version: 66.04
glider: 105
mission: 6
dive: 279
start: 8 15 109 6 33 57
data:
$ID,105
$MISSION,6
$DIVE,279
$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,-1633000.1
$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,25
$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,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
$GPS1,062737,6126.563,-906.634,28,1.2,28,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.4
$GPS2,063337,6126.555,-906.845,18,1.2,35,-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,89.5,37525,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.20,0.000,6,0.000,0.000,391,2244,3431
$GC,81,-0.96,-146.6,5.0,-10.2,3,94,11.65,0.00,0.00,0.000,6,0.133,0.000,2583,2244,3432
$GC,412,-0.96,-146.6,37.9,-7.6,19,417,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3653,3433
$GC,613,-0.96,-146.6,51.9,-4.4,28,617,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2232,3434
$GC,943,-0.96,-146.6,60.2,-1.0,44,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2232,3434
$GC,1249,-0.96,-146.6,72.1,-5.5,59,1253,0.00,2.58,0.00,0.000,4,0.000,0.052,2584,3652,3435
$GC,1343,-0.96,-146.6,78.1,-6.9,63,1348,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2248,3434
$GC,1660,-0.96,-146.6,98.4,-6.9,78,1665,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3647,3435
$GC,1715,-0.96,-146.6,102.6,-7.6,80,1719,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2241,3434
$GC,2031,-0.96,-146.6,123.5,-7.0,95,2035,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3660,3434
$GC,2086,-0.96,-146.6,127.8,-8.3,97,2092,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2248,3434
$GC,2402,-0.96,-146.6,149.8,-6.9,113,2411,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,2518,-0.96,-146.6,158.3,-7.3,118,2522,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2250,3434
$GC,2844,-0.96,-146.6,182.4,-8.0,134,2849,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3654,3434
$GC,2917,-0.96,-146.6,189.1,-9.5,137,2921,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3433
$GC,3235,-0.96,-146.6,218.2,-9.5,152,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3433
$GC,3542,-0.96,-146.6,247.0,-9.0,167,3546,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3655,3433
$GC,3659,-0.96,-146.6,258.0,-9.4,172,3663,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3433
$GC,3975,-0.96,-146.6,283.5,-7.9,187,3979,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3655,3433
$GC,4047,-0.96,-146.6,289.9,-9.0,190,4051,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,4363,-0.96,-146.6,313.9,-7.1,205,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3432
$GC,4672,-0.96,-146.6,337.4,-7.5,220,4676,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3655,3432
$GC,4789,-0.96,-146.6,346.9,-8.0,225,4793,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3432
$GC,5104,-0.96,-146.6,369.8,-7.2,240,5108,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,5193,-0.96,-146.6,376.7,-7.6,244,5198,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,5522,-0.96,-146.6,401.1,-7.6,260,5527,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3431
$GC,5594,-0.96,-146.6,406.8,-7.5,263,5599,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,5916,-0.96,-146.6,427.9,-6.8,279,5920,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3654,3431
$GC,5982,-0.96,-146.6,432.9,-8.0,282,5987,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2254,3431
$GC,6309,-0.96,-146.6,455.5,-6.9,298,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3431
$GC,6618,-0.96,-146.6,477.3,-6.8,313,6622,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3654,3430
$GC,6690,-0.96,-146.6,483.0,-8.3,316,6694,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2236,3430
$STATE,6817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6817,begin apogee
$GC,6826,-0.36,0.0,493.2,7.6,322,6953,0.65,0.00,124.07,1.088,6,0.068,0.000,2722,1464,2832
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6956,0.96,146.6,497.7,0.0,328,7090,1.30,2.28,124.50,1.052,4,0.055,0.061,3005,264,2233
