version: 66.04
glider: 105
mission: 6
dive: 329
start: 8 26 109 2 45 10
data:
$ID,105
$MISSION,6
$DIVE,329
$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,-1633989.5
$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,26
$R_STBD_OVSHOOT,41
$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
$GPS1,023827,6145.771,-853.231,30,2.2,49,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.9
$GPS2,024452,6145.832,-853.135,14,2.7,33,-9.2
$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,148.9,38442,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,84,0.00,0.00,-66.65,0.000,6,0.000,0.000,391,2261,3432
$GC,88,-0.96,-146.6,3.5,-6.3,3,109,11.70,2.55,0.00,0.000,4,0.133,0.038,2586,835,3434
$GC,142,-0.96,-146.6,18.5,-10.1,5,146,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2237,3434
$GC,459,-0.96,-146.6,43.4,-7.8,20,464,0.00,2.58,0.00,0.000,4,0.000,0.055,2586,3656,3434
$GC,605,-0.96,-146.6,57.1,-10.3,26,612,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2231,3435
$GC,921,-0.96,-146.6,79.6,-5.9,42,926,0.00,2.60,0.00,0.000,4,0.000,0.052,2586,3647,3435
$GC,1027,-0.96,-146.6,86.2,-5.9,46,1035,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2254,3435
$GC,1343,-0.96,-146.6,106.1,-6.8,62,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3435
$GC,1652,-0.96,-146.6,126.9,-6.2,77,1656,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3654,3436
$GC,1741,-0.96,-146.6,133.0,-6.6,81,1745,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2249,3436
$GC,2062,-0.96,-146.6,152.9,-7.1,97,2066,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3657,3436
$GC,2218,-0.96,-146.6,165.0,-8.1,104,2223,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2252,3435
$GC,2544,-0.96,-146.6,190.2,-7.9,120,2549,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3651,3435
$GC,2667,-0.96,-146.6,200.7,-8.4,125,2674,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2248,3435
$GC,2985,-0.96,-146.6,227.0,-8.5,141,2989,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3657,3435
$GC,3085,-0.96,-146.6,236.3,-9.7,145,3091,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2249,3435
$GC,3403,-0.96,-146.6,262.7,-8.5,161,3407,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3651,3434
$GC,3458,-0.96,-146.6,267.7,-8.8,163,3464,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3434
$GC,3774,-0.96,-146.6,292.0,-7.4,179,3779,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3651,3434
$GC,3847,-0.96,-146.6,298.0,-8.4,182,3852,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2253,3434
$GC,4168,-0.96,-146.6,320.1,-6.8,198,4172,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3651,3434
$GC,4240,-0.96,-146.6,325.4,-7.2,201,4245,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,4556,-0.96,-146.6,346.3,-6.7,216,4561,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3645,3433
$GC,4640,-0.96,-146.6,352.5,-7.2,219,4646,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2250,3433
$GC,4955,-0.96,-146.6,372.4,-6.2,235,4959,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3651,3433
$GC,5056,-0.96,-146.6,379.5,-7.4,239,5063,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3433
$GC,5372,-0.96,-146.6,400.8,-7.2,255,5377,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3655,3433
$GC,5485,-0.96,-146.6,409.4,-7.6,260,5489,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2237,3433
$GC,5808,-0.96,-146.6,433.3,-7.2,276,5812,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3656,3432
$GC,5969,-0.96,-146.6,446.1,-7.5,283,5974,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2255,3432
$GC,6286,-0.96,-146.6,468.0,-6.6,298,6290,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3431
