version: 66.03
glider: 105
mission: 3
dive: 4
start: 8 31 108 12 35 29
data:
$ID,105
$MISSION,3
$DIVE,4
$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,-1588391.8
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,123051,6117.325,-757.451,13,1.4,13,-8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-58.6
$GPS2,123439,6117.294,-757.318,14,1.4,14,-8.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.214,-0.153
$KALMAN_X,910.9,319.1,277.6,1370.7,1082.4
$KALMAN_Y,-193.6,1058.9,1202.9,-893.3,-3986.7
$MHEAD_RNG_PITCHd_Wd,134.2,40343,-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,-146.6,0.0,0.0,0,95,0.00,0.00,-68.25,0.000,6,0.000,0.000,390,2033,3430
$GC,98,-1.47,-146.6,5.5,-6.3,4,112,9.65,2.47,0.00,0.000,4,0.132,0.039,2223,3459,3432
$GC,450,-1.47,-146.6,61.2,-15.2,19,455,0.00,2.40,0.00,0.000,6,0.000,0.026,2223,2040,3434
$GC,782,-1.47,-146.6,106.6,-12.8,35,786,0.00,2.45,0.00,0.000,4,0.000,0.041,2223,3454,3434
$GC,1020,-1.47,-146.6,131.1,-9.3,45,1027,0.00,2.35,0.00,0.000,6,0.000,0.027,2223,2046,3435
$GC,1337,-1.47,-146.6,157.6,-8.1,61,1341,0.00,2.40,0.00,0.000,4,0.000,0.042,2223,655,3435
$GC,1381,-1.47,-146.6,161.6,-8.9,63,1385,0.00,2.35,0.00,0.000,6,0.000,0.028,2223,2052,3435
$GC,1702,-1.47,-146.6,191.9,-9.9,79,1707,0.00,2.42,0.00,0.000,4,0.000,0.048,2224,3446,3435
$GC,1752,-1.47,-146.6,197.5,-11.2,81,1757,0.00,2.35,0.00,0.000,6,0.000,0.028,2223,2049,3435
$GC,2068,-1.47,-146.6,231.8,-11.3,96,2072,0.00,2.42,0.00,0.000,4,0.000,0.045,2224,651,3435
$GC,2163,-1.47,-146.6,243.0,-11.4,100,2167,0.00,2.38,0.00,0.000,6,0.000,0.031,2223,2050,3435
$GC,2479,-1.47,-146.6,278.2,-11.1,115,2483,0.00,2.45,0.00,0.000,4,0.000,0.046,2223,649,3434
$GC,2601,-1.47,-146.6,292.3,-11.1,120,2608,0.00,2.40,0.00,0.000,6,0.000,0.034,2223,2036,3434
$GC,2920,-1.47,-146.6,324.7,-10.3,136,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2036,3434
$GC,3227,-1.47,-146.6,356.0,-9.9,151,3231,0.00,2.45,0.00,0.000,4,0.000,0.048,2223,646,3434
$GC,3356,-1.47,-146.6,369.4,-10.7,157,3360,0.00,2.42,0.00,0.000,6,0.000,0.036,2223,2055,3434
$GC,3682,-1.47,-146.6,404.2,-11.6,173,3686,0.00,2.47,0.00,0.000,4,0.000,0.051,2223,653,3433
$GC,3793,-1.47,-146.6,418.7,-13.6,178,3797,0.00,2.40,0.00,0.000,6,0.000,0.037,2223,2054,3433
$GC,4113,-1.47,-146.6,461.2,-13.0,194,4118,0.00,2.47,0.00,0.000,4,0.000,0.051,2223,653,3433
$GC,4326,-1.47,-146.6,485.4,-9.8,203,4332,0.00,2.38,0.00,0.000,6,0.000,0.037,2223,2046,3432
$GC,4641,-1.47,-146.6,511.4,-7.9,219,4646,0.00,2.50,0.00,0.000,4,0.000,0.051,2224,651,3432
$GC,4984,-1.47,-146.6,545.9,-11.6,234,4988,0.00,2.40,0.00,0.000,6,0.000,0.038,2223,2044,3432
$GC,5305,-1.47,-146.6,573.1,-7.6,250,5309,0.00,2.47,0.00,0.000,4,0.000,0.054,2223,655,3432
