version: 66.04
glider: 105
mission: 6
dive: 301
start: 8 19 109 9 32 46
data:
$ID,105
$MISSION,6
$DIVE,301
$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,-1633494.2
$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,26
$R_STBD_OVSHOOT,34
$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
$GPS1,092636,6146.850,-856.867,33,1.5,33,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-55.8
$GPS2,093226,6146.880,-856.891,33,1.6,33,-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,147.3,42090,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.72,0.000,6,0.000,0.000,391,2244,3431
$GC,82,-0.96,-146.6,3.8,-7.3,3,99,11.73,2.58,0.00,0.000,4,0.130,0.051,2585,3646,3433
$GC,200,-0.96,-146.6,21.8,-7.0,8,204,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2233,3433
$GC,515,-0.96,-146.6,50.1,-9.9,23,520,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3651,3433
$GC,582,-0.96,-146.6,56.6,-9.2,26,586,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2252,3433
$GC,904,-0.96,-146.6,83.1,-7.7,42,908,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3647,3434
$GC,944,-0.96,-146.6,86.4,-8.3,44,948,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2254,3434
$GC,1276,-0.96,-146.6,110.0,-7.2,60,1281,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3644,3434
$GC,1449,-0.96,-146.6,123.8,-7.8,67,1457,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2254,3435
$GC,1765,-0.96,-146.6,145.9,-6.9,83,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3434
$GC,2074,-0.96,-146.6,168.0,-7.6,98,2079,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3647,3435
$GC,2214,-0.96,-146.6,180.0,-8.6,104,2218,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3434
$GC,2531,-0.96,-146.6,205.3,-7.7,119,2535,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3647,3434
$GC,2593,-0.96,-146.6,210.5,-7.7,122,2597,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2243,3434
$GC,2919,-0.96,-146.6,234.9,-7.3,138,2923,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3651,3434
$GC,2963,-0.96,-146.6,238.4,-7.9,140,2967,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3434
$GC,3284,-0.96,-146.6,262.0,-7.5,156,3288,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3650,3434
$GC,3373,-0.96,-146.6,269.5,-8.3,160,3378,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3434
$GC,3696,-0.96,-146.6,293.9,-7.5,176,3700,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3647,3434
$GC,3739,-0.96,-146.6,297.6,-8.2,178,3744,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3433
$GC,4061,-0.96,-146.6,322.2,-7.6,194,4065,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3645,3433
$GC,4139,-0.96,-146.6,328.9,-8.9,197,4145,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2245,3433
$GC,4454,-0.96,-146.6,353.4,-7.9,213,4459,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3642,3433
$GC,4515,-0.96,-146.6,358.6,-8.5,215,4522,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2238,3433
$GC,4833,-0.96,-146.6,383.7,-8.0,231,4837,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3645,3433
$GC,4894,-0.96,-146.6,389.1,-7.9,234,4899,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3432
$GC,5221,-0.96,-146.6,413.9,-7.1,250,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3432
$GC,5531,-0.96,-146.6,437.3,-7.6,265,5535,0.00,2.50,0.00,0.000,4,0.000,0.052,2585,3645,3432
$GC,5737,-0.96,-146.6,453.7,-7.4,274,5741,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2251,3431
$GC,6053,-0.96,-146.6,474.4,-6.3,289,6057,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3431
$GC,6236,-0.96,-146.6,485.5,-5.5,297,6240,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,6553,-0.96,-146.6,502.7,-5.0,312,6557,0.00,2.45,0.00,0.000,4,0.000,0.044,2585,850,3431
