version: 66.04
glider: 105
mission: 6
dive: 285
start: 8 16 109 7 7 58
data:
$ID,105
$MISSION,6
$DIVE,285
$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,-1633152.2
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,070256,6126.134,-859.252,38,2.0,57,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-51.7
$GPS2,070738,6126.125,-859.287,16,1.6,16,-9.2
$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,85.9,31137,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.62,0.000,6,0.000,0.000,386,2244,3431
$GC,80,-0.96,-146.6,5.0,-9.9,3,101,11.57,2.53,0.00,0.000,4,0.128,0.038,2584,830,3433
$GC,157,-0.96,-146.6,20.1,-8.2,6,161,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2244,3433
$GC,473,-0.96,-146.6,47.6,-9.3,21,478,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3651,3433
$GC,623,-0.96,-146.6,62.5,-8.3,27,630,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2219,3434
$GC,940,-0.96,-146.6,86.1,-6.7,43,944,0.00,2.60,0.00,0.000,4,0.000,0.053,2584,3654,3434
$GC,1011,-0.96,-146.6,91.5,-7.1,46,1016,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3434
$GC,1329,-0.96,-146.6,113.8,-7.3,61,1333,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3658,3434
$GC,1446,-0.96,-146.6,122.9,-6.9,66,1450,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2253,3434
$GC,1763,-0.96,-146.6,145.0,-7.2,81,1767,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3654,3434
$GC,1829,-0.96,-146.6,150.5,-7.9,84,1833,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3435
$GC,2151,-0.96,-146.6,173.7,-7.4,100,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3434
$GC,2460,-0.96,-146.6,196.1,-7.2,115,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3434
$GC,2769,-0.96,-146.6,218.5,-7.3,130,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3434
$GC,3078,-0.96,-146.6,241.8,-7.5,145,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3434
$GC,3388,-0.96,-146.6,265.1,-7.5,160,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3433
$GC,3697,-0.96,-146.6,287.3,-7.1,175,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3433
$GC,4006,-0.96,-146.6,309.5,-7.1,190,4011,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3657,3433
$GC,4039,-0.96,-146.6,312.0,-7.4,191,4045,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2240,3433
$GC,4355,-0.96,-146.6,333.8,-6.9,207,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2239,3432
$GC,4664,-0.96,-146.6,356.5,-7.8,222,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2238,3432
$GC,4973,-0.96,-146.6,380.6,-7.1,237,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2238,3432
$STATE,5097,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5097,begin apogee
$GC,5105,-0.36,0.0,389.1,6.7,243,5232,0.62,0.00,123.25,1.016,6,0.065,0.000,2719,1466,2832
$STATE,5232,end apogee,CONTROL_FINISHED_OK
$STATE,5232,begin climb
$GC,5236,0.96,146.6,393.0,0.0,249,5368,1.30,2.28,123.30,0.979,4,0.052,0.058,3006,267,2233
$GC,5381,1.00,179.6,389.0,5.1,256,5415,0.00,2.08,29.27,0.926,6,0.000,0.033,3006,1476,2099
$GC,5733,1.00,179.6,369.5,6.2,273,5736,0.00,2.20,0.00,0.000,4,0.000,0.056,3006,265,2092
$GC,5930,1.01,184.4,358.1,5.9,281,5940,0.00,2.03,4.50,0.646,6,0.000,0.033,3007,1455,2079
