version: 66.04
glider: 105
mission: 6
dive: 340
start: 8 28 109 19 50 10
data:
$ID,105
$MISSION,6
$DIVE,340
$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,-1634168.2
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,193927,6132.315,-831.011,26,2.3,45,-9.0
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-56.3
$GPS2,194952,6132.253,-831.054,11,2.9,30,-9.0
$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,137.0,6785,-12.2,-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,-1.03,-123.5,0.0,0.0,0,90,0.00,0.00,-71.75,0.000,6,0.000,0.000,390,2243,3337
$GC,93,-1.06,-146.6,2.4,-4.0,3,116,11.52,2.53,-1.62,0.000,4,0.129,0.051,2563,837,3433
$GC,419,-1.06,-146.6,38.7,-8.1,17,423,0.00,2.50,0.00,0.000,6,0.000,0.033,2563,2252,3435
$GC,739,-1.06,-146.6,67.6,-9.2,33,744,0.00,2.55,0.00,0.000,4,0.000,0.056,2563,3654,3435
$GC,862,-1.06,-146.6,79.1,-8.5,38,868,0.00,2.42,0.00,0.000,6,0.000,0.030,2563,2226,3435
$GC,1178,-1.06,-146.6,101.1,-7.4,54,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2226,3435
$GC,1488,-1.06,-146.6,127.2,-8.4,69,1493,0.00,2.60,0.00,0.000,4,0.000,0.053,2563,3654,3435
$GC,1595,-1.06,-146.6,137.1,-9.1,74,1599,0.00,2.40,0.00,0.000,6,0.000,0.030,2563,2249,3435
$GC,1922,-1.06,-146.6,166.4,-8.4,90,1926,0.00,2.55,0.00,0.000,4,0.000,0.052,2562,3654,3435
$GC,2023,-1.06,-146.6,175.4,-8.6,94,2029,0.00,2.40,0.00,0.000,6,0.000,0.030,2563,2250,3435
$GC,2341,-1.06,-146.6,199.5,-7.5,110,2345,0.00,2.55,0.00,0.000,4,0.000,0.052,2563,3657,3435
$GC,2435,-1.06,-146.6,206.6,-7.7,114,2440,0.00,2.40,0.00,0.000,6,0.000,0.031,2563,2251,3435
$GC,2752,-1.06,-146.6,228.4,-6.6,129,2756,0.00,2.53,0.00,0.000,4,0.000,0.051,2562,3651,3434
$GC,2837,-1.06,-146.6,235.1,-8.6,133,2841,0.00,2.40,0.00,0.000,6,0.000,0.031,2563,2246,3434
$GC,3165,-1.06,-146.6,260.8,-8.0,149,3169,0.00,2.55,0.00,0.000,4,0.000,0.052,2563,3653,3434
$GC,3246,-1.06,-146.6,267.6,-8.3,152,3252,0.00,2.40,0.00,0.000,6,0.000,0.031,2563,2251,3434
$GC,3562,-1.06,-146.6,292.8,-8.0,168,3566,0.00,2.55,0.00,0.000,4,0.000,0.051,2563,3659,3433
$GC,3639,-1.06,-146.6,299.8,-9.3,171,3646,0.00,2.42,0.00,0.000,6,0.000,0.031,2563,2246,3433
$GC,3957,-1.06,-146.6,325.0,-7.7,187,3962,0.00,2.55,0.00,0.000,4,0.000,0.054,2563,3654,3433
$GC,4058,-1.06,-146.6,333.4,-8.0,191,4062,0.00,2.40,0.00,0.000,6,0.000,0.031,2563,2250,3433
$GC,4375,-1.06,-146.6,356.5,-7.0,206,4379,0.00,2.53,0.00,0.000,4,0.000,0.053,2563,3651,3433
$GC,4482,-1.06,-146.6,364.6,-7.3,211,4486,0.00,2.40,0.00,0.000,6,0.000,0.031,2563,2249,3432
$GC,4809,-1.06,-146.6,387.2,-6.8,227,4813,0.00,2.55,0.00,0.000,4,0.000,0.053,2563,3657,3432
$GC,4894,-1.06,-146.6,393.7,-7.8,231,4898,0.00,2.42,0.00,0.000,6,0.000,0.031,2563,2240,3432
$GC,5220,-1.06,-146.6,418.5,-7.9,247,5224,0.00,2.58,0.00,0.000,4,0.000,0.055,2563,3655,3432
$GC,5320,-1.06,-146.6,427.5,-9.7,251,5327,0.00,2.40,0.00,0.000,6,0.000,0.032,2563,2250,3432
$GC,5636,-1.06,-146.6,453.9,-8.2,267,5640,0.00,2.53,0.00,0.000,4,0.000,0.053,2562,3651,3432
$GC,5743,-1.06,-146.6,463.6,-8.7,272,5748,0.00,2.42,0.00,0.000,6,0.000,0.032,2563,2253,3431
$GC,6074,-1.06,-146.6,491.8,-8.8,288,6079,0.00,2.53,0.00,0.000,4,0.000,0.053,2563,3651,3431
$GC,6264,-1.06,-146.6,508.6,-8.9,296,6271,0.00,2.42,0.00,0.000,6,0.000,0.032,2563,2230,3431
