version: 66.04
glider: 105
mission: 6
dive: 337
start: 8 28 109 3 21 39
data:
$ID,105
$MISSION,6
$DIVE,337
$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,-1634109.6
$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,27
$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
$GPS1,031247,6130.132,-845.746,41,1.7,52,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-61.2
$GPS2,032120,6130.106,-845.718,14,1.1,14,-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,99.7,18309,-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,-60.95,0.000,3,0.000,0.000,393,2243,3431
$GC,81,-0.96,-146.6,4.5,-8.5,3,102,11.57,2.53,0.00,0.000,4,0.127,0.039,2587,834,3433
$GC,426,-0.96,-146.6,44.2,-8.4,18,431,0.00,2.47,0.00,0.000,6,0.000,0.034,2587,2253,3434
$GC,743,-0.96,-146.6,65.1,-5.9,33,748,0.00,2.55,0.00,0.000,4,0.000,0.056,2587,3644,3434
$GC,858,-0.96,-146.6,71.8,-5.6,38,862,0.00,2.40,0.00,0.000,6,0.000,0.029,2587,2231,3435
$GC,1185,-0.96,-146.6,90.5,-6.1,54,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2231,3435
$GC,1495,-0.96,-146.6,115.2,-9.2,69,1500,0.00,2.58,0.00,0.000,4,0.000,0.053,2587,3650,3435
$GC,1567,-0.96,-146.6,122.5,-9.8,72,1571,0.00,2.38,0.00,0.000,6,0.000,0.029,2587,2253,3435
$GC,1883,-0.96,-146.6,148.1,-7.1,87,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3435
$GC,2192,-0.96,-146.6,167.3,-6.4,102,2196,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3650,3435
$GC,2286,-0.96,-146.6,174.3,-7.2,106,2291,0.00,2.40,0.00,0.000,6,0.000,0.030,2587,2239,3435
$GC,2603,-0.96,-146.6,196.3,-7.0,121,2608,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3650,3435
$GC,2768,-0.96,-146.6,209.3,-7.9,128,2773,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2249,3434
$GC,3089,-0.96,-146.6,231.5,-6.7,144,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2248,3434
$GC,3398,-0.96,-146.6,252.7,-7.1,159,3403,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3650,3434
$GC,3568,-0.96,-146.6,266.1,-7.5,166,3574,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2244,3434
$GC,3887,-0.96,-146.6,289.4,-7.4,182,3891,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3649,3434
$GC,3998,-0.96,-146.6,298.9,-8.2,187,4003,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2248,3433
$GC,4319,-0.96,-146.6,323.9,-7.8,203,4324,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3650,3433
$GC,4428,-0.96,-146.6,333.1,-8.8,208,4433,0.00,2.42,0.00,0.000,6,0.000,0.032,2587,2249,3433
$GC,4760,-0.96,-146.6,361.6,-8.8,224,4764,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3657,3433
$GC,4809,-0.96,-146.6,366.2,-9.5,226,4814,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2254,3432
$GC,5130,-0.96,-146.6,393.6,-8.5,242,5134,0.00,2.53,0.00,0.000,4,0.000,0.053,2587,3650,3432
$GC,5215,-0.96,-146.6,400.9,-8.5,246,5219,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2248,3432
$GC,5542,-0.96,-146.6,426.6,-7.5,262,5547,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3650,3431
$GC,5628,-0.96,-146.6,433.4,-8.4,266,5632,0.00,2.40,0.00,0.000,6,0.000,0.032,2587,2249,3431
$GC,5955,-0.96,-146.6,455.4,-6.5,282,5959,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3653,3431
$GC,6027,-0.96,-146.6,460.7,-7.8,285,6031,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2249,3431
$GC,6343,-0.96,-146.6,482.3,-6.9,300,6347,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3652,3431
$GC,6399,-0.96,-146.6,486.7,-8.1,302,6405,0.00,2.40,0.00,0.000,6,0.000,0.032,2587,2250,3431
$GC,6715,-0.96,-146.6,508.1,-6.7,318,6719,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3657,3430
$GC,6781,-0.96,-146.6,513.3,-8.1,321,6786,0.00,2.45,0.00,0.000,6,0.000,0.032,2587,2249,3430
$GC,7108,-0.96,-146.6,540.3,-8.8,337,7112,0.00,2.55,0.00,0.000,4,0.000,0.053,2587,3649,3430
$GC,7203,-0.96,-146.6,549.0,-8.9,341,7208,0.00,2.40,0.00,0.000,6,0.000,0.033,2587,2251,3430
$GC,7525,-0.96,-146.6,571.5,-6.0,357,7529,0.00,2.53,0.00,0.000,4,0.000,0.053,2587,3650,3430
$GC,7565,-0.96,-146.6,573.9,-6.3,359,7569,0.00,2.40,0.00,0.000,6,0.000,0.032,2587,2251,3430
$GC,7892,-0.96,-146.6,593.3,-6.2,375,7896,0.00,2.53,0.00,0.000,4,0.000,0.053,2587,3650,3430
$GC,7936,-0.96,-146.6,595.9,-5.8,377,7941,0.00,2.40,0.00,0.000,6,0.000,0.033,2587,2252,3430
$STATE,8214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8214,begin apogee
$GC,8223,-0.36,0.0,612.6,6.3,391,8357,0.62,0.00,127.50,1.169,6,0.064,0.000,2721,1451,2832
