version: 66.04
glider: 105
mission: 6
dive: 283
start: 8 15 109 23 21 28
data:
$ID,105
$MISSION,6
$DIVE,283
$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,-1633101.4
$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,32
$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
$GPS1,231526,6125.818,-907.222,27,7.4,46,-9.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-49.9
$GPS2,232107,6125.786,-907.337,32,1.1,32,-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,87.5,38218,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-68.95,0.000,6,0.000,0.000,388,2242,3432
$GC,89,-0.96,-146.6,2.4,-4.1,3,110,11.57,2.53,0.00,0.000,4,0.129,0.038,2585,832,3433
$GC,188,-0.96,-146.6,18.5,-7.4,7,193,0.00,2.50,0.00,0.000,6,0.000,0.034,2585,2245,3433
$GC,509,-0.96,-146.6,49.5,-10.8,23,513,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3655,3433
$GC,603,-0.96,-146.6,58.2,-8.3,27,607,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2228,3433
$GC,919,-0.96,-146.6,82.1,-9.1,42,924,0.00,2.60,0.00,0.000,4,0.000,0.052,2585,3650,3434
$GC,1146,-0.96,-146.6,101.3,-5.0,52,1150,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2253,3434
$GC,1474,-0.96,-146.6,106.1,-2.1,68,1479,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3653,3435
$GC,1541,-0.96,-146.6,108.7,-4.4,71,1545,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2246,3435
$GC,1862,-0.96,-146.6,121.8,-4.0,87,1867,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3652,3435
$GC,1953,-0.96,-146.6,126.2,-4.9,91,1957,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2246,3435
$GC,2281,-0.96,-146.6,142.8,-5.4,107,2285,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3655,3435
$GC,2388,-0.96,-146.6,149.4,-7.0,112,2392,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3435
$GC,2714,-0.96,-146.6,168.9,-6.1,128,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3434
$GC,3024,-0.96,-146.6,189.0,-6.8,143,3028,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3652,3434
$GC,3087,-0.96,-146.6,193.4,-6.8,146,3092,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,3414,-0.96,-146.6,215.5,-6.9,162,3418,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3653,3434
$GC,3469,-0.96,-146.6,219.2,-6.4,164,3476,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2237,3433
$GC,3785,-0.96,-146.6,239.4,-6.5,180,3789,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3655,3434
$GC,3856,-0.96,-146.6,244.7,-7.1,183,3861,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3433
$GC,4172,-0.96,-146.6,268.6,-7.8,198,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3434
$GC,4481,-0.96,-146.6,292.9,-8.1,213,4486,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3653,3433
$GC,4526,-0.96,-146.6,296.9,-8.4,215,4530,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3433
$GC,4848,-0.96,-146.6,319.3,-6.5,231,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3432
$GC,5156,-0.96,-146.6,338.8,-6.1,246,5161,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3655,3433
$GC,5234,-0.96,-146.6,344.1,-6.8,249,5240,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,5550,-0.96,-146.6,363.6,-6.3,265,5555,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3655,3432
$GC,5595,-0.96,-146.6,366.6,-7.0,267,5600,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2253,3432
$GC,5921,-0.96,-146.6,386.5,-5.9,283,5925,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3652,3432
$GC,5994,-0.96,-146.6,391.4,-6.6,286,5998,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,6310,-0.96,-146.6,411.8,-6.6,301,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3432
$GC,6620,-0.96,-146.6,433.5,-7.5,316,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3431
$GC,6929,-0.96,-146.6,456.2,-7.4,331,6933,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3653,3431
$GC,6984,-0.96,-146.6,460.2,-6.5,333,6990,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3431
$STATE,7196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7197,begin apogee
$GC,7205,-0.36,0.0,474.9,6.7,344,7336,0.62,0.00,124.20,1.075,6,0.062,0.000,2721,1463,2832
$STATE,7337,end apogee,CONTROL_FINISHED_OK
$STATE,7337,begin climb
$GC,7340,0.96,146.6,479.0,0.0,351,7475,1.30,2.25,124.97,1.036,4,0.053,0.058,3008,274,2233
