version: 66.04
glider: 105
mission: 6
dive: 295
start: 8 18 109 1 41 22
data:
$ID,105
$MISSION,6
$DIVE,295
$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,-1633336.1
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,013325,6138.952,-838.873,39,1.4,39,-9.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-59.1
$GPS2,014102,6139.071,-839.079,14,1.4,14,-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,152.6,20905,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,91,0.00,0.00,-72.55,0.000,6,0.000,0.000,389,2246,3431
$GC,94,-0.96,-146.6,2.8,-4.6,3,115,11.73,2.53,0.00,0.000,4,0.134,0.040,2585,835,3434
$GC,143,-0.96,-146.6,17.8,-11.0,5,147,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2252,3433
$GC,464,-0.96,-146.6,45.9,-8.1,21,469,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3660,3434
$GC,527,-0.96,-146.6,50.8,-6.5,24,531,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2225,3433
$GC,853,-0.96,-146.6,79.5,-10.6,40,857,0.00,2.40,0.00,0.000,4,0.000,0.041,2585,850,3435
$GC,909,-0.96,-146.6,85.1,-9.6,42,916,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2257,3435
$GC,1225,-0.96,-146.6,106.2,-6.1,58,1229,0.00,2.53,0.00,0.000,4,0.000,0.057,2585,3651,3435
$GC,1291,-0.96,-146.6,110.8,-6.5,61,1295,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2245,3435
$GC,1613,-0.96,-146.6,136.2,-8.1,77,1617,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3645,3436
$GC,1685,-0.96,-146.6,142.3,-8.9,80,1689,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3436
$GC,2001,-0.96,-146.6,164.3,-6.7,95,2005,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3647,3436
$GC,2063,-0.96,-146.6,168.7,-7.2,98,2067,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2245,3435
$GC,2389,-0.96,-146.6,193.0,-7.6,114,2393,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3645,3435
$GC,2438,-0.96,-146.6,197.4,-8.9,116,2443,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2247,3435
$GC,2759,-0.96,-146.6,224.4,-8.7,132,2764,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3647,3435
$GC,2837,-0.96,-146.6,231.2,-8.7,135,2844,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3435
$GC,3155,-0.96,-146.6,253.9,-6.9,151,3159,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3648,3435
$GC,3221,-0.96,-146.6,258.9,-7.5,154,3226,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3435
$GC,3542,-0.96,-146.6,279.4,-6.4,170,3546,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3647,3435
$GC,3604,-0.96,-146.6,283.4,-6.5,173,3609,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,3937,-0.96,-146.6,304.3,-6.6,189,3941,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3650,3434
$GC,3989,-0.96,-146.6,307.9,-7.2,191,3993,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3434
$GC,4305,-0.96,-146.6,328.3,-6.2,206,4310,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3650,3434
$GC,4345,-0.96,-146.6,331.0,-7.0,208,4349,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3434
$GC,4671,-0.96,-146.6,349.6,-5.6,224,4676,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,4738,-0.96,-146.6,353.7,-6.0,227,4742,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,5060,-0.96,-146.6,370.9,-5.2,243,5065,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3645,3433
$GC,5111,-0.96,-146.6,373.9,-5.7,245,5115,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2244,3433
$GC,5435,-0.96,-146.6,390.4,-5.0,261,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2244,3433
$GC,5741,-0.96,-146.6,406.5,-5.3,276,5746,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3648,3432
