version: 66.04
glider: 105
mission: 6
dive: 306
start: 8 20 109 15 17 21
data:
$ID,105
$MISSION,6
$DIVE,306
$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,-1633571.8
$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,40
$R_STBD_OVSHOOT,43
$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
$GPS1,150927,6131.473,-849.300,33,2.1,52,-9.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.5
$GPS2,151701,6131.509,-849.379,14,2.0,14,-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,106.5,21724,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-60.38,0.000,6,0.000,0.000,395,2231,3432
$GC,83,-0.96,-146.6,4.5,-9.2,3,104,11.68,2.60,0.00,0.000,4,0.133,0.050,2585,3644,3434
$GC,339,-0.96,-146.6,36.5,-8.8,14,343,0.00,2.38,0.00,0.000,6,0.000,0.029,2585,2250,3435
$GC,655,-0.96,-146.6,65.5,-8.1,29,659,0.00,2.50,0.00,0.000,4,0.000,0.051,2585,3635,3435
$GC,873,-0.96,-146.6,79.7,-5.0,39,878,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2241,3435
$GC,1201,-0.96,-146.6,93.6,-5.3,55,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2240,3435
$GC,1510,-0.96,-146.6,118.4,-9.0,70,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2240,3435
$GC,1820,-0.96,-146.6,141.9,-6.6,85,1824,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3641,3436
$GC,1875,-0.96,-146.6,145.4,-6.1,87,1882,0.00,2.35,0.00,0.000,6,0.000,0.031,2585,2253,3435
$GC,2191,-0.96,-146.6,162.7,-5.9,103,2195,0.00,2.50,0.00,0.000,4,0.000,0.050,2585,3640,3435
$GC,2310,-0.96,-146.6,171.1,-6.9,108,2314,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,2626,-0.96,-146.6,193.8,-7.0,123,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3435
$GC,2935,-0.96,-146.6,214.0,-6.5,138,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3434
$GC,3244,-0.96,-146.6,235.4,-7.0,153,3249,0.00,2.50,0.00,0.000,4,0.000,0.051,2585,3635,3434
$GC,3316,-0.96,-146.6,240.9,-7.7,156,3320,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2246,3434
$GC,3632,-0.96,-146.6,260.8,-6.1,171,3637,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3629,3434
$GC,3749,-0.96,-146.6,269.3,-7.1,176,3754,0.00,2.35,0.00,0.000,6,0.000,0.031,2584,2253,3434
$GC,4070,-0.96,-146.6,292.3,-7.1,192,4075,0.00,2.50,0.00,0.000,4,0.000,0.051,2585,3640,3434
$GC,4149,-0.96,-146.6,298.3,-7.8,195,4155,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,4465,-0.96,-146.6,319.1,-6.4,211,4469,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3630,3433
$GC,4503,-0.96,-146.6,321.8,-6.5,212,4509,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2241,3433
$GC,4819,-0.96,-146.6,342.3,-6.5,228,4823,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3635,3433
$GC,4919,-0.96,-146.6,349.4,-7.0,232,4925,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2249,3433
$GC,5235,-0.96,-146.6,372.6,-7.7,248,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3432
$GC,5544,-0.96,-146.6,395.6,-7.2,263,5548,0.00,2.50,0.00,0.000,4,0.000,0.053,2585,3636,3432
$GC,5644,-0.96,-146.6,403.3,-8.3,267,5650,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2250,3432
$GC,5960,-0.96,-146.6,425.1,-6.9,283,5964,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3640,3431
$GC,6032,-0.96,-146.6,430.6,-7.5,286,6036,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2250,3431
$GC,6347,-0.96,-146.6,453.2,-7.1,301,6352,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3637,3431
$GC,6408,-0.96,-146.6,458.0,-8.0,303,6414,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2248,3431
$GC,6724,-0.96,-146.6,481.7,-7.8,319,6729,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3634,3431
$GC,6779,-0.96,-146.6,486.2,-8.1,321,6783,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2245,3431
$GC,7095,-0.96,-146.6,511.1,-7.7,336,7099,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3628,3431
$GC,7156,-0.96,-146.6,516.4,-9.2,338,7162,0.00,2.35,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,7472,-0.96,-146.6,542.6,-8.2,354,7476,0.00,2.50,0.00,0.000,4,0.000,0.053,2585,3638,3431
$GC,7516,-0.96,-146.6,546.4,-8.7,356,7520,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3430
$GC,7840,-0.96,-146.6,570.0,-6.9,372,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3430
$GC,8146,-0.96,-146.6,591.8,-7.2,387,8150,0.00,2.50,0.00,0.000,4,0.000,0.054,2585,3637,3430
$GC,8212,-0.96,-146.6,596.9,-8.1,390,8216,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3430
$STATE,8513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8513,begin apogee
