version: 66.04
glider: 105
mission: 6
dive: 298
start: 8 18 109 18 18 33
data:
$ID,105
$MISSION,6
$DIVE,298
$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,-1633431.8
$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,27
$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
$GPS1,181208,6145.907,-854.693,26,1.6,28,-9.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-53.3
$GPS2,181815,6146.043,-854.673,12,2.9,31,-9.3
$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,147.9,39629,-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,-146.6,0.0,0.0,0,88,0.00,0.00,-70.18,0.000,6,0.000,0.000,394,2242,3431
$GC,91,-0.96,-146.6,2.9,-5.1,3,112,11.62,2.53,0.00,0.000,4,0.131,0.038,2584,828,3433
$GC,173,-0.96,-146.6,20.7,-8.2,6,180,0.00,2.47,0.00,0.000,6,0.000,0.034,2584,2251,3434
$GC,490,-0.96,-146.6,45.6,-7.2,22,495,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3653,3434
$GC,690,-0.96,-146.6,61.8,-9.0,31,694,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2231,3434
$GC,1017,-0.96,-146.6,98.1,-12.3,47,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2229,3434
$GC,1326,-0.96,-146.6,130.3,-10.0,62,1330,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3651,3435
$GC,1420,-0.96,-146.6,140.4,-10.1,66,1424,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2247,3435
$GC,1736,-0.96,-146.6,166.2,-7.4,81,1740,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3655,3435
$GC,1779,-0.96,-146.6,169.3,-6.7,83,1784,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2249,3435
$GC,2101,-0.96,-146.6,185.3,-3.5,99,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3435
$GC,2410,-0.96,-146.6,192.0,-2.0,114,2414,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3435
$GC,2450,-0.96,-146.6,193.1,-3.1,116,2455,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2244,3435
$GC,2777,-0.96,-146.6,206.6,-5.1,132,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2243,3435
$GC,3087,-0.96,-146.6,225.5,-6.6,147,3091,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3651,3435
$GC,3166,-0.96,-146.6,231.4,-7.5,150,3172,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,3484,-0.96,-146.6,253.2,-7.1,166,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3435
$GC,3792,-0.96,-146.6,273.8,-6.7,181,3796,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3657,3435
$GC,3877,-0.96,-146.6,280.0,-7.9,185,3881,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2241,3434
$GC,4205,-0.96,-146.6,302.8,-7.0,201,4209,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3657,3434
$GC,4271,-0.96,-146.6,307.4,-6.9,204,4275,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2246,3434
$GC,4592,-0.96,-146.6,329.0,-7.2,220,4596,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3434
$GC,4619,-0.96,-146.6,331.1,-8.4,221,4623,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3434
$GC,4937,-0.96,-146.6,351.8,-6.2,236,4941,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3658,3433
$GC,5032,-0.96,-146.6,357.9,-6.0,240,5036,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2243,3433
$GC,5348,-0.96,-146.6,374.5,-5.0,255,5352,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3433
$GC,5437,-0.96,-146.6,379.6,-5.9,259,5442,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2253,3433
$GC,5764,-0.96,-146.6,397.8,-5.8,275,5768,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3658,3433
$GC,5830,-0.96,-146.6,402.5,-7.8,278,5834,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2237,3432