$GC,5791,-0.96,-146.6,409.6,-6.1,278,5796,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3432
$GC,6108,-0.96,-146.6,428.4,-6.2,293,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3432
$GC,6416,-0.96,-146.6,448.6,-6.2,308,6420,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3648,3432
$GC,6493,-0.96,-146.6,453.9,-7.1,311,6499,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,6809,-0.96,-146.6,473.2,-5.8,327,6814,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3645,3432
$GC,6881,-0.96,-146.6,478.4,-7.8,330,6885,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,7204,-0.96,-146.6,496.1,-5.1,346,7208,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3646,3431
$GC,7292,-0.96,-146.6,502.3,-7.0,350,7297,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3431
$GC,7616,-0.96,-146.6,525.0,-8.1,366,7621,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3646,3431
$GC,7649,-0.96,-146.6,528.1,-8.9,367,7653,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3431
$GC,7965,-0.96,-146.6,552.2,-6.9,382,7969,0.00,2.50,0.00,0.000,4,0.000,0.046,2585,845,3431
$GC,8037,-0.96,-146.6,557.4,-7.5,385,8041,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2256,3431
$GC,8361,-0.96,-146.6,575.2,-5.9,401,8365,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3648,3431
$GC,8573,-0.96,-146.6,590.1,-8.4,410,8581,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2253,3431
$GC,8890,-0.96,-146.6,610.2,-4.9,426,8894,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3656,3430
$GC,9142,-0.96,-146.6,622.2,-5.0,437,9147,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2253,3430
$GC,9463,-0.96,-146.6,642.0,-6.9,453,9467,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3648,3430
$GC,9551,-0.96,-146.6,647.2,-5.5,457,9556,0.00,2.42,0.00,0.000,6,0.000,0.033,2585,2237,3430
$GC,9873,-0.96,-146.6,664.4,-7.3,473,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2237,3429
$GC,10182,-0.96,-146.6,687.2,-7.4,488,10187,0.00,2.62,0.00,0.000,4,0.000,0.060,2585,3648,3429
$GC,10233,-0.96,-146.6,691.4,-7.8,490,10237,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2246,3429
$GC,10556,-0.96,-146.6,716.0,-7.3,506,10560,0.00,2.58,0.00,0.000,4,0.000,0.061,2585,3647,3427
$GC,10646,-0.96,-146.6,724.7,-9.6,510,10653,0.00,2.42,0.00,0.000,6,0.000,0.036,2585,2253,3426
$GC,10975,-0.96,-146.6,747.1,-4.2,526,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3425
$GC,11284,-0.96,-146.6,769.7,-10.1,541,11288,0.00,2.55,0.00,0.000,4,0.000,0.061,2585,3647,3423
$GC,11362,-0.96,-146.6,778.2,-6.7,544,11368,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2238,3423
$STATE,11572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11572,begin apogee
$GC,11580,-0.36,0.0,798.9,8.5,555,11715,0.62,0.00,128.52,1.366,6,0.054,0.000,2722,1467,2831
$STATE,11716,end apogee,CONTROL_FINISHED_OK
$STATE,11716,begin climb
$GC,11719,0.96,146.6,800.9,0.0,562,11858,1.30,2.60,130.35,1.315,4,0.055,0.050,3005,2858,2233
$GC,12012,1.18,320.9,783.5,1.2,575,12176,0.17,2.55,154.60,1.293,6,0.025,0.047,3082,1463,1523
$GC,12498,1.18,320.9,741.8,9.0,599,12502,0.12,2.22,0.00,0.000,4,0.079,0.063,3056,255,1510
$GC,12520,1.18,320.9,740.3,6.1,600,12524,0.00,2.08,0.00,0.000,6,0.000,0.037,3056,1465,1510
$GC,12847,1.18,320.9,705.3,8.8,616,12852,0.00,2.50,0.00,0.000,4,0.000,0.051,3056,2843,1508
$GC,12863,1.18,320.9,703.7,8.7,616,12869,0.00,2.47,0.00,0.000,6,0.000,0.047,3056,1453,1508
$GC,13181,1.18,320.9,669.7,11.2,632,13185,0.00,2.50,0.00,0.000,4,0.000,0.052,3056,2846,1507
$GC,13242,1.18,320.9,662.4,10.9,635,13247,0.00,2.47,0.00,0.000,6,0.000,0.046,3056,1453,1506
