version: 66.04
glider: 105
mission: 6
dive: 294
start: 8 17 109 20 9 30
data:
$ID,105
$MISSION,6
$DIVE,294
$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,-1633318.9
$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,25
$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
$GPS1,200137,6136.400,-832.501,39,1.0,39,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.6
$GPS2,200908,6136.441,-832.453,15,1.0,15,-9.0
$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,160.1,13626,-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,-58.60,0.000,6,0.000,0.000,386,2247,3431
$GC,81,-0.96,-146.6,5.1,-10.0,3,102,11.73,2.53,0.00,0.000,4,0.133,0.040,2586,838,3433
$GC,282,-0.96,-146.6,32.5,-10.2,12,287,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2252,3433
$GC,609,-0.96,-146.6,60.5,-3.5,28,614,0.00,2.55,0.00,0.000,4,0.000,0.057,2586,3656,3434
$GC,950,-0.96,-146.6,88.5,-14.2,43,955,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2242,3435
$GC,1271,-0.96,-146.6,114.8,-6.9,59,1276,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3653,3435
$GC,1366,-0.96,-146.6,122.6,-7.9,63,1370,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,1682,-0.96,-146.6,145.2,-7.4,78,1687,0.00,2.55,0.00,0.000,4,0.000,0.051,2585,3651,3435
$GC,1732,-0.96,-146.6,149.8,-8.5,80,1737,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2250,3435
$GC,2059,-0.96,-146.6,175.1,-7.8,96,2063,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3658,3435
$GC,2154,-0.96,-146.6,182.9,-7.9,100,2158,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2244,3435
$GC,2470,-0.96,-146.6,206.5,-8.3,115,2474,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3653,3435
$GC,2532,-0.96,-146.6,211.9,-8.6,118,2536,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3435
$GC,2859,-0.96,-146.6,234.1,-6.3,134,2863,0.00,2.45,0.00,0.000,4,0.000,0.043,2585,851,3434
$GC,2899,-0.96,-146.6,236.5,-5.9,136,2903,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2254,3434
$GC,3226,-0.96,-146.6,254.7,-5.8,152,3230,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,851,3434
$GC,3253,-0.96,-146.6,256.6,-6.9,153,3257,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2244,3434
$GC,3569,-0.96,-146.6,273.9,-5.2,168,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3434
$GC,3878,-0.96,-146.6,292.1,-6.4,183,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3434
$GC,4187,-0.96,-146.6,310.3,-5.6,198,4191,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,847,3433
$GC,4221,-0.96,-146.6,312.1,-5.6,199,4227,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2254,3433
$GC,4537,-0.96,-146.6,329.0,-5.8,215,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3433
$GC,4845,-0.96,-146.6,347.6,-6.2,230,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3433
$GC,5155,-0.96,-146.6,366.7,-5.9,245,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3433
$GC,5467,-0.96,-146.6,383.9,-5.2,260,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3432
$GC,5773,-0.96,-146.6,396.9,-3.8,275,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3432
$GC,6083,-0.96,-146.6,407.3,-3.4,290,6087,0.00,2.55,0.00,0.000,4,0.000,0.060,2586,3651,3432
$GC,6123,-0.96,-146.6,408.7,-3.9,292,6127,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2253,3432
$GC,6449,-0.96,-146.6,418.5,-3.0,308,6453,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3656,3431
$GC,6504,-0.96,-146.6,420.5,-3.8,310,6512,0.00,2.45,0.00,0.000,6,0.000,0.031,2586,2244,3431
