version: 66.04
glider: 105
mission: 6
dive: 311
start: 8 21 109 21 5 40
data:
$ID,105
$MISSION,6
$DIVE,311
$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,-1633653
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,205624,6134.881,-836.503,33,1.9,50,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.4
$GPS2,210520,6134.948,-836.414,15,1.4,15,-9.0
$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,141.3,13628,-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,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,86,0.00,0.00,-69.00,0.000,6,0.000,0.000,391,2244,3432
$GC,89,-0.96,-146.6,3.1,-5.5,3,111,11.75,2.58,0.00,0.000,4,0.136,0.049,2584,3651,3434
$GC,448,-0.96,-146.6,45.7,-8.7,19,453,0.00,2.45,0.00,0.000,6,0.000,0.030,2584,2232,3434
$GC,781,-0.96,-146.6,67.4,-5.5,35,786,0.00,2.60,0.00,0.000,4,0.000,0.051,2584,3649,3434
$GC,943,-0.96,-146.6,77.7,-6.5,42,947,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2251,3435
$GC,1265,-0.96,-146.6,97.5,-6.4,58,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2251,3435
$GC,1573,-0.96,-146.6,117.2,-6.5,73,1577,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,851,3435
$GC,1645,-0.96,-146.6,122.3,-7.2,76,1649,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2251,3435
$GC,1962,-0.96,-146.6,143.9,-7.2,91,1967,0.00,2.47,0.00,0.000,4,0.000,0.043,2583,848,3435
$GC,2064,-0.96,-146.6,151.7,-7.3,95,2070,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2249,3435
$GC,2380,-0.96,-146.6,174.6,-7.9,111,2389,0.00,2.47,0.00,0.000,4,0.000,0.043,2584,848,3434
$GC,2435,-0.96,-146.6,179.5,-8.9,113,2439,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2257,3435
$GC,2756,-0.96,-146.6,207.7,-8.7,129,2761,0.00,2.50,0.00,0.000,4,0.000,0.044,2584,862,3435
$GC,2794,-0.96,-146.6,210.9,-8.3,130,2802,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2245,3435
$GC,3110,-0.96,-146.6,235.7,-7.8,146,3114,0.00,2.45,0.00,0.000,4,0.000,0.043,2584,858,3435
$GC,3160,-0.96,-146.6,239.9,-8.4,148,3164,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2260,3435
$GC,3477,-0.96,-146.6,263.1,-7.3,163,3481,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,859,3434
$GC,3511,-0.96,-146.6,266.2,-8.6,164,3517,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2255,3434
$GC,3826,-0.96,-146.6,293.1,-8.9,180,3830,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,858,3434
$GC,3883,-0.96,-146.6,298.6,-10.0,182,3889,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2257,3434
$GC,4198,-0.96,-146.6,323.5,-7.2,198,4202,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,858,3433
$GC,4254,-0.96,-146.6,327.6,-7.5,200,4261,0.00,2.42,0.00,0.000,6,0.000,0.037,2583,2245,3433
$GC,4571,-0.96,-146.6,349.3,-6.7,216,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2246,3433
$GC,4882,-0.96,-146.6,370.1,-6.6,231,4886,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,849,3432
$GC,4948,-0.96,-146.6,374.9,-7.1,234,4957,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2257,3432
$GC,5279,-0.96,-146.6,397.0,-6.8,250,5283,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,859,3432
$GC,5328,-0.96,-146.6,400.5,-7.2,252,5332,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2252,3432
$GC,5644,-0.96,-146.6,420.2,-6.2,267,5648,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,851,3432
$GC,5728,-0.96,-146.6,425.7,-6.9,271,5733,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2247,3432
$GC,6056,-0.96,-146.6,446.9,-6.4,287,6060,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,849,3432
$GC,6123,-0.96,-146.6,451.6,-7.0,290,6127,0.00,2.45,0.00,0.000,6,0.000,0.035,2583,2259,3432
$GC,6444,-0.96,-146.6,474.3,-7.8,306,6448,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,858,3431