$GC,6152,-0.96,-146.6,424.6,-6.6,294,6156,0.00,2.60,0.00,0.000,4,0.000,0.054,2584,3651,3432
$GC,6274,-0.96,-146.6,432.8,-6.7,299,6278,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2251,3432
$GC,6593,-0.96,-146.6,447.3,-4.0,314,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3432
$GC,6899,-0.96,-146.6,460.4,-4.2,329,6904,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3432
$GC,7145,-0.96,-146.6,478.5,-9.5,340,7150,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2250,3432
$GC,7472,-0.96,-146.6,508.9,-11.4,356,7476,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3658,3432
$GC,7713,-0.96,-146.6,524.1,-5.3,367,7717,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2247,3431
$GC,8039,-0.96,-146.6,544.6,-6.4,383,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2243,3431
$GC,8349,-0.96,-146.6,560.4,-5.0,398,8354,0.00,2.60,0.00,0.000,4,0.000,0.057,2584,3651,3431
$GC,8511,-0.96,-146.6,568.6,-5.5,405,8516,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2242,3430
$GC,8834,-0.96,-146.6,586.0,-5.7,421,8838,0.00,2.58,0.00,0.000,4,0.000,0.059,2583,3653,3430
$GC,8901,-0.96,-146.6,591.1,-7.2,424,8905,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2251,3430
$GC,9221,-0.96,-146.6,611.9,-7.3,440,9226,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3650,3429
$GC,9243,-0.96,-146.6,614.0,-9.4,441,9247,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2250,3429
$GC,9568,-0.96,-146.6,640.1,-4.3,457,9572,0.00,2.55,0.00,0.000,4,0.000,0.058,2584,3650,3427
$GC,9634,-0.96,-146.6,643.6,-2.2,460,9639,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2247,3427
$GC,9957,-0.96,-146.6,655.2,-3.8,476,9961,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3650,3426
$GC,10041,-0.96,-146.6,664.2,-12.0,480,10045,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2246,3426
$STATE,10048,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10049,begin apogee
$GC,10057,-0.36,0.0,665.3,13.0,480,10187,0.60,0.00,127.47,1.262,6,0.059,0.000,2718,1466,2832
$STATE,10188,end apogee,CONTROL_FINISHED_OK
$STATE,10188,begin climb
$GC,10191,0.96,146.6,672.6,0.0,487,10327,1.33,2.58,128.35,1.216,4,0.058,0.047,3004,2862,2232
$GC,10500,0.97,148.0,647.5,6.0,501,10505,0.00,2.53,0.00,0.000,6,0.000,0.041,3004,1445,2224
$GC,10829,0.97,148.0,612.9,11.0,517,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1444,2221
$GC,11136,0.97,148.0,581.5,9.0,532,11140,0.00,2.55,0.00,0.000,4,0.000,0.047,3005,2865,2219
$GC,11332,1.07,232.7,568.9,3.7,541,11417,0.12,2.53,75.15,1.197,6,0.042,0.043,3062,1447,1882
$GC,11726,1.07,232.7,536.3,10.2,560,11728,0.15,0.00,0.00,0.000,6,0.074,0.000,3031,1447,1873
$GC,12034,1.07,232.7,514.3,6.1,575,12039,0.00,2.55,0.00,0.000,4,0.000,0.048,3031,2866,1870
$GC,12089,1.07,232.7,511.1,6.1,577,12096,0.00,2.50,0.00,0.000,6,0.000,0.041,3030,1451,1870
$GC,12408,1.07,232.7,490.7,8.1,593,12412,0.00,2.53,0.00,0.000,4,0.000,0.046,3030,2863,1869
$GC,12493,1.07,232.7,482.8,8.7,597,12497,0.00,2.50,0.00,0.000,6,0.000,0.040,3031,1451,1868
$GC,12819,1.07,232.7,451.0,9.3,613,12824,0.00,2.53,0.00,0.000,4,0.000,0.044,3031,2857,1868
$GC,12870,1.07,232.7,446.0,9.7,615,12875,0.00,2.47,0.00,0.000,6,0.000,0.040,3031,1454,1867
$GC,13192,1.07,232.7,415.1,9.6,631,13197,0.00,2.50,0.00,0.000,4,0.000,0.042,3031,2858,1867
$GC,13243,1.07,232.7,410.2,8.8,633,13247,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1450,1867