$GC,7527,0.97,154.5,473.2,5.8,359,7542,0.00,2.08,8.02,0.839,6,0.000,0.033,3008,1468,2201
$GC,7866,1.00,178.3,456.2,5.3,376,7892,0.00,2.50,21.42,0.987,4,0.000,0.044,3008,2846,2104
$GC,7965,1.01,182.6,450.5,5.9,380,7975,0.00,2.45,5.12,0.727,6,0.000,0.038,3008,1454,2087
$GC,8303,1.01,182.6,431.2,6.0,397,8307,0.00,2.47,0.00,0.000,4,0.000,0.043,3008,2848,2084
$GC,8347,1.01,182.6,428.4,6.1,399,8351,0.00,2.45,0.00,0.000,6,0.000,0.038,3008,1455,2084
$GC,8668,1.01,182.6,409.1,6.2,415,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1455,2083
$GC,8978,1.01,182.6,389.7,6.4,430,8982,0.00,2.47,0.00,0.000,4,0.000,0.042,3008,2848,2083
$GC,9050,1.01,182.6,385.1,6.3,433,9055,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1459,2083
$GC,9371,1.01,185.1,365.9,5.9,449,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1459,2082
$GC,9681,1.04,204.8,348.3,5.5,464,9706,0.00,2.50,20.05,0.965,4,0.000,0.042,3008,2846,1996
$GC,9790,1.04,204.8,341.6,6.3,469,9794,0.00,2.45,0.00,0.000,6,0.000,0.038,3008,1452,1994
$GC,10112,1.06,220.7,324.3,5.6,485,10136,0.00,2.58,14.90,0.928,4,0.000,0.043,3008,2848,1931
$GC,10198,1.06,220.7,318.6,6.5,488,10204,0.00,2.47,0.00,0.000,6,0.000,0.038,3008,1447,1930
$GC,10514,1.06,220.7,297.2,6.8,504,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1447,1929
$GC,10824,1.06,220.7,276.7,6.8,519,10828,0.00,2.50,0.00,0.000,4,0.000,0.042,3008,2856,1929
$GC,10908,1.06,223.1,271.5,5.9,523,10913,0.10,2.45,0.00,0.000,6,0.045,0.038,3064,1454,1928
$GC,11235,1.06,223.1,247.0,7.5,539,11237,0.17,0.00,0.00,0.000,6,0.069,0.000,3027,1454,1928
$GC,11544,1.06,223.1,228.4,6.0,554,11549,0.00,2.47,0.00,0.000,4,0.000,0.042,3027,2855,1928
$GC,11589,1.06,223.1,225.6,6.6,556,11594,0.00,2.47,0.00,0.000,6,0.000,0.038,3027,1460,1928
$GC,11915,1.06,223.1,205.1,6.5,572,11916,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1460,1928
$GC,12225,1.06,223.1,183.5,7.2,587,12229,0.00,2.42,0.00,0.000,4,0.000,0.041,3027,2846,1928
$GC,12292,1.06,223.1,178.4,7.5,590,12296,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1445,1928
$GC,12613,1.06,223.1,154.2,7.7,606,12618,0.00,2.50,0.00,0.000,4,0.000,0.041,3027,2840,1928
$GC,12658,1.06,223.1,150.3,8.5,608,12663,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1456,1928
$GC,12990,1.06,223.1,123.8,7.3,624,12994,0.00,2.45,0.00,0.000,4,0.000,0.041,3027,2848,1928
$GC,13030,1.06,223.1,120.9,7.2,626,13035,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1462,1927
$GC,13363,1.13,278.3,103.8,4.5,642,13419,0.00,2.25,50.25,0.840,4,0.000,0.058,3027,263,1696
$GC,13496,1.13,278.3,97.1,6.2,648,13500,0.00,2.03,0.00,0.000,6,0.000,0.031,3027,1458,1692
$GC,13831,1.19,332.8,81.3,4.5,664,13885,0.15,2.55,47.12,0.814,4,0.036,0.042,3087,2849,1474
$GC,13926,1.19,332.8,74.2,8.2,668,13931,0.12,2.47,0.00,0.000,6,0.077,0.037,3060,1448,1470
$GC,14247,1.19,332.8,52.4,7.2,684,14252,0.00,2.50,0.00,0.000,4,0.000,0.041,3060,2852,1467
$GC,14297,1.19,332.8,47.8,8.9,686,14301,0.00,2.45,0.00,0.000,6,0.000,0.037,3060,1453,1466
$GC,14619,1.19,332.8,20.6,10.0,702,14623,0.00,2.12,0.00,0.000,4,0.000,0.054,3060,266,1465
$GC,14669,1.19,332.8,16.5,8.1,704,14673,0.00,2.00,0.00,0.000,6,0.000,0.031,3060,1461,1465
$STATE,14829,end climb,SURFACE_DEPTH_REACHED
$STATE,14829,begin surface coast
$FINISH,1.1,1.026788
$STATE,14852,end surface coast,CONTROL_FINISHED_OK
$STATE,14852,begin surface
$SM_CCo,14936,0.00,0.000,0,0,1461,336.31
$SM_GC,0.94,11.57,0.00,0.00,0.026,0.000,0.000,384,2247,1461,-11.00,-0.08,336.31
$IRIDIUM_FIX,6103.81,-910.74,091198,191936
$TT8_MAMPS,0.026845
$HUMID,1905
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.9,58.6
$24V_AH,23.3,59.363
$10V_AH,10.1,35.889
$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,25.625,144.225,416.075,0.000,0.000,22.337,27.875,153.923,3.500,0.000,0.000,32.753,1342.824,11002.933,484.583,1747.199,701.311,0.000,1418.686,0.000,1855.366,0.000,26.278,0.000
$DEVICE_MAMPS,128.856,58.292,1075.334,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,588.529,508.725,552.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34862,713
$CAP_FILE_SIZE,113610,0
$CFSIZE,260165632,237572096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,160809,033136,6125.647,-903.876,35,1.6,35,-9.2