version: 66.03
glider: 105
mission: 3
dive: 8
start: 9 1 108 6 27 9
data:
$ID,105
$MISSION,3
$DIVE,8
$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,-1588452.1
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,062038,6116.854,-752.054,39,1.2,39,-8.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-57.8
$GPS2,062615,6116.942,-752.058,12,1.7,12,-8.5
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.090,-0.248
$KALMAN_X,-7136.6,409.5,-1081.0,15356.1,936.4
$KALMAN_Y,15541.0,-33.3,658.1,-15686.2,6255.1
$MHEAD_RNG_PITCHd_Wd,208.5,37104,-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,-61.60,0.000,2,0.000,0.000,392,1943,3174
$GC,90,-1.47,-146.6,3.5,-6.1,3,112,9.73,2.45,-5.40,0.000,4,0.131,0.049,2224,3351,3431
$GC,353,-1.47,-146.6,42.6,-12.7,14,359,0.00,2.38,0.00,0.000,6,0.000,0.026,2224,1938,3433
$GC,669,-1.47,-146.6,80.8,-11.8,30,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1938,3434
$GC,980,-1.47,-146.6,119.0,-12.2,45,984,0.00,2.42,0.00,0.000,4,0.000,0.043,2224,551,3435
$GC,1137,-1.47,-146.6,138.3,-11.9,52,1141,0.00,2.38,0.00,0.000,6,0.000,0.027,2224,1952,3435
$GC,1458,-1.47,-146.6,173.8,-10.7,68,1462,0.00,2.45,0.00,0.000,4,0.000,0.044,2224,558,3436
$GC,1681,-1.47,-146.6,200.3,-12.4,78,1685,0.00,2.35,0.00,0.000,6,0.000,0.029,2224,1944,3436
$GC,2007,-1.47,-146.6,239.9,-12.4,94,2012,0.00,2.47,0.00,0.000,4,0.000,0.046,2224,563,3436
$GC,2235,-1.47,-146.6,269.4,-12.9,104,2240,0.00,2.38,0.00,0.000,6,0.000,0.031,2224,1938,3436
$GC,2561,-1.47,-146.6,312.4,-13.4,120,2565,0.00,2.45,0.00,0.000,4,0.000,0.048,2224,560,3436
$GC,2724,-1.47,-146.6,334.9,-14.0,127,2729,0.00,2.38,0.00,0.000,6,0.000,0.033,2224,1948,3436
$GC,3043,-1.47,-146.6,376.1,-12.8,142,3047,0.00,2.47,0.00,0.000,4,0.000,0.050,2224,556,3436
$GC,3187,-1.47,-146.6,394.8,-12.2,148,3193,0.00,2.40,0.00,0.000,6,0.000,0.035,2224,1950,3436
$GC,3505,-1.47,-146.6,429.7,-10.4,164,3509,0.00,2.47,0.00,0.000,4,0.000,0.051,2224,560,3436
$GC,3560,-1.47,-146.6,435.8,-10.9,166,3566,0.00,2.40,0.00,0.000,6,0.000,0.035,2224,1955,3436
$GC,3876,-1.47,-146.6,465.9,-9.8,182,3881,0.00,2.50,0.00,0.000,4,0.000,0.051,2224,554,3435
$GC,4010,-1.47,-146.6,480.6,-10.6,188,4015,0.00,2.40,0.00,0.000,6,0.000,0.035,2224,1951,3435
$GC,4334,-1.47,-146.6,515.3,-10.5,204,4338,0.00,2.47,0.00,0.000,4,0.000,0.052,2224,3348,3435
$GC,4383,-1.47,-146.6,520.9,-10.9,206,4387,0.00,2.40,0.00,0.000,6,0.000,0.033,2224,1950,3435
$GC,4702,-1.47,-146.6,548.3,-7.3,221,4706,0.00,2.50,0.00,0.000,4,0.000,0.053,2224,544,3435
$GC,4768,-1.47,-146.6,554.3,-9.3,224,4773,0.00,2.42,0.00,0.000,6,0.000,0.035,2224,1954,3435
$GC,5090,-1.47,-146.6,582.1,-8.5,240,5094,0.00,2.50,0.00,0.000,4,0.000,0.056,2224,3354,3435
