version: 66.04
glider: 105
mission: 6
dive: 282
start: 8 15 109 19 18 24
data:
$ID,105
$MISSION,6
$DIVE,282
$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,-1633068
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,190931,6126.798,-907.141,41,1.3,41,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-48.8
$GPS2,191802,6126.753,-907.212,13,1.4,13,-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,90.1,37784,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,102,0.00,0.00,-84.72,0.000,6,0.000,0.000,391,2246,3431
$GC,105,-0.96,-146.6,2.7,-2.7,4,126,11.55,2.53,0.00,0.000,4,0.130,0.038,2584,833,3433
$GC,210,-0.96,-146.6,23.5,-9.9,8,216,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2241,3433
$GC,526,-0.96,-146.6,51.8,-6.5,24,531,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3647,3433
$GC,676,-0.96,-146.6,59.6,-4.6,30,683,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2229,3433
$GC,992,-0.96,-146.6,69.6,-3.1,46,997,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3654,3434
$GC,1138,-0.96,-146.6,75.0,-4.6,52,1145,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2253,3434
$GC,1454,-0.96,-146.6,91.0,-6.3,68,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2253,3434
$GC,1763,-0.96,-146.6,114.5,-8.1,83,1768,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,857,3434
$GC,1813,-0.96,-146.6,118.4,-7.9,85,1817,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2255,3434
$GC,2135,-0.96,-146.6,143.7,-7.5,101,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2255,3434
$GC,2444,-0.96,-146.6,166.2,-7.1,116,2448,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,853,3434
$GC,2487,-0.96,-146.6,169.7,-7.5,118,2492,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2247,3434
$GC,2809,-0.96,-146.6,189.4,-5.5,134,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3433
$GC,3118,-0.96,-146.6,208.1,-6.3,149,3122,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,846,3433
$GC,3185,-0.96,-146.6,212.5,-6.6,152,3189,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2258,3433
$GC,3506,-0.96,-146.6,232.7,-6.6,168,3510,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,845,3433
$GC,3556,-0.96,-146.6,236.3,-6.9,170,3561,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2249,3432
$GC,3873,-0.96,-146.6,259.3,-7.2,185,3877,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,851,3432
$GC,3922,-0.96,-146.6,262.9,-7.1,187,3927,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2254,3432
$GC,4241,-0.96,-146.6,286.3,-7.7,202,4245,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,853,3432
$GC,4303,-0.96,-146.6,291.4,-8.0,205,4307,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2255,3432
$GC,4630,-0.96,-146.6,317.9,-8.2,221,4634,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,853,3431
$GC,4679,-0.96,-146.6,322.4,-9.0,223,4684,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2254,3431
$GC,4995,-0.96,-146.6,349.3,-8.5,238,5000,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,853,3430
$GC,5040,-0.96,-146.6,353.2,-9.2,240,5044,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2255,3430
$GC,5361,-0.96,-146.6,379.5,-8.0,256,5366,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,853,3430
$GC,5394,-0.96,-146.6,382.4,-8.1,257,5401,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2255,3430
$GC,5710,-0.96,-146.6,406.1,-7.2,273,5715,0.00,2.50,0.00,0.000,4,0.000,0.046,2583,857,3429
$GC,5755,-0.96,-146.6,409.6,-7.7,275,5760,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2242,3429
$GC,6088,-0.96,-146.6,433.9,-7.2,291,6092,0.00,2.45,0.00,0.000,4,0.000,0.044,2584,852,3429
$GC,6137,-0.96,-146.6,437.8,-7.3,293,6142,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2258,3429
$GC,6453,-0.96,-146.6,460.8,-7.6,308,6457,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,853,3429
$GC,6531,-0.96,-146.6,467.2,-8.2,311,6537,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2247,3429
$GC,6847,-0.96,-146.6,490.8,-7.4,327,6852,0.00,2.50,0.00,0.000,4,0.000,0.045,2584,850,3429
$GC,6880,-0.96,-146.6,493.7,-8.8,328,6884,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2261,3429
$STATE,7008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7008,begin apogee
$GC,7016,-0.36,0.0,502.6,6.6,334,7144,0.62,0.00,124.70,1.091,6,0.064,0.000,2719,1466,2832
$STATE,7145,end apogee,CONTROL_FINISHED_OK