$GC,6647,-0.96,-146.6,507.8,-5.3,316,6651,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2244,3431
$GC,6963,-0.96,-146.6,528.3,-6.8,331,6968,0.00,2.55,0.00,0.000,4,0.000,0.057,2585,3645,3431
$GC,7189,-0.96,-146.6,546.1,-7.7,341,7193,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2250,3431
$GC,7516,-0.96,-146.6,569.5,-6.9,357,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3430
$GC,7824,-0.96,-146.6,592.1,-7.6,372,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3429
$GC,8135,-0.96,-146.6,610.7,-5.5,387,8139,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3652,3429
$GC,8271,-0.96,-146.6,619.6,-8.3,393,8275,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2253,3427
$GC,8591,-0.96,-146.6,638.7,-6.1,409,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2253,3427
$GC,8901,-0.96,-146.6,660.6,-7.5,424,8905,0.00,2.58,0.00,0.000,4,0.000,0.060,2585,3659,3425
$GC,8978,-0.96,-146.6,667.3,-8.2,427,8985,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2252,3425
$GC,9294,-0.96,-146.6,690.8,-7.7,443,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3424
$GC,9606,-0.96,-146.6,713.6,-6.9,458,9610,0.00,2.58,0.00,0.000,4,0.000,0.061,2585,3651,3423
$GC,9661,-0.96,-146.6,717.3,-6.5,460,9668,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2246,3423
$GC,9980,-0.96,-146.6,735.4,-6.5,476,9984,0.00,2.60,0.00,0.000,4,0.000,0.061,2585,3656,3422
$GC,10024,-0.96,-146.6,738.0,-5.4,478,10029,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2252,3422
$STATE,10095,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10095,begin apogee
$GC,10103,-0.36,0.0,743.3,7.7,482,10238,0.65,0.00,127.75,1.323,6,0.067,0.000,2724,1450,2831
$STATE,10239,end apogee,CONTROL_FINISHED_OK
$STATE,10239,begin climb
$GC,10242,0.96,146.6,744.9,0.0,489,10380,1.27,2.65,129.73,1.271,4,0.048,0.050,3006,2861,2233
$GC,10669,0.96,146.6,722.3,7.5,508,10674,0.00,2.55,0.00,0.000,6,0.000,0.044,3007,1458,2223
$GC,10991,0.96,146.6,702.5,7.2,524,10995,0.00,2.53,0.00,0.000,4,0.000,0.048,3006,2865,2221
$GC,11107,0.96,146.6,693.3,8.1,529,11112,0.00,2.53,0.00,0.000,6,0.000,0.044,3007,1452,2220
$GC,11424,1.01,184.2,672.6,5.0,544,11466,0.00,2.60,32.80,1.257,4,0.000,0.049,3006,2860,2079
$GC,11529,1.01,184.2,666.0,6.3,548,11535,0.00,2.53,0.00,0.000,6,0.000,0.044,3006,1454,2076
$GC,11845,1.01,184.2,645.3,6.6,564,11849,0.00,2.55,0.00,0.000,4,0.000,0.048,3006,2865,2073
$GC,11890,1.06,224.0,642.9,4.9,566,11932,0.08,2.53,36.65,1.249,6,0.033,0.043,3057,1461,1918
$GC,12253,1.06,224.0,615.3,6.0,584,12258,0.12,2.53,0.00,0.000,4,0.078,0.048,3031,2860,1911
$GC,12294,1.10,254.2,613.2,5.2,586,12328,0.00,2.53,28.33,1.220,6,0.000,0.043,3031,1448,1794
$GC,12647,1.10,254.2,594.5,6.9,603,12651,0.00,2.55,0.00,0.000,4,0.000,0.048,3031,2862,1787
$GC,12676,1.10,254.2,592.5,6.5,604,12681,0.00,2.53,0.00,0.000,6,0.000,0.042,3031,1451,1786
$GC,12992,1.10,254.2,570.2,7.8,619,12996,0.00,2.53,0.00,0.000,4,0.000,0.047,3031,2860,1786
$GC,13104,1.10,254.2,561.4,7.2,624,13109,0.00,2.50,0.00,0.000,6,0.000,0.041,3031,1453,1785
$GC,13425,1.10,254.2,537.7,7.3,640,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1453,1784
$GC,13735,1.10,254.2,513.3,8.3,655,13739,0.00,2.17,0.00,0.000,4,0.000,0.062,3031,263,1784
$GC,13796,1.10,254.2,507.6,9.2,657,13802,0.00,2.05,0.00,0.000,6,0.000,0.032,3031,1472,1783
$GC,14112,1.10,254.2,483.3,7.5,673,14116,0.00,2.42,0.00,0.000,4,0.000,0.045,3031,2844,1783
$GC,14139,1.10,254.2,481.3,7.2,674,14143,0.00,2.45,0.00,0.000,6,0.000,0.039,3031,1451,1783
$GC,14454,1.10,254.2,456.8,7.8,689,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1451,1783
$GC,14766,1.10,254.2,435.2,6.5,704,14770,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2844,1783
$GC,14799,1.10,254.2,432.7,6.2,705,14806,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1455,1783
