version: 66.04
glider: 105
mission: 6
dive: 330
start: 8 26 109 8 46 46
data:
$ID,105
$MISSION,6
$DIVE,330
$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,-1634006.2
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,084036,6145.347,-854.047,34,1.3,34,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-62.6
$GPS2,084626,6145.367,-853.972,14,1.5,14,-9.3
$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,147.3,38281,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,6,0.000,0.000,386,2265,3431
$GC,81,-0.96,-146.6,4.8,-9.7,3,102,11.77,2.55,0.00,0.000,4,0.135,0.051,2584,3648,3434
$GC,255,-0.96,-146.6,29.3,-8.8,10,262,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,2233,3434
$GC,571,-0.96,-146.6,54.0,-7.0,26,575,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3642,3435
$GC,872,-0.96,-146.6,77.8,-8.3,39,879,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2251,3435
$GC,1188,-0.96,-146.6,102.6,-8.1,55,1192,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3645,3436
$GC,1233,-0.96,-146.6,106.6,-9.0,57,1237,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,2251,3436
$GC,1554,-0.96,-146.6,134.2,-8.5,73,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2250,3436
$GC,1863,-0.96,-146.6,160.2,-8.4,88,1867,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3647,3436
$GC,1918,-0.96,-146.6,165.2,-9.4,90,1925,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2251,3436
$GC,2237,-0.96,-146.6,188.2,-6.8,106,2241,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3647,3436
$GC,2331,-0.96,-146.6,194.9,-6.8,110,2335,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2251,3436
$GC,2647,-0.96,-146.6,212.8,-5.3,125,2651,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3648,3436
$GC,2696,-0.96,-146.6,216.4,-6.8,127,2701,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2252,3435
$GC,3018,-0.96,-146.6,235.4,-5.8,143,3022,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3650,3435
$GC,3062,-0.96,-146.6,238.1,-5.9,145,3066,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3435
$GC,3383,-0.96,-146.6,256.3,-5.5,161,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3435
$GC,3693,-0.96,-146.6,273.9,-5.8,176,3697,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3642,3435
$GC,3759,-0.96,-146.6,278.3,-6.7,179,3763,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2240,3434
$GC,4081,-0.96,-146.6,296.1,-5.5,195,4085,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3647,3434
$GC,4154,-0.96,-146.6,300.4,-5.6,198,4158,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2245,3434
$GC,4472,-0.96,-146.6,316.6,-4.9,213,4477,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3433
$GC,4540,-0.96,-146.6,320.4,-5.5,216,4544,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,4866,-0.96,-146.6,336.5,-4.8,232,4871,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3649,3433
$GC,4911,-0.96,-146.6,339.0,-5.5,234,4915,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,5232,-0.96,-146.6,354.6,-5.0,250,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3432
$GC,5541,-0.96,-146.6,372.3,-6.1,265,5545,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3644,3433
$GC,5647,-0.96,-146.6,379.7,-7.0,270,5651,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2243,3433
$GC,5975,-0.96,-146.6,403.5,-7.5,286,5980,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3645,3433
$GC,6042,-0.96,-146.6,409.1,-8.0,289,6046,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2245,3432
$GC,6363,-0.96,-146.6,433.2,-7.5,305,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3432
