version: 66.04
glider: 105
mission: 6
dive: 312
start: 8 22 109 3 18 20
data:
$ID,105
$MISSION,6
$DIVE,312
$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,-1633684.1
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,031137,6134.305,-839.556,35,1.6,35,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-59.7
$GPS2,031801,6134.180,-839.560,13,1.6,30,-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,130.1,15016,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-61.90,0.000,6,0.000,0.000,390,2246,3432
$GC,82,-0.96,-146.6,4.5,-9.0,3,103,11.73,2.53,0.00,0.000,4,0.134,0.038,2583,835,3434
$GC,427,-0.96,-146.6,43.5,-8.2,18,432,0.00,2.47,0.00,0.000,6,0.000,0.034,2583,2251,3434
$GC,743,-0.96,-146.6,70.0,-9.2,33,748,0.00,2.53,0.00,0.000,4,0.000,0.041,2583,835,3435
$GC,789,-0.96,-146.6,73.9,-8.2,35,793,0.00,2.47,0.00,0.000,6,0.000,0.033,2583,2260,3435
$GC,1117,-0.96,-146.6,95.8,-5.7,51,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2260,3435
$GC,1425,-0.96,-146.6,122.0,-9.2,66,1429,0.00,2.53,0.00,0.000,4,0.000,0.058,2583,3651,3436
$GC,1564,-0.96,-146.6,135.6,-9.6,72,1568,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2229,3436
$GC,1880,-0.96,-146.6,162.3,-8.4,87,1884,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3655,3435
$GC,1946,-0.96,-146.6,168.5,-9.7,90,1951,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3435
$GC,2268,-0.96,-146.6,196.1,-8.4,106,2272,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3651,3435
$GC,2363,-0.96,-146.6,204.8,-8.8,110,2367,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2247,3435
$GC,2678,-0.96,-146.6,229.3,-7.2,125,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2247,3435
$GC,2988,-0.96,-146.6,248.6,-5.9,140,2992,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3654,3434
$GC,3088,-0.96,-146.6,255.3,-6.6,144,3095,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2242,3434
$GC,3404,-0.96,-146.6,273.9,-6.1,160,3408,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3654,3434
$GC,3488,-0.96,-146.6,279.5,-7.1,164,3492,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,3814,-0.96,-146.6,302.1,-7.7,180,3819,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3651,3433
$GC,3883,-0.96,-146.6,308.0,-8.6,183,3887,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2245,3433
$GC,4204,-0.96,-146.6,337.4,-9.5,199,4209,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3651,3433
$GC,4286,-0.96,-146.6,345.8,-9.8,202,4293,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2242,3433
$GC,4603,-0.96,-146.6,374.1,-9.0,218,4607,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3657,3433
$GC,4658,-0.96,-146.6,379.7,-10.0,220,4666,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2255,3433
$GC,4974,-0.96,-146.6,405.1,-7.4,236,4978,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3432
$GC,5058,-0.96,-146.6,411.7,-8.2,240,5062,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2244,3433
$GC,5386,-0.96,-146.6,433.3,-5.9,256,5390,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3433
$GC,5447,-0.96,-146.6,437.6,-6.5,259,5451,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2241,3432
$GC,5775,-0.96,-146.6,454.4,-5.1,275,5779,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3653,3432
$GC,5869,-0.96,-146.6,459.7,-5.9,279,5874,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3432
$GC,6188,-0.96,-146.6,475.1,-4.8,294,6193,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3432
$GC,6239,-0.96,-146.6,478.5,-6.2,296,6243,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2243,3432
$GC,6557,-0.96,-146.6,497.8,-6.5,311,6561,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3653,3432
$GC,6634,-0.96,-146.6,503.6,-6.8,314,6641,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2236,3431
$GC,6951,-0.96,-146.6,525.8,-7.3,330,6955,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,7008,-0.96,-146.6,530.3,-7.9,332,7014,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2241,3431
$GC,7324,-0.96,-146.6,553.6,-7.0,348,7328,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3652,3432
$GC,7390,-0.96,-146.6,558.9,-8.5,351,7395,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3432
$GC,7715,-0.96,-146.6,580.5,-6.3,367,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3432
$GC,8022,-0.96,-146.6,599.2,-5.7,382,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3432
$GC,8330,-0.96,-146.6,614.2,-4.6,397,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3431
$GC,8640,-0.96,-146.6,630.6,-5.3,412,8645,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3655,3431
$GC,8727,-0.96,-146.6,636.1,-6.7,416,8731,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2241,3431
$GC,9053,-0.96,-146.6,659.3,-7.9,432,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2240,3431
$GC,9363,-0.96,-146.6,681.9,-7.5,447,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2239,3431
$GC,9672,-0.96,-146.6,703.8,-6.7,462,9676,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3657,3430
$GC,10014,-0.96,-146.6,731.4,-9.1,477,10019,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2254,3431
