version: 66.04
glider: 105
mission: 6
dive: 323
start: 8 24 109 12 47 46
data:
$ID,105
$MISSION,6
$DIVE,323
$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,-1633873.9
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,124306,6137.727,-836.691,11,1.4,28,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-56.4
$GPS2,124727,6137.816,-836.655,17,1.9,18,-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,153.7,17765,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-75.72,0.000,6,0.000,0.000,386,2242,3430
$GC,100,-0.96,-146.6,5.8,-8.1,4,118,11.85,0.00,0.00,0.000,6,0.133,0.000,2583,2242,3432
$GC,427,-0.96,-146.6,44.5,-9.0,20,432,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3651,3433
$GC,674,-0.96,-146.6,69.2,-11.2,31,679,0.00,2.42,0.00,0.000,6,0.000,0.029,2583,2229,3432
$GC,996,-0.96,-146.6,95.1,-6.8,47,1000,0.00,2.58,0.00,0.000,4,0.000,0.051,2583,3650,3432
$GC,1230,-0.96,-146.6,110.6,-5.7,57,1236,0.00,2.38,0.00,0.000,6,0.000,0.029,2583,2247,3432
$GC,1546,-0.96,-146.6,135.5,-8.8,73,1550,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3655,3432
$GC,1652,-0.96,-146.6,145.7,-9.9,78,1657,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2249,3432
$GC,1981,-0.96,-146.6,179.6,-10.8,94,1986,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3432
$GC,2031,-0.96,-146.6,185.7,-11.4,96,2035,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2244,3432
$GC,2350,-0.96,-146.6,219.1,-10.7,111,2354,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3651,3432
$GC,2444,-0.96,-146.6,229.6,-10.4,115,2449,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3432
$GC,2760,-0.96,-146.6,254.2,-6.8,130,2765,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3640,3432
$GC,2860,-0.96,-146.6,260.9,-6.3,134,2864,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2250,3431
$GC,3176,-0.96,-146.6,274.8,-4.6,149,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2249,3432
$GC,3486,-0.96,-146.6,292.7,-6.6,164,3490,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3648,3432
$GC,3692,-0.96,-146.6,309.0,-8.3,173,3696,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2247,3431
$GC,4014,-0.96,-146.6,335.1,-8.5,189,4018,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3431
$GC,4125,-0.96,-146.6,345.0,-9.1,194,4129,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2246,3431
$GC,4445,-0.96,-146.6,371.7,-8.6,210,4450,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3655,3430
$GC,4652,-0.96,-146.6,392.3,-10.2,219,4656,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2242,3429
$GC,4968,-0.96,-146.6,419.8,-8.4,234,4972,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3644,3429
$GC,5023,-0.96,-146.6,424.2,-8.2,236,5027,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3429
$GC,5341,-0.96,-146.6,445.0,-6.6,251,5345,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3653,3429
$GC,5396,-0.96,-146.6,449.1,-7.3,253,5402,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2242,3428
$GC,5715,-0.96,-146.6,470.5,-5.7,269,5719,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3648,3429
$GC,5899,-0.96,-146.6,479.0,-1.9,277,5903,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2253,3428
$GC,6215,-0.96,-146.6,495.5,-2.6,292,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2253,3428
$GC,6524,-0.96,-146.6,520.2,-7.4,307,6528,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3651,3428
$GC,6646,-0.96,-146.6,528.9,-9.8,312,6653,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2245,3428