$STATE,8358,end apogee,CONTROL_FINISHED_OK
$STATE,8358,begin climb
$GC,8360,0.96,146.6,615.1,0.0,398,8495,1.27,2.20,126.75,1.137,4,0.046,0.059,3008,270,2233
$GC,8576,0.99,165.7,607.3,5.5,408,8598,0.00,2.05,17.52,1.039,6,0.000,0.034,3008,1473,2156
$GC,8920,1.08,238.0,586.9,4.0,425,8993,0.12,2.55,64.47,1.112,4,0.041,0.046,3067,2843,1860
$GC,9016,1.08,238.1,581.2,6.0,429,9021,0.17,2.47,0.00,0.000,6,0.070,0.040,3031,1460,1858
$GC,9332,1.11,268.4,565.8,5.2,444,9368,0.00,2.25,27.60,1.078,4,0.000,0.058,3031,262,1736
$GC,9415,1.11,268.4,560.9,6.3,447,9421,0.00,2.03,0.00,0.000,6,0.000,0.034,3031,1454,1734
$GC,9731,1.11,268.4,540.7,6.8,463,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1731
$GC,10040,1.11,268.4,516.4,8.6,478,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1454,1730
$GC,10350,1.11,268.4,486.2,10.0,493,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1729
$GC,10661,1.11,268.4,455.7,9.2,508,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1729
$GC,10968,1.11,268.4,432.1,6.7,523,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1728
$GC,11278,1.11,268.4,408.9,8.3,538,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1728
$GC,11586,1.11,268.4,382.3,8.1,553,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1728
$GC,11896,1.11,268.4,357.2,8.1,568,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1454,1728
$GC,12208,1.11,268.4,331.5,8.5,583,12212,0.00,2.15,0.00,0.000,4,0.000,0.055,3031,261,1728
$GC,12241,1.11,268.4,328.0,9.9,584,12246,0.00,2.05,0.00,0.000,6,0.000,0.031,3031,1453,1728
$GC,12562,1.11,268.4,299.7,8.7,600,12566,0.00,2.47,0.00,0.000,4,0.000,0.044,3031,2848,1727
$GC,12601,1.11,268.4,296.2,8.8,602,12605,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1447,1728
$GC,12927,1.11,268.4,268.4,8.4,618,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1447,1727
$GC,13236,1.11,268.4,243.1,8.4,633,13237,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1447,1727
$GC,13545,1.11,268.4,215.2,8.7,648,13550,0.00,2.47,0.00,0.000,4,0.000,0.043,3031,2852,1727
$GC,13579,1.11,268.4,212.3,7.6,649,13585,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1449,1728
$GC,13898,1.11,268.4,188.5,7.3,665,13899,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1449,1728
$GC,14204,1.11,268.4,166.9,6.8,680,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1449,1728
$GC,14515,1.11,268.4,143.0,8.3,695,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1449,1727
$GC,14823,1.11,268.4,119.7,7.2,710,14827,0.00,2.45,0.00,0.000,4,0.000,0.043,3031,2845,1728
$GC,14850,1.11,268.4,117.7,7.0,711,14854,0.00,2.42,0.00,0.000,6,0.000,0.038,3031,1455,1727
$GC,15168,1.11,268.4,97.1,6.5,726,15171,0.00,2.12,0.00,0.000,4,0.000,0.056,3031,266,1728
$GC,15201,1.11,268.4,94.4,8.0,727,15204,0.00,2.00,0.00,0.000,6,0.000,0.033,3031,1455,1728
$GC,15522,1.11,268.4,72.8,6.8,743,15523,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1455,1727
$GC,15834,1.12,271.9,49.3,5.9,758,15837,0.00,2.12,0.00,0.000,4,0.000,0.054,3031,265,1727
$GC,15867,1.15,297.6,47.4,5.3,759,15900,0.00,2.03,25.25,0.796,6,0.000,0.031,3031,1458,1616
$GC,16210,1.15,297.6,25.3,7.4,776,16211,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1458,1614
$GC,16518,1.15,297.6,4.3,6.1,791,16522,0.00,2.15,0.00,0.000,4,0.000,0.053,3031,260,1613
$STATE,16533,end climb,SURFACE_DEPTH_REACHED
$STATE,16533,begin surface coast
$FINISH,2.1,1.026789
$STATE,16544,end surface coast,CONTROL_FINISHED_OK
$STATE,16544,begin surface
$SM_CCo,16630,0.00,0.000,0,0,1608,300.25
$SM_GC,0.91,11.60,0.00,0.00,0.032,0.000,0.000,394,2239,1608,-10.98,-0.31,300.25
$IRIDIUM_FIX,6103.81,-839.64,221198,030338
$TT8_MAMPS,0.026845
$HUMID,1924
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.1,45.3
$24V_AH,23.1,68.023
$10V_AH,10.1,40.936
$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,25.375,131.850,389.100,0.000,0.000,54.487,133.721,140.244,5.000,0.000,0.000,16.130,1471.613,12525.053,465.052,1824.182,854.846,0.000,1423.603,0.000,1959.882,0.000,35.932,0.000
$DEVICE_MAMPS,127.322,59.059,1168.908,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.201,616.065,544.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41130,792
$CAP_FILE_SIZE,117752,0
$CFSIZE,260165632,233959424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,280809,080006,6128.792,-839.595,40,0.9,40,-9.0