$GC,7148,1.01,183.9,493.9,5.0,337,7190,0.00,2.05,32.95,1.007,6,0.000,0.031,3005,1477,2081
$GC,7501,1.02,195.7,475.8,5.7,354,7517,0.00,2.45,10.95,0.920,4,0.000,0.043,3005,2845,2033
$GC,7609,1.05,219.6,469.6,5.3,358,7638,0.10,2.42,22.30,0.995,6,0.049,0.038,3057,1455,1936
$GC,7962,1.05,219.6,442.4,8.2,375,7964,0.15,0.00,0.00,0.000,6,0.074,0.000,3025,1455,1931
$GC,8269,1.05,219.6,419.7,7.5,390,8274,0.00,2.47,0.00,0.000,4,0.000,0.042,3025,2845,1930
$GC,8309,1.05,219.6,416.7,7.8,392,8313,0.00,2.45,0.00,0.000,6,0.000,0.039,3024,1453,1929
$GC,8635,1.05,219.6,392.4,7.7,408,8639,0.00,2.47,0.00,0.000,4,0.000,0.042,3025,2848,1930
$GC,8668,1.05,219.6,389.6,7.8,409,8674,0.00,2.45,0.00,0.000,6,0.000,0.038,3025,1454,1929
$GC,8985,1.05,219.6,364.2,8.3,425,8989,0.00,2.47,0.00,0.000,4,0.000,0.042,3025,2850,1929
$GC,9029,1.05,219.6,360.2,8.7,427,9034,0.00,2.47,0.00,0.000,6,0.000,0.039,3025,1460,1929
$GC,9355,1.05,219.6,333.4,8.1,443,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1461,1928
$GC,9665,1.05,219.6,309.8,7.2,458,9669,0.00,2.45,0.00,0.000,4,0.000,0.041,3025,2846,1929
$GC,9714,1.05,219.6,306.1,7.7,460,9718,0.00,2.45,0.00,0.000,6,0.000,0.038,3025,1448,1928
$GC,10032,1.05,219.6,282.6,7.4,475,10036,0.00,2.45,0.00,0.000,4,0.000,0.041,3025,2846,1928
$GC,10082,1.05,219.6,278.9,6.6,477,10086,0.00,2.45,0.00,0.000,6,0.000,0.038,3025,1447,1928
$GC,10397,1.05,219.6,256.3,7.3,492,10402,0.00,2.47,0.00,0.000,4,0.000,0.042,3025,2838,1928
$GC,10448,1.05,219.6,252.7,6.6,494,10453,0.00,2.42,0.00,0.000,6,0.000,0.038,3025,1451,1928
$GC,10770,1.05,219.6,228.8,7.4,510,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1451,1928
$GC,11079,1.05,219.6,203.4,8.3,525,11083,0.00,2.45,0.00,0.000,4,0.000,0.041,3025,2846,1927
$GC,11135,1.05,219.6,198.5,8.7,527,11141,0.00,2.42,0.00,0.000,6,0.000,0.038,3025,1457,1928
$GC,11451,1.05,219.6,170.3,8.7,543,11455,0.00,2.45,0.00,0.000,4,0.000,0.041,3025,2854,1928
$GC,11490,1.05,219.6,166.7,9.4,545,11494,0.00,2.45,0.00,0.000,6,0.000,0.038,3025,1451,1928
$GC,11818,1.05,219.6,141.0,7.5,561,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1451,1928
$GC,12126,1.05,219.6,118.8,6.9,576,12130,0.00,2.45,0.00,0.000,4,0.000,0.040,3025,2848,1928
$GC,12212,1.05,219.6,113.2,7.2,580,12216,0.00,2.42,0.00,0.000,6,0.000,0.038,3025,1455,1928
$GC,12540,1.05,219.6,91.8,6.5,596,12544,0.00,2.45,0.00,0.000,4,0.000,0.040,3025,2848,1928
$GC,12590,1.05,219.6,88.0,6.9,598,12594,0.00,2.42,0.00,0.000,6,0.000,0.037,3025,1454,1928
$GC,12907,1.05,219.6,66.7,6.7,613,12911,0.00,2.45,0.00,0.000,4,0.000,0.039,3025,2849,1928
$GC,12973,1.05,219.6,62.0,7.0,616,12977,0.00,2.42,0.00,0.000,6,0.000,0.037,3025,1455,1927
$GC,13295,1.06,222.1,39.8,5.9,632,13300,0.00,2.47,0.00,0.000,4,0.000,0.040,3025,2846,1928
$GC,13328,1.11,267.1,38.0,4.8,633,13375,0.00,2.45,40.28,0.798,6,0.000,0.038,3025,1459,1742
$GC,13694,1.11,267.1,8.2,7.5,651,13698,0.00,2.45,0.00,0.000,4,0.000,0.036,3025,2857,1737
$GC,13870,1.29,407.3,5.3,2.2,659,13918,0.25,2.45,41.33,0.765,2,0.028,0.034,3112,1446,1547
$STATE,13919,end climb,SURFACE_DEPTH_REACHED
$STATE,13919,begin surface coast
$FINISH,0.3,1.026799
$STATE,13935,end surface coast,CONTROL_FINISHED_OK
$STATE,13935,begin surface
$SM_CCo,14020,0.00,0.000,0,0,1539,316.93
$SM_GC,0.93,12.05,0.00,0.00,0.032,0.000,0.000,393,2248,1539,-10.99,-0.06,316.93
$IRIDIUM_FIX,6103.81,-920.34,091198,020218
$TT8_MAMPS,0.026845
$HUMID,1894
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.1,101.5
$24V_AH,23.3,58.792
$10V_AH,10.1,35.571
$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,26.150,140.025,396.375,0.000,0.000,30.583,33.433,150.428,3.000,0.000,0.000,35.438,1268.798,10287.683,458.375,1670.323,693.990,0.000,1346.524,0.000,1759.595,0.000,21.866,0.000
$DEVICE_MAMPS,132.691,60.593,1087.606,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.744,490.565,539.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34855,662
$CAP_FILE_SIZE,107838,0
$CFSIZE,260165632,237793280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,150809,102957,6126.368,-907.200,83,7.0,102,-9.3