version: 66.04
glider: 105
mission: 6
dive: 278
start: 8 15 109 2 6 22
data:
$ID,105
$MISSION,6
$DIVE,278
$D_SURF,3
$D_FLARE,4
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$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,2
$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,-1632964
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$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,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$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,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$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,0
$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
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,020037,6126.615,-909.457,30,1.1,30,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-55.9
$GPS2,020602,6126.622,-909.473,17,1.6,17,-9.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,90.3,39795,-11.0,-6.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-61.25,0.000,6,0.000,0.000,385,2247,3431
$GC,83,-0.96,-146.6,4.7,-9.5,3,104,11.70,2.53,0.00,0.000,4,0.133,0.039,2583,835,3433
$GC,111,-0.96,-146.6,15.4,-34.4,4,115,0.00,2.45,0.00,0.000,6,0.000,0.033,2583,2242,3433
$GC,431,-0.96,-146.6,43.7,-6.3,20,436,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3434
$GC,722,-0.96,-146.6,52.8,-3.1,33,727,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2231,3434
$GC,1044,-0.96,-146.6,64.8,-4.7,49,1048,0.00,2.55,0.00,0.000,4,0.000,0.048,2583,3651,3435
$GC,1099,-0.96,-146.6,68.0,-6.4,51,1105,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3435
$GC,1416,-0.96,-146.6,83.5,-3.0,67,1421,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3648,3434
$GC,1532,-0.96,-146.6,88.0,-4.2,72,1537,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3435
$GC,1854,-0.96,-146.6,102.4,-4.9,88,1859,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3643,3434
$GC,1910,-0.96,-146.6,105.8,-6.1,90,1914,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2237,3434
$GC,2227,-0.96,-146.6,125.2,-6.4,105,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2238,3434
$GC,2535,-0.96,-146.6,146.7,-7.2,120,2539,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3650,3434
$GC,2607,-0.96,-146.6,152.2,-7.7,123,2612,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3434
$GC,2927,-0.96,-146.6,173.4,-6.3,139,2932,0.00,2.50,0.00,0.000,4,0.000,0.051,2583,3650,3434
$GC,3012,-0.96,-146.6,179.5,-7.2,143,3017,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,3341,-0.96,-146.6,200.1,-6.2,159,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2248,3433
$GC,3649,-0.96,-146.6,218.5,-6.0,174,3653,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3433
$GC,3760,-0.96,-146.6,226.4,-6.9,179,3764,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,4081,-0.96,-146.6,247.7,-6.8,195,4085,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3657,3433
$GC,4154,-0.96,-146.6,253.0,-7.7,198,4158,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2244,3433
$GC,4472,-0.96,-146.6,274.8,-7.0,213,4477,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3655,3432
$GC,4527,-0.96,-146.6,279.2,-7.8,215,4531,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2242,3432
