version: 66.04
glider: 105
mission: 6
dive: 317
start: 8 23 109 8 29 10
data:
$ID,105
$MISSION,6
$DIVE,317
$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,-1633762
$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,20
$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
$GPS1,082307,6129.823,-827.354,40,0.9,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-54.3
$GPS2,082850,6129.939,-827.408,14,0.9,14,-8.9
$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,95.9,2131,-27.3,-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,13,begin dive
$GC,16,-1.99,-28.8,0.0,0.0,0,77,0.00,0.00,-57.83,0.000,6,0.000,0.000,389,2242,2952
$GC,81,-2.00,-39.0,2.7,-4.6,3,97,10.40,2.47,-0.85,0.000,4,0.128,0.048,2357,826,2991
$GC,198,-2.00,-39.0,20.9,-15.7,7,202,0.00,2.47,0.00,0.000,6,0.000,0.032,2357,2254,2992
$GC,515,-2.00,-39.0,65.5,-14.1,22,519,0.00,2.50,0.00,0.000,4,0.000,0.051,2357,3648,2992
$GC,683,-2.00,-39.0,89.8,-15.0,29,690,0.00,2.45,0.00,0.000,6,0.000,0.029,2357,2226,2993
$GC,998,-2.00,-39.0,129.4,-11.4,45,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2226,2994
$GC,1307,-2.00,-39.0,165.1,-12.0,60,1312,0.00,2.55,0.00,0.000,4,0.000,0.048,2357,3650,2994
$GC,1648,-2.00,-39.0,209.4,-12.4,75,1652,0.00,2.38,0.00,0.000,6,0.000,0.030,2357,2253,2994
$GC,1964,-2.00,-39.0,245.6,-11.8,90,1969,0.00,2.50,0.00,0.000,4,0.000,0.048,2358,3650,2994
$GC,2054,-2.00,-39.0,256.0,-11.2,94,2058,0.00,2.40,0.00,0.000,6,0.000,0.030,2357,2237,2993
$GC,2374,-2.00,-39.0,288.2,-9.4,110,2379,0.00,2.55,0.00,0.000,4,0.000,0.051,2358,3651,2994
$GC,2487,-2.00,-39.0,300.5,-11.5,115,2492,0.00,2.42,0.00,0.000,6,0.000,0.031,2357,2250,2993
$GC,2814,-2.00,-39.0,335.9,-10.9,131,2819,0.00,2.53,0.00,0.000,4,0.000,0.050,2357,3644,2993
$GC,2852,-2.00,-39.0,340.5,-11.4,132,2859,0.00,2.38,0.00,0.000,6,0.000,0.031,2357,2248,2993
$GC,3168,-2.00,-39.0,373.2,-10.3,148,3172,0.00,2.53,0.00,0.000,4,0.000,0.050,2357,3656,2993
$GC,3368,-2.00,-39.0,396.6,-12.2,157,3373,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2250,2993
$GC,3690,-2.00,-39.0,432.5,-9.7,173,3694,0.00,2.53,0.00,0.000,4,0.000,0.049,2357,3654,2992
$GC,3852,-2.00,-39.0,447.9,-8.6,180,3856,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2250,2992
$GC,4169,-2.00,-39.0,476.0,-10.1,195,4173,0.00,2.50,0.00,0.000,4,0.000,0.049,2357,3648,2992
$GC,4511,-2.00,-39.0,517.1,-10.5,210,4515,0.00,2.40,0.00,0.000,6,0.000,0.031,2357,2248,2991
$GC,4827,-2.00,-39.0,544.0,-7.9,225,4831,0.00,2.53,0.00,0.000,4,0.000,0.050,2357,3653,2991
$GC,5047,-2.00,-39.0,567.0,-9.0,235,5051,0.00,2.40,0.00,0.000,6,0.000,0.033,2357,2251,2990
$GC,5375,-2.00,-39.0,595.0,-8.2,251,5379,0.00,2.45,0.00,0.000,4,0.000,0.044,2357,852,2991
$GC,5716,-2.01,-44.8,621.3,-5.2,266,5721,0.00,2.45,0.00,0.000,6,0.000,0.038,2357,2245,2990
$GC,6034,-2.04,-73.9,633.7,-2.0,281,6038,0.00,2.47,0.00,0.000,4,0.000,0.047,2357,853,2989
$GC,6335,-2.06,-85.4,654.7,-4.4,294,6342,0.00,2.47,0.00,0.000,6,0.000,0.039,2357,2262,2988
$GC,6653,-2.06,-85.4,676.2,-8.0,310,6657,0.00,2.53,0.00,0.000,4,0.000,0.057,2357,3651,2986
$GC,6994,-2.06,-85.4,713.8,-6.1,325,6998,0.00,2.45,0.00,0.000,6,0.000,0.037,2357,2245,2985
$GC,7310,-2.06,-85.4,743.0,-12.1,340,7314,0.00,2.58,0.00,0.000,4,0.000,0.058,2357,3651,2984
$GC,7652,-2.11,-130.4,791.2,0.2,355,7656,0.00,2.45,0.00,0.000,6,0.000,0.038,2357,2249,2982