$GC,8521,-0.36,0.0,617.5,6.3,405,8653,0.62,0.00,126.80,1.171,6,0.067,0.000,2719,1462,2832
$STATE,8654,end apogee,CONTROL_FINISHED_OK
$STATE,8654,begin climb
$GC,8657,0.96,146.6,623.3,0.0,412,8793,1.33,2.28,126.88,1.139,4,0.055,0.059,3007,264,2233
$GC,8846,1.07,230.9,619.5,3.7,420,8929,0.08,2.05,74.10,1.116,6,0.036,0.033,3051,1453,1889
$GC,9244,1.07,230.9,593.8,7.0,440,9248,0.00,2.47,0.00,0.000,4,0.000,0.044,3051,2851,1882
$GC,9318,1.07,230.9,588.3,7.2,443,9323,0.00,2.47,0.00,0.000,6,0.000,0.038,3051,1446,1881
$GC,9634,1.07,230.9,567.1,6.3,458,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1447,1880
$GC,9943,1.07,230.9,547.6,6.7,473,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1447,1879
$GC,10252,1.07,230.9,525.7,7.3,488,10257,0.00,2.50,0.00,0.000,4,0.000,0.044,3051,2842,1879
$GC,10291,1.07,230.9,522.5,8.0,489,10298,0.00,2.42,0.00,0.000,6,0.000,0.038,3051,1455,1878
$GC,10606,1.07,230.9,497.1,8.2,505,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1455,1878
$GC,10916,1.07,230.9,472.3,8.0,520,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1454,1878
$GC,11225,1.07,230.9,447.3,8.3,535,11229,0.00,2.45,0.00,0.000,4,0.000,0.042,3051,2845,1878
$GC,11257,1.07,230.9,444.5,8.1,536,11263,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1447,1878
$GC,11576,1.07,230.9,418.2,8.7,552,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1447,1878
$GC,11882,1.07,230.9,391.0,8.8,567,11886,0.00,2.45,0.00,0.000,4,0.000,0.041,3051,2845,1878
$GC,11921,1.07,230.9,387.3,8.9,569,11925,0.00,2.45,0.00,0.000,6,0.000,0.038,3052,1445,1878
$GC,12248,1.07,230.9,358.9,8.1,585,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1445,1878
$GC,12559,1.07,230.9,334.6,8.2,600,12563,0.00,2.45,0.00,0.000,4,0.000,0.041,3051,2845,1878
$GC,12598,1.07,230.9,331.3,8.0,602,12602,0.00,2.42,0.00,0.000,6,0.000,0.038,3052,1453,1877
$GC,12927,1.07,230.9,305.0,7.9,618,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1453,1877
$GC,13233,1.07,230.9,279.1,8.1,633,13238,0.00,2.45,0.00,0.000,4,0.000,0.041,3051,2846,1877
$GC,13266,1.07,230.9,276.1,8.2,634,13273,0.00,2.45,0.00,0.000,6,0.000,0.038,3051,1448,1877
$GC,13582,1.07,230.9,248.7,9.4,650,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1448,1877
$GC,13891,1.07,230.9,218.6,9.9,665,13892,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1448,1877
$GC,14201,1.07,230.9,186.5,10.6,680,14205,0.00,2.45,0.00,0.000,4,0.000,0.041,3052,2845,1877
$GC,14264,1.07,230.9,179.7,10.6,683,14268,0.00,2.42,0.00,0.000,6,0.000,0.038,3051,1454,1877
$GC,14590,1.07,230.9,147.3,9.0,699,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1454,1877
$GC,14900,1.07,230.9,120.5,8.2,714,14904,0.00,2.45,0.00,0.000,4,0.000,0.041,3052,2854,1877
$GC,14962,1.07,230.9,115.5,7.6,717,14966,0.00,2.45,0.00,0.000,6,0.000,0.037,3052,1447,1877
$GC,15289,1.07,230.9,90.3,7.8,733,15293,0.00,2.45,0.00,0.000,4,0.000,0.041,3052,2849,1877
$GC,15374,1.07,230.9,83.9,7.9,737,15379,0.00,2.42,0.00,0.000,6,0.000,0.036,3052,1452,1877
$GC,15703,1.07,230.9,59.5,7.1,753,15707,0.00,2.12,0.00,0.000,4,0.000,0.055,3051,260,1877
$GC,15749,1.07,230.9,55.9,7.8,755,15753,0.00,2.00,0.00,0.000,6,0.000,0.030,3051,1463,1877
$GC,16082,1.07,230.9,32.4,7.4,771,16086,0.00,2.42,0.00,0.000,4,0.000,0.041,3052,2851,1877
$GC,16144,1.07,230.9,28.1,6.6,774,16149,0.00,2.42,0.00,0.000,6,0.000,0.036,3052,1452,1876
$GC,16471,1.07,230.9,4.4,7.2,790,16475,0.00,2.42,0.00,0.000,4,0.000,0.039,3051,2849,1877
$STATE,16490,end climb,SURFACE_DEPTH_REACHED
$STATE,16490,begin surface coast
$FINISH,1.3,1.026816
$STATE,16516,end surface coast,CONTROL_FINISHED_OK
$STATE,16516,begin surface
$SM_CCo,16540,40.42,0.765,0,0,1609,300.00
$SM_GC,0.95,0.00,0.00,40.42,0.000,0.000,0.765,396,2232,1609,-11.06,-0.51,300.00
$IRIDIUM_FIX,6108.28,-903.99,141198,101005
$TT8_MAMPS,0.026845
$HUMID,1908
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.4,101.8
$24V_AH,23.2,62.849
$10V_AH,10.1,37.866
$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,25.250,140.500,327.775,40.425,0.000,29.609,30.187,264.137,4.250,0.000,0.000,14.063,1474.837,12412.357,475.001,1820.439,851.232,0.000,1423.772,0.000,1965.816,0.000,29.936,0.000
$DEVICE_MAMPS,133.458,59.059,1171.209,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.000,599.956,536.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41119,792
$CAP_FILE_SIZE,120250,0
$CFSIZE,260165632,236130304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,200809,195500,6130.969,-841.617,38,1.7,38,-9.1