version: 66.04
glider: 105
mission: 6
dive: 281
start: 8 15 109 15 2 9
data:
$ID,105
$MISSION,6
$DIVE,281
$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,-1633053.6
$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,34
$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
$GPS1,145236,6127.064,-907.973,39,1.0,39,-9.3
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-50.8
$GPS2,150149,6127.099,-908.139,11,1.6,16,-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,91.3,38498,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.97,0.000,6,0.000,0.000,395,2243,3431
$GC,84,-0.96,-146.6,3.5,-6.7,3,105,11.60,2.53,0.00,0.000,4,0.131,0.041,2585,840,3432
$GC,173,-0.96,-146.6,18.9,-10.0,7,177,0.00,2.45,0.00,0.000,6,0.000,0.032,2585,2247,3432
$GC,499,-0.96,-146.6,45.0,-6.7,23,504,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3652,3433
$GC,763,-0.96,-146.6,57.9,-5.2,35,768,0.00,2.45,0.00,0.000,6,0.000,0.030,2586,2234,3434
$GC,1096,-0.96,-146.6,69.2,-4.2,51,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2234,3434
$GC,1405,-0.96,-146.6,87.7,-8.3,66,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2234,3435
$GC,1715,-0.96,-146.6,119.9,-11.5,81,1720,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3651,3435
$GC,1779,-0.96,-146.6,127.4,-11.6,84,1784,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3435
$GC,2106,-0.96,-146.6,162.6,-10.2,100,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3435
$GC,2415,-0.96,-146.6,192.8,-9.4,115,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3435
$GC,2725,-0.96,-146.6,219.3,-7.9,130,2729,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3657,3434
$GC,2813,-0.96,-146.6,226.3,-7.5,134,2818,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,3137,-0.96,-146.6,247.4,-6.5,150,3141,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3655,3434
$GC,3215,-0.96,-146.6,253.6,-7.6,153,3221,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3434
$GC,3530,-0.96,-146.6,277.5,-7.8,169,3534,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3655,3433
$GC,3607,-0.96,-146.6,284.2,-8.7,172,3614,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3433
$GC,3924,-0.96,-146.6,309.0,-8.5,188,3928,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3656,3433
$GC,4003,-0.96,-146.6,316.1,-8.8,191,4009,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3433
$GC,4318,-0.96,-146.6,342.2,-8.4,207,4322,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3655,3433
$GC,4413,-0.96,-146.6,350.6,-8.7,211,4418,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2254,3433
$GC,4734,-0.96,-146.6,375.3,-7.4,227,4738,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3652,3432
$GC,4796,-0.96,-146.6,380.0,-7.4,230,4801,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2252,3432
$GC,5128,-0.96,-146.6,404.2,-7.3,246,5133,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3650,3432
$GC,5189,-0.96,-146.6,409.2,-7.8,248,5195,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3431
$GC,5505,-0.96,-146.6,433.2,-7.5,264,5510,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3660,3431
$GC,5555,-0.96,-146.6,437.4,-7.8,266,5560,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2247,3431
$GC,5874,-0.96,-146.6,461.8,-7.3,281,5878,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3657,3430
$GC,5946,-0.96,-146.6,467.8,-8.5,284,5950,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2244,3430
$GC,6264,-0.96,-146.6,489.7,-6.8,299,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2243,3430
$GC,6571,-0.96,-146.6,511.4,-7.2,314,6575,0.00,2.58,0.00,0.000,4,0.000,0.056,2585,3657,3430
$STATE,6653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6653,begin apogee
$GC,6663,-0.36,0.0,518.3,8.9,318,6796,0.62,0.00,125.12,1.101,6,0.066,0.000,2720,1467,2831
$STATE,6797,end apogee,CONTROL_FINISHED_OK
$STATE,6797,begin climb
$GC,6799,0.96,146.6,523.8,0.0,325,6933,1.30,2.28,124.93,1.071,4,0.054,0.059,3007,268,2234
$GC,7120,0.96,146.6,511.9,6.1,339,7127,0.00,2.05,0.00,0.000,6,0.000,0.033,3007,1477,2227
$GC,7436,1.03,202.8,495.6,4.5,355,7491,0.00,2.53,48.83,1.050,4,0.000,0.044,3007,2849,2004
