version: 66.03
glider: 105
mission: 3
dive: 12
start: 9 1 108 23 18 19
data:
$ID,105
$MISSION,3
$DIVE,12
$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,-1588513.8
$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,1946
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,34
$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
$GPS1,231202,6119.594,-754.690,38,1.4,38,-8.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.3
$GPS2,231726,6119.588,-754.467,14,1.9,19,-8.6
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SE0
$TGT_LATLONG,6100.000,-730.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.154,-0.214
$KALMAN_X,-13558.6,-151.6,493.0,18629.1,-3548.7
$KALMAN_Y,42262.9,-2048.7,-958.8,-33842.0,15233.8
$MHEAD_RNG_PITCHd_Wd,224.3,42410,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-60.75,0.000,2,0.000,0.000,392,1945,3121
$GC,89,-1.47,-146.6,3.3,-5.8,3,111,9.77,2.47,-6.82,0.000,4,0.133,0.055,2225,545,3431
$GC,211,-1.47,-146.6,24.5,-15.1,8,216,0.00,2.40,0.00,0.000,6,0.000,0.027,2225,1958,3434
$GC,527,-1.47,-146.6,71.0,-15.0,23,531,0.00,2.40,0.00,0.000,4,0.000,0.040,2225,3341,3435
$GC,679,-1.47,-146.6,93.1,-14.0,30,684,0.00,2.40,0.00,0.000,6,0.000,0.027,2225,1935,3435
$GC,1011,-1.47,-146.6,139.6,-14.0,46,1015,0.00,2.42,0.00,0.000,4,0.000,0.043,2225,551,3436
$GC,1074,-1.47,-146.6,148.1,-13.3,49,1078,0.00,2.35,0.00,0.000,6,0.000,0.027,2225,1940,3436
$GC,1400,-1.47,-146.6,189.7,-12.3,65,1404,0.00,2.45,0.00,0.000,4,0.000,0.044,2225,557,3437
$GC,1449,-1.47,-146.6,196.1,-12.7,67,1455,0.00,2.40,0.00,0.000,6,0.000,0.029,2225,1942,3437
$GC,1770,-1.47,-146.6,231.9,-10.8,83,1774,0.00,2.45,0.00,0.000,4,0.000,0.046,2225,558,3437
$GC,1819,-1.47,-146.6,237.3,-10.5,85,1824,0.00,2.40,0.00,0.000,6,0.000,0.031,2225,1953,3437
$GC,2135,-1.47,-146.6,268.4,-10.2,100,2140,0.00,2.47,0.00,0.000,4,0.000,0.048,2225,558,3437
$GC,2175,-1.47,-146.6,273.0,-12.0,102,2179,0.00,2.40,0.00,0.000,6,0.000,0.032,2225,1953,3437
$GC,2501,-1.47,-146.6,309.3,-11.4,118,2505,0.00,2.50,0.00,0.000,4,0.000,0.049,2225,554,3437
$GC,2563,-1.47,-146.6,316.7,-11.7,121,2568,0.00,2.45,0.00,0.000,6,0.000,0.034,2225,1949,3437
$GC,2894,-1.47,-146.6,355.4,-11.7,137,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1949,3437
$GC,3204,-1.47,-146.6,387.5,-10.4,152,3208,0.00,2.50,0.00,0.000,4,0.000,0.050,2225,551,3437
$GC,3253,-1.47,-146.6,393.2,-11.9,154,3257,0.00,2.42,0.00,0.000,6,0.000,0.035,2225,1950,3437
$GC,3571,-1.47,-146.6,422.6,-9.0,169,3575,0.00,2.50,0.00,0.000,4,0.000,0.052,2225,3352,3436
$GC,3655,-1.47,-146.6,430.8,-10.0,173,3659,0.00,2.40,0.00,0.000,6,0.000,0.033,2225,1957,3436
$GC,3983,-1.47,-146.6,462.9,-10.0,189,3988,0.00,2.50,0.00,0.000,4,0.000,0.052,2225,548,3436
$GC,4039,-1.47,-146.6,469.2,-10.5,191,4045,0.00,2.42,0.00,0.000,6,0.000,0.035,2225,1951,3436
