version: 66.04
glider: 105
mission: 6
dive: 291
start: 8 17 109 4 26 5
data:
$ID,105
$MISSION,6
$DIVE,291
$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,-1633273
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,041700,6128.723,-843.172,42,1.3,42,-9.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-62.5
$GPS2,042543,6128.757,-843.173,11,1.2,16,-9.1
$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,90.9,16223,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,77,0.00,0.00,-58.38,0.000,6,0.000,0.000,391,2253,3432
$GC,81,-0.96,-146.6,5.0,-9.6,3,102,11.73,2.55,0.00,0.000,4,0.134,0.038,2584,829,3433
$GC,186,-0.96,-146.6,24.1,-9.1,7,192,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2240,3434
$GC,502,-0.96,-146.6,46.6,-6.4,23,507,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3647,3434
$GC,557,-0.96,-146.6,50.4,-6.9,25,561,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2225,3434
$GC,876,-0.96,-146.6,69.1,-4.9,40,880,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3651,3435
$GC,1038,-0.96,-146.6,78.0,-6.3,47,1042,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2245,3435
$GC,1355,-0.96,-146.6,98.7,-8.0,62,1359,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3653,3435
$GC,1507,-0.96,-146.6,113.4,-10.2,69,1512,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2247,3435
$GC,1834,-0.96,-146.6,144.3,-9.8,85,1839,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3653,3435
$GC,1973,-0.96,-146.6,157.4,-8.3,91,1978,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2249,3435
$GC,2290,-0.96,-146.6,177.8,-5.4,106,2295,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3644,3435
$GC,2380,-0.96,-146.6,183.0,-5.9,110,2385,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,2708,-0.96,-146.6,199.2,-5.3,126,2712,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3652,3435
$GC,2787,-0.96,-146.6,203.8,-5.6,129,2793,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,3105,-0.96,-146.6,221.4,-5.8,145,3109,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3657,3434
$GC,3212,-0.96,-146.6,228.6,-6.7,150,3216,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3538,-0.96,-146.6,249.8,-6.8,166,3543,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3655,3434
$GC,3633,-0.96,-146.6,257.0,-7.7,170,3637,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3434
$GC,3954,-0.96,-146.6,281.2,-7.8,186,3958,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3654,3433
$GC,4009,-0.96,-146.6,286.0,-8.9,188,4016,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2225,3433
$GC,4325,-0.96,-146.6,312.5,-8.6,204,4329,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,4413,-0.96,-146.6,320.7,-9.4,208,4418,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3433
$GC,4734,-0.96,-146.6,345.5,-7.6,224,4739,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3433
$GC,4799,-0.96,-146.6,350.2,-7.4,227,4803,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2245,3432
$GC,5128,-0.96,-146.6,371.7,-6.2,243,5132,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3432
$GC,5206,-0.96,-146.6,376.9,-6.3,246,5212,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,5521,-0.96,-146.6,396.7,-6.7,262,5525,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,5583,-0.96,-146.6,401.1,-7.6,265,5587,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3432
$GC,5913,-0.96,-146.6,424.5,-7.5,281,5917,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,5990,-0.96,-146.6,431.2,-8.6,284,5995,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,6311,-0.96,-146.6,455.1,-7.7,300,6315,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3431
$GC,6420,-0.96,-146.6,463.7,-7.8,305,6424,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3431
$GC,6750,-0.96,-146.6,489.0,-7.6,321,6754,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,6822,-0.96,-146.6,495.3,-8.7,324,6826,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3431
$GC,7138,-0.96,-146.6,517.7,-7.2,339,7142,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,7215,-0.96,-146.6,524.2,-8.3,342,7222,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,7534,-0.96,-146.6,547.4,-7.1,358,7538,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,7641,-0.96,-146.6,555.4,-7.2,363,7645,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3430
$GC,7968,-0.96,-146.6,576.5,-6.0,379,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3430
$GC,8277,-0.96,-146.6,594.5,-5.8,394,8281,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3656,3429
$GC,8384,-0.96,-146.6,601.4,-6.2,399,8389,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2235,3430
$STATE,8440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8441,begin apogee
$GC,8449,-0.36,0.0,605.0,5.9,402,8583,0.65,0.00,126.03,1.157,6,0.067,0.000,2723,1462,2832
$STATE,8584,end apogee,CONTROL_FINISHED_OK
$STATE,8584,begin climb