$GC,6470,-0.96,-146.6,476.8,-8.7,307,6475,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2253,3431
$GC,6789,-0.96,-146.6,503.9,-8.8,322,6793,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,853,3431
$GC,6844,-0.96,-146.6,508.9,-8.0,324,6850,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2248,3431
$GC,7159,-0.96,-146.6,533.2,-8.3,340,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3431
$GC,7470,-0.96,-146.6,555.9,-7.5,355,7474,0.00,2.47,0.00,0.000,4,0.000,0.044,2584,850,3430
$GC,7592,-0.96,-146.6,563.1,-6.6,360,7599,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2257,3430
$GC,7908,-0.96,-146.6,590.1,-10.8,376,7913,0.00,2.50,0.00,0.000,4,0.000,0.044,2583,863,3430
$GC,7941,-0.96,-146.6,593.9,-12.4,377,7945,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2252,3430
$GC,8257,-0.96,-146.6,624.2,-12.3,392,8262,0.00,2.50,0.00,0.000,4,0.000,0.055,2584,3648,3430
$GC,8454,-0.96,-146.6,635.1,-6.6,401,8459,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2256,3430
$GC,8781,-0.96,-146.6,657.2,-6.1,417,8785,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3651,3430
$GC,8911,-0.96,-146.6,666.5,-7.4,423,8915,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2254,3430
$GC,9240,-0.96,-146.6,688.9,-7.1,439,9244,0.00,2.47,0.00,0.000,4,0.000,0.045,2584,848,3429
$GC,9289,-0.96,-146.6,692.8,-7.9,441,9293,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2256,3429
$GC,9607,-0.96,-146.6,712.0,-5.7,456,9611,0.00,2.53,0.00,0.000,4,0.000,0.048,2584,844,3428
$GC,9714,-0.96,-146.6,719.2,-8.2,461,9719,0.00,2.47,0.00,0.000,6,0.000,0.038,2584,2255,3428
$GC,10041,-0.96,-146.6,739.6,-5.8,477,10045,0.00,2.55,0.00,0.000,4,0.000,0.061,2583,3653,3427
$GC,10109,-0.96,-146.6,743.7,-7.2,480,10113,0.00,2.42,0.00,0.000,6,0.000,0.035,2584,2253,3427
$GC,10433,-0.96,-146.6,769.3,-7.6,496,10437,0.00,2.58,0.00,0.000,4,0.000,0.060,2584,3657,3426
$GC,10473,-0.96,-146.6,772.7,-7.9,498,10477,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2251,3426
$GC,10802,-0.96,-146.6,798.3,-5.9,514,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3425
$GC,11109,-0.96,-146.6,813.1,-5.4,529,11113,0.00,2.60,0.00,0.000,4,0.000,0.064,2583,3657,3423
$GC,11153,-0.96,-146.6,815.0,-3.4,531,11158,0.00,2.47,0.00,0.000,6,0.000,0.038,2584,2239,3423
$GC,11475,-0.96,-146.6,842.6,-14.5,547,11479,0.00,2.53,0.00,0.000,4,0.000,0.059,2584,846,3421
$GC,11561,-0.96,-146.6,852.0,-11.6,551,11566,0.00,2.47,0.00,0.000,6,0.000,0.042,2584,2246,3421
$STATE,11741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11741,begin apogee
$GC,11749,-0.36,0.0,859.0,4.4,560,11885,0.65,0.00,129.45,1.424,6,0.064,0.000,2723,1456,2830
$STATE,11886,end apogee,CONTROL_FINISHED_OK
$STATE,11886,begin climb
$GC,11888,0.96,146.6,864.4,0.0,567,12028,1.33,2.62,131.80,1.367,4,0.060,0.050,3006,2863,2232
$GC,12115,0.96,146.6,861.6,11.9,576,12121,0.00,2.55,0.00,0.000,6,0.000,0.044,3006,1449,2225
$GC,12433,0.97,153.2,839.9,5.8,592,12443,0.00,2.60,5.12,0.972,4,0.000,0.051,3006,2867,2207
$GC,12780,0.97,153.2,810.5,8.1,607,12786,0.00,2.55,0.00,0.000,6,0.000,0.048,3006,1448,2204
$GC,13098,1.01,184.6,795.2,5.1,623,13133,0.00,2.62,29.77,1.361,4,0.000,0.052,3006,2862,2079
$GC,13359,1.01,184.6,780.4,9.2,634,13363,0.00,2.55,0.00,0.000,6,0.000,0.047,3006,1449,2073
$GC,13686,1.01,184.6,761.2,8.5,650,13690,0.00,2.55,0.00,0.000,4,0.000,0.050,3006,2869,2071
$GC,13763,1.03,201.9,755.8,5.5,653,13785,0.00,2.55,16.40,1.311,6,0.000,0.046,3006,1453,2008
$GC,14095,1.03,201.9,731.5,7.2,669,14099,0.00,2.20,0.00,0.000,4,0.000,0.071,3006,264,2004
$GC,14141,1.03,201.9,727.9,8.5,671,14145,0.00,2.08,0.00,0.000,6,0.000,0.037,3006,1475,2004
$GC,14474,1.03,201.9,703.0,7.3,687,14478,0.00,2.25,0.00,0.000,4,0.000,0.065,3006,261,2002
