version: 66.04
glider: 105
mission: 6
dive: 300
start: 8 19 109 4 42 4
data:
$ID,105
$MISSION,6
$DIVE,300
$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,-1633459.8
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,043206,6147.415,-857.730,30,1.1,30,-9.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-58.5
$GPS2,044144,6147.516,-857.710,10,2.0,10,-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,147.6,43449,-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,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.05,0.000,6,0.000,0.000,394,2260,3431
$GC,81,-0.96,-146.6,4.5,-8.7,3,102,11.57,2.55,0.00,0.000,4,0.128,0.050,2585,3648,3434
$GC,208,-0.96,-146.6,26.3,-9.9,8,215,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2229,3434
$GC,525,-0.96,-146.6,58.7,-10.5,24,530,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3650,3434
$GC,589,-0.96,-146.6,66.2,-11.5,27,593,0.00,2.38,0.00,0.000,6,0.000,0.028,2585,2251,3434
$GC,917,-0.96,-146.6,90.3,-5.7,43,922,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3640,3435
$GC,990,-0.96,-146.6,95.8,-8.3,46,994,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2246,3435
$GC,1312,-0.96,-146.6,122.4,-7.9,62,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3435
$GC,1623,-0.96,-146.6,142.3,-6.0,77,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3435
$GC,1930,-0.96,-146.6,164.8,-8.0,92,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3435
$GC,2242,-0.96,-146.6,191.3,-8.3,107,2246,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3642,3435
$GC,2411,-0.96,-146.6,206.4,-9.1,114,2417,0.00,2.35,0.00,0.000,6,0.000,0.031,2585,2253,3435
$GC,2726,-0.96,-146.6,231.9,-8.0,130,2730,0.00,2.50,0.00,0.000,4,0.000,0.052,2585,3642,3434
$GC,2804,-0.96,-146.6,238.7,-9.1,133,2810,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2251,3434
$GC,3122,-0.96,-146.6,262.9,-7.8,149,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3434
$GC,3429,-0.96,-146.6,285.5,-7.1,164,3433,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3649,3434
$GC,3524,-0.96,-146.6,292.3,-6.8,168,3528,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2243,3434
$GC,3840,-0.96,-146.6,308.9,-4.7,183,3845,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3641,3434
$GC,3920,-0.96,-146.6,312.7,-4.6,186,3926,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3434
$GC,4236,-0.96,-146.6,324.2,-3.6,202,4240,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3650,3433
$GC,4276,-0.96,-146.6,325.8,-4.6,204,4280,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2241,3433
$GC,4603,-0.96,-146.6,341.7,-6.3,220,4607,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3648,3433
$GC,4680,-0.96,-146.6,347.8,-8.5,223,4686,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3433
$GC,4998,-0.96,-146.6,377.5,-10.5,239,5002,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3645,3432
$GC,5070,-0.96,-146.6,386.2,-12.0,242,5075,0.00,2.42,0.00,0.000,6,0.000,0.030,2585,2245,3432
$GC,5391,-0.96,-146.6,420.2,-10.4,258,5395,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3642,3432
$GC,5508,-0.96,-146.6,433.0,-10.6,263,5512,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2251,3432
$GC,5824,-0.96,-146.6,461.2,-8.3,278,5829,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3641,3431
$GC,5976,-0.96,-146.6,475.4,-9.8,284,5982,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,6292,-0.96,-146.6,503.2,-8.4,300,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3431
$GC,6604,-0.96,-146.6,524.3,-6.0,315,6608,0.00,2.45,0.00,0.000,4,0.000,0.044,2585,851,3431
$GC,6683,-0.96,-146.6,529.1,-5.8,318,6689,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2244,3431
$GC,6999,-0.96,-146.6,546.4,-4.9,334,7003,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3657,3431
$GC,7256,-0.96,-146.6,554.7,-2.7,345,7263,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2246,3430
$GC,7573,-0.96,-146.6,565.6,-5.2,361,7577,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3651,3430
$GC,7703,-0.96,-146.6,574.8,-7.9,367,7714,0.00,2.42,0.00,0.000,6,0.000,0.032,2585,2236,3430
$GC,8041,-0.96,-146.6,598.6,-6.5,383,8045,0.00,2.58,0.00,0.000,4,0.000,0.058,2585,3651,3429
$GC,8118,-0.96,-146.6,603.8,-5.9,386,8125,0.00,2.40,0.00,0.000,6,0.000,0.033,2585,2255,3429
$GC,8435,-0.96,-146.6,621.1,-5.6,402,8439,0.00,2.58,0.00,0.000,4,0.000,0.059,2585,3648,3428
$GC,8473,-0.96,-146.6,623.8,-6.4,403,8480,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2235,3429
$GC,8789,-0.96,-146.6,641.8,-4.6,419,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2234,3427
