version: 66.03
glider: 105
mission: 3
dive: 9
start: 9 1 108 10 53 7
data:
$ID,105
$MISSION,3
$DIVE,9
$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,-1588464.1
$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,49
$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
$GPS1,104658,6117.580,-754.772,39,2.1,58,-8.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-55.4
$GPS2,105215,6117.601,-754.583,11,1.6,11,-8.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.188,-0.184
$KALMAN_X,-10460.1,1080.6,925.4,13770.5,-5720.9
$KALMAN_Y,21224.9,1310.5,-248.0,-20576.1,6620.5
$MHEAD_RNG_PITCHd_Wd,143.0,39366,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-61.50,0.000,2,0.000,0.000,391,1930,3171
$GC,92,-1.47,-146.6,3.6,-6.7,3,114,9.75,2.42,-5.32,0.000,4,0.133,0.055,2222,557,3431
$GC,416,-1.47,-146.6,52.7,-14.7,17,421,0.00,2.40,0.00,0.000,6,0.000,0.027,2223,1954,3433
$GC,737,-1.47,-146.6,94.8,-12.0,33,741,0.00,2.42,0.00,0.000,4,0.000,0.041,2222,3348,3435
$GC,787,-1.47,-146.6,101.0,-12.4,35,791,0.00,2.35,0.00,0.000,6,0.000,0.026,2222,1950,3435
$GC,1103,-1.47,-146.6,139.8,-11.2,50,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1950,3435
$GC,1412,-1.47,-146.6,171.5,-10.1,65,1416,0.00,2.45,0.00,0.000,4,0.000,0.043,2222,3346,3435
$GC,1489,-1.47,-146.6,180.0,-10.3,68,1495,0.00,2.38,0.00,0.000,6,0.000,0.028,2222,1943,3435
$GC,1806,-1.47,-146.6,211.7,-9.8,84,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1943,3436
$GC,2114,-1.47,-146.6,243.2,-10.8,99,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1942,3436
$GC,2426,-1.47,-146.6,277.0,-10.8,114,2430,0.00,2.45,0.00,0.000,4,0.000,0.048,2222,551,3436
$GC,2493,-1.47,-146.6,284.8,-11.9,117,2498,0.00,2.40,0.00,0.000,6,0.000,0.031,2222,1938,3435
$GC,2819,-1.47,-146.6,320.2,-11.1,133,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1938,3435
$GC,3129,-1.47,-146.6,357.4,-11.7,148,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1938,3436
$GC,3438,-1.47,-146.6,393.6,-11.9,163,3442,0.00,2.47,0.00,0.000,4,0.000,0.052,2222,555,3435
$GC,3500,-1.47,-146.6,401.2,-12.1,166,3504,0.00,2.40,0.00,0.000,6,0.000,0.037,2222,1940,3435
$GC,3827,-1.47,-146.6,437.9,-11.2,182,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1941,3435
$GC,4136,-1.47,-146.6,469.9,-9.8,197,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1941,3435
$GC,4447,-1.47,-146.6,503.2,-11.9,212,4451,0.00,2.47,0.00,0.000,4,0.000,0.053,2222,555,3435
$GC,4788,-1.47,-146.6,536.5,-8.5,227,4793,0.00,2.40,0.00,0.000,6,0.000,0.039,2222,1944,3434
$GC,5104,-1.47,-146.6,554.9,-6.5,242,5108,0.00,2.50,0.00,0.000,4,0.000,0.055,2223,556,3435
$GC,5262,-1.47,-146.6,568.2,-9.0,249,5267,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1944,3434
$GC,5588,-1.47,-146.6,603.0,-11.9,265,5592,0.00,2.53,0.00,0.000,4,0.000,0.060,2223,3350,3434
$GC,5620,-1.47,-146.6,607.3,-13.4,266,5627,0.00,2.42,0.00,0.000,6,0.000,0.039,2223,1957,3434
$GC,5937,-1.47,-146.6,643.3,-10.5,282,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1957,3433
$GC,6246,-1.47,-146.6,673.0,-9.1,297,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1956,3431
$GC,6555,-1.47,-146.6,698.0,-7.7,312,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1956,3429
$GC,6865,-1.47,-146.6,722.9,-8.2,327,6869,0.00,2.58,0.00,0.000,4,0.000,0.064,2222,544,3427
$GC,6933,-1.47,-146.6,729.6,-10.0,330,6938,0.00,2.47,0.00,0.000,6,0.000,0.043,2222,1939,3427
$GC,7260,-1.47,-146.6,757.8,-9.9,346,7264,0.00,2.55,0.00,0.000,4,0.000,0.064,2222,545,3425
$GC,7281,-1.47,-146.6,760.0,-10.0,347,7285,0.00,2.45,0.00,0.000,6,0.000,0.042,2223,1947,3425
$GC,7601,-1.47,-146.6,787.1,-10.0,363,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1947,3423
$GC,7913,-1.47,-146.6,819.0,-10.4,378,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1947,3421