$GC,15115,1.10,254.2,410.7,7.2,721,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1455,1783
$GC,15424,1.10,254.2,386.0,8.2,736,15429,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2837,1784
$GC,15470,1.10,254.2,382.1,9.1,738,15474,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1452,1784
$GC,15801,1.10,254.2,356.6,7.2,754,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1453,1785
$GC,16111,1.10,254.2,335.2,6.9,769,16115,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2853,1785
$GC,16155,1.10,254.2,332.1,6.9,771,16160,0.00,2.47,0.00,0.000,6,0.000,0.037,3031,1456,1785
$GC,16481,1.10,254.2,307.8,7.2,787,16482,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1456,1785
$GC,16790,1.10,254.2,284.3,7.7,802,16795,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2837,1786
$GC,16852,1.10,254.2,279.6,7.5,804,16858,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1448,1786
$GC,17167,1.10,254.2,256.0,7.0,820,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1448,1786
$GC,17477,1.12,270.4,237.3,5.6,835,17498,0.00,2.50,14.48,0.894,4,0.000,0.041,3031,2844,1729
$GC,17549,1.12,274.0,233.1,5.9,838,17559,0.00,2.47,4.72,0.666,6,0.000,0.038,3031,1460,1715
$GC,17872,1.12,274.0,214.0,6.2,853,17874,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1460,1714
$GC,18180,1.12,274.0,193.4,6.2,868,18184,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2844,1713
$GC,18248,1.12,274.0,188.9,6.3,871,18252,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1447,1713
$GC,18568,1.12,274.0,163.8,8.3,887,18569,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1447,1713
$GC,18878,1.12,274.0,138.9,8.6,902,18882,0.00,2.47,0.00,0.000,4,0.000,0.042,3031,2844,1714
$GC,18927,1.12,274.0,134.6,7.7,904,18932,0.00,2.42,0.00,0.000,6,0.000,0.038,3032,1454,1714
$GC,19243,1.12,274.0,109.5,7.9,919,19248,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2846,1714
$GC,19294,1.12,274.0,105.8,7.6,921,19298,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1453,1714
$GC,19610,1.12,274.0,82.4,7.4,936,19614,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2845,1714
$GC,19637,1.12,274.0,80.4,7.1,937,19641,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1453,1714
$GC,19955,1.12,274.0,59.3,6.4,952,19959,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2845,1714
$GC,19995,1.12,274.0,56.2,7.0,954,19999,0.00,2.42,0.00,0.000,6,0.000,0.037,3031,1453,1714
$GC,20321,1.12,274.0,34.1,6.5,970,20322,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1453,1714
$GC,20631,1.19,326.4,16.4,4.6,985,20684,0.12,2.53,46.83,0.782,4,0.041,0.039,3097,2853,1499
$GC,20736,1.19,326.4,4.3,13.1,990,20741,0.20,2.45,0.00,0.000,6,0.064,0.035,3053,1452,1496
$STATE,20745,end climb,SURFACE_DEPTH_REACHED
$STATE,20745,begin surface coast
$FINISH,2.1,1.026841
$STATE,20752,end surface coast,CONTROL_FINISHED_OK
$STATE,20752,begin surface
$SM_CCo,20837,0.00,0.000,0,0,1492,328.95
$SM_GC,0.65,11.90,0.00,0.00,0.038,0.000,0.000,392,2256,1492,-10.98,0.20,328.95
$IRIDIUM_FIX,6126.23,-859.30,131198,040421
$TT8_MAMPS,0.026845
$HUMID,1904
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,101.8
$24V_AH,23.1,62.071
$10V_AH,10.1,37.374
$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,26.075,200.450,421.275,0.000,0.000,27.759,25.862,149.986,5.500,0.000,0.000,33.842,1871.265,15533.072,525.841,2392.300,862.697,0.000,1788.004,0.000,2525.551,0.000,38.014,0.000
$DEVICE_MAMPS,130.390,62.127,1323.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,864.699,712.372,600.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50649,991
$CAP_FILE_SIZE,156253,0
$CFSIZE,260165632,236437504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,190809,152131,6142.666,-859.729,51,1.3,51,-9.3