version: 66.03
glider: 105
mission: 3
dive: 7
start: 9 1 108 1 57 37
data:
$ID,105
$MISSION,3
$DIVE,7
$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,-1588439.2
$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,1946
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,36
$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
$GPS1,015137,6115.150,-753.200,40,1.0,40,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.9
$GPS2,015645,6115.082,-753.155,16,1.5,16,-8.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.151,-0.216
$KALMAN_X,-6391.9,-547.6,851.6,12647.0,-3868.4
$KALMAN_Y,9570.3,-900.9,-551.4,-11064.1,5451.1
$MHEAD_RNG_PITCHd_Wd,153.4,34819,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-57.10,0.000,2,0.000,0.000,396,1944,3054
$GC,87,-1.47,-146.6,3.2,-4.2,3,112,9.70,2.53,-8.38,0.000,4,0.132,0.054,2226,546,3431
$GC,450,-1.47,-146.6,56.9,-13.4,19,455,0.00,2.38,0.00,0.000,6,0.000,0.025,2226,1954,3434
$GC,772,-1.47,-146.6,101.6,-13.7,35,776,0.00,2.47,0.00,0.000,4,0.000,0.041,2226,545,3435
$GC,1112,-1.47,-146.6,148.0,-13.6,50,1117,0.00,2.40,0.00,0.000,6,0.000,0.026,2225,1943,3436
$GC,1434,-1.47,-146.6,185.1,-11.4,66,1438,0.00,2.45,0.00,0.000,4,0.000,0.044,2226,548,3436
$GC,1754,-1.47,-146.6,222.2,-10.7,80,1759,0.00,2.38,0.00,0.000,6,0.000,0.029,2226,1944,3436
$GC,2070,-1.47,-146.6,253.7,-9.6,95,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1943,3436
$GC,2379,-1.47,-146.6,283.7,-9.9,110,2384,0.00,2.47,0.00,0.000,4,0.000,0.048,2226,546,3436
$GC,2513,-1.47,-146.6,297.9,-10.9,116,2518,0.00,2.40,0.00,0.000,6,0.000,0.031,2226,1948,3436
$GC,2834,-1.47,-146.6,333.8,-11.7,132,2839,0.00,2.50,0.00,0.000,4,0.000,0.050,2226,543,3436
$GC,2912,-1.47,-146.6,343.8,-12.5,135,2919,0.00,2.42,0.00,0.000,6,0.000,0.035,2226,1952,3436
$GC,3229,-1.47,-146.6,383.4,-12.7,151,3234,0.00,2.50,0.00,0.000,4,0.000,0.052,2226,550,3436
$GC,3314,-1.47,-146.6,394.2,-12.9,155,3319,0.00,2.42,0.00,0.000,6,0.000,0.035,2226,1945,3436
$GC,3646,-1.47,-146.6,436.1,-12.7,171,3651,0.00,2.50,0.00,0.000,4,0.000,0.051,2226,558,3436
$GC,3780,-1.47,-146.6,455.3,-14.6,177,3785,0.00,2.42,0.00,0.000,6,0.000,0.036,2226,1945,3436
$GC,4112,-1.47,-146.6,498.7,-12.5,193,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1945,3435
$GC,4422,-1.47,-146.6,535.4,-11.4,208,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1945,3435
$GC,4731,-1.47,-146.6,571.0,-9.8,223,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1945,3435
$GC,5040,-1.47,-146.6,599.4,-8.9,238,5045,0.00,2.53,0.00,0.000,4,0.000,0.055,2225,553,3435
$GC,5247,-1.47,-146.6,619.1,-9.5,247,5251,0.00,2.42,0.00,0.000,6,0.000,0.038,2226,1951,3435