$GC,6962,-0.96,-146.6,558.0,-8.8,328,6967,0.00,2.53,0.00,0.000,4,0.000,0.047,2583,3645,3427
$GC,7282,-0.96,-146.6,580.4,-3.1,342,7287,0.00,2.42,0.00,0.000,6,0.000,0.034,2583,2257,3426
$GC,7609,-0.96,-146.6,589.4,-3.8,358,7613,0.00,2.53,0.00,0.000,4,0.000,0.057,2583,3648,3426
$GC,7665,-0.96,-146.6,592.6,-5.9,360,7672,0.00,2.42,0.00,0.000,6,0.000,0.035,2583,2241,3426
$GC,7983,-0.96,-146.6,616.4,-9.7,376,7987,0.00,2.47,0.00,0.000,4,0.000,0.051,2583,851,3425
$GC,8061,-0.96,-146.6,622.3,-5.7,379,8067,0.00,2.45,0.00,0.000,6,0.000,0.039,2583,2244,3425
$GC,8377,-0.96,-146.6,651.1,-10.6,395,8382,0.00,2.53,0.00,0.000,4,0.000,0.050,2583,853,3423
$GC,8473,-0.96,-146.6,660.2,-8.6,399,8477,0.00,2.47,0.00,0.000,6,0.000,0.040,2584,2256,3422
$GC,8794,-0.96,-146.6,685.0,-5.6,415,8799,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,851,3422
$GC,8847,-0.96,-146.6,687.3,-3.1,417,8851,0.00,2.47,0.00,0.000,6,0.000,0.041,2583,2247,3421
$GC,9166,-0.96,-146.6,700.6,-4.5,432,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2249,3419
$GC,9475,-0.96,-146.6,720.4,-7.0,447,9479,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,850,3418
$GC,9530,-0.96,-146.6,723.1,-4.1,449,9536,0.00,2.47,0.00,0.000,6,0.000,0.041,2583,2253,3417
$GC,9845,-0.96,-146.6,737.6,-6.6,465,9850,0.00,2.58,0.00,0.000,4,0.000,0.064,2583,3658,3416
$GC,10033,-0.96,-146.6,737.2,-1.3,473,10037,0.00,2.45,0.00,0.000,6,0.000,0.038,2583,2256,3415
$GC,10349,-0.96,-146.6,753.2,-1.1,488,10354,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,847,3414
$GC,10384,-0.96,-146.6,755.7,-7.7,489,10390,0.00,2.47,0.00,0.000,6,0.000,0.041,2583,2247,3413
$GC,10699,-0.96,-146.6,788.5,-16.6,505,10704,0.00,2.60,0.00,0.000,4,0.000,0.066,2583,3660,3412
$GC,10784,-0.96,-146.6,790.8,-7.4,509,10788,0.00,2.47,0.00,0.000,6,0.000,0.038,2583,2245,3411
$STATE,10839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10839,begin apogee
$GC,10848,-0.36,0.0,795.8,8.8,512,10983,0.65,0.00,127.25,1.388,6,0.067,0.000,2720,1459,2831
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10987,0.96,146.6,797.9,0.0,519,11126,1.33,2.60,131.65,1.329,4,0.054,0.051,3008,2861,2232
$GC,11247,0.96,146.6,785.5,9.1,530,11251,0.00,2.55,0.00,0.000,6,0.000,0.045,3008,1448,2224
$GC,11570,0.96,146.6,764.9,7.5,546,11574,0.00,2.22,0.00,0.000,4,0.000,0.071,3008,258,2220
$GC,11865,0.96,146.6,741.3,10.2,559,11869,0.00,2.10,0.00,0.000,6,0.000,0.037,3008,1473,2218
$GC,12198,1.13,282.0,735.9,2.3,575,12326,0.17,2.55,121.40,1.342,4,0.034,0.053,3079,2847,1680
$GC,12370,1.13,282.0,728.7,9.4,583,12375,0.12,2.55,0.00,0.000,6,0.069,0.048,3048,1455,1675
$GC,12691,1.15,301.3,710.9,5.5,599,12712,0.00,0.00,16.95,1.239,6,0.000,0.000,3048,1455,1602
$GC,13023,1.15,301.3,685.0,9.8,615,13028,0.00,2.55,0.00,0.000,4,0.000,0.055,3048,2855,1597
$GC,13052,1.15,301.3,681.8,11.1,616,13056,0.00,2.53,0.00,0.000,6,0.000,0.046,3048,1453,1597
$GC,13367,1.15,301.3,649.4,9.5,631,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1453,1596
$GC,13677,1.15,301.3,616.3,10.6,646,13681,0.00,2.22,0.00,0.000,4,0.000,0.069,3048,258,1595
$GC,13746,1.15,301.3,608.5,11.5,649,13749,0.00,2.08,0.00,0.000,6,0.000,0.037,3048,1457,1594
$GC,14078,1.15,301.3,578.7,8.2,665,14082,0.00,2.53,0.00,0.000,4,0.000,0.051,3048,2853,1593
$GC,14173,1.15,301.3,570.7,8.9,669,14177,0.00,2.53,0.00,0.000,6,0.000,0.045,3048,1446,1592
$GC,14490,1.15,301.3,547.2,7.3,684,14495,0.00,2.53,0.00,0.000,4,0.000,0.048,3048,2860,1591