$GC,6580,-1.06,-146.6,534.6,-8.2,312,6584,0.00,2.58,0.00,0.000,4,0.000,0.052,2563,3656,3431
$GC,6756,-1.06,-146.6,549.5,-8.9,320,6761,0.00,2.42,0.00,0.000,6,0.000,0.032,2563,2248,3431
$GC,7090,-1.06,-146.6,575.5,-7.6,336,7094,0.00,2.55,0.00,0.000,4,0.000,0.052,2563,3656,3431
$GC,7152,-1.06,-146.6,580.4,-8.3,339,7157,0.00,2.45,0.00,0.000,6,0.000,0.032,2563,2251,3431
$GC,7484,-1.06,-146.6,606.9,-7.5,355,7488,0.00,2.55,0.00,0.000,4,0.000,0.052,2563,3659,3430
$GC,7618,-1.06,-146.6,618.5,-9.4,361,7622,0.00,2.42,0.00,0.000,6,0.000,0.032,2563,2249,3430
$GC,7938,-1.06,-146.6,643.4,-7.5,377,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2249,3430
$GC,8247,-1.06,-146.6,663.8,-6.4,392,8252,0.00,2.55,0.00,0.000,4,0.000,0.054,2563,3656,3430
$GC,8371,-1.06,-146.6,672.1,-6.8,397,8377,0.00,2.42,0.00,0.000,6,0.000,0.034,2562,2251,3429
$GC,8687,-1.06,-146.6,689.1,-5.4,413,8692,0.00,2.50,0.00,0.000,4,0.000,0.048,2563,852,3430
$GC,8755,-1.06,-146.6,692.5,-6.1,416,8759,0.00,2.45,0.00,0.000,6,0.000,0.037,2563,2253,3430
$GC,9082,-1.06,-146.6,717.5,-8.8,432,9086,0.00,2.55,0.00,0.000,4,0.000,0.060,2563,3651,3428
$GC,9121,-1.06,-146.6,722.1,-11.3,434,9125,0.00,2.42,0.00,0.000,6,0.000,0.035,2563,2252,3429
$GC,9447,-1.06,-146.6,756.7,-13.0,450,9452,0.00,2.60,0.00,0.000,4,0.000,0.061,2563,3650,3427
$GC,9605,-1.06,-146.6,779.0,-15.6,457,9609,0.00,2.45,0.00,0.000,6,0.000,0.037,2563,2240,3426
$GC,9933,-1.06,-146.6,814.8,-7.9,473,9938,0.00,2.60,0.00,0.000,4,0.000,0.064,2563,3649,3425
$GC,10119,-1.06,-146.6,832.2,-4.0,481,10123,0.00,2.42,0.00,0.000,6,0.000,0.036,2563,2251,3424
$STATE,10205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10205,begin apogee
$GC,10213,-0.36,0.0,841.2,10.6,485,10348,0.73,0.00,129.62,1.391,6,0.061,0.000,2720,1460,2831
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10352,1.06,146.6,844.8,0.0,492,10491,1.42,2.60,130.95,1.342,4,0.062,0.051,3025,2858,2233
$GC,10582,1.06,146.6,836.1,8.3,502,10589,0.00,2.55,0.00,0.000,6,0.000,0.045,3025,1448,2226
$GC,10901,1.08,170.4,825.4,5.2,518,10928,0.00,2.62,21.25,1.287,4,0.000,0.050,3025,2858,2136
$GC,11102,1.08,170.4,811.1,8.8,527,11106,0.00,2.53,0.00,0.000,6,0.000,0.045,3025,1453,2132
$GC,11426,1.23,285.3,792.5,2.3,543,11538,0.17,2.65,104.85,1.368,4,0.036,0.054,3090,2846,1668
$GC,11589,1.23,285.3,774.5,17.0,550,11596,0.12,2.55,0.00,0.000,6,0.086,0.051,3067,1457,1663
$GC,11905,1.23,285.3,737.4,12.9,566,11909,0.00,2.25,0.00,0.000,4,0.000,0.070,3067,255,1657
$GC,11928,1.23,285.3,734.3,13.2,567,11932,0.00,2.10,0.00,0.000,6,0.000,0.038,3067,1466,1657
$GC,12263,1.23,285.3,695.9,11.3,583,12268,0.00,2.50,0.00,0.000,4,0.000,0.052,3066,2849,1654
$GC,12319,1.23,285.3,689.5,11.1,585,12325,0.00,2.53,0.00,0.000,6,0.000,0.048,3067,1450,1653
$GC,12637,1.23,285.3,663.4,8.3,601,12641,0.00,2.20,0.00,0.000,4,0.000,0.068,3066,262,1652
$GC,12687,1.23,285.3,658.6,8.7,603,12691,0.00,2.05,0.00,0.000,6,0.000,0.037,3067,1454,1652
$GC,13014,1.23,285.3,631.5,8.5,619,13019,0.00,2.55,0.00,0.000,4,0.000,0.049,3067,2850,1650
$GC,13061,1.23,285.3,627.5,8.3,621,13066,0.00,2.47,0.00,0.000,6,0.000,0.043,3067,1452,1650
$GC,13388,1.23,285.3,597.2,9.4,637,13393,0.00,2.20,0.00,0.000,4,0.000,0.062,3067,265,1649
$GC,13433,1.23,285.3,592.2,10.5,639,13438,0.00,2.05,0.00,0.000,6,0.000,0.033,3067,1457,1650