$GC,6568,-0.96,-146.6,491.7,-10.0,310,6575,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2251,3431
$GC,6884,-0.96,-146.6,521.8,-10.5,326,6889,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3643,3431
$GC,7121,-0.96,-146.6,547.1,-8.8,336,7125,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2253,3430
$GC,7437,-0.96,-146.6,564.7,-4.2,351,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3430
$GC,7749,-0.96,-146.6,577.9,-4.8,366,7753,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3654,3430
$GC,7822,-0.96,-146.6,582.2,-6.0,369,7826,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2249,3430
$GC,8140,-0.96,-146.6,594.8,-4.4,384,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3429
$GC,8447,-0.96,-146.6,608.5,-3.9,399,8451,0.00,2.58,0.00,0.000,4,0.000,0.058,2586,3655,3428
$GC,8564,-0.96,-146.6,614.5,-4.5,404,8569,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2247,3428
$GC,8880,-0.96,-146.6,635.5,-6.9,419,8885,0.00,2.60,0.00,0.000,4,0.000,0.060,2586,3650,3427
$GC,8951,-0.96,-146.6,641.2,-8.1,422,8955,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2243,3427
$GC,9272,-0.96,-146.6,664.4,-7.7,438,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2243,3425
$GC,9581,-0.96,-146.6,676.2,-3.2,453,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3424
$GC,9891,-0.96,-146.6,692.8,-3.6,468,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3422
$GC,10199,-0.96,-146.6,711.0,-7.0,483,10204,0.00,2.62,0.00,0.000,4,0.000,0.065,2585,3654,3421
$GC,10300,-0.96,-146.6,715.5,-4.1,487,10307,0.00,2.47,0.00,0.000,6,0.000,0.040,2586,2246,3420
$GC,10618,-0.96,-146.6,730.1,-7.4,503,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2244,3419
$GC,10925,-0.96,-146.6,735.9,-0.3,518,10929,0.00,2.58,0.00,0.000,4,0.000,0.058,2586,3651,3418
$GC,10935,-0.96,-146.6,735.7,0.2,518,10942,0.00,2.45,0.00,0.000,6,0.000,0.041,2586,2252,3418
$STATE,11124,end dive,NO_VERTICAL_VELOCITY
$STATE,11124,begin apogee
$GC,11133,-0.36,0.0,735.6,0.0,528,11268,0.62,0.00,127.88,1.343,6,0.060,0.000,2722,1450,2831
$STATE,11269,end apogee,CONTROL_FINISHED_OK
$STATE,11269,begin climb
$GC,11272,0.96,146.6,733.1,0.0,535,11412,1.30,2.28,131.25,1.281,4,0.053,0.068,3007,272,2232
$GC,11538,0.96,146.6,720.8,7.3,547,11541,0.00,2.05,0.00,0.000,6,0.000,0.038,3007,1457,2225
$GC,11865,1.02,193.3,707.3,4.7,563,11912,0.00,2.58,41.53,1.267,4,0.000,0.051,3007,2855,2043
$GC,12022,1.02,193.3,695.9,8.7,570,12026,0.00,2.53,0.00,0.000,6,0.000,0.044,3006,1452,2038
$GC,12345,1.02,193.3,669.2,7.2,586,12350,0.00,2.55,0.00,0.000,4,0.000,0.051,3007,2860,2036
$GC,12510,1.02,193.3,655.6,13.0,593,12514,0.00,2.53,0.00,0.000,6,0.000,0.045,3007,1454,2034
$GC,12827,1.02,193.3,634.1,6.4,608,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1454,2033
$GC,13135,1.05,215.4,617.2,5.4,623,13157,0.00,0.00,19.80,1.243,6,0.000,0.000,3007,1454,1953
$GC,13467,1.05,215.4,596.1,7.0,639,13471,0.00,2.53,0.00,0.000,4,0.000,0.052,3007,2855,1948
$GC,13555,1.05,215.4,589.1,7.0,643,13560,0.00,2.53,0.00,0.000,6,0.000,0.045,3007,1448,1948
$GC,13877,1.05,215.4,566.8,6.5,659,13882,0.00,2.55,0.00,0.000,4,0.000,0.049,3007,2854,1947
$GC,13989,1.05,215.4,559.1,7.0,664,13993,0.00,2.50,0.00,0.000,6,0.000,0.042,3007,1448,1947
$GC,14318,1.05,215.4,538.0,6.1,680,14322,0.10,2.55,0.00,0.000,4,0.057,0.046,3035,2862,1946
$GC,14373,1.05,215.4,533.3,8.2,682,14379,0.00,2.50,0.00,0.000,6,0.000,0.041,3035,1451,1946
$GC,14691,1.05,215.4,509.7,7.0,698,14695,0.00,2.50,0.00,0.000,4,0.000,0.044,3036,2857,1947
$GC,14731,1.05,215.4,506.9,6.8,700,14735,0.00,2.47,0.00,0.000,6,0.000,0.039,3036,1451,1946
$GC,15061,1.07,229.5,487.9,5.6,716,15082,0.00,2.58,13.12,1.095,4,0.000,0.043,3036,2854,1895