$STATE,7971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7971,begin apogee
$GC,7977,-0.36,0.0,824.1,8.8,381,8237,1.20,0.00,210.25,1.129,6,0.086,0.000,2469,2201,2831
$STATE,8238,end apogee,CONTROL_FINISHED_OK
$STATE,8238,begin climb
$GC,8240,1.47,146.6,830.7,0.0,394,8379,1.83,2.70,129.90,1.411,4,0.048,0.074,2867,3602,2233
$GC,8397,1.61,262.5,827.6,4.7,400,8507,0.15,2.53,102.65,1.390,6,0.041,0.043,2913,2197,1760
$GC,8818,1.61,262.5,774.6,14.1,421,8822,0.00,2.58,0.00,0.000,4,0.000,0.062,2913,798,1755
$GC,9041,1.61,262.5,742.5,14.3,431,9047,0.00,2.50,0.00,0.000,6,0.000,0.044,2912,2189,1753
$GC,9368,1.61,262.5,696.9,14.2,447,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2190,1751
$GC,9677,1.61,262.5,653.9,13.8,462,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2191,1750
$GC,9986,1.61,262.5,611.1,13.7,477,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2191,1749
$GC,10298,1.61,262.5,568.8,13.7,492,10302,0.00,2.62,0.00,0.000,4,0.000,0.065,2913,3613,1749
$GC,10353,1.61,262.5,560.8,14.0,494,10359,0.00,2.47,0.00,0.000,6,0.000,0.038,2913,2196,1749
$GC,10668,1.61,262.5,518.2,13.7,510,10673,0.00,2.60,0.00,0.000,4,0.000,0.060,2913,3610,1749
$GC,10701,1.61,262.5,513.3,14.6,511,10707,0.00,2.47,0.00,0.000,6,0.000,0.037,2913,2200,1748
$GC,11019,1.61,262.5,470.7,12.1,527,11020,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2200,1747
$GC,11326,1.61,262.5,433.1,12.9,542,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2200,1746
$GC,11635,1.61,262.5,388.8,14.8,557,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2199,1746
$GC,11945,1.61,262.5,342.6,14.6,572,11949,0.00,2.53,0.00,0.000,4,0.000,0.049,2913,3613,1748
$GC,11988,1.61,262.5,336.0,15.1,574,11993,0.00,2.42,0.00,0.000,6,0.000,0.030,2913,2193,1747
$GC,12310,1.61,262.5,290.8,14.1,590,12314,0.00,2.55,0.00,0.000,4,0.000,0.048,2913,3620,1749
$GC,12372,1.61,262.5,281.1,15.9,593,12376,0.00,2.42,0.00,0.000,6,0.000,0.029,2913,2194,1749
$GC,12698,1.61,262.5,230.1,16.0,609,12702,0.00,2.53,0.00,0.000,4,0.000,0.047,2914,3613,1750
$GC,12730,1.61,262.5,224.5,17.2,610,12736,0.00,2.40,0.00,0.000,6,0.000,0.028,2913,2200,1750
$GC,13046,1.61,262.5,171.5,17.1,626,13051,0.00,2.53,0.00,0.000,4,0.000,0.046,2913,3607,1752
$GC,13084,1.61,262.5,164.5,17.6,627,13091,0.00,2.42,0.00,0.000,6,0.000,0.028,2913,2199,1752
$GC,13400,1.61,262.5,118.8,13.7,643,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2199,1753
$GC,13711,1.61,262.5,75.0,14.0,658,13715,0.00,2.45,0.00,0.000,4,0.000,0.047,2913,805,1754
$GC,13818,1.61,262.5,60.4,12.9,663,13822,0.00,2.40,0.00,0.000,6,0.000,0.028,2913,2218,1754
$GC,14146,1.61,262.5,19.6,13.2,679,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2218,1755
$STATE,14286,end climb,SURFACE_DEPTH_REACHED
$STATE,14286,begin surface coast
$FINISH,0.2,1.001748
$STATE,14309,end surface coast,CONTROL_FINISHED_OK
$STATE,14309,begin surface
$SM_CCo,14331,30.70,0.852,0,0,1608,300.00
$SM_GC,1.22,0.00,0.00,30.70,0.000,0.000,0.852,395,1943,1608,-9.91,-0.08,300.00
$IRIDIUM_FIX,6050.49,-755.78,261197,060609
$TT8_MAMPS,0.027612
$HUMID,2123
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,725.0,107.8
$24V_AH,23.1,11.942
$10V_AH,10.0,4.450
$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,23.875,95.000,442.800,30.700,0.000,30.268,25.598,149.964,6.500,0.000,0.000,11.322,1272.368,10670.629,569.549,1535.768,632.765,33.337,1396.450,0.000,1653.987,0.000,44.440
$DEVICE_MAMPS,132.691,74.399,1410.513,852.137,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.525,475.539,393.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34831,687
$CAP_FILE_SIZE,101025,0
$CFSIZE,260165632,257724416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
$GPS,010908,145357,6118.166,-752.426,29,3.9,48,-8.5