$GC,4843,-0.96,-146.6,302.4,-7.6,230,4847,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3432
$GC,4926,-0.96,-146.6,309.2,-7.6,234,4931,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2252,3432
$GC,5254,-0.96,-146.6,332.3,-7.1,250,5258,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3654,3432
$GC,5309,-0.96,-146.6,336.3,-7.5,252,5315,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3432
$GC,5626,-0.96,-146.6,355.6,-5.7,268,5630,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3432
$GC,5676,-0.96,-146.6,358.8,-5.9,270,5680,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,5992,-0.96,-146.6,376.7,-5.6,285,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3432
$GC,6303,-0.96,-146.6,392.5,-5.4,300,6308,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3657,3431
$GC,6415,-0.96,-146.6,400.0,-6.8,305,6424,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2243,3432
$GC,6746,-0.96,-146.6,421.1,-6.5,321,6750,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3651,3431
$GC,6810,-0.96,-146.6,425.7,-7.6,324,6814,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3431
$GC,7136,-0.96,-146.6,447.3,-6.6,340,7141,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3649,3431
$GC,7193,-0.96,-146.6,451.5,-7.8,342,7199,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,7509,-0.96,-146.6,474.0,-7.2,358,7513,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3431
$GC,7575,-0.96,-146.6,479.3,-7.7,361,7579,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,7896,-0.96,-146.6,502.2,-7.1,377,7900,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3431
$GC,7946,-0.96,-146.6,506.2,-7.8,379,7950,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3430
$STATE,7971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7971,begin apogee
$GC,7980,-0.36,0.0,508.0,7.2,380,8108,0.65,0.00,124.85,1.095,6,0.067,0.000,2723,1463,2832
$STATE,8109,end apogee,CONTROL_FINISHED_OK
$STATE,8109,begin climb
$GC,8111,0.96,146.6,512.0,0.0,386,8246,1.30,2.28,124.78,1.062,4,0.055,0.059,3005,264,2232
$GC,8283,0.99,166.5,507.3,5.5,394,8307,0.00,2.05,18.20,0.977,6,0.000,0.032,3005,1475,2152
$GC,8636,1.03,197.3,489.5,5.2,411,8670,0.00,2.53,27.20,1.019,4,0.000,0.043,3005,2843,2026
$GC,8760,1.03,199.1,482.3,5.9,416,8767,0.00,2.45,0.00,0.000,6,0.000,0.038,3005,1445,2023
$GC,9076,1.03,199.1,463.4,6.1,432,9080,0.00,2.50,0.00,0.000,4,0.000,0.041,3005,2853,2022
$GC,9120,1.03,201.0,460.6,5.9,434,9129,0.00,2.45,3.97,0.642,6,0.000,0.037,3005,1458,2011
$GC,9447,1.04,204.8,441.4,5.9,450,9457,0.00,2.47,4.95,0.738,4,0.000,0.040,3005,2845,1997
$GC,9509,1.04,204.8,437.7,6.1,453,9513,0.00,2.45,0.00,0.000,6,0.000,0.038,3005,1452,1996
$GC,9835,1.04,204.8,416.8,6.6,469,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1452,1996
$GC,10147,1.04,204.8,396.3,6.6,484,10151,0.00,2.47,0.00,0.000,4,0.000,0.041,3005,2846,1995
$GC,10236,1.04,204.8,390.2,6.9,488,10240,0.00,2.45,0.00,0.000,6,0.000,0.038,3005,1449,1995
$GC,10556,1.04,204.8,368.5,6.9,504,10561,0.00,2.50,0.00,0.000,4,0.000,0.041,3005,2846,1995
$GC,10595,1.04,204.8,365.9,6.6,505,10602,0.00,2.47,0.00,0.000,6,0.000,0.039,3005,1455,1994
$GC,10911,1.04,204.8,343.4,7.4,521,10915,0.00,2.45,0.00,0.000,4,0.000,0.041,3005,2846,1994
$GC,10960,1.04,204.8,339.7,7.1,523,10964,0.00,2.45,0.00,0.000,6,0.000,0.038,3005,1446,1994
