47,-146.6,582.8,-9.6,235,4946,0.00,2.40,0.00,0.000,6,0.000,0.036,2225,1953,3436
$GC,5264,-1.47,-146.6,616.3,-10.3,251,5268,0.00,2.53,0.00,0.000,4,0.000,0.058,2225,541,3436
$GC,5418,-1.47,-146.6,631.5,-9.4,258,5423,0.00,2.45,0.00,0.000,6,0.000,0.041,2225,1943,3436
$GC,5744,-1.47,-146.6,659.5,-8.9,274,5749,0.00,2.53,0.00,0.000,4,0.000,0.060,2225,547,3434
$GC,5811,-1.47,-146.6,666.2,-10.1,277,5815,0.00,2.45,0.00,0.000,6,0.000,0.041,2225,1948,3434
$GC,6135,-1.47,-146.6,696.9,-9.4,293,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1947,3432
$GC,6441,-1.47,-146.6,728.9,-10.7,308,6446,0.00,2.55,0.00,0.000,4,0.000,0.063,2225,547,3430
$GC,6525,-1.47,-146.6,738.5,-11.8,312,6530,0.00,2.45,0.00,0.000,6,0.000,0.042,2225,1946,3429
$GC,6852,-1.47,-146.6,771.7,-9.7,328,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1946,3427
$GC,7162,-1.47,-146.6,801.5,-9.6,343,7167,0.00,2.58,0.00,0.000,4,0.000,0.065,2225,551,3425
$GC,7275,-1.47,-146.6,813.0,-10.7,348,7279,0.00,2.45,0.00,0.000,6,0.000,0.043,2225,1948,3425
$GC,7601,-1.47,-146.6,844.0,-10.5,364,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1948,3423
$STATE,7848,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7848,begin apogee
$GC,7855,-0.36,0.0,869.2,11.0,376,7989,1.17,0.00,130.73,1.515,6,0.081,0.000,2471,2148,2831
$STATE,7990,end apogee,CONTROL_FINISHED_OK
$STATE,7990,begin climb
$GC,7993,1.47,146.6,875.3,0.0,383,8128,1.83,0.00,131.10,1.441,6,0.050,0.000,2869,2148,2233
$GC,8428,1.49,159.8,840.1,9.4,404,8449,0.00,2.70,12.60,1.309,4,0.000,0.071,2870,3542,2179
$GC,8540,1.49,159.8,827.0,11.1,409,8544,0.00,2.47,0.00,0.000,6,0.000,0.041,2869,2147,2178
$GC,8866,1.50,165.5,794.9,9.7,425,8874,0.00,0.00,6.60,1.177,6,0.000,0.000,2870,2147,2156
$GC,9178,1.51,173.9,764.7,9.6,440,9192,0.00,2.62,9.02,1.281,4,0.000,0.067,2870,3545,2122
$GC,9267,1.51,173.9,754.4,12.0,444,9271,0.00,2.47,0.00,0.000,6,0.000,0.040,2870,2147,2122
$GC,9594,1.51,180.8,723.4,9.7,460,9608,0.00,2.65,7.85,1.252,4,0.000,0.064,2870,3543,2093
$GC,9656,1.53,193.1,717.4,9.4,462,9675,0.00,2.47,13.05,1.340,6,0.000,0.040,2869,2145,2042
$GC,9992,1.54,198.0,684.7,9.8,479,10003,0.00,2.62,5.78,1.138,4,0.000,0.062,2870,3546,2023
$GC,10042,1.54,198.3,679.4,10.0,481,10047,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2147,2022
$GC,10363,1.55,206.3,647.9,9.6,497,10377,0.00,2.62,9.02,1.274,4,0.000,0.063,2870,3548,1989
$GC,10411,1.55,206.3,642.9,10.4,499,10415,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2147,1988
$GC,10732,1.57,222.9,613.6,9.2,515,10756,0.00,2.65,16.40,1.350,4,0.000,0.062,2869,3546,1921
$GC,10806,1.57,222.9,605.8,11.6,518,10811,0.00,2.50,0.00,0.000,6,0.000,0.038,2870,2152,1920
$GC,11132,1.57,222.9,571.5,10.7,534,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2152,1919
$GC,11441,1.57,222.9,538.5,10.9,549,11446,0.00,2.58,0.00,0.000,4,0.000,0.061,2869,3553,1919
$GC,11631,1.57,222.9,515.4,11.1,557,11638,0.00,2.47,0.00,0.000,6,0.000,0.037,2870,2142,1918