$GC,5569,-1.47,-146.6,650.3,-10.7,263,5573,0.00,2.53,0.00,0.000,4,0.000,0.058,2225,551,3434
$GC,5680,-1.47,-146.6,663.3,-11.2,268,5685,0.00,2.45,0.00,0.000,6,0.000,0.040,2226,1941,3434
$GC,6007,-1.47,-146.6,700.7,-11.5,284,6011,0.00,2.53,0.00,0.000,4,0.000,0.061,2226,550,3432
$GC,6091,-1.47,-146.6,710.9,-11.8,288,6095,0.00,2.45,0.00,0.000,6,0.000,0.041,2226,1949,3432
$GC,6417,-1.47,-146.6,744.3,-9.3,304,6422,0.00,2.55,0.00,0.000,4,0.000,0.062,2226,547,3430
$GC,6481,-1.47,-146.6,750.0,-9.2,307,6485,0.00,2.45,0.00,0.000,6,0.000,0.041,2226,1946,3429
$GC,6808,-1.47,-146.6,777.2,-8.1,323,6812,0.00,2.53,0.00,0.000,4,0.000,0.062,2226,552,3427
$GC,6875,-1.47,-146.6,783.4,-9.0,326,6879,0.00,2.45,0.00,0.000,6,0.000,0.041,2226,1941,3427
$GC,7201,-1.47,-146.6,813.6,-9.6,342,7205,0.00,2.53,0.00,0.000,4,0.000,0.064,2226,553,3426
$GC,7313,-1.47,-146.6,825.1,-11.0,347,7317,0.00,2.45,0.00,0.000,6,0.000,0.043,2226,1952,3425
$GC,7634,-1.47,-146.6,856.4,-8.7,363,7638,0.00,2.53,0.00,0.000,4,0.000,0.064,2226,3350,3423
$STATE,7643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7643,begin apogee
$GC,7651,-0.36,0.0,857.7,9.2,363,7786,1.15,0.00,131.05,1.511,6,0.079,0.000,2468,2200,2831
$STATE,7786,end apogee,CONTROL_FINISHED_OK
$STATE,7787,begin climb
$GC,7789,1.47,146.6,861.8,0.0,370,7928,1.83,2.70,130.25,1.439,4,0.042,0.071,2873,3605,2232
$GC,8268,1.50,168.6,827.3,9.0,391,8293,0.00,2.47,20.25,1.371,6,0.000,0.039,2873,2203,2143
$GC,8615,1.52,184.3,796.3,9.3,408,8637,0.00,2.65,15.45,1.360,4,0.000,0.066,2873,3603,2078
$GC,8836,1.52,184.3,771.4,12.3,417,8842,0.00,2.47,0.00,0.000,6,0.000,0.039,2872,2195,2076
$GC,9151,1.52,184.3,736.1,11.4,433,9155,0.00,2.60,0.00,0.000,4,0.000,0.064,2872,3603,2075
$GC,9190,1.52,184.3,731.5,12.6,435,9194,0.00,2.47,0.00,0.000,6,0.000,0.039,2873,2199,2075
$GC,9516,1.52,184.3,695.0,11.2,451,9521,0.00,2.60,0.00,0.000,4,0.000,0.064,2873,3604,2074
$GC,9601,1.52,184.3,684.8,12.6,455,9605,0.00,2.47,0.00,0.000,6,0.000,0.039,2873,2197,2074
$GC,9930,1.52,184.3,646.9,11.4,471,9934,0.00,2.60,0.00,0.000,4,0.000,0.064,2873,3604,2073
$GC,9996,1.52,184.3,638.6,11.5,474,10000,0.00,2.47,0.00,0.000,6,0.000,0.038,2873,2194,2073
$GC,10317,1.52,184.3,603.5,10.9,490,10321,0.00,2.60,0.00,0.000,4,0.000,0.063,2873,3606,2072
$GC,10411,1.52,184.3,592.2,12.6,494,10415,0.00,2.45,0.00,0.000,6,0.000,0.038,2872,2200,2072
$GC,10727,1.52,184.3,556.2,11.5,509,10731,0.00,2.60,0.00,0.000,4,0.000,0.061,2872,3601,2071
$GC,10753,1.52,184.3,553.0,12.0,510,10758,0.00,2.45,0.00,0.000,6,0.000,0.036,2873,2198,2071
$GC,11075,1.52,184.3,518.6,10.7,526,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2198,2070
$GC,11384,1.52,184.3,486.2,10.6,541,11389,0.00,2.55,0.00,0.000,4,0.000,0.057,2873,3609,2070
