version: 66.04
glider: 105
mission: 6
dive: 286
start: 8 16 109 10 22 4
data:
$ID,105
$MISSION,6
$DIVE,286
$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,-1633165
$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,27
$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
$GPS1,101707,6126.327,-857.484,38,1.1,38,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-58.8
$GPS2,102144,6126.285,-857.564,12,1.1,12,-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,85.8,29588,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-58.67,0.000,6,0.000,0.000,388,2254,3432
$GC,81,-0.96,-146.6,5.0,-9.7,3,102,11.57,2.53,0.00,0.000,4,0.128,0.040,2587,841,3433
$GC,186,-0.96,-146.6,25.2,-10.0,7,193,0.00,2.45,0.00,0.000,6,0.000,0.033,2587,2245,3433
$GC,502,-0.96,-146.6,53.5,-9.7,23,506,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3654,3434
$GC,547,-0.96,-146.6,58.2,-10.4,25,551,0.00,2.42,0.00,0.000,6,0.000,0.030,2587,2232,3433
$GC,868,-0.96,-146.6,85.5,-8.0,41,872,0.00,2.40,0.00,0.000,4,0.000,0.042,2586,856,3434
$GC,940,-0.96,-146.6,91.2,-7.8,44,944,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2255,3434
$GC,1257,-0.96,-146.6,110.4,-5.8,59,1262,0.00,2.53,0.00,0.000,4,0.000,0.056,2586,3648,3434
$GC,1336,-0.96,-146.6,115.3,-5.9,62,1342,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2254,3434
$GC,1653,-0.96,-146.6,133.7,-6.0,78,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2255,3434
$GC,1960,-0.96,-146.6,153.0,-6.2,93,1964,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3648,3435
$GC,2032,-0.96,-146.6,157.8,-6.8,96,2036,0.00,2.40,0.00,0.000,6,0.000,0.030,2587,2246,3434
$GC,2347,-0.96,-146.6,177.9,-6.5,111,2352,0.00,2.58,0.00,0.000,4,0.000,0.054,2587,3650,3434
$GC,2482,-0.96,-146.6,187.0,-6.4,117,2487,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2248,3434
$GC,2810,-0.96,-146.6,206.4,-5.8,133,2814,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3648,3434
$GC,2873,-0.96,-146.6,210.4,-6.5,136,2877,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2245,3434
$GC,3199,-0.96,-146.6,231.2,-6.4,152,3204,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3641,3433
$GC,3267,-0.96,-146.6,235.9,-6.7,155,3271,0.00,2.38,0.00,0.000,6,0.000,0.031,2587,2250,3434
$GC,3594,-0.96,-146.6,257.8,-6.3,171,3598,0.00,2.53,0.00,0.000,4,0.000,0.053,2587,3651,3433
$GC,3649,-0.96,-146.6,261.7,-7.1,173,3655,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2250,3433
$GC,3965,-0.96,-146.6,282.4,-6.7,189,3969,0.00,2.53,0.00,0.000,4,0.000,0.054,2587,3650,3433
$GC,4037,-0.96,-146.6,287.8,-7.4,192,4042,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2249,3432
$GC,4358,-0.96,-146.6,311.1,-7.3,208,4362,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3653,3432
$GC,4429,-0.96,-146.6,316.4,-7.3,211,4434,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3433
$GC,4745,-0.96,-146.6,339.0,-7.2,226,4749,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3432
$GC,4835,-0.96,-146.6,345.8,-7.7,230,4839,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2247,3432
$GC,5158,-0.96,-146.6,369.2,-6.7,246,5162,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,5265,-0.96,-146.6,377.3,-7.7,251,5269,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2245,3432
$STATE,5403,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5403,begin apogee
$GC,5412,-0.36,0.0,387.3,7.1,258,5538,0.62,0.00,123.38,1.013,6,0.064,0.000,2721,1461,2832
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.96,146.6,391.5,0.0,264,5675,1.30,2.28,123.20,0.979,4,0.052,0.058,3008,264,2233
$GC,5732,1.01,183.9,386.5,5.0,273,5769,0.00,2.03,32.58,0.938,6,0.000,0.031,3008,1461,2082
$GC,6081,1.09,245.0,369.8,4.3,289,6145,0.12,2.58,53.10,0.960,4,0.042,0.045,3063,2853,1832
$GC,6220,1.09,245.0,359.9,7.2,295,6225,0.15,2.47,0.00,0.000,6,0.073,0.038,3031,1451,1828
$GC,6542,1.09,245.0,337.3,6.6,311,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1451,1826
$GC,6851,1.09,245.0,313.4,7.8,326,6855,0.00,2.50,0.00,0.000,4,0.000,0.042,3032,2856,1825
$GC,6895,1.09,245.0,309.6,8.6,328,6899,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1447,1824
$GC,7218,1.09,245.0,283.8,7.8,344,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1447,1824
$GC,7525,1.09,245.0,259.9,7.6,359,7530,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2853,1823
$GC,7570,1.09,245.0,256.3,8.3,361,7574,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1454,1823
$GC,7891,1.09,245.0,232.3,7.3,377,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1824
$GC,8200,1.09,245.0,207.9,8.6,392,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1823
$GC,8509,1.09,245.0,181.3,8.5,407,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1823
$GC,8819,1.09,245.0,157.3,7.7,422,8823,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2852,1823
$GC,8858,1.09,245.0,154.2,7.8,424,8862,0.00,2.45,0.00,0.000,6,0.000,0.037,3032,1448,1822
$GC,9187,1.09,245.0,127.4,9.0,440,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1448,1822
$GC,9495,1.09,245.0,103.9,7.0,455,9499,0.00,2.47,0.00,0.000,4,0.000,0.041,3032,2860,1823
$GC,9535,1.09,245.0,100.9,7.1,457,9540,0.00,2.47,0.00,0.000,6,0.000,0.037,3032,1458,1822
$GC,9867,1.09,245.0,74.2,10.1,473,9872,0.00,2.47,0.00,0.000,4,0.000,0.040,3032,2857,1822
$GC,9917,1.09,245.0,68.8,10.8,475,9921,0.00,2.45,0.00,0.000,6,0.000,0.035,3032,1447,1822
$GC,10239,1.09,245.0,40.9,7.3,491,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1447,1822
$GC,10548,1.09,245.0,20.1,6.7,506,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1447,1823
$STATE,10814,end climb,SURFACE_DEPTH_REACHED
$STATE,10814,begin surface coast
$FINISH,0.4,1.026838
$STATE,10855,end surface coast,CONTROL_FINISHED_OK
$STATE,10855,begin surface
$SM_CCo,10879,31.05,0.755,0,0,1608,300.00
$SM_GC,1.10,0.00,0.00,31.05,0.000,0.000,0.755,392,2247,1608,-11.08,-0.08,300.00
$IRIDIUM_FIX,6103.81,-857.42,101198,070725
$TT8_MAMPS,0.026078
$HUMID,1929
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.7,95.4
$24V_AH,23.3,59.697
$10V_AH,10.1,36.076
$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,25.150,100.900,332.250,31.050,0.000,25.951,26.948,115.626,2.000,0.000,0.000,12.148,990.516,7988.427,429.771,1244.005,543.666,0.000,1097.853,0.000,1346.171,0.000,15.377,0.000
$DEVICE_MAMPS,128.089,57.525,1013.207,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.113,372.901,437.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25410,521
$CAP_FILE_SIZE,82082,0
$CFSIZE,260165632,237457408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,160809,132504,6126.945,-856.255,9,2.7,28,-9.2