$GC,10335,-0.96,-146.6,753.0,-6.3,493,10339,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3431
$GC,10453,-0.96,-146.6,761.9,-6.4,498,10457,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2238,3430
$GC,10769,-0.96,-146.6,780.9,-5.6,513,10773,0.00,2.45,0.00,0.000,4,0.000,0.048,2584,852,3430
$GC,10863,-0.96,-146.6,787.0,-6.3,517,10867,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2255,3429
$GC,11182,-0.96,-146.6,801.8,-5.1,532,11186,0.00,2.55,0.00,0.000,4,0.000,0.061,2584,3653,3428
$GC,11237,-0.96,-146.6,805.0,-6.5,534,11243,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2257,3428
$STATE,11551,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11551,begin apogee
$GC,11559,-0.36,0.0,824.6,6.0,550,11693,0.65,0.00,129.80,1.355,6,0.064,0.000,2723,1454,2832
$STATE,11694,end apogee,CONTROL_FINISHED_OK
$STATE,11694,begin climb
$GC,11697,0.96,146.6,825.1,0.0,557,11838,1.33,2.60,130.38,1.314,4,0.049,0.051,3012,2857,2233
$GC,12169,1.07,231.8,803.7,3.7,578,12251,0.00,2.53,76.35,1.309,6,0.000,0.045,3012,1454,1887
$GC,12563,1.15,296.2,785.8,4.2,597,12626,0.17,0.00,58.88,1.309,6,0.039,0.000,3077,1454,1624
$GC,12936,1.15,296.2,757.0,8.7,615,12941,0.12,2.55,0.00,0.000,4,0.078,0.048,3050,2858,1614
$GC,12965,1.15,296.2,754.4,8.3,616,12969,0.00,2.53,0.00,0.000,6,0.000,0.044,3050,1453,1613
$GC,13281,1.15,296.2,722.1,11.3,631,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1452,1611
$GC,13590,1.15,296.2,693.8,10.6,646,13594,0.00,2.50,0.00,0.000,4,0.000,0.044,3050,2859,1609
$GC,13622,1.15,296.2,690.4,9.8,647,13628,0.00,2.50,0.00,0.000,6,0.000,0.040,3050,1449,1609
$GC,13940,1.15,296.2,656.5,9.0,663,13943,0.00,2.17,0.00,0.000,4,0.000,0.060,3050,257,1609
$GC,13975,1.15,296.2,652.3,12.9,664,13979,0.00,2.05,0.00,0.000,6,0.000,0.031,3050,1473,1609
$GC,14296,1.15,296.2,616.9,9.3,680,14297,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1473,1609
$GC,14605,1.15,296.2,580.1,12.2,695,14609,0.00,2.20,0.00,0.000,4,0.000,0.056,3050,262,1609
$GC,14633,1.15,296.2,576.9,12.2,696,14637,0.00,2.00,0.00,0.000,6,0.000,0.031,3049,1454,1608
$GC,14960,1.15,296.2,542.3,10.1,712,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1608
$GC,15269,1.15,296.2,511.5,10.0,727,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1609
$GC,15578,1.15,296.2,478.6,10.9,742,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1609
$GC,15887,1.15,296.2,443.4,11.4,757,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1609
$GC,16197,1.15,296.2,409.1,10.9,772,16198,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1610
$GC,16508,1.15,296.2,372.7,12.2,787,16510,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1610
$GC,16815,1.15,296.2,334.0,12.3,802,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1610
$GC,17124,1.15,296.2,295.4,12.4,817,17126,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1454,1610
$GC,17434,1.15,296.2,260.6,10.2,832,17438,0.00,2.45,0.00,0.000,4,0.000,0.044,3050,2843,1610
$GC,17461,1.15,296.2,257.7,9.6,833,17465,0.00,2.42,0.00,0.000,6,0.000,0.036,3050,1451,1610
$GC,17776,1.15,296.2,227.7,9.1,848,17778,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1611
$GC,18089,1.15,296.2,198.5,9.7,863,18090,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1610
$GC,18395,1.15,296.2,165.8,10.8,878,18396,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1611
$GC,18705,1.15,296.2,136.1,9.3,893,18706,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1611
$GC,19014,1.15,296.2,110.2,7.9,908,19016,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1451,1611
$GC,19324,1.15,296.2,89.6,6.6,923,19329,0.00,2.45,0.00,0.000,4,0.000,0.040,3050,2849,1611
$GC,19380,1.15,296.2,85.3,8.1,925,19388,0.00,2.45,0.00,0.000,6,0.000,0.035,3050,1459,1611
$GC,19696,1.15,296.2,60.1,7.5,941,19701,0.00,2.40,0.00,0.000,4,0.000,0.037,3050,2847,1611
$GC,19763,1.15,296.2,54.9,7.8,944,19768,0.00,2.42,0.00,0.000,6,0.000,0.034,3050,1447,1611
$GC,20085,1.15,296.2,30.5,7.3,960,20086,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1447,1611
$GC,20394,1.15,296.2,5.4,8.3,975,20396,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1447,1611
$STATE,20433,end climb,SURFACE_DEPTH_REACHED
$STATE,20433,begin surface coast
$FINISH,0.6,1.026835
$STATE,20456,end surface coast,CONTROL_FINISHED_OK
$STATE,20456,begin surface
$SM_CCo,20540,0.00,0.000,0,0,1608,300.25
$SM_GC,1.05,11.48,0.00,0.00,0.023,0.000,0.000,392,2245,1608,-10.99,-0.14,300.25
$IRIDIUM_FIX,6112.75,-828.27,151198,212126
$TT8_MAMPS,0.026845
$HUMID,1928
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.4,83.5
$24V_AH,23.0,63.885
$10V_AH,10.1,38.488
$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,25.475,150.125,395.400,0.000,0.000,31.574,27.783,168.535,6.500,0.000,0.000,30.529,1808.299,15520.827,501.495,2237.843,846.509,0.000,1640.974,0.000,2406.749,0.000,44.436,0.000
$DEVICE_MAMPS,134.225,61.360,1355.289,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,825.136,735.190,585.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50539,978
$CAP_FILE_SIZE,142459,0
$CFSIZE,260165632,235663360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220809,090201,6131.224,-836.299,44,1.9,44,-9.0