$GC,5624,-1.47,-146.6,604.3,-11.7,264,5629,0.00,2.42,0.00,0.000,6,0.000,0.044,2223,2044,3432
$GC,5940,-1.47,-146.6,640.3,-11.7,279,5944,0.00,2.50,0.00,0.000,4,0.000,0.059,2223,654,3430
$GC,6129,-1.47,-146.6,664.4,-11.8,287,6135,0.00,2.42,0.00,0.000,6,0.000,0.043,2223,2048,3429
$GC,6444,-1.47,-146.6,702.8,-12.5,303,6448,0.00,2.50,0.00,0.000,4,0.000,0.059,2223,657,3427
$GC,6563,-1.47,-146.6,715.9,-10.0,308,6567,0.00,2.42,0.00,0.000,6,0.000,0.042,2223,2051,3426
$GC,6878,-1.47,-146.6,747.6,-10.6,323,6883,0.00,2.53,0.00,0.000,4,0.000,0.060,2224,652,3424
$GC,6996,-1.47,-146.6,760.2,-10.8,328,7000,0.00,2.45,0.00,0.000,6,0.000,0.043,2223,2052,3424
$GC,7311,-1.47,-146.6,789.1,-9.5,343,7316,0.00,2.53,0.00,0.000,4,0.000,0.061,2223,656,3421
$GC,7435,-1.47,-146.6,801.6,-10.8,348,7442,0.00,2.42,0.00,0.000,6,0.000,0.044,2223,2043,3421
$GC,7751,-1.47,-146.6,831.6,-8.3,364,7756,0.00,2.53,0.00,0.000,4,0.000,0.063,2224,653,3420
$GC,7881,-1.47,-146.6,844.9,-10.8,370,7885,0.00,2.45,0.00,0.000,6,0.000,0.044,2224,2047,3419
$STATE,7978,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7978,begin apogee
$GC,7984,-0.36,0.0,854.9,10.0,375,8121,1.20,0.00,128.32,1.472,6,0.084,0.000,2473,2150,2831
$STATE,8122,end apogee,CONTROL_FINISHED_OK
$STATE,8122,begin climb
$GC,8124,1.47,146.6,858.2,0.0,382,8264,1.80,2.70,128.90,1.393,4,0.053,0.071,2868,3542,2232
$GC,8557,1.47,146.6,823.4,11.8,401,8563,0.00,2.47,0.00,0.000,6,0.000,0.041,2868,2141,2228
$GC,8872,1.47,146.6,788.6,11.7,417,8877,0.00,2.60,0.00,0.000,4,0.000,0.064,2868,3546,2227
$GC,8984,1.47,146.6,775.4,11.8,422,8989,0.00,2.50,0.00,0.000,6,0.000,0.039,2868,2139,2226
$GC,9310,1.47,146.6,738.9,14.0,438,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2139,2225
$GC,9620,1.54,205.4,710.3,7.3,453,9683,0.00,2.70,51.95,1.384,4,0.000,0.061,2868,3550,1992
$GC,9745,1.54,205.4,698.3,12.2,458,9752,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2146,1989
$GC,10061,1.54,205.4,663.1,12.1,474,10065,0.00,2.58,0.00,0.000,4,0.000,0.060,2868,3547,1988
$GC,10123,1.54,205.4,656.9,10.7,477,10127,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2139,1987
$GC,10449,1.56,217.3,626.1,9.5,493,10462,0.00,0.00,11.35,1.256,6,0.000,0.000,2868,2139,1944
$GC,10760,1.58,234.3,597.7,9.2,508,10783,0.12,2.65,16.25,1.290,4,0.051,0.060,2903,3549,1875
$GC,10844,1.58,234.3,588.2,11.6,511,10850,0.00,2.47,0.00,0.000,6,0.000,0.038,2903,2145,1874
$GC,11160,1.59,240.8,554.9,9.7,527,11174,0.00,2.60,7.25,1.137,4,0.000,0.059,2903,3549,1848
$GC,11232,1.59,240.8,547.3,10.7,530,11236,0.00,2.45,0.00,0.000,6,0.000,0.037,2903,2147,1848
$GC,11553,1.59,240.8,512.2,11.7,546,11558,0.00,2.58,0.00,0.000,4,0.000,0.061,2903,744,1846