$GC,13570,1.18,320.9,619.0,13.2,651,13574,0.00,2.50,0.00,0.000,4,0.000,0.049,3056,2848,1505
$GC,13664,1.18,320.9,607.9,10.4,655,13669,0.00,2.47,0.00,0.000,6,0.000,0.044,3056,1449,1504
$GC,13980,1.18,320.9,571.7,10.8,670,13985,0.00,2.47,0.00,0.000,4,0.000,0.046,3056,2849,1504
$GC,14025,1.18,320.9,566.5,12.1,672,14029,0.00,2.47,0.00,0.000,6,0.000,0.041,3056,1450,1503
$GC,14348,1.18,320.9,528.3,12.2,688,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1450,1503
$GC,14655,1.18,320.9,495.4,10.2,703,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1450,1503
$GC,14964,1.18,320.9,461.9,11.2,718,14968,0.00,2.45,0.00,0.000,4,0.000,0.042,3056,2852,1503
$GC,14997,1.18,320.9,458.0,11.0,719,15003,0.00,2.45,0.00,0.000,6,0.000,0.039,3056,1453,1503
$GC,15313,1.18,320.9,423.5,10.9,735,15314,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1504
$GC,15625,1.18,320.9,390.3,10.7,750,15629,0.00,2.45,0.00,0.000,4,0.000,0.041,3056,2852,1504
$GC,15653,1.18,320.9,387.1,10.8,751,15657,0.00,2.45,0.00,0.000,6,0.000,0.038,3056,1453,1504
$GC,15969,1.18,320.9,355.4,9.9,766,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1504
$GC,16279,1.18,320.9,324.5,10.2,781,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1505
$GC,16590,1.18,320.9,293.2,10.3,796,16591,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1454,1505
$GC,16898,1.18,320.9,263.4,9.5,811,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1505
$GC,17207,1.18,320.9,235.3,9.0,826,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,1506
$GC,17515,1.18,320.9,207.7,8.7,841,17519,0.00,2.45,0.00,0.000,4,0.000,0.041,3056,2850,1506
$GC,17548,1.18,320.9,204.7,7.7,842,17554,0.00,2.45,0.00,0.000,6,0.000,0.038,3056,1450,1506
$GC,17864,1.18,320.9,177.7,8.5,858,17865,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1450,1506
$GC,18176,1.18,320.9,152.7,7.8,873,18177,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1450,1506
$GC,18484,1.18,320.9,123.7,10.0,888,18488,0.00,2.45,0.00,0.000,4,0.000,0.040,3056,2853,1507
$GC,18501,1.18,320.9,121.9,10.0,889,18506,0.00,2.47,0.00,0.000,6,0.000,0.038,3056,1459,1507
$GC,18834,1.18,320.9,93.6,7.0,905,18839,0.00,2.45,0.00,0.000,4,0.000,0.040,3056,2848,1507
$GC,18875,1.18,320.9,91.2,6.9,906,18881,0.00,2.45,0.00,0.000,6,0.000,0.037,3056,1443,1507
$GC,19191,1.18,320.9,57.0,14.8,922,19192,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1443,1507
$GC,19502,1.18,320.9,29.1,6.2,937,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1443,1507
$GC,19809,1.18,320.9,5.4,7.7,952,19810,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1443,1508
$STATE,19848,end climb,SURFACE_DEPTH_REACHED
$STATE,19848,begin surface coast
$FINISH,0.3,1.014402
$STATE,19870,end surface coast,CONTROL_FINISHED_OK
$STATE,19870,begin surface
$SM_CCo,19954,0.00,0.000,0,0,1505,325.51
$SM_GC,0.83,11.48,0.00,0.00,0.022,0.000,0.000,387,2250,1505,-10.99,0.00,325.51
$IRIDIUM_FIX,6112.75,-837.89,111198,202028
$TT8_MAMPS,0.026845
$HUMID,1936
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.2,82.2
$24V_AH,23.0,61.080
$10V_AH,10.1,36.820
$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,25.425,185.300,413.475,0.000,0.000,28.460,27.692,272.729,6.500,0.000,0.000,16.600,1780.128,14987.433,522.210,2165.816,951.733,0.000,1682.151,0.000,2318.487,0.000,45.800,0.000
$DEVICE_MAMPS,134.225,62.894,1366.027,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,825.455,681.166,564.220,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47384,955
$CAP_FILE_SIZE,147838,0
$CFSIZE,260165632,236851200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,180809,071506,6142.484,-842.990,32,1.1,32,-9.1