$STATE,7145,begin climb
$GC,7147,0.96,146.6,506.4,0.0,340,7282,1.30,2.28,124.93,1.055,4,0.053,0.058,3006,268,2233
$GC,7347,1.01,182.5,500.3,5.0,349,7385,0.00,2.05,31.65,1.008,6,0.000,0.033,3006,1475,2088
$GC,7697,1.04,209.9,482.1,5.3,366,7726,0.00,2.50,24.17,1.001,4,0.000,0.044,3005,2854,1976
$GC,7807,1.06,226.2,475.6,5.6,371,7829,0.10,2.47,15.80,0.965,6,0.048,0.037,3048,1446,1909
$GC,8140,1.06,226.2,449.8,7.9,387,8145,0.00,2.50,0.00,0.000,4,0.000,0.043,3048,2847,1905
$GC,8185,1.06,226.2,445.8,8.1,389,8189,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1453,1904
$GC,8506,1.06,226.2,419.8,8.5,405,8510,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2847,1903
$GC,8545,1.06,226.2,416.7,8.3,407,8549,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1451,1903
$GC,8871,1.06,226.2,393.4,7.2,423,8876,0.00,2.47,0.00,0.000,4,0.000,0.042,3048,2846,1902
$GC,8939,1.06,226.2,388.6,6.9,426,8944,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1448,1902
$GC,9260,1.06,226.2,367.6,6.7,442,9265,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2848,1902
$GC,9317,1.06,227.7,364.0,6.0,444,9323,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1447,1901
$GC,9632,1.06,227.7,343.5,6.5,460,9636,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2847,1901
$GC,9671,1.06,227.7,340.8,6.8,462,9675,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1446,1901
$GC,9998,1.06,227.7,318.5,7.0,478,10002,0.00,2.50,0.00,0.000,4,0.000,0.041,3047,2855,1901
$GC,10070,1.07,235.8,313.7,5.8,481,10084,0.00,2.45,8.75,0.854,6,0.000,0.038,3048,1454,1869
$GC,10413,1.07,235.8,289.3,6.9,498,10417,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2849,1867
$GC,10452,1.07,235.8,286.6,6.7,500,10457,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1452,1867
$GC,10780,1.07,235.8,261.9,7.1,516,10784,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2852,1867
$GC,10842,1.07,235.8,257.1,7.8,519,10846,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1453,1866
$GC,11168,1.07,235.8,231.1,8.3,535,11172,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2854,1866
$GC,11241,1.07,235.8,224.8,9.3,538,11245,0.00,2.45,0.00,0.000,6,0.000,0.037,3048,1454,1866
$GC,11556,1.07,235.8,196.6,9.1,553,11561,0.00,2.47,0.00,0.000,4,0.000,0.041,3048,2857,1866
$GC,11612,1.07,235.8,191.3,9.2,555,11620,0.00,2.47,0.00,0.000,6,0.000,0.038,3048,1459,1866
$GC,11928,1.07,235.8,163.7,8.1,571,11932,0.00,2.42,0.00,0.000,4,0.000,0.041,3048,2848,1866
$GC,11990,1.07,235.8,158.5,8.4,574,11994,0.00,2.42,0.00,0.000,6,0.000,0.037,3048,1453,1866
$GC,12317,1.07,235.8,130.5,8.5,590,12321,0.00,2.47,0.00,0.000,4,0.000,0.040,3048,2856,1867
$GC,12366,1.07,235.8,126.0,8.6,592,12371,0.00,2.45,0.00,0.000,6,0.000,0.036,3048,1450,1866
$GC,12683,1.07,235.8,97.2,9.2,607,12684,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1867
$GC,12992,1.07,235.8,69.7,8.9,622,12996,0.00,2.47,0.00,0.000,4,0.000,0.040,3048,2854,1866
$GC,13047,1.07,235.8,65.5,7.6,624,13053,0.00,2.45,0.00,0.000,6,0.000,0.035,3048,1444,1866
$GC,13363,1.07,235.8,43.4,7.0,640,13364,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1444,1866
$GC,13673,1.09,249.6,23.8,5.6,655,13697,0.00,2.17,13.02,0.746,4,0.000,0.058,3048,274,1812
$GC,13770,1.22,355.4,19.0,3.1,659,13870,0.00,1.98,90.65,0.777,6,0.000,0.030,3048,1458,1382
$STATE,14014,end climb,SURFACE_DEPTH_REACHED
$STATE,14014,begin surface coast
$FINISH,0.1,1.019287
$STATE,14054,end surface coast,CONTROL_FINISHED_OK
$STATE,14055,begin surface
$SM_CCo,14138,0.00,0.000,0,0,1370,358.63
$SM_GC,0.90,11.50,0.00,0.00,0.023,0.000,0.000,388,2242,1370,-10.98,-0.23,358.63
$IRIDIUM_FIX,6103.81,-902.57,091198,191911
$TT8_MAMPS,0.026845
$HUMID,1904
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.2,61.4
$24V_AH,23.3,59.236
$10V_AH,10.1,35.811
$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,25.075,159.175,433.675,0.000,0.000,60.397,58.393,204.898,3.750,0.000,0.000,13.787,1276.458,10386.751,524.373,1642.173,822.339,0.000,1440.510,0.000,1764.359,0.000,29.842,0.000
$DEVICE_MAMPS,129.623,58.292,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.010,490.685,512.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34904,673
$CAP_FILE_SIZE,114146,0
$CFSIZE,260165632,237621248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,150809,231526,6125.818,-907.222,27,7.4,46,-9.3