$GC,11485,1.52,184.3,475.1,10.9,545,11492,0.00,2.47,0.00,0.000,6,0.000,0.034,2873,2194,2069
$GC,11801,1.54,199.0,444.5,9.3,561,11851,0.00,2.60,33.28,0.881,4,0.000,0.053,2873,3607,2019
$GC,12061,1.54,199.0,415.6,12.1,572,12067,0.00,2.42,0.00,0.000,6,0.000,0.031,2873,2195,2019
$GC,12376,1.54,199.0,381.1,10.6,588,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2195,2021
$GC,12686,1.56,216.5,351.6,9.2,603,12706,0.00,0.00,17.17,1.100,6,0.000,0.000,2873,2194,1948
$GC,13018,1.60,248.5,323.6,8.5,619,13053,0.10,2.58,28.98,1.091,4,0.053,0.048,2912,3610,1817
$GC,13108,1.60,248.5,313.3,11.9,623,13113,0.00,2.42,0.00,0.000,6,0.000,0.028,2912,2199,1816
$GC,13430,1.60,248.5,277.3,10.4,639,13434,0.00,2.53,0.00,0.000,4,0.000,0.048,2912,3611,1816
$GC,13456,1.60,248.5,274.2,11.4,640,13461,0.00,2.42,0.00,0.000,6,0.000,0.028,2912,2192,1816
$GC,13772,1.60,248.5,237.5,12.3,655,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2192,1817
$GC,14083,1.60,248.5,197.5,12.8,670,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2192,1818
$GC,14390,1.60,248.5,155.7,14.3,685,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2192,1818
$GC,14700,1.60,248.5,117.9,10.8,700,14704,0.00,2.45,0.00,0.000,4,0.000,0.047,2912,802,1819
$GC,14777,1.60,248.5,107.5,14.2,703,14785,0.00,2.42,0.00,0.000,6,0.000,0.030,2912,2206,1819
$GC,15093,1.60,248.5,65.3,13.4,719,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2206,1820
$GC,15402,1.60,248.5,29.1,12.2,734,15407,0.00,2.47,0.00,0.000,4,0.000,0.049,2912,3606,1821
$GC,15577,1.60,248.5,6.2,12.5,742,15582,0.00,2.38,0.00,0.000,6,0.000,0.028,2912,2195,1821
$STATE,15613,end climb,SURFACE_DEPTH_REACHED
$STATE,15613,begin surface coast
$FINISH,0.3,1.014698
$STATE,15636,end surface coast,CONTROL_FINISHED_OK
$STATE,15636,begin surface
$SM_CCo,15658,43.55,0.843,0,0,1609,300.00
$SM_GC,1.21,0.00,0.00,43.55,0.000,0.000,0.843,392,1945,1609,-9.93,-0.03,300.00
$IRIDIUM_FIX,6054.92,-800.21,251197,212136
$TT8_MAMPS,0.027612
$HUMID,2087
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,775.5,91.8
$24V_AH,23.2,11.584
$10V_AH,10.1,4.298
$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,23.700,134.400,376.425,43.550,0.000,29.843,33.637,129.685,7.000,0.000,0.000,16.729,1472.476,11364.604,500.734,2006.725,666.954,33.336,1543.126,0.000,2100.447,0.000,47.624
$DEVICE_MAMPS,131.924,70.564,1510.990,842.933,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.280,526.776,418.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37930,745
$CAP_FILE_SIZE,122192,0
$CFSIZE,260165632,257810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,010908,062038,6116.854,-752.054,39,1.2,39,-8.5