$GC,5139,-1.47,-146.6,586.7,-8.8,242,5144,0.00,2.42,0.00,0.000,6,0.000,0.036,2224,1948,3435
$GC,5455,-1.47,-146.6,613.8,-8.7,257,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1949,3435
$GC,5764,-1.47,-146.6,637.3,-7.1,272,5768,0.00,2.53,0.00,0.000,4,0.000,0.060,2224,546,3434
$GC,5865,-1.47,-146.6,644.9,-7.8,276,5872,0.00,2.42,0.00,0.000,6,0.000,0.040,2224,1943,3434
$GC,6181,-1.47,-146.6,668.6,-7.4,292,6185,0.00,2.55,0.00,0.000,4,0.000,0.061,2224,542,3432
$GC,6298,-1.47,-146.6,678.8,-8.9,297,6302,0.00,2.45,0.00,0.000,6,0.000,0.041,2224,1945,3431
$GC,6613,-1.47,-146.6,706.4,-9.1,312,6618,0.00,2.55,0.00,0.000,4,0.000,0.061,2224,543,3428
$GC,6699,-1.47,-146.6,714.4,-9.8,316,6703,0.00,2.45,0.00,0.000,6,0.000,0.041,2225,1944,3428
$GC,7025,-1.47,-146.6,743.0,-8.8,332,7029,0.00,2.55,0.00,0.000,4,0.000,0.062,2224,544,3427
$GC,7141,-1.47,-146.6,754.7,-9.6,337,7146,0.00,2.45,0.00,0.000,6,0.000,0.041,2224,1945,3426
$GC,7458,-1.47,-146.6,786.4,-9.8,352,7462,0.00,2.55,0.00,0.000,4,0.000,0.064,2224,548,3424
$GC,7598,-1.47,-146.6,802.0,-11.8,358,7602,0.00,2.45,0.00,0.000,6,0.000,0.042,2224,1947,3423
$GC,7913,-1.47,-146.6,834.9,-9.4,373,7918,0.00,2.58,0.00,0.000,4,0.000,0.066,2224,544,3422
$STATE,7924,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7924,begin apogee
$GC,7934,-0.36,0.0,835.7,9.1,373,8113,1.15,0.00,159.98,1.338,6,0.082,0.000,2465,2198,2831
$STATE,8113,end apogee,CONTROL_FINISHED_OK
$STATE,8113,begin climb
$GC,8116,1.47,146.6,841.4,0.0,382,8255,1.88,2.75,130.02,1.426,4,0.054,0.074,2869,3605,2233
$GC,8318,1.47,146.6,832.2,11.2,391,8322,0.00,2.50,0.00,0.000,6,0.000,0.041,2869,2205,2230
$GC,8634,1.53,192.3,806.9,7.9,406,8678,0.00,0.00,41.85,1.411,6,0.000,0.000,2869,2204,2046
$GC,8986,1.55,210.8,776.7,9.2,423,9053,0.00,2.67,46.50,0.889,4,0.000,0.066,2869,3609,1971
$GC,9134,1.55,210.8,758.5,12.9,430,9139,0.00,2.50,0.00,0.000,6,0.000,0.039,2869,2198,1971
$GC,9461,1.55,210.8,721.5,11.0,446,9465,0.00,2.62,0.00,0.000,4,0.000,0.065,2869,3606,1970
$GC,9487,1.55,210.8,718.4,11.2,447,9492,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2199,1970
$GC,9803,1.55,210.8,684.2,10.8,462,9807,0.00,2.62,0.00,0.000,4,0.000,0.064,2869,3608,1969
$GC,9847,1.55,210.8,679.1,12.1,464,9851,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2198,1968
$GC,10169,1.55,210.8,642.9,11.8,480,10173,0.00,2.62,0.00,0.000,4,0.000,0.064,2869,3609,1968
$GC,10191,1.55,210.8,640.1,12.2,481,10195,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2198,1968
$GC,10511,1.55,210.8,599.1,12.7,497,10516,0.00,2.62,0.00,0.000,4,0.000,0.064,2869,3613,1968
$GC,10589,1.55,210.8,588.2,14.1,500,10596,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2200,1968
$GC,10905,1.55,210.8,547.6,12.3,516,10910,0.00,2.60,0.00,0.000,4,0.000,0.061,2869,3599,1967