$GC,11279,1.04,204.8,316.6,7.4,538,11283,0.00,2.47,0.00,0.000,4,0.000,0.042,3005,2850,1994
$GC,11351,1.04,204.8,310.9,7.6,541,11356,0.00,2.47,0.00,0.000,6,0.000,0.038,3005,1456,1994
$GC,11672,1.04,204.8,286.1,7.8,557,11676,0.00,2.47,0.00,0.000,4,0.000,0.041,3005,2855,1994
$GC,11722,1.04,204.8,282.1,7.7,559,11726,0.00,2.45,0.00,0.000,6,0.000,0.038,3005,1450,1993
$GC,12037,1.04,204.8,259.5,6.7,574,12042,0.00,2.50,0.00,0.000,4,0.000,0.041,3005,2846,1993
$GC,12084,1.04,204.8,256.4,7.1,576,12088,0.00,2.42,0.00,0.000,6,0.000,0.038,3005,1457,1993
$GC,12410,1.04,204.8,234.4,6.7,592,12415,0.00,2.45,0.00,0.000,4,0.000,0.042,3005,2840,1994
$GC,12448,1.04,204.8,231.7,6.9,593,12455,0.00,2.42,0.00,0.000,6,0.000,0.038,3005,1451,1994
$GC,12766,1.04,204.8,209.7,7.6,609,12771,0.00,2.47,0.00,0.000,4,0.000,0.041,3005,2851,1994
$GC,12811,1.04,204.8,205.8,8.0,611,12815,0.00,2.45,0.00,0.000,6,0.000,0.038,3005,1452,1993
$GC,13134,1.04,204.8,183.1,6.5,627,13138,0.00,2.45,0.00,0.000,4,0.000,0.041,3005,2845,1993
$GC,13201,1.04,206.3,178.7,6.0,630,13205,0.00,2.42,0.00,0.000,6,0.000,0.038,3005,1454,1993
$GC,13523,1.04,206.3,159.2,6.7,646,13527,0.00,2.45,0.00,0.000,4,0.000,0.041,3005,2845,1993
$GC,13567,1.04,206.3,156.2,6.6,648,13571,0.00,2.42,0.00,0.000,6,0.000,0.038,3005,1455,1993
$GC,13889,1.08,241.7,137.8,5.0,664,13932,0.12,2.50,32.83,0.858,4,0.042,0.040,3060,2845,1844
$GC,13988,1.08,241.7,130.5,8.0,668,13993,0.12,2.45,0.00,0.000,6,0.078,0.038,3034,1457,1842
$GC,14303,1.08,241.7,109.1,6.8,683,14308,0.00,2.17,0.00,0.000,4,0.000,0.058,3034,270,1840
$GC,14336,1.08,241.7,106.7,6.8,684,14341,0.00,2.00,0.00,0.000,6,0.000,0.031,3033,1453,1840
$GC,14657,1.08,241.7,74.5,11.9,700,14662,0.00,2.42,0.00,0.000,4,0.000,0.041,3033,2843,1839
$GC,14713,1.08,241.7,67.8,11.8,702,14720,0.00,2.42,0.00,0.000,6,0.000,0.037,3033,1451,1840
$GC,15029,1.08,241.7,32.0,9.4,718,15034,0.00,2.47,0.00,0.000,4,0.000,0.040,3034,2837,1839
$GC,15103,1.08,241.7,25.5,7.2,721,15107,0.00,2.42,0.00,0.000,6,0.000,0.037,3033,1447,1838
$GC,15424,1.08,241.7,11.3,7.3,737,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1447,1839
$STATE,15524,end climb,SURFACE_DEPTH_REACHED
$STATE,15525,begin surface coast
$FINISH,0.3,1.026668
$STATE,15548,end surface coast,CONTROL_FINISHED_OK
$STATE,15548,begin surface
$SM_CCo,15572,34.45,0.762,0,0,1609,300.00
$SM_GC,1.15,0.00,0.00,34.45,0.000,0.000,0.762,391,2243,1609,-11.08,-0.17,300.00
$IRIDIUM_FIX,6059.36,-915.18,081198,212148
$TT8_MAMPS,0.027612
$HUMID,1923
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,14.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.2,91.4
$24V_AH,23.3,58.668
$10V_AH,10.1,35.496
$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,Compass2
$DEVICE_SECS,25.300,179.025,336.775,34.450,0.000,29.098,27.575,143.369,3.500,0.000,0.000,17.687,1436.438,11459.409,486.881,1827.583,723.641,0.000,1473.796,0.000,1963.611,0.000,23.466,0.000
$DEVICE_MAMPS,132.691,59.059,1095.276,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,614.619,550.458,557.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38039,743
$CAP_FILE_SIZE,124636,0
$CFSIZE,260165632,237830144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,150809,062737,6126.563,-906.634,28,1.2,28,-9.3