$GC,11675,1.59,240.8,496.8,11.9,551,11679,0.00,2.45,0.00,0.000,6,0.000,0.038,2903,2146,1846
$GC,11993,1.59,240.8,458.5,12.6,566,11998,0.00,2.53,0.00,0.000,4,0.000,0.057,2902,3551,1845
$GC,12170,1.59,240.8,433.5,13.7,574,12175,0.00,2.45,0.00,0.000,6,0.000,0.032,2902,2143,1845
$GC,12501,1.59,240.8,394.5,11.5,590,12506,0.00,2.53,0.00,0.000,4,0.000,0.050,2903,3559,1845
$GC,12568,1.59,240.8,386.3,11.7,593,12572,0.00,2.42,0.00,0.000,6,0.000,0.031,2903,2138,1845
$GC,12889,1.59,240.8,350.1,10.7,609,12893,0.00,2.50,0.00,0.000,4,0.000,0.048,2903,3552,1847
$GC,12955,1.59,240.8,342.1,12.4,612,12960,0.00,2.40,0.00,0.000,6,0.000,0.030,2903,2141,1848
$GC,13276,1.59,240.8,305.3,11.2,628,13281,0.00,2.53,0.00,0.000,4,0.000,0.048,2903,3549,1849
$GC,13366,1.59,240.8,294.6,12.0,632,13371,0.00,2.42,0.00,0.000,6,0.000,0.030,2903,2143,1849
$GC,13698,1.59,240.8,252.1,14.2,648,13702,0.00,2.50,0.00,0.000,4,0.000,0.047,2903,3555,1851
$GC,13797,1.59,240.8,236.5,16.0,652,13804,0.00,2.40,0.00,0.000,6,0.000,0.029,2903,2137,1852
$GC,14115,1.59,240.8,186.6,14.9,668,14119,0.00,2.50,0.00,0.000,4,0.000,0.046,2903,3555,1853
$GC,14165,1.59,240.8,178.6,13.0,670,14169,0.00,2.40,0.00,0.000,6,0.000,0.028,2903,2139,1853
$GC,14481,1.59,240.8,133.0,15.9,685,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1854
$GC,14790,1.59,240.8,85.6,14.7,700,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1854
$GC,15100,1.59,240.8,43.0,13.0,715,15104,0.00,2.42,0.00,0.000,4,0.000,0.046,2903,749,1855
$GC,15177,1.59,240.8,32.7,12.6,718,15184,0.00,2.40,0.00,0.000,6,0.000,0.029,2903,2169,1855
$STATE,15429,end climb,SURFACE_DEPTH_REACHED
$STATE,15429,begin surface coast
$FINISH,0.3,1.000296
$STATE,15452,end surface coast,CONTROL_FINISHED_OK
$STATE,15452,begin surface
$SM_CCo,15473,50.33,0.812,0,0,1608,300.00
$SM_GC,0.96,0.00,0.00,50.33,0.000,0.000,0.812,391,2019,1608,-9.93,-0.76,300.00
$IRIDIUM_FIX,6050.49,-800.21,251197,121211
$TT8_MAMPS,0.027612
$HUMID,2149
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,17.4
$ALTIM_BOTTOM_PING,776.0,87.4
$24V_AH,23.3,11.089
$10V_AH,10.1,4.059
$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,23.625,148.475,344.025,50.325,0.000,0.000,0.000,0.000,7.250,0.000,0.000,14.763,1470.616,11105.331,503.527,2082.391,434.615,32.354,1571.292,0.000,2177.891,0.000,50.338
$DEVICE_MAMPS,131.924,77.467,1471.873,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,639.289,523.301,407.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37966,732
$CAP_FILE_SIZE,134555,0
$CFSIZE,260165632,257961984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,310808,165531,6117.109,-757.922,39,1.6,39,-8.6