version: 66.04
glider: 105
mission: 6
dive: 280
start: 8 15 109 10 46 22
data:
$ID,105
$MISSION,6
$DIVE,280
$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,-1633036
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,102957,6126.368,-907.200,83,7.0,102,-9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-49.5
$GPS2,104604,6126.513,-907.798,13,2.2,32,-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,89.6,38368,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,393,2248,3419
$GC,82,-0.96,-146.6,4.1,-7.7,3,104,11.60,2.60,-0.20,0.000,4,0.130,0.062,2583,3648,3432
$GC,235,-0.96,-146.6,26.6,-8.5,9,241,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2224,3432
$GC,552,-0.96,-146.6,56.6,-11.1,25,556,0.00,2.58,0.00,0.000,4,0.000,0.049,2584,3654,3433
$GC,820,-0.96,-146.6,85.8,-10.6,37,824,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3433
$GC,1141,-0.96,-146.6,118.5,-9.5,53,1145,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3433
$GC,1391,-0.96,-146.6,141.0,-8.7,64,1395,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3433
$GC,1707,-0.96,-146.6,169.0,-9.2,79,1712,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3433
$GC,1815,-0.96,-146.6,179.8,-10.1,84,1819,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3433
$GC,2141,-0.96,-146.6,208.3,-8.2,100,2145,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3650,3432
$GC,2226,-0.96,-146.6,215.5,-8.4,104,2230,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3432
$GC,2553,-0.96,-146.6,236.4,-5.4,120,2558,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3432
$GC,2620,-0.96,-146.6,240.3,-5.8,123,2625,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,2943,-0.96,-146.6,254.8,-4.2,139,2947,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3432
$GC,2987,-0.96,-146.6,257.1,-4.7,141,2991,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,3310,-0.96,-146.6,272.6,-5.2,157,3314,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3431
$GC,3373,-0.96,-146.6,276.1,-5.4,160,3377,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,3701,-0.96,-146.6,293.7,-5.6,176,3705,0.00,2.50,0.00,0.000,4,0.000,0.051,2583,3647,3431
$GC,3744,-0.96,-146.6,296.6,-6.3,178,3748,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2244,3431
$GC,4066,-0.96,-146.6,317.3,-6.7,194,4070,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3646,3430
$GC,4143,-0.96,-146.6,323.0,-7.3,197,4149,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3430
$GC,4462,-0.96,-146.6,344.6,-6.8,213,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3429
$GC,4768,-0.96,-146.6,365.2,-6.5,228,4772,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3648,3429
$GC,4890,-0.96,-146.6,373.6,-7.3,233,4896,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3429
$GC,5206,-0.96,-146.6,393.3,-6.3,249,5211,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3637,3428
$GC,5273,-0.96,-146.6,398.1,-7.3,252,5277,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2249,3428
$GC,5599,-0.96,-146.6,418.8,-6.5,268,5603,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3428
$GC,5677,-0.96,-146.6,424.1,-6.5,271,5683,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3428
$GC,5995,-0.96,-146.6,443.4,-6.0,287,5999,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3428
$GC,6061,-0.96,-146.6,447.9,-6.7,290,6065,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3428
$GC,6384,-0.96,-146.6,466.5,-6.0,306,6388,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3647,3428
$GC,6463,-0.96,-146.6,471.4,-6.5,309,6469,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2247,3428
$GC,6779,-0.96,-146.6,491.3,-6.8,325,6783,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3428
$GC,6901,-0.96,-146.6,500.1,-7.0,330,6908,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3428
$STATE,7112,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7112,begin apogee
$GC,7120,-0.36,0.0,513.6,7.0,341,7248,0.62,0.00,124.43,1.100,6,0.064,0.000,2719,1463,2832
$STATE,7248,end apogee,CONTROL_FINISHED_OK
$STATE,7248,begin climb
$GC,7252,0.96,146.6,517.5,0.0,347,7386,1.33,2.30,124.72,1.068,4,0.059,0.061,3006,260,2234