$GC,8587,0.96,146.6,608.2,0.0,409,8721,1.30,2.22,126.60,1.119,4,0.051,0.058,3010,264,2233
$GC,8790,0.96,146.6,599.2,7.6,418,8796,0.00,2.05,0.00,0.000,6,0.000,0.033,3010,1476,2229
$GC,9106,0.96,146.6,575.4,7.9,434,9111,0.00,2.45,0.00,0.000,4,0.000,0.044,3010,2837,2227
$GC,9250,0.96,146.6,565.3,6.1,440,9255,0.00,2.45,0.00,0.000,6,0.000,0.037,3010,1461,2226
$GC,9572,0.96,146.6,545.4,8.2,456,9576,0.00,2.15,0.00,0.000,4,0.000,0.055,3010,262,2225
$GC,9633,0.96,146.6,539.6,7.7,458,9640,0.00,2.03,0.00,0.000,6,0.000,0.032,3010,1449,2225
$GC,9948,0.96,146.6,516.8,6.8,474,9953,0.00,2.47,0.00,0.000,4,0.000,0.045,3010,2843,2224
$GC,10038,0.97,154.3,511.2,5.8,478,10049,0.00,2.45,6.38,0.858,6,0.000,0.037,3010,1443,2203
$GC,10361,1.00,174.9,492.8,5.4,493,10387,0.00,2.58,20.17,1.039,4,0.000,0.041,3010,2844,2117
$GC,10455,1.03,201.0,487.5,5.3,497,10484,0.00,2.45,24.20,1.039,6,0.000,0.036,3010,1452,2012
$GC,10801,1.03,201.0,467.9,6.0,514,10806,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2842,2007
$GC,10846,1.03,201.0,465.1,6.3,516,10850,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1448,2007
$GC,11169,1.03,201.0,444.1,6.7,532,11173,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2843,2006
$GC,11202,1.03,201.0,441.5,6.4,533,11209,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1449,2006
$GC,11518,1.03,201.0,418.5,7.4,549,11522,0.00,2.47,0.00,0.000,4,0.000,0.041,3010,2849,2005
$GC,11558,1.03,201.0,415.6,7.1,551,11562,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1450,2006
$GC,11884,1.03,201.0,391.3,7.5,567,11889,0.00,2.47,0.00,0.000,4,0.000,0.042,3010,2843,2006
$GC,11951,1.03,201.0,386.0,7.5,570,11955,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1447,2006
$GC,12274,1.03,201.0,361.8,7.1,586,12278,0.00,2.47,0.00,0.000,4,0.000,0.041,3011,2843,2006
$GC,12329,1.03,201.0,357.5,8.0,588,12335,0.00,2.42,0.00,0.000,6,0.000,0.038,3010,1457,2005
$GC,12647,1.04,205.4,337.2,5.9,604,12656,0.00,2.45,4.38,0.673,4,0.000,0.041,3010,2843,1994
$GC,12720,1.09,244.8,333.4,4.9,607,12762,0.10,2.45,36.00,0.983,6,0.046,0.037,3064,1446,1834
$GC,13083,1.09,244.8,309.3,6.7,625,13085,0.12,0.00,0.00,0.000,6,0.075,0.000,3035,1446,1829
$GC,13393,1.09,244.8,289.8,6.9,640,13397,0.00,2.50,0.00,0.000,4,0.000,0.041,3035,2852,1828
$GC,13436,1.09,244.8,286.8,7.0,642,13442,0.00,2.47,0.00,0.000,6,0.000,0.038,3035,1462,1828
$GC,13763,1.09,244.8,263.0,7.5,658,13767,0.00,2.45,0.00,0.000,4,0.000,0.041,3035,2843,1828
$GC,13796,1.09,244.8,260.4,7.7,659,13802,0.00,2.45,0.00,0.000,6,0.000,0.038,3035,1446,1827
$GC,14111,1.09,244.8,233.2,9.2,675,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1446,1827
$GC,14423,1.09,244.8,204.1,9.6,690,14427,0.00,2.47,0.00,0.000,4,0.000,0.042,3035,2843,1827
$GC,14462,1.09,244.8,200.1,9.2,692,14467,0.00,2.42,0.00,0.000,6,0.000,0.038,3035,1456,1826
$GC,14792,1.09,244.8,168.5,9.9,708,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1456,1827
$GC,15100,1.09,244.8,138.6,9.0,723,15104,0.00,2.45,0.00,0.000,4,0.000,0.041,3035,2843,1826
$GC,15155,1.09,244.8,133.8,8.1,725,15162,0.00,2.42,0.00,0.000,6,0.000,0.036,3035,1443,1826
$GC,15471,1.15,293.5,116.0,4.7,741,15516,0.00,0.00,42.70,0.853,6,0.000,0.000,3035,1444,1635
$GC,15822,1.15,293.5,88.1,11.2,758,15826,0.00,2.50,0.00,0.000,4,0.000,0.041,3035,2851,1629
$GC,15866,1.15,293.5,82.8,11.5,760,15870,0.00,2.45,0.00,0.000,6,0.000,0.036,3035,1453,1628
$GC,16187,1.15,293.5,55.2,6.8,776,16190,0.00,2.12,0.00,0.000,4,0.000,0.056,3035,267,1628
$GC,16225,1.15,293.5,52.4,6.8,777,16233,0.00,2.00,0.00,0.000,6,0.000,0.031,3035,1453,1628
$GC,16542,1.16,304.5,35.3,5.7,793,16558,0.00,2.50,9.90,0.725,4,0.000,0.041,3035,2836,1590
$GC,16597,1.16,304.5,31.4,7.9,795,16601,0.00,2.42,0.00,0.000,6,0.000,0.035,3035,1448,1588
$GC,16913,1.16,304.5,9.0,7.3,810,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1449,1587
$STATE,16994,end climb,SURFACE_DEPTH_REACHED
$STATE,16994,begin surface coast
$FINISH,1.0,1.026790
$STATE,17014,end surface coast,CONTROL_FINISHED_OK
$STATE,17014,begin surface
$SM_CCo,17099,0.00,0.000,0,0,1583,306.38
$SM_GC,1.12,11.38,0.00,0.00,0.021,0.000,0.000,392,2242,1583,-10.98,-0.23,306.38
$IRIDIUM_FIX,6103.81,-840.31,111198,040439
$TT8_MAMPS,0.026845
$HUMID,1919
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.2,87.7
$24V_AH,23.2,60.306
$10V_AH,10.1,36.441
$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,25.275,188.150,396.350,0.000,0.000,62.186,58.006,216.481,4.500,0.000,0.000,16.597,1573.827,12620.159,511.892,2008.558,910.540,0.000,1591.238,0.000,2146.720,0.000,32.876,0.000
$DEVICE_MAMPS,134.225,57.525,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.514,644.078,546.132,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41095,815
$CAP_FILE_SIZE,136994,0
$CFSIZE,260165632,237142016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,170809,091224,6128.302,-834.373,26,1.7,43,-9.0