$GC,6821,-0.96,-146.6,433.3,-4.7,326,6825,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3651,3431
$GC,6893,-0.96,-146.6,437.8,-6.8,329,6897,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2253,3431
$GC,7208,-0.96,-146.6,460.6,-8.1,344,7213,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3650,3431
$GC,7259,-0.96,-146.6,464.8,-8.0,346,7264,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,7579,-0.96,-146.6,487.1,-6.4,362,7584,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3430
$GC,7732,-0.96,-146.6,500.6,-7.5,369,7737,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2252,3430
$GC,8065,-0.96,-146.6,525.7,-8.0,385,8069,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3657,3430
$GC,8294,-0.96,-146.6,547.5,-9.3,395,8298,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2248,3430
$GC,8612,-0.96,-146.6,571.7,-6.9,410,8616,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3651,3430
$GC,8667,-0.96,-146.6,576.0,-7.0,412,8673,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2236,3430
$GC,8984,-0.96,-146.6,591.8,-4.1,428,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2236,3430
$GC,9292,-0.96,-146.6,608.3,-4.1,443,9296,0.00,2.58,0.00,0.000,4,0.000,0.059,2586,3649,3429
$GC,9331,-0.96,-146.6,610.1,-4.9,445,9336,0.00,2.40,0.00,0.000,6,0.000,0.034,2586,2253,3429
$GC,9659,-0.96,-146.6,626.6,-5.0,461,9663,0.00,2.50,0.00,0.000,4,0.000,0.049,2586,844,3428
$GC,9715,-0.96,-146.6,628.9,-3.8,463,9722,0.00,2.45,0.00,0.000,6,0.000,0.039,2586,2247,3428
$GC,10031,-0.96,-146.6,649.5,-6.9,479,10035,0.00,2.50,0.00,0.000,4,0.000,0.048,2585,848,3427
$GC,10063,-0.96,-146.6,651.9,-7.2,480,10070,0.00,2.47,0.00,0.000,6,0.000,0.039,2586,2260,3427
$GC,10382,-0.96,-146.6,675.5,-7.0,496,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2262,3425
$GC,10689,-0.96,-146.6,696.9,-7.0,511,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2262,3424
$GC,10998,-0.96,-146.6,714.9,-5.4,526,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2262,3423
$GC,11308,-0.96,-146.6,734.6,-9.5,541,11312,0.00,2.55,0.00,0.000,4,0.000,0.064,2586,3651,3421
$GC,11409,-0.96,-146.6,743.7,-7.3,545,11415,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2253,3421
$GC,11724,-0.96,-146.6,763.0,-7.1,561,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3420
$GC,12034,-0.96,-146.6,786.4,-8.3,576,12038,0.00,2.60,0.00,0.000,4,0.000,0.065,2586,3650,3418
$GC,12067,-0.96,-146.6,788.3,-5.5,577,12073,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2249,3418
$STATE,12339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12339,begin apogee
$GC,12347,-0.36,0.0,805.4,7.8,591,12482,0.65,0.00,128.35,1.384,6,0.074,0.000,2722,1456,2831
$STATE,12483,end apogee,CONTROL_FINISHED_OK
$STATE,12483,begin climb
$GC,12486,0.96,146.6,809.2,0.0,598,12627,1.35,2.60,132.10,1.326,4,0.073,0.050,3003,2862,2233
$GC,12636,1.27,398.5,808.5,-0.9,604,12868,0.35,2.58,224.07,1.299,6,0.044,0.044,3082,1450,1207
$GC,13184,1.27,398.5,747.8,13.9,631,13189,0.00,2.55,0.00,0.000,4,0.000,0.052,3082,2857,1194
$GC,13425,1.27,398.5,716.4,15.4,642,13430,0.00,2.53,0.00,0.000,6,0.000,0.047,3081,1455,1193
$GC,13753,1.27,398.5,677.9,13.1,658,13757,0.00,2.22,0.00,0.000,4,0.000,0.069,3081,259,1191
$GC,13792,1.27,398.5,672.5,12.3,659,13798,0.00,2.08,0.00,0.000,6,0.000,0.038,3081,1458,1191
$GC,14108,1.27,398.5,633.0,11.8,675,14111,0.00,2.22,0.00,0.000,4,0.000,0.067,3081,261,1190
$GC,14191,1.27,398.5,621.2,13.8,678,14198,0.00,2.08,0.00,0.000,6,0.000,0.038,3082,1472,1190