$GC,6672,-0.96,-146.6,453.6,-6.2,320,6677,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3433
$GC,6757,-0.96,-146.6,459.3,-6.9,324,6761,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2242,3432
$GC,7084,-0.96,-146.6,477.3,-4.8,340,7088,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3642,3432
$GC,7184,-0.96,-146.6,482.3,-4.8,344,7191,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,7500,-0.96,-146.6,496.2,-4.9,360,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3431
$GC,7809,-0.96,-146.6,515.9,-7.0,375,7813,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3642,3432
$GC,8020,-0.96,-146.6,533.5,-7.9,384,8027,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2247,3431
$GC,8337,-0.96,-146.6,556.2,-7.8,400,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3431
$GC,8648,-0.96,-146.6,573.4,-5.4,415,8652,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3430
$GC,8828,-0.96,-146.6,583.5,-5.6,423,8832,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3430
$GC,9154,-0.96,-146.6,602.3,-5.6,439,9158,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3642,3430
$GC,9194,-0.96,-146.6,604.7,-6.5,441,9199,0.00,2.40,0.00,0.000,6,0.000,0.033,2584,2251,3430
$GC,9522,-0.96,-146.6,625.0,-6.8,457,9526,0.00,2.53,0.00,0.000,4,0.000,0.057,2584,3641,3430
$GC,9627,-0.96,-146.6,631.7,-5.2,461,9634,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,2252,3430
$GC,9944,-0.96,-146.6,650.2,-4.1,477,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3429
$GC,10252,-0.96,-146.6,668.9,-7.9,492,10257,0.00,2.55,0.00,0.000,4,0.000,0.060,2584,3645,3428
$GC,10347,-0.96,-146.6,674.0,-4.3,496,10352,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2252,3427
$GC,10665,-0.96,-146.6,686.1,-4.4,511,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3426
$GC,10973,-0.96,-146.6,703.1,-7.1,526,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3424
$GC,11282,-0.96,-146.6,719.2,-3.7,541,11287,0.00,2.60,0.00,0.000,4,0.000,0.066,2584,3633,3423
$GC,11338,-0.96,-146.6,722.5,-6.2,543,11343,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2240,3423
$GC,11654,-0.96,-146.6,734.4,0.3,558,11659,0.00,2.53,0.00,0.000,4,0.000,0.055,2584,852,3421
$GC,11732,-0.96,-146.6,734.1,0.8,561,11737,0.00,2.45,0.00,0.000,6,0.000,0.041,2584,2244,3422
$GC,12051,-0.96,-146.6,749.1,-7.1,576,12055,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,846,3420
$GC,12113,-0.96,-146.6,753.4,-4.2,579,12117,0.00,2.47,0.00,0.000,6,0.000,0.040,2585,2258,3420
$STATE,12292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12292,begin apogee
$GC,12301,-0.36,0.0,762.6,5.1,588,12436,0.65,0.00,129.18,1.359,6,0.069,0.000,2722,1467,2832
$STATE,12437,end apogee,CONTROL_FINISHED_OK
$STATE,12437,begin climb
$GC,12440,0.96,146.6,765.0,0.0,595,12580,1.35,2.35,131.25,1.305,4,0.062,0.071,3009,265,2233
$GC,12897,0.99,168.3,740.8,5.4,615,12924,0.00,2.08,19.42,1.232,6,0.000,0.038,3009,1459,2144
$GC,13237,1.03,196.8,726.8,5.2,632,13265,0.00,0.00,26.85,1.269,6,0.000,0.000,3008,1459,2029
$GC,13565,1.05,217.9,708.8,5.4,648,13591,0.00,2.62,20.12,1.250,4,0.000,0.051,3009,2852,1942
$GC,13625,1.05,217.9,704.5,7.3,650,13631,0.00,2.55,0.00,0.000,6,0.000,0.046,3008,1446,1941
$GC,13944,1.05,217.9,679.5,7.8,666,13948,0.00,2.55,0.00,0.000,4,0.000,0.051,3009,2856,1938
$GC,13998,1.05,217.9,674.8,8.5,668,14004,0.00,2.53,0.00,0.000,6,0.000,0.044,3008,1451,1937
$GC,14316,1.05,217.9,650.3,6.0,684,14321,0.00,2.53,0.00,0.000,4,0.000,0.051,3008,2856,1936
$GC,14357,1.17,310.9,648.4,3.5,686,14451,0.20,2.53,86.68,1.290,6,0.031,0.044,3081,1449,1564