$GC,9098,-0.96,-146.6,659.0,-6.3,434,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2234,3425
$STATE,9260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9260,begin apogee
$GC,9269,-0.36,0.0,669.9,6.0,442,9403,0.62,0.00,127.65,1.256,6,0.063,0.000,2720,1462,2831
$STATE,9404,end apogee,CONTROL_FINISHED_OK
$STATE,9404,begin climb
$GC,9407,0.96,146.6,674.2,0.0,449,9545,1.33,2.33,128.60,1.213,4,0.058,0.064,3008,261,2233
$GC,9555,1.14,293.0,671.6,2.0,456,9690,0.17,2.08,128.05,1.192,6,0.041,0.035,3061,1465,1637
$GC,10008,1.14,293.0,634.9,8.2,478,10012,0.00,2.22,0.00,0.000,4,0.000,0.064,3061,264,1626
$GC,10054,1.14,293.0,630.5,10.4,480,10058,0.00,2.05,0.00,0.000,6,0.000,0.037,3061,1453,1626
$GC,10388,1.14,293.0,603.9,8.4,496,10392,0.00,2.53,0.00,0.000,4,0.000,0.049,3061,2849,1623
$GC,10478,1.14,293.0,596.0,8.7,500,10482,0.00,2.50,0.00,0.000,6,0.000,0.043,3061,1450,1623
$GC,10799,1.14,293.0,563.0,10.9,516,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1450,1622
$GC,11111,1.14,293.0,531.8,9.5,531,11115,0.00,2.50,0.00,0.000,4,0.000,0.046,3061,2853,1621
$GC,11177,1.14,293.0,525.2,8.5,534,11182,0.00,2.50,0.00,0.000,6,0.000,0.041,3061,1447,1621
$GC,11499,1.14,293.0,494.6,9.7,550,11503,0.00,2.15,0.00,0.000,4,0.000,0.061,3061,264,1620
$GC,11582,1.14,293.0,486.0,10.5,553,11588,0.00,2.03,0.00,0.000,6,0.000,0.034,3061,1457,1620
$GC,11898,1.14,293.0,458.3,8.0,569,11902,0.00,2.47,0.00,0.000,4,0.000,0.045,3061,2850,1620
$GC,11975,1.14,293.0,451.5,8.3,572,11982,0.00,2.45,0.00,0.000,6,0.000,0.038,3061,1452,1620
$GC,12293,1.14,293.0,424.0,9.3,588,12298,0.00,2.47,0.00,0.000,4,0.000,0.043,3061,2856,1620
$GC,12327,1.14,293.0,420.6,9.2,589,12333,0.00,2.47,0.00,0.000,6,0.000,0.038,3061,1446,1620
$GC,12642,1.14,293.0,388.7,10.1,605,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1447,1620
$GC,12952,1.14,293.0,356.5,10.6,620,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1447,1620
$GC,13264,1.14,293.0,327.4,9.4,635,13268,0.00,2.47,0.00,0.000,4,0.000,0.041,3061,2855,1621
$GC,13303,1.14,293.0,323.5,9.4,637,13307,0.00,2.45,0.00,0.000,6,0.000,0.038,3061,1456,1621
$GC,13632,1.14,293.0,296.7,8.2,653,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1455,1621
$GC,13939,1.14,293.0,268.5,9.9,668,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1455,1622
$GC,14247,1.14,293.0,236.0,10.6,683,14252,0.00,2.45,0.00,0.000,4,0.000,0.041,3061,2852,1622
$GC,14275,1.14,293.0,232.9,10.9,684,14279,0.00,2.45,0.00,0.000,6,0.000,0.038,3061,1454,1622
$GC,14591,1.14,293.0,201.3,10.1,699,14594,0.00,2.15,0.00,0.000,4,0.000,0.058,3061,258,1622
$GC,14618,1.14,293.0,198.4,10.4,700,14622,0.00,2.00,0.00,0.000,6,0.000,0.030,3061,1459,1623
$GC,14947,1.14,293.0,168.2,9.3,716,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1459,1623
$GC,15256,1.14,293.0,140.5,9.0,731,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1459,1623
$GC,15564,1.14,293.0,111.6,9.1,746,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1459,1623
$GC,15873,1.14,293.0,83.4,10.0,761,15878,0.00,2.47,0.00,0.000,4,0.000,0.044,3061,2845,1623
$GC,15900,1.14,293.0,80.5,10.9,762,15905,0.00,2.42,0.00,0.000,6,0.000,0.037,3061,1451,1623
$GC,16223,1.14,293.0,54.1,6.6,778,16227,0.00,2.45,0.00,0.000,4,0.000,0.041,3061,2849,1624
$GC,16255,1.16,306.8,52.0,5.6,779,16271,0.00,2.42,10.98,0.754,6,0.000,0.036,3060,1454,1581
$GC,16587,1.16,306.8,25.7,10.3,796,16589,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1454,1579
$STATE,16894,end climb,SURFACE_DEPTH_REACHED
$STATE,16894,begin surface coast
$FINISH,-0.0,1.026830
$STATE,16917,end surface coast,CONTROL_FINISHED_OK
$STATE,16917,begin surface
$SM_CCo,17002,0.00,0.000,0,0,1576,308.10
$SM_GC,0.67,11.52,0.00,0.00,0.022,0.000,0.000,391,2242,1576,-10.99,-0.23,308.10
$IRIDIUM_FIX,6121.73,-854.81,131198,040410
$TT8_MAMPS,0.026845
$HUMID,1929
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.3,103.3
$24V_AH,23.1,61.915
$10V_AH,10.1,37.274
$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,25.225,143.150,395.275,0.000,0.000,61.136,73.674,252.406,4.750,0.000,0.000,10.614,1507.199,12785.634,484.019,1865.896,934.015,0.000,1480.519,0.000,2021.212,0.000,33.189,0.000
$DEVICE_MAMPS,128.089,64.428,1255.579,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,702.522,573.744,522.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41082,812
$CAP_FILE_SIZE,125748,0
$CFSIZE,260165632,236544000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,190809,092636,6146.850,-856.867,33,1.5,33,-9.3