$STATE,7698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7698,begin apogee
$GC,7706,-0.36,0.0,793.3,4.3,357,7744,1.77,0.00,33.92,1.356,6,0.087,0.000,2719,1465,2832
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7748,2.11,130.4,795.1,0.0,359,7874,2.47,2.35,117.93,1.345,4,0.050,0.068,3259,262,2300
$GC,7902,2.11,130.4,790.7,8.5,366,7906,0.00,2.10,0.00,0.000,6,0.000,0.037,3259,1464,2296
$GC,8229,2.13,146.4,774.9,3.8,382,8251,0.00,2.60,14.27,1.229,4,0.000,0.052,3259,2846,2234
$GC,8394,2.13,146.4,743.7,26.4,389,8398,0.00,2.50,0.00,0.000,6,0.000,0.045,3259,1455,2231
$GC,8715,2.13,146.4,676.7,17.3,405,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1455,2229
$GC,9024,2.13,146.4,622.4,17.6,420,9028,0.00,2.53,0.00,0.000,4,0.000,0.051,3259,2859,2227
$GC,9186,2.13,146.4,598.8,13.3,427,9190,0.00,2.53,0.00,0.000,6,0.000,0.046,3259,1453,2226
$GC,9501,2.13,146.4,555.4,12.9,442,9505,0.00,2.20,0.00,0.000,4,0.000,0.065,3259,258,2225
$GC,9843,2.13,146.4,510.8,13.0,457,9847,0.00,2.08,0.00,0.000,6,0.000,0.035,3259,1456,2224
$GC,10171,2.13,146.4,471.6,13.5,473,10174,0.00,2.20,0.00,0.000,4,0.000,0.061,3259,258,2223
$GC,10440,2.13,146.4,437.1,11.9,485,10444,0.00,2.05,0.00,0.000,6,0.000,0.035,3260,1456,2222
$GC,10773,2.13,146.4,400.6,13.0,501,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1456,2222
$GC,11082,2.13,146.4,358.5,13.5,516,11086,0.00,2.17,0.00,0.000,4,0.000,0.058,3259,257,2222
$GC,11188,2.13,146.4,342.3,15.2,520,11195,0.00,2.08,0.00,0.000,6,0.000,0.032,3260,1456,2222
$GC,11505,2.13,146.4,294.4,15.8,536,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1456,2222
$GC,11813,2.13,146.4,254.2,11.7,551,11817,0.00,2.17,0.00,0.000,4,0.000,0.055,3260,255,2223
$GC,12083,2.13,146.4,225.4,8.4,563,12087,0.00,2.05,0.00,0.000,6,0.000,0.031,3259,1454,2224
$GC,12415,2.13,146.4,201.3,8.8,579,12420,0.00,2.17,0.00,0.000,4,0.000,0.055,3259,268,2225
$GC,12722,2.13,146.4,158.5,16.9,592,12728,0.00,2.03,0.00,0.000,6,0.000,0.032,3259,1455,2226
$GC,13038,2.13,146.4,113.0,13.0,608,13042,0.00,2.15,0.00,0.000,4,0.000,0.052,3260,255,2226
$GC,13379,2.13,146.4,66.2,14.1,623,13383,0.00,2.05,0.00,0.000,6,0.000,0.031,3259,1456,2227
$GC,13707,2.13,146.4,23.6,12.6,639,13711,0.00,2.12,0.00,0.000,4,0.000,0.051,3259,260,2228
$GC,13808,2.13,146.4,10.4,11.9,643,13811,0.00,2.05,0.00,0.000,6,0.000,0.031,3259,1465,2228
$STATE,13880,end climb,SURFACE_DEPTH_REACHED
$STATE,13880,begin surface coast
$FINISH,0.1,1.026835
$STATE,13901,end surface coast,CONTROL_FINISHED_OK
$STATE,13901,begin surface
$SM_CCo,13926,93.28,0.778,0,0,1608,300.00
$SM_GC,0.70,0.00,0.00,93.28,0.000,0.000,0.778,394,2241,1608,-11.07,-0.25,300.00
$IRIDIUM_FIX,6103.81,-831.40,171198,020252
$TT8_MAMPS,0.027612
$HUMID,1923
$INTERNAL_PRESSURE,8.13832
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.4,76.1
$24V_AH,23.0,64.609
$10V_AH,10.1,38.967
$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,27.100,116.100,166.125,93.275,0.000,27.370,28.053,154.656,6.250,0.000,0.000,14.255,1371.927,9766.437,366.171,2150.117,705.260,0.000,1402.189,0.000,2230.271,0.000,42.801,0.000
$DEVICE_MAMPS,128.089,68.263,1356.056,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.241,470.157,377.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34805,648
$CAP_FILE_SIZE,115903,0
$CFSIZE,260165632,235360256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230809,122426,6134.663,-827.680,36,2.5,55,-9.0