$GC,14767,1.17,310.9,623.1,7.6,706,14772,0.15,2.58,0.00,0.000,4,0.072,0.051,3050,2858,1553
$GC,14807,1.17,310.9,620.1,6.7,708,14811,0.00,2.53,0.00,0.000,6,0.000,0.045,3050,1454,1552
$GC,15133,1.25,375.8,596.8,4.2,724,15199,0.00,2.62,59.40,1.251,4,0.000,0.048,3050,2861,1299
$GC,15233,1.25,382.4,593.3,5.8,728,15246,0.10,2.55,6.93,0.983,6,0.047,0.043,3095,1448,1273
$GC,15556,1.25,382.4,546.0,23.9,744,15558,0.12,0.00,0.00,0.000,6,0.077,0.000,3069,1448,1266
$GC,15863,1.25,382.4,510.9,14.2,759,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1448,1263
$GC,16173,1.25,382.4,477.9,7.9,774,16177,0.00,2.53,0.00,0.000,4,0.000,0.045,3069,2862,1262
$GC,16194,1.25,382.4,476.1,8.0,775,16198,0.00,2.50,0.00,0.000,6,0.000,0.039,3069,1449,1262
$GC,16517,1.25,382.4,447.3,9.8,791,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1262
$GC,16826,1.25,382.4,413.5,11.5,806,16827,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1262
$GC,17134,1.25,382.4,375.3,12.1,821,17135,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1262
$GC,17443,1.25,382.4,341.6,10.1,836,17444,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1262
$GC,17752,1.25,382.4,310.6,10.5,851,17754,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1262
$GC,18061,1.25,382.4,276.4,11.1,866,18062,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1263
$GC,18373,1.25,382.4,245.6,9.7,881,18374,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1449,1263
$GC,18682,1.25,382.4,213.3,10.8,896,18686,0.00,2.50,0.00,0.000,4,0.000,0.044,3069,2860,1263
$GC,18708,1.25,382.4,209.9,11.5,897,18713,0.00,2.50,0.00,0.000,6,0.000,0.038,3069,1457,1263
$GC,19029,1.25,382.4,176.1,9.9,913,19033,0.00,2.15,0.00,0.000,4,0.000,0.058,3069,262,1263
$GC,19054,1.25,382.4,173.9,9.5,914,19058,0.00,2.03,0.00,0.000,6,0.000,0.031,3069,1477,1263
$GC,19388,1.25,382.4,139.9,10.6,930,19389,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1477,1263
$GC,19696,1.25,382.4,112.0,7.8,945,19701,0.00,2.40,0.00,0.000,4,0.000,0.043,3069,2843,1263
$GC,19724,1.25,382.4,109.9,6.8,946,19728,0.00,2.42,0.00,0.000,6,0.000,0.037,3069,1451,1263
$GC,20042,1.25,382.4,85.5,9.7,961,20043,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1451,1264
$GC,20349,1.25,382.4,49.8,11.1,976,20353,0.00,2.15,0.00,0.000,4,0.000,0.055,3069,257,1264
$GC,20410,1.25,382.4,42.2,11.8,978,20417,0.00,2.05,0.00,0.000,6,0.000,0.031,3069,1451,1264
$GC,20727,1.25,382.4,10.7,9.7,994,20732,0.00,2.17,0.00,0.000,4,0.000,0.053,3069,262,1264
$GC,20787,1.25,382.4,3.6,11.8,996,20794,0.00,2.03,0.00,0.000,6,0.000,0.031,3069,1452,1264
$STATE,20812,end climb,SURFACE_DEPTH_REACHED
$STATE,20812,begin surface coast
$FINISH,0.1,1.026820
$STATE,20834,end surface coast,CONTROL_FINISHED_OK
$STATE,20834,begin surface
$SM_CCo,20919,0.00,0.000,0,0,1261,385.12
$SM_GC,0.85,11.52,0.00,0.00,0.021,0.000,0.000,390,2241,1261,-10.98,-0.23,385.12
$IRIDIUM_FIX,6121.73,-854.10,201198,020227
$TT8_MAMPS,0.026845
$HUMID,1933
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.7,46.7
$24V_AH,22.9,66.973
$10V_AH,10.0,40.234
$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,25.875,173.850,479.825,0.000,0.000,31.340,28.211,156.686,6.500,0.000,0.000,16.160,1866.779,15661.983,568.169,2302.639,861.451,0.000,1786.112,0.000,2466.302,0.000,45.570,0.000
$DEVICE_MAMPS,134.992,70.564,1359.124,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.979,725.627,567.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50563,999
$CAP_FILE_SIZE,152278,0
$CFSIZE,260165632,234418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,260809,143637,6144.561,-852.594,35,1.2,35,-9.2