$GC,14510,1.27,398.5,583.7,10.3,694,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1472,1190
$GC,14816,1.27,398.5,551.9,10.9,709,14820,0.00,2.45,0.00,0.000,4,0.000,0.048,3081,2847,1189
$GC,14849,1.27,398.5,548.2,11.3,710,14855,0.00,2.45,0.00,0.000,6,0.000,0.043,3081,1453,1189
$GC,15165,1.27,398.5,511.6,11.8,726,15169,0.00,2.17,0.00,0.000,4,0.000,0.061,3081,271,1189
$GC,15220,1.27,398.5,504.1,14.2,728,15224,0.00,2.03,0.00,0.000,6,0.000,0.035,3081,1456,1189
$GC,15541,1.27,398.5,462.5,13.1,744,15545,0.00,2.17,0.00,0.000,4,0.000,0.059,3081,261,1189
$GC,15598,1.27,398.5,455.1,13.7,746,15601,0.00,2.05,0.00,0.000,6,0.000,0.033,3081,1457,1189
$GC,15919,1.27,398.5,412.9,13.3,762,15923,0.00,2.17,0.00,0.000,4,0.000,0.058,3082,262,1189
$GC,15947,1.27,398.5,408.9,14.2,763,15950,0.00,2.03,0.00,0.000,6,0.000,0.033,3081,1456,1189
$GC,16273,1.27,398.5,366.8,12.0,779,16278,0.00,2.20,0.00,0.000,4,0.000,0.059,3081,262,1190
$GC,16320,1.27,398.5,361.3,11.4,781,16324,0.00,2.03,0.00,0.000,6,0.000,0.033,3082,1457,1190
$GC,16653,1.27,398.5,323.8,11.4,797,16658,0.00,2.20,0.00,0.000,4,0.000,0.059,3081,266,1190
$GC,16675,1.27,398.5,320.9,13.0,798,16679,0.00,2.03,0.00,0.000,6,0.000,0.033,3082,1456,1190
$GC,17007,1.27,398.5,278.1,13.1,814,17011,0.00,2.17,0.00,0.000,4,0.000,0.058,3082,259,1191
$GC,17045,1.27,398.5,272.6,13.7,815,17051,0.00,2.08,0.00,0.000,6,0.000,0.033,3082,1456,1191
$GC,17361,1.27,398.5,234.3,12.3,831,17366,0.00,2.20,0.00,0.000,4,0.000,0.058,3081,262,1191
$GC,17407,1.27,398.5,228.4,14.4,833,17412,0.00,2.05,0.00,0.000,6,0.000,0.032,3082,1456,1191
$GC,17739,1.27,398.5,189.2,11.1,849,17742,0.00,2.17,0.00,0.000,4,0.000,0.058,3082,258,1192
$GC,17784,1.27,398.5,183.7,11.3,851,17788,0.00,2.05,0.00,0.000,6,0.000,0.033,3082,1459,1193
$GC,18117,1.27,398.5,145.2,11.2,867,18121,0.00,2.17,0.00,0.000,4,0.000,0.057,3081,257,1193
$GC,18169,1.27,398.5,139.0,13.8,869,18172,0.00,2.05,0.00,0.000,6,0.000,0.033,3082,1460,1192
$GC,18496,1.27,398.5,100.6,12.2,885,18499,0.00,2.17,0.00,0.000,4,0.000,0.057,3081,259,1193
$GC,18529,1.27,398.5,96.1,14.0,886,18533,0.00,2.05,0.00,0.000,6,0.000,0.033,3082,1459,1192
$GC,18850,1.27,398.5,49.5,14.3,902,18854,0.00,2.15,0.00,0.000,4,0.000,0.054,3082,261,1193
$GC,18902,1.27,398.5,42.6,11.8,904,18905,0.00,2.03,0.00,0.000,6,0.000,0.032,3081,1456,1193
$GC,19229,1.27,398.5,5.3,10.5,920,19234,0.00,2.17,0.00,0.000,4,0.000,0.055,3081,261,1193
$STATE,19249,end climb,SURFACE_DEPTH_REACHED
$STATE,19249,begin surface coast
$FINISH,0.2,1.026766
$STATE,19273,end surface coast,CONTROL_FINISHED_OK
$STATE,19273,begin surface
$SM_CCo,19359,0.00,0.000,0,0,1191,402.54
$SM_GC,0.96,11.62,0.00,0.00,0.024,0.000,0.000,388,2245,1191,-10.98,-0.14,402.54
$IRIDIUM_FIX,6054.92,-827.42,111198,141418
$TT8_MAMPS,0.026845
$HUMID,1961
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.4,64.9
$24V_AH,22.4,60.905
$10V_AH,10.0,36.724
$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,25.700,181.525,484.525,0.000,0.000,28.633,26.947,262.039,6.750,0.000,0.000,15.771,1730.738,14417.900,548.175,2180.840,928.779,0.000,1737.171,0.000,2307.929,0.000,47.335,0.000
$DEVICE_MAMPS,132.691,69.030,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,814.074,649.667,515.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47444,922
$CAP_FILE_SIZE,146249,0
$CFSIZE,260165632,236924928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,180809,013325,6138.952,-838.873,39,1.4,39,-9.1