$GC,4354,-1.47,-146.6,508.3,-12.0,207,4358,0.00,2.50,0.00,0.000,4,0.000,0.055,2225,3347,3436
$GC,4378,-1.47,-146.6,511.0,-12.5,208,4382,0.00,2.42,0.00,0.000,6,0.000,0.035,2225,1940,3436
$GC,4699,-1.47,-146.6,548.2,-11.4,224,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1940,3437
$GC,5008,-1.47,-146.6,582.6,-11.2,239,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1939,3436
$GC,5318,-1.47,-146.6,619.5,-13.2,254,5322,0.00,2.53,0.00,0.000,4,0.000,0.061,2225,549,3435
$GC,5424,-1.47,-146.6,633.3,-12.6,259,5428,0.00,2.45,0.00,0.000,6,0.000,0.040,2225,1946,3435
$GC,5752,-1.47,-146.6,666.8,-10.1,275,5756,0.00,2.55,0.00,0.000,4,0.000,0.060,2225,542,3432
$GC,5824,-1.47,-146.6,674.2,-9.7,278,5829,0.00,2.47,0.00,0.000,6,0.000,0.042,2225,1939,3432
$GC,6145,-1.47,-146.6,706.4,-11.6,294,6149,0.00,2.55,0.00,0.000,4,0.000,0.062,2225,544,3429
$GC,6206,-1.47,-146.6,713.4,-10.5,297,6211,0.00,2.47,0.00,0.000,6,0.000,0.042,2225,1950,3429
$GC,6535,-1.47,-146.6,744.3,-9.7,313,6539,0.00,2.58,0.00,0.000,4,0.000,0.062,2225,544,3428
$GC,6619,-1.47,-146.6,753.3,-10.7,317,6623,0.00,2.47,0.00,0.000,6,0.000,0.042,2225,1948,3428
$GC,6946,-1.47,-146.6,786.2,-10.2,333,6950,0.00,2.58,0.00,0.000,4,0.000,0.064,2225,548,3425
$GC,7008,-1.47,-146.6,793.4,-11.8,336,7012,0.00,2.47,0.00,0.000,6,0.000,0.043,2225,1951,3425
$STATE,7210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7210,begin apogee
$GC,7216,-0.36,0.0,815.1,11.5,346,7664,1.20,0.00,332.62,0.868,6,0.087,0.000,2471,2213,2831
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7668,1.47,146.6,821.4,0.0,368,8135,1.83,2.65,337.73,0.782,4,0.047,0.071,2869,3604,2231
$GC,8472,1.47,146.6,768.6,10.4,405,8477,0.00,2.47,0.00,0.000,6,0.000,0.039,2869,2205,2225
$GC,8799,1.52,184.0,738.4,8.3,421,8910,0.00,2.67,78.38,0.836,4,0.000,0.067,2869,3594,2081
$GC,8978,1.53,191.6,722.6,9.7,429,9004,0.00,2.47,15.82,0.810,6,0.000,0.039,2869,2198,2049
$GC,9316,1.55,211.0,692.4,9.1,445,9363,0.00,2.65,31.83,0.887,4,0.000,0.064,2869,3601,1970
$GC,9374,1.55,211.0,686.2,10.0,448,9378,0.00,2.50,0.00,0.000,6,0.000,0.038,2869,2199,1970
$GC,9694,1.55,211.0,652.3,10.6,464,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2199,1971
$GC,10006,1.55,211.0,616.1,12.3,479,10011,0.00,2.60,0.00,0.000,4,0.000,0.064,2869,3600,1969
$GC,10107,1.55,211.0,603.0,12.3,483,10113,0.00,2.47,0.00,0.000,6,0.000,0.038,2869,2194,1969
$GC,10422,1.55,211.0,566.8,12.0,499,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2195,1968
$GC,10734,1.55,211.0,533.1,10.2,514,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2194,1968
$GC,11041,1.55,211.7,502.1,10.0,529,11046,0.00,2.60,0.00,0.000,4,0.000,0.061,2869,3604,1967
$GC,11208,1.55,211.7,485.3,10.4,536,11212,0.00,2.45,0.00,0.000,6,0.000,0.036,2869,2199,1966
$GC,11523,1.55,211.7,450.6,11.6,551,11528,0.00,2.55,0.00,0.000,4,0.000,0.054,2869,3602,1965