$GC,11950,1.57,222.9,483.2,10.6,573,11954,0.00,2.55,0.00,0.000,4,0.000,0.061,2870,741,1917
$GC,11993,1.57,222.9,478.0,11.4,575,11997,0.00,2.45,0.00,0.000,6,0.000,0.036,2870,2147,1917
$GC,12317,1.57,222.9,442.8,10.7,591,12321,0.00,2.53,0.00,0.000,4,0.000,0.057,2870,3552,1917
$GC,12389,1.57,222.9,434.4,11.4,594,12393,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2139,1917
$GC,12707,1.57,222.9,400.8,10.3,609,12711,0.00,2.53,0.00,0.000,4,0.000,0.050,2870,3550,1918
$GC,12829,1.57,222.9,387.0,10.5,614,12836,0.00,2.42,0.00,0.000,6,0.000,0.031,2869,2149,1919
$GC,13144,1.57,222.9,355.2,10.7,630,13149,0.00,2.50,0.00,0.000,4,0.000,0.049,2870,3552,1920
$GC,13206,1.57,222.9,348.0,11.5,633,13211,0.00,2.42,0.00,0.000,6,0.000,0.030,2869,2149,1921
$GC,13538,1.57,222.9,310.0,11.3,649,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2148,1922
$GC,13847,1.57,222.9,273.8,12.0,664,13851,0.00,2.50,0.00,0.000,4,0.000,0.048,2869,3552,1923
$GC,13956,1.57,222.9,260.0,13.2,669,13960,0.00,2.40,0.00,0.000,6,0.000,0.028,2870,2142,1924
$GC,14282,1.57,222.9,220.5,12.3,685,14286,0.00,2.50,0.00,0.000,4,0.000,0.047,2870,3551,1925
$GC,14353,1.57,222.9,211.3,12.9,688,14358,0.00,2.38,0.00,0.000,6,0.000,0.028,2870,2144,1925
$GC,14669,1.57,222.9,173.1,10.7,703,14674,0.00,2.50,0.00,0.000,4,0.000,0.046,2869,3542,1926
$GC,14737,1.57,222.9,165.3,10.9,706,14741,0.00,2.35,0.00,0.000,6,0.000,0.028,2870,2146,1926
$GC,15065,1.58,231.9,134.4,9.6,722,15081,0.10,2.53,10.32,0.872,4,0.051,0.045,2911,3553,1884
$GC,15149,1.58,231.9,124.9,11.8,725,15153,0.00,2.40,0.00,0.000,6,0.000,0.028,2911,2144,1884
$GC,15475,1.58,231.9,90.6,10.9,741,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2145,1884
$GC,15785,1.58,236.8,57.4,9.8,756,15796,0.00,2.47,6.15,0.739,4,0.000,0.047,2911,749,1865
$GC,15907,1.58,236.8,43.8,11.5,761,15914,0.00,2.40,0.00,0.000,6,0.000,0.028,2911,2163,1865
$GC,16223,1.58,236.8,6.9,12.1,777,16227,0.00,2.42,0.00,0.000,4,0.000,0.044,2911,3550,1865
$STATE,16263,end climb,SURFACE_DEPTH_REACHED
$STATE,16263,begin surface coast
$FINISH,0.8,1.023938
$STATE,16267,end surface coast,CONTROL_FINISHED_OK
$STATE,16267,begin surface
$SM_CCo,16291,52.28,0.835,0,0,1608,300.00
$SM_GC,0.80,0.00,0.00,52.28,0.000,0.000,0.835,396,1947,1608,-9.91,0.03,300.00
$IRIDIUM_FIX,6054.92,-751.96,251197,171724
$TT8_MAMPS,0.027612
$HUMID,2066
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.7
$ALTIM_BOTTOM_PING,826.5,50.6
$24V_AH,23.2,11.418
$10V_AH,10.1,4.217
$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,23.725,149.375,358.625,52.275,0.000,28.180,29.222,129.971,7.500,0.000,0.000,12.012,1515.513,12041.141,544.874,1872.425,667.862,33.341,1513.630,0.000,2000.198,0.000,50.749
$DEVICE_MAMPS,131.924,71.331,1514.825,835.263,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.670,564.360,441.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41137,779
$CAP_FILE_SIZE,124842,0
$CFSIZE,260165632,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010908,015137,6115.150,-753.200,40,1.0,40,-8.5