$GC,14518,1.15,301.3,545.2,6.7,685,14523,0.00,2.55,0.00,0.000,6,0.000,0.044,3048,1452,1592
$GC,14839,1.15,301.3,520.1,8.8,701,14843,0.00,2.17,0.00,0.000,4,0.000,0.064,3048,263,1592
$GC,14867,1.15,301.3,517.1,10.5,702,14870,0.00,2.03,0.00,0.000,6,0.000,0.035,3048,1456,1592
$GC,15194,1.15,301.3,486.0,9.2,718,15198,0.00,2.20,0.00,0.000,4,0.000,0.061,3049,258,1591
$GC,15240,1.15,301.3,481.6,9.6,720,15244,0.00,2.08,0.00,0.000,6,0.000,0.035,3048,1455,1592
$GC,15574,1.15,301.3,448.5,10.8,736,15578,0.00,2.17,0.00,0.000,4,0.000,0.060,3048,262,1591
$GC,15601,1.15,301.3,444.9,12.0,737,15606,0.00,2.08,0.00,0.000,6,0.000,0.034,3048,1456,1592
$GC,15928,1.15,301.3,410.9,10.2,753,15932,0.00,2.50,0.00,0.000,4,0.000,0.046,3048,2858,1591
$GC,15967,1.15,301.3,407.0,9.7,755,15972,0.00,2.47,0.00,0.000,6,0.000,0.039,3048,1450,1591
$GC,16294,1.15,301.3,377.2,8.4,771,16295,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1591
$GC,16604,1.15,301.3,353.3,8.0,786,16605,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1592
$GC,16913,1.15,301.3,329.0,7.8,801,16918,0.00,2.50,0.00,0.000,4,0.000,0.044,3048,2846,1592
$GC,16946,1.15,301.3,326.5,7.3,802,16950,0.00,2.45,0.00,0.000,6,0.000,0.038,3048,1450,1592
$GC,17264,1.15,301.3,299.4,9.5,817,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1593
$GC,17570,1.15,301.3,269.3,9.8,832,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1450,1593
$GC,17880,1.15,301.3,240.5,8.5,847,17884,0.00,2.50,0.00,0.000,4,0.000,0.043,3049,2861,1594
$GC,17924,1.15,301.3,236.9,7.8,849,17928,0.00,2.47,0.00,0.000,6,0.000,0.037,3048,1446,1594
$GC,18245,1.15,301.3,215.2,6.2,865,18249,0.00,2.47,0.00,0.000,4,0.000,0.043,3048,2855,1594
$GC,18300,1.19,327.6,211.9,5.3,867,18330,0.00,2.45,23.10,0.909,6,0.000,0.037,3048,1453,1496
$GC,18658,1.19,327.6,186.3,8.2,885,18659,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1453,1493
$GC,18967,1.19,327.6,149.7,13.5,900,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1453,1493
$GC,19277,1.19,327.6,111.4,12.0,915,19281,0.00,2.50,0.00,0.000,4,0.000,0.041,3048,2861,1493
$GC,19317,1.19,327.6,106.8,13.0,917,19322,0.00,2.47,0.00,0.000,6,0.000,0.036,3048,1462,1492
$GC,19649,1.19,327.6,69.9,9.9,933,19650,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1462,1492
$GC,19960,1.19,327.6,35.2,12.6,948,19961,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1461,1492
$GC,20268,1.19,327.6,8.5,8.0,963,20269,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1461,1493
$STATE,20349,end climb,SURFACE_DEPTH_REACHED
$STATE,20349,begin surface coast
$FINISH,0.3,1.026786
$STATE,20390,end surface coast,CONTROL_FINISHED_OK
$STATE,20390,begin surface
$SM_CCo,20474,0.00,0.000,0,0,1492,328.95
$SM_GC,0.79,11.50,0.00,0.00,0.025,0.000,0.000,393,2247,1492,-10.98,-0.08,328.95
$IRIDIUM_FIX,6112.75,-837.89,181198,101041
$TT8_MAMPS,0.026845
$HUMID,1954
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.6,104.1
$24V_AH,23.0,65.747
$10V_AH,10.0,39.497
$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,25.625,183.700,420.350,0.000,0.000,27.563,27.333,99.200,6.000,0.000,0.000,18.693,1865.768,15141.567,542.599,2410.032,784.072,0.000,1797.179,0.000,2551.600,0.000,41.267,0.000
$DEVICE_MAMPS,132.691,70.564,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,853.777,685.664,549.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50598,969
$CAP_FILE_SIZE,150827,0
$CFSIZE,260165632,234950656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240809,183007,6141.323,-846.297,30,1.6,30,-9.2