$GC,7444,0.99,168.0,511.5,5.4,356,7469,0.00,2.05,19.62,0.990,6,0.000,0.032,3006,1474,2146
$GC,7798,1.01,186.5,490.9,5.5,373,7820,0.00,2.45,16.77,0.983,4,0.000,0.044,3006,2843,2070
$GC,7944,1.01,186.5,480.6,7.1,379,7948,0.00,2.45,0.00,0.000,6,0.000,0.037,3006,1448,2069
$GC,8260,1.01,186.5,459.6,6.8,394,8265,0.00,2.53,0.00,0.000,4,0.000,0.042,3006,2846,2067
$GC,8360,1.01,186.5,452.6,7.8,398,8365,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1453,2066
$GC,8676,1.01,186.5,429.1,7.3,413,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1452,2066
$GC,8985,1.01,186.5,408.5,6.5,428,8990,0.00,2.47,0.00,0.000,4,0.000,0.042,3006,2852,2065
$GC,9057,1.01,186.5,404.0,6.3,431,9062,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1456,2065
$GC,9374,1.05,219.5,386.9,5.1,446,9410,0.10,2.53,29.35,1.000,4,0.051,0.041,3058,2837,1935
$GC,9472,1.05,219.5,379.9,6.8,450,9477,0.15,2.45,0.00,0.000,6,0.076,0.038,3027,1450,1934
$GC,9787,1.05,219.5,360.2,6.4,465,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1450,1932
$GC,10097,1.05,219.5,338.6,7.4,480,10101,0.00,2.47,0.00,0.000,4,0.000,0.042,3027,2846,1931
$GC,10159,1.05,219.5,333.7,8.4,483,10163,0.00,2.45,0.00,0.000,6,0.000,0.039,3027,1453,1931
$GC,10485,1.05,219.5,306.8,8.8,499,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1452,1931
$GC,10797,1.05,219.5,280.8,7.8,514,10801,0.00,2.47,0.00,0.000,4,0.000,0.042,3027,2845,1930
$GC,10877,1.05,219.5,274.4,7.5,517,10883,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1450,1930
$GC,11192,1.05,219.5,252.1,6.7,533,11197,0.00,2.47,0.00,0.000,4,0.000,0.043,3027,2846,1930
$GC,11237,1.05,219.5,249.1,6.8,535,11241,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1448,1930
$GC,11558,1.05,219.5,228.0,6.6,551,11562,0.00,2.45,0.00,0.000,4,0.000,0.041,3027,2849,1930
$GC,11608,1.05,219.5,224.8,6.2,553,11612,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1447,1929
$GC,11927,1.05,219.5,203.2,6.9,568,11931,0.00,2.47,0.00,0.000,4,0.000,0.041,3027,2854,1929
$GC,11989,1.05,219.5,198.6,7.2,571,11993,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1455,1929
$GC,12316,1.05,219.5,176.9,6.5,587,12320,0.00,2.45,0.00,0.000,4,0.000,0.041,3027,2851,1930
$GC,12360,1.05,219.5,173.7,6.7,589,12364,0.00,2.45,0.00,0.000,6,0.000,0.038,3026,1453,1929
$GC,12681,1.05,219.5,152.0,6.8,605,12685,0.00,2.45,0.00,0.000,4,0.000,0.041,3027,2845,1930
$GC,12714,1.05,219.5,149.5,7.4,606,12720,0.00,2.42,0.00,0.000,6,0.000,0.038,3027,1453,1930
$GC,13031,1.05,219.5,128.3,6.5,622,13035,0.00,2.45,0.00,0.000,4,0.000,0.041,3026,2852,1929
$GC,13071,1.05,219.5,125.5,6.6,624,13076,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1447,1929
$GC,13398,1.05,219.5,104.9,6.1,640,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1447,1930
$GC,13708,1.05,219.5,83.2,7.4,655,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1447,1929
$GC,14018,1.05,219.5,54.3,11.2,670,14019,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1447,1929
$GC,14326,1.05,219.5,27.8,7.9,685,14330,0.00,2.45,0.00,0.000,4,0.000,0.040,3027,2854,1929
$GC,14552,1.05,219.5,6.8,12.6,695,14556,0.00,2.45,0.00,0.000,6,0.000,0.037,3027,1448,1929
$STATE,14602,end climb,SURFACE_DEPTH_REACHED
$STATE,14602,begin surface coast
$FINISH,0.1,1.026756
$STATE,14624,end surface coast,CONTROL_FINISHED_OK
$STATE,14624,begin surface
$SM_CCo,14648,45.90,0.765,0,0,1609,300.00
$SM_GC,0.94,0.00,0.00,45.90,0.000,0.000,0.765,395,2244,1609,-11.06,-0.20,300.00
$IRIDIUM_FIX,6103.81,-910.74,091198,101011
$TT8_MAMPS,0.026845
$HUMID,1917
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.7,96.7
$24V_AH,23.3,58.930
$10V_AH,10.1,35.655
$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,25.375,149.950,314.900,45.900,0.000,118.181,122.269,384.819,3.250,0.000,0.000,35.236,1358.891,10903.560,473.342,1783.256,1145.753,0.000,1397.323,0.000,1898.672,0.000,23.462,0.000
$DEVICE_MAMPS,130.390,62.127,1099.878,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.237,518.374,474.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34730,699
$CAP_FILE_SIZE,123870,0
$CFSIZE,260165632,237719552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,150809,145236,6127.064,-907.973,39,1.0,39,-9.3