$GC,14611,1.03,201.9,692.8,7.3,693,14614,0.00,2.05,0.00,0.000,6,0.000,0.036,3006,1454,2002
$GC,14938,1.18,319.0,676.8,2.8,709,15053,0.17,2.55,108.47,1.320,4,0.038,0.048,3072,2846,1529
$GC,15126,1.18,319.0,662.7,9.6,717,15132,0.00,2.47,0.00,0.000,6,0.000,0.040,3072,1448,1523
$GC,15444,1.18,319.0,634.7,8.8,733,15445,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1447,1517
$GC,15751,1.18,319.0,605.6,11.3,748,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1447,1515
$GC,16060,1.18,319.0,572.6,9.7,763,16063,0.00,2.15,0.00,0.000,4,0.000,0.060,3072,264,1514
$GC,16083,1.18,319.0,570.3,10.4,764,16087,0.00,2.03,0.00,0.000,6,0.000,0.031,3072,1461,1514
$GC,16415,1.18,319.0,537.7,9.6,780,16417,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1462,1513
$GC,16728,1.18,319.0,507.5,9.5,795,16729,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1462,1513
$GC,17034,1.18,319.0,476.0,10.1,810,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1462,1513
$GC,17343,1.18,319.0,443.6,10.3,825,17344,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1461,1514
$GC,17653,1.18,319.0,412.2,9.9,840,17654,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1462,1514
$GC,17962,1.18,319.0,383.6,9.1,855,17963,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1462,1514
$GC,18274,1.18,319.0,355.2,9.2,870,18277,0.00,2.17,0.00,0.000,4,0.000,0.057,3072,262,1515
$GC,18303,1.18,319.0,352.1,11.7,871,18306,0.00,2.03,0.00,0.000,6,0.000,0.031,3073,1459,1514
$GC,18629,1.18,319.0,320.1,10.4,887,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1459,1514
$GC,18938,1.18,319.0,288.1,9.7,902,18940,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1459,1514
$GC,19251,1.18,319.0,256.0,11.0,917,19254,0.00,2.17,0.00,0.000,4,0.000,0.056,3073,256,1515
$GC,19278,1.18,319.0,252.3,12.2,918,19283,0.00,2.05,0.00,0.000,6,0.000,0.031,3072,1456,1515
$GC,19605,1.18,319.0,217.6,10.5,934,19606,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1456,1515
$GC,19914,1.18,319.0,188.3,9.0,949,19916,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1456,1515
$GC,20223,1.18,319.0,158.7,10.3,964,20224,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1456,1515
$GC,20533,1.18,319.0,123.9,11.5,979,20536,0.00,2.15,0.00,0.000,4,0.000,0.054,3073,259,1515
$GC,20556,1.18,319.0,120.8,12.9,980,20560,0.00,2.03,0.00,0.000,6,0.000,0.031,3072,1456,1515
$GC,20890,1.18,319.0,85.8,9.2,996,20892,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1456,1515
$GC,21198,1.18,319.0,55.7,9.3,1011,21199,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1456,1515
$GC,21507,1.18,319.0,28.6,8.9,1026,21512,0.00,2.17,0.00,0.000,4,0.000,0.053,3072,262,1516
$GC,21549,1.18,319.0,24.3,11.2,1027,21555,0.00,2.03,0.00,0.000,6,0.000,0.030,3072,1466,1516
$STATE,21779,end climb,SURFACE_DEPTH_REACHED
$STATE,21779,begin surface coast
$FINISH,0.1,1.013783
$STATE,21801,end surface coast,CONTROL_FINISHED_OK
$STATE,21801,begin surface
$SM_CCo,21885,0.00,0.000,0,0,1513,323.31
$SM_GC,0.96,11.62,0.00,0.00,0.025,0.000,0.000,390,2245,1513,-10.99,-0.14,323.31
$IRIDIUM_FIX,6112.75,-837.21,151198,212118
$TT8_MAMPS,0.026845
$HUMID,1926
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.7,91.4
$24V_AH,23.0,63.724
$10V_AH,10.0,38.391
$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,25.525,186.375,421.025,0.000,0.000,49.857,62.221,222.251,6.750,0.000,0.000,15.199,1954.392,16460.604,534.304,2458.586,1006.866,0.000,1820.649,0.000,2624.381,0.000,46.099,0.000
$DEVICE_MAMPS,135.759,70.564,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,918.674,737.698,599.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53694,1040
$CAP_FILE_SIZE,159513,0
$CFSIZE,260165632,235720704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220809,031137,6134.305,-839.556,35,1.6,35,-9.1