$GC,11636,1.55,211.7,436.4,12.6,556,11641,0.00,2.42,0.00,0.000,6,0.000,0.032,2869,2198,1965
$GC,11956,1.55,211.7,397.3,12.4,572,11961,0.00,2.55,0.00,0.000,4,0.000,0.051,2869,3612,1965
$GC,12069,1.55,211.7,382.5,12.8,577,12074,0.00,2.42,0.00,0.000,6,0.000,0.030,2869,2198,1965
$GC,12391,1.55,211.7,346.1,10.9,593,12395,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3609,1967
$GC,12430,1.55,211.7,341.7,11.5,595,12434,0.00,2.42,0.00,0.000,6,0.000,0.029,2869,2194,1967
$GC,12756,1.55,211.7,305.4,11.1,611,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2194,1968
$GC,13065,1.55,211.7,272.4,10.7,626,13070,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,3609,1970
$GC,13110,1.55,211.7,267.2,11.4,628,13114,0.00,2.40,0.00,0.000,6,0.000,0.028,2869,2197,1970
$GC,13431,1.55,211.7,232.2,11.0,644,13435,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,3613,1971
$GC,13470,1.55,211.7,227.4,11.9,646,13475,0.00,2.40,0.00,0.000,6,0.000,0.028,2869,2195,1971
$GC,13799,1.55,211.7,189.4,11.6,662,13803,0.00,2.45,0.00,0.000,4,0.000,0.048,2869,806,1972
$GC,13821,1.55,211.7,186.5,11.4,663,13825,0.00,2.40,0.00,0.000,6,0.000,0.029,2869,2207,1972
$GC,14143,1.55,211.7,150.4,11.0,679,14147,0.00,2.47,0.00,0.000,4,0.000,0.044,2870,809,1973
$GC,14170,1.55,211.7,147.3,11.0,680,14174,0.00,2.40,0.00,0.000,6,0.000,0.030,2869,2194,1973
$GC,14490,1.55,211.7,114.1,10.3,696,14495,0.00,2.45,0.00,0.000,4,0.000,0.044,2869,809,1974
$GC,14512,1.55,211.7,111.6,10.2,697,14516,0.00,2.40,0.00,0.000,6,0.000,0.029,2870,2209,1974
$GC,14835,1.59,240.7,81.6,8.7,713,14866,0.12,0.00,26.92,0.878,6,0.044,0.000,2920,2209,1849
$GC,15189,1.59,240.7,40.0,12.0,730,15194,0.12,2.47,0.00,0.000,4,0.114,0.048,2899,3600,1848
$GC,15261,1.59,240.7,31.1,12.0,733,15265,0.00,2.38,0.00,0.000,6,0.000,0.027,2898,2201,1847
$STATE,15533,end climb,SURFACE_DEPTH_REACHED
$STATE,15533,begin surface coast
$FINISH,0.1,1.015708
$STATE,15556,end surface coast,CONTROL_FINISHED_OK
$STATE,15557,begin surface
$SM_CCo,15578,49.03,0.844,0,0,1608,300.00
$SM_GC,0.84,0.00,0.00,49.03,0.000,0.000,0.844,394,1948,1608,-9.92,0.06,300.00
$IRIDIUM_FIX,6054.92,-756.40,261197,191922
$TT8_MAMPS,0.027612
$HUMID,2081
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.8
$ALTIM_BOTTOM_PING,776.0,48.9
$24V_AH,23.3,12.526
$10V_AH,10.0,4.685
$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,23.975,149.350,823.300,49.025,0.000,30.243,29.309,150.116,7.000,0.000,0.000,19.094,1382.577,10968.642,1060.253,1850.538,694.246,33.357,2145.707,0.000,1957.789,0.000,47.505
$DEVICE_MAMPS,133.458,70.564,887.419,843.700,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,672.485,520.777,427.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37925,747
$CAP_FILE_SIZE,122168,0
$CFSIZE,260165632,257531904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,53,0
$GPS,020908,034007,6119.757,-758.702,41,1.2,41,-8.6