$GC,13563,1.07,232.7,379.4,9.4,649,13568,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2862,1867
$GC,13597,1.07,232.7,376.1,9.9,650,13603,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1448,1867
$GC,13915,1.07,232.7,347.3,8.8,666,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1448,1867
$GC,14223,1.07,232.7,318.2,9.5,681,14228,0.00,2.50,0.00,0.000,4,0.000,0.042,3030,2867,1867
$GC,14279,1.07,232.7,312.7,9.3,683,14285,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1458,1867
$GC,14594,1.07,232.7,284.5,9.0,699,14599,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2860,1867
$GC,14627,1.07,232.7,281.6,8.6,700,14632,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1451,1868
$GC,14946,1.07,232.7,255.8,7.9,715,14950,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2861,1868
$GC,14985,1.07,232.7,252.6,7.1,717,14990,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1454,1868
$GC,15315,1.07,232.7,229.8,6.9,733,15319,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2862,1868
$GC,15347,1.07,232.7,227.3,6.9,734,15354,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1450,1869
$GC,15663,1.07,232.7,203.1,8.4,750,15667,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2863,1869
$GC,15690,1.07,232.7,200.6,8.9,751,15694,0.00,2.45,0.00,0.000,6,0.000,0.036,3031,1456,1869
$GC,16009,1.07,232.7,173.7,8.6,766,16013,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2861,1869
$GC,16036,1.07,232.7,171.0,9.2,767,16041,0.00,2.47,0.00,0.000,6,0.000,0.036,3030,1460,1869
$GC,16357,1.07,232.7,144.8,7.7,783,16361,0.00,2.45,0.00,0.000,4,0.000,0.040,3031,2862,1870
$GC,16390,1.07,232.7,142.4,7.1,784,16398,0.00,2.47,0.00,0.000,6,0.000,0.036,3031,1460,1870
$GC,16706,1.07,232.7,120.7,6.7,800,16707,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1460,1870
$GC,17015,1.10,255.9,101.4,5.4,815,17042,0.00,2.55,19.12,0.828,4,0.000,0.039,3031,2861,1786
$GC,17092,1.15,300.1,97.5,4.8,818,17138,0.00,2.47,39.55,0.836,6,0.000,0.035,3030,1452,1607
$GC,17457,1.17,311.6,79.3,5.7,836,17473,0.10,2.53,10.52,0.750,4,0.047,0.039,3085,2862,1561
$GC,17508,1.17,311.6,74.8,9.1,838,17513,0.15,2.47,0.00,0.000,6,0.074,0.036,3054,1454,1559
$GC,17829,1.17,311.6,40.7,12.1,854,17830,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1454,1557
$GC,18140,1.17,311.6,10.5,9.9,869,18143,0.00,2.15,0.00,0.000,4,0.000,0.057,3053,259,1556
$GC,18186,1.17,311.6,6.0,11.7,871,18190,0.00,2.03,0.00,0.000,6,0.000,0.028,3054,1481,1556
$STATE,18227,end climb,SURFACE_DEPTH_REACHED
$STATE,18227,begin surface coast
$FINISH,0.1,1.026784
$STATE,18251,end surface coast,CONTROL_FINISHED_OK
$STATE,18251,begin surface
$SM_CCo,18334,0.00,0.000,0,0,1553,313.74
$SM_GC,1.02,11.40,0.00,0.00,0.018,0.000,0.000,384,2242,1553,-10.99,-0.20,313.74
$IRIDIUM_FIX,6121.73,-854.10,121198,121236
$TT8_MAMPS,0.026078
$HUMID,1925
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.1,100.0
$24V_AH,23.1,61.619
$10V_AH,10.1,37.102
$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,25.475,186.150,400.175,0.000,0.000,30.210,23.709,162.348,4.750,0.000,0.000,32.838,1675.948,13568.736,501.849,2142.751,804.111,0.000,1640.348,0.000,2260.721,0.000,33.162,0.000
$DEVICE_MAMPS,131.157,61.360,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,762.699,626.302,534.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44285,874
$CAP_FILE_SIZE,142736,0
$CFSIZE,260165632,236654592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,180809,232525,6147.992,-856.107,41,1.5,41,-9.3