$GC,11108,1.55,210.8,522.3,13.2,525,11112,0.00,2.45,0.00,0.000,6,0.000,0.038,2869,2200,1966
$GC,11438,1.58,234.6,489.6,8.9,541,11519,0.10,2.67,56.30,0.917,4,0.051,0.056,2907,3612,1872
$GC,11636,1.58,234.6,466.6,12.0,550,11641,0.00,2.47,0.00,0.000,6,0.000,0.033,2907,2198,1864
$GC,11960,1.58,234.6,429.0,11.4,566,11965,0.00,2.55,0.00,0.000,4,0.000,0.052,2907,3615,1863
$GC,12038,1.58,234.6,418.6,12.7,569,12046,0.00,2.47,0.00,0.000,6,0.000,0.031,2907,2197,1863
$GC,12354,1.58,234.6,380.0,12.4,585,12358,0.00,2.55,0.00,0.000,4,0.000,0.050,2907,3611,1864
$GC,12392,1.58,234.6,374.9,12.5,587,12397,0.00,2.42,0.00,0.000,6,0.000,0.029,2907,2198,1864
$GC,12720,1.58,234.6,332.6,13.2,603,12724,0.00,2.55,0.00,0.000,4,0.000,0.048,2907,3618,1866
$GC,12859,1.58,234.6,313.2,13.1,609,12863,0.00,2.42,0.00,0.000,6,0.000,0.029,2907,2195,1866
$GC,13174,1.58,234.6,270.8,14.2,624,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2194,1868
$GC,13484,1.58,234.6,226.7,14.1,639,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2195,1870
$GC,13793,1.58,234.6,184.0,13.3,654,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2195,1870
$GC,14104,1.58,234.6,145.7,11.4,669,14108,0.00,2.53,0.00,0.000,4,0.000,0.046,2907,3619,1871
$GC,14175,1.58,234.6,137.3,11.2,672,14180,0.00,2.40,0.00,0.000,6,0.000,0.028,2907,2200,1871
$GC,14492,1.58,234.6,100.7,12.0,687,14493,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2200,1872
$GC,14802,1.58,234.6,65.2,11.2,702,14806,0.00,2.50,0.00,0.000,4,0.000,0.044,2907,3616,1873
$GC,15066,1.58,234.6,35.6,11.1,714,15070,0.00,2.40,0.00,0.000,6,0.000,0.028,2907,2197,1874
$STATE,15390,end climb,SURFACE_DEPTH_REACHED
$STATE,15390,begin surface coast
$FINISH,0.2,1.015904
$STATE,15415,end surface coast,CONTROL_FINISHED_OK
$STATE,15415,begin surface
$SM_CCo,15436,53.95,0.838,0,0,1608,300.00
$SM_GC,0.82,0.00,0.00,53.95,0.000,0.000,0.838,391,1931,1608,-9.93,-0.42,300.00
$IRIDIUM_FIX,6050.49,-800.21,261197,020215
$TT8_MAMPS,0.027612
$HUMID,2082
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.1,17.8
$ALTIM_BOTTOM_PING,776.5,69.1
$24V_AH,23.2,11.765
$10V_AH,10.1,4.379
$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,23.775,150.175,434.650,53.950,0.000,30.861,26.228,152.335,7.250,0.000,0.000,12.266,1443.583,11126.860,610.673,1938.337,713.240,33.371,1631.206,0.000,2041.748,0.000,50.501
$DEVICE_MAMPS,131.157,73.632,1425.853,837.564,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.078,517.783,426.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38074,731
$CAP_FILE_SIZE,124102,0
$CFSIZE,260165632,257748992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,9,0
$GPS,010908,104658,6117.580,-754.772,39,2.1,58,-8.6