$GC,15121,1.10,259.8,484.4,5.2,718,15159,0.00,2.47,29.70,1.135,6,0.000,0.038,3035,1456,1771
$GC,15483,1.10,259.8,457.7,8.4,736,15487,0.00,2.47,0.00,0.000,4,0.000,0.042,3036,2857,1766
$GC,15550,1.10,259.8,451.9,8.3,739,15555,0.00,2.47,0.00,0.000,6,0.000,0.038,3036,1452,1766
$GC,15871,1.10,259.8,425.9,7.7,755,15873,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1452,1766
$GC,16181,1.10,259.8,400.9,8.1,770,16185,0.00,2.50,0.00,0.000,4,0.000,0.042,3035,2856,1766
$GC,16230,1.10,259.8,396.7,8.0,772,16235,0.00,2.50,0.00,0.000,6,0.000,0.038,3035,1452,1766
$GC,16551,1.10,259.8,370.2,8.4,788,16555,0.00,2.50,0.00,0.000,4,0.000,0.042,3036,2860,1766
$GC,16584,1.10,259.8,367.2,8.9,789,16590,0.00,2.47,0.00,0.000,6,0.000,0.038,3036,1450,1766
$GC,16899,1.10,259.8,340.7,8.3,805,16903,0.00,2.50,0.00,0.000,4,0.000,0.041,3036,2858,1766
$GC,16926,1.10,259.8,338.3,8.1,806,16930,0.00,2.47,0.00,0.000,6,0.000,0.037,3035,1446,1766
$GC,17245,1.10,259.8,311.4,8.4,821,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1446,1766
$GC,17551,1.10,259.8,285.0,8.4,836,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1445,1766
$GC,17860,1.10,259.8,258.4,8.6,851,17865,0.00,2.50,0.00,0.000,4,0.000,0.041,3036,2857,1767
$GC,17910,1.10,259.8,253.9,8.0,853,17915,0.00,2.45,0.00,0.000,6,0.000,0.036,3036,1455,1767
$GC,18229,1.10,259.8,226.8,8.6,868,18230,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1455,1767
$GC,18535,1.10,259.8,201.1,8.6,883,18536,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1454,1768
$GC,18844,1.10,259.8,174.2,8.3,898,18849,0.00,2.47,0.00,0.000,4,0.000,0.041,3035,2858,1768
$GC,18908,1.10,259.8,169.1,8.1,901,18913,0.00,2.45,0.00,0.000,6,0.000,0.036,3036,1453,1768
$GC,19237,1.10,259.8,144.4,6.6,917,19241,0.00,2.50,0.00,0.000,4,0.000,0.041,3036,2865,1768
$GC,19276,1.10,259.8,141.5,6.9,919,19281,0.00,2.45,0.00,0.000,6,0.000,0.036,3036,1454,1768
$GC,19604,1.10,259.8,120.0,6.6,935,19605,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1454,1768
$GC,19913,1.10,259.8,98.7,7.1,950,19914,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1454,1768
$GC,20224,1.10,259.8,75.0,8.1,965,20228,0.00,2.47,0.00,0.000,4,0.000,0.040,3036,2860,1768
$GC,20273,1.10,259.8,70.5,9.6,967,20277,0.00,2.45,0.00,0.000,6,0.000,0.035,3036,1448,1768
$GC,20590,1.10,259.8,45.1,8.1,982,20594,0.00,2.47,0.00,0.000,4,0.000,0.038,3036,2859,1769
$GC,20657,1.10,259.8,39.4,7.3,985,20662,0.00,2.42,0.00,0.000,6,0.000,0.034,3036,1458,1768
$GC,20979,1.10,259.8,15.2,7.1,1001,20983,0.00,2.45,0.00,0.000,4,0.000,0.037,3036,2861,1769
$GC,21045,1.10,259.8,10.5,7.0,1004,21049,0.00,2.45,0.00,0.000,6,0.000,0.034,3035,1444,1769
$STATE,21158,end climb,SURFACE_DEPTH_REACHED
$STATE,21159,begin surface coast
$FINISH,0.0,1.026812
$STATE,21200,end surface coast,CONTROL_FINISHED_OK
$STATE,21200,begin surface
$SM_CCo,21224,26.77,0.765,0,0,1609,300.00
$SM_GC,1.00,0.00,0.00,26.77,0.000,0.000,0.765,386,2266,1609,-11.10,0.42,300.00
$IRIDIUM_FIX,6117.23,-852.70,191198,202059
$TT8_MAMPS,0.027612
$HUMID,1930
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.1,72.2
$24V_AH,22.9,66.785
$10V_AH,10.0,40.136
$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,25.150,196.450,363.275,26.775,0.000,29.907,25.509,168.969,6.000,0.000,0.000,34.036,1914.820,15833.970,535.174,2461.084,883.525,0.000,1794.499,0.000,2602.821,0.000,42.498,0.000
$DEVICE_MAMPS,132.691,68.263,1343.017,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.206,733.257,623.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50608,1012
$CAP_FILE_SIZE,157883,0
$CFSIZE,260165632,234483712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,260809,084036,6145.347,-854.047,34,1.3,34,-9.3