$GC,6269,1.06,223.0,340.6,4.9,298,6312,0.10,2.58,34.50,0.953,4,0.049,0.046,3059,2845,1921
$GC,6373,1.06,223.0,333.6,7.2,302,6380,0.15,2.47,0.00,0.000,6,0.074,0.039,3027,1447,1919
$GC,6689,1.06,223.0,312.9,6.5,318,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1446,1917
$GC,7000,1.06,223.0,291.8,7.1,333,7005,0.00,2.50,0.00,0.000,4,0.000,0.042,3027,2851,1916
$GC,7041,1.06,223.0,288.9,7.0,335,7045,0.00,2.45,0.00,0.000,6,0.000,0.038,3026,1453,1916
$GC,7370,1.06,223.0,267.9,6.6,351,7374,0.00,2.47,0.00,0.000,4,0.000,0.041,3027,2847,1915
$GC,7403,1.06,223.0,265.2,7.1,352,7410,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1450,1915
$GC,7719,1.06,223.0,241.9,7.9,368,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1450,1915
$GC,8028,1.06,223.0,216.6,8.0,383,8032,0.00,2.47,0.00,0.000,4,0.000,0.042,3027,2847,1915
$GC,8072,1.06,223.0,211.9,11.3,385,8076,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1447,1914
$GC,8393,1.06,223.0,185.8,7.4,401,8398,0.00,2.47,0.00,0.000,4,0.000,0.042,3027,2852,1915
$GC,8433,1.06,223.0,182.8,7.7,403,8437,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1450,1914
$GC,8762,1.06,223.0,160.6,6.8,419,8766,0.00,2.47,0.00,0.000,4,0.000,0.043,3027,2855,1914
$GC,8824,1.06,223.0,156.3,6.9,422,8828,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1453,1914
$GC,9151,1.06,223.0,135.6,6.2,438,9155,0.00,2.45,0.00,0.000,4,0.000,0.044,3027,2846,1914
$GC,9191,1.06,223.0,133.1,6.4,440,9196,0.00,2.47,0.00,0.000,6,0.000,0.039,3027,1451,1914
$GC,9523,1.10,253.6,115.9,5.2,456,9552,0.00,0.00,26.40,0.837,6,0.000,0.000,3027,1451,1798
$GC,9854,1.10,253.6,94.7,7.3,472,9858,0.00,2.50,0.00,0.000,4,0.000,0.043,3027,2852,1793
$GC,9939,1.10,253.6,88.0,7.6,476,9943,0.00,2.45,0.00,0.000,6,0.000,0.038,3027,1456,1793
$GC,10265,1.10,253.6,65.5,6.8,492,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1456,1793
$GC,10574,1.10,253.6,44.3,6.5,507,10578,0.00,2.15,0.00,0.000,4,0.000,0.058,3027,260,1792
$GC,10680,1.10,253.6,35.5,7.6,511,10688,0.00,2.05,0.00,0.000,6,0.000,0.031,3026,1456,1792
$GC,10996,1.10,253.6,14.5,6.0,527,11000,0.00,2.45,0.00,0.000,4,0.000,0.041,3027,2852,1792
$GC,11059,1.10,253.6,9.8,6.9,530,11063,0.00,2.42,0.00,0.000,6,0.000,0.034,3027,1450,1792
$STATE,11177,end climb,SURFACE_DEPTH_REACHED
$STATE,11178,begin surface coast
$FINISH,0.3,1.026853
$STATE,11219,end surface coast,CONTROL_FINISHED_OK
$STATE,11219,begin surface
$SM_CCo,11243,27.10,0.747,0,0,1608,300.00
$SM_GC,0.90,0.00,0.00,27.10,0.000,0.000,0.747,388,2254,1608,-11.10,0.11,300.00
$IRIDIUM_FIX,6059.36,-906.30,101198,030326
$TT8_MAMPS,0.027612
$HUMID,1911
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,325.2,72.7
$24V_AH,23.3,59.589
$10V_AH,10.1,36.017
$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,25.125,89.850,341.225,27.100,0.000,25.766,26.523,115.439,2.500,0.000,0.000,16.209,1008.738,8322.388,439.245,1242.116,546.587,0.000,1098.459,0.000,1348.804,0.000,19.868,0.000
$DEVICE_MAMPS,128.089,57.525,1016.275,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.471,395.987,460.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25410,538
$CAP_FILE_SIZE,81336,0
$CFSIZE,260165632,237506560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,160809,101707,6126.327,-857.484,38,1.1,38,-9.2