$GC,7545,1.03,202.8,489.9,6.4,360,7549,0.00,2.47,0.00,0.000,6,0.000,0.038,3007,1459,2001
$GC,7877,1.03,202.8,469.3,6.3,376,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1456,1999
$GC,8189,1.04,205.4,450.5,5.9,391,8193,0.00,2.47,0.00,0.000,4,0.000,0.041,3007,2852,1998
$GC,8279,1.04,208.3,444.7,5.9,395,8290,0.00,2.47,5.28,0.762,6,0.000,0.038,3007,1444,1982
$GC,8602,1.04,208.3,423.7,6.3,410,8607,0.00,2.50,0.00,0.000,4,0.000,0.041,3007,2854,1981
$GC,8675,1.04,208.8,419.1,6.0,413,8680,0.00,2.47,0.00,0.000,6,0.000,0.037,3007,1461,1980
$GC,8996,1.04,208.8,398.7,6.5,429,9000,0.00,2.45,0.00,0.000,4,0.000,0.041,3007,2848,1980
$GC,9040,1.04,208.8,395.6,6.6,431,9044,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1449,1980
$GC,9362,1.04,208.8,373.4,7.2,447,9366,0.00,2.47,0.00,0.000,4,0.000,0.041,3007,2848,1980
$GC,9411,1.04,208.8,369.7,7.4,449,9415,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1447,1979
$GC,9726,1.04,208.8,347.2,7.1,464,9731,0.00,2.50,0.00,0.000,4,0.000,0.041,3007,2843,1979
$GC,9810,1.04,208.8,341.1,7.5,467,9816,0.00,2.42,0.00,0.000,6,0.000,0.038,3007,1457,1979
$GC,10128,1.04,208.8,320.0,6.5,483,10132,0.00,2.47,0.00,0.000,4,0.000,0.042,3007,2855,1979
$GC,10183,1.04,208.8,316.2,6.4,485,10189,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1452,1979
$GC,10502,1.04,208.8,296.2,6.4,501,10506,0.00,2.47,0.00,0.000,4,0.000,0.041,3007,2848,1979
$GC,10563,1.04,208.8,291.9,6.9,504,10567,0.00,2.42,0.00,0.000,6,0.000,0.038,3007,1452,1978
$GC,10890,1.04,208.8,270.7,6.5,520,10894,0.00,2.47,0.00,0.000,4,0.000,0.042,3007,2849,1978
$GC,10934,1.04,208.8,267.6,6.9,522,10938,0.00,2.45,0.00,0.000,6,0.000,0.038,3007,1449,1978
$GC,11257,1.04,208.8,247.6,6.2,538,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1449,1979
$GC,11564,1.05,219.1,229.3,5.7,553,11580,0.10,2.53,10.60,0.841,4,0.051,0.042,3048,2849,1937
$GC,11626,1.05,219.1,224.9,6.8,555,11631,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1457,1936
$GC,11953,1.05,219.1,202.8,6.7,571,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1457,1936
$GC,12263,1.05,219.1,182.5,6.9,586,12267,0.00,2.45,0.00,0.000,4,0.000,0.041,3048,2852,1935
$GC,12313,1.05,219.1,178.8,7.0,588,12317,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1452,1935
$GC,12631,1.05,219.1,157.0,7.2,603,12633,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1452,1935
$GC,12939,1.09,250.3,139.7,5.1,618,12975,0.00,2.55,28.00,0.857,4,0.000,0.041,3048,2848,1810
$GC,13004,1.14,293.0,136.3,4.8,621,13048,0.00,2.47,38.30,0.843,6,0.000,0.038,3048,1457,1637
$GC,13360,1.24,369.6,119.0,3.9,638,13428,0.00,0.00,66.62,0.836,6,0.000,0.000,3048,1457,1325
$GC,13727,1.38,484.3,108.2,2.9,656,13829,0.20,0.00,97.20,0.816,6,0.033,0.000,3124,1457,856
$GC,14140,1.38,484.3,66.7,12.5,676,14144,0.12,2.17,0.00,0.000,4,0.079,0.060,3097,264,847
$GC,14251,1.38,484.3,51.7,11.3,681,14255,0.00,2.00,0.00,0.000,6,0.000,0.029,3097,1459,845
$GC,14579,1.38,484.3,12.0,11.2,697,14583,0.00,2.17,0.00,0.000,4,0.000,0.058,3097,263,844
$STATE,14654,end climb,SURFACE_DEPTH_REACHED
$STATE,14654,begin surface coast
$FINISH,0.2,1.026743
$STATE,14677,end surface coast,CONTROL_FINISHED_OK
$STATE,14677,begin surface
$SM_CCo,14764,0.00,0.000,0,0,842,487.90
$SM_GC,0.64,11.75,0.00,0.00,0.026,0.000,0.000,391,2246,842,-10.99,-0.11,487.90
$IRIDIUM_FIX,6103.81,-907.02,091198,151519
$TT8_MAMPS,0.026845
$HUMID,1907
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.5,102.7
$24V_AH,23.3,59.098
$10V_AH,10.1,35.734
$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,25.700,139.425,544.875,0.000,0.000,58.847,129.969,180.128,3.250,0.000,0.000,17.003,1322.809,10831.520,602.053,1713.958,846.038,0.000,1530.820,0.000,1829.547,0.000,23.480,0.000
$DEVICE_MAMPS,131.157,59.826,1101.412,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.863,514.367,504.355,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34895,701
$CAP_FILE_SIZE,112102,0
$CFSIZE,260165632,237678592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,150809,190931,6126.798,-907.141,41,1.3,41,-9.3