$GC,13765,1.23,285.3,557.4,10.4,655,13769,0.00,2.17,0.00,0.000,4,0.000,0.058,3067,264,1650
$GC,13790,1.23,285.3,554.9,11.6,656,13793,0.00,2.03,0.00,0.000,6,0.000,0.033,3067,1456,1649
$GC,14123,1.23,285.3,522.1,9.2,672,14127,0.00,2.47,0.00,0.000,4,0.000,0.044,3067,2846,1649
$GC,14150,1.23,285.3,519.5,8.4,673,14155,0.00,2.47,0.00,0.000,6,0.000,0.038,3067,1459,1649
$GC,14470,1.23,285.3,489.9,9.7,689,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1459,1649
$GC,14780,1.23,285.3,460.9,9.0,704,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1459,1650
$GC,15089,1.23,285.3,431.7,9.8,719,15090,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1459,1651
$GC,15401,1.23,285.3,401.2,9.8,734,15404,0.00,2.15,0.00,0.000,4,0.000,0.057,3067,263,1652
$GC,15447,1.23,285.3,396.2,10.9,736,15451,0.00,2.00,0.00,0.000,6,0.000,0.031,3066,1457,1652
$GC,15780,1.23,285.3,362.5,9.9,752,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1651
$GC,16089,1.23,285.3,333.2,9.2,767,16090,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1652
$GC,16398,1.23,285.3,304.9,9.4,782,16399,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1652
$GC,16707,1.23,285.3,275.3,9.4,797,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1652
$GC,17019,1.23,285.3,246.5,9.4,812,17020,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1653
$GC,17326,1.23,285.3,216.1,10.1,827,17327,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1653
$GC,17635,1.23,285.3,185.0,10.0,842,17636,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1653
$GC,17944,1.23,285.3,154.3,9.6,857,17945,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1457,1653
$GC,18254,1.23,285.3,125.7,9.0,872,18259,0.00,2.47,0.00,0.000,4,0.000,0.044,3067,2851,1653
$GC,18294,1.23,285.3,121.9,8.9,874,18300,0.00,2.47,0.00,0.000,6,0.000,0.036,3067,1451,1653
$GC,18627,1.23,285.3,88.2,10.3,890,18628,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1451,1654
$GC,18938,1.23,285.3,62.5,9.4,905,18939,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1451,1654
$GC,19245,1.23,285.3,30.0,9.7,920,19249,0.00,2.12,0.00,0.000,4,0.000,0.053,3067,264,1654
$GC,19297,1.23,285.3,25.1,9.5,922,19300,0.00,2.00,0.00,0.000,6,0.000,0.030,3067,1459,1654
$STATE,19559,end climb,SURFACE_DEPTH_REACHED
$STATE,19559,begin surface coast
$FINISH,0.1,1.026815
$STATE,19582,end surface coast,CONTROL_FINISHED_OK
$STATE,19583,begin surface
$SM_CCo,19606,8.70,0.699,0,0,1609,300.00
$SM_GC,1.87,0.00,0.00,8.70,0.000,0.000,0.699,385,2245,1609,-11.11,-0.11,300.00
$IRIDIUM_FIX,6108.28,-832.07,221198,191921
$TT8_MAMPS,0.027612
$HUMID,1951
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.5,98.5
$24V_AH,22.9,68.550
$10V_AH,10.1,41.236
$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,25.500,173.025,386.675,8.700,0.000,54.544,57.575,297.516,6.500,0.000,0.000,31.194,1776.289,14606.884,503.539,2310.202,1038.176,0.000,1703.263,0.000,2438.806,0.000,44.502,0.000
$DEVICE_MAMPS,128.856,69.797,1391.338,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.014,686.661,551.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47451,936
$CAP_FILE_SIZE,149595,0
$CFSIZE,260165632,233713664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,290809,011825,6132.947,-831.615,39,1.5,39,-9.0