version: 66.04
glider: 105
mission: 6
dive: 288
start: 8 16 109 16 45 33
data:
$ID,105
$MISSION,6
$DIVE,288
$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,-1633209.2
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,163737,6128.186,-853.351,33,1.4,33,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.1
$GPS2,164513,6128.270,-853.366,11,1.5,11,-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,91.8,25271,-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,-58.80,0.000,6,0.000,0.000,388,2243,3432
$GC,81,-0.96,-146.6,5.0,-10.0,3,102,11.65,2.53,0.00,0.000,4,0.132,0.038,2584,829,3434
$GC,158,-0.96,-146.6,20.4,-9.0,6,162,0.00,2.47,0.00,0.000,6,0.000,0.032,2585,2246,3434
$GC,474,-0.96,-146.6,46.9,-8.2,21,478,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3653,3435
$GC,763,-0.96,-146.6,70.0,-7.8,34,768,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2232,3435
$GC,1085,-0.96,-146.6,91.1,-6.4,50,1089,0.00,2.42,0.00,0.000,4,0.000,0.042,2585,847,3435
$GC,1112,-0.96,-146.6,93.1,-6.7,51,1116,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2255,3435
$GC,1429,-0.96,-146.6,113.8,-6.6,66,1433,0.00,2.53,0.00,0.000,4,0.000,0.058,2585,3648,3435
$GC,1493,-0.96,-146.6,118.3,-7.4,69,1497,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2253,3435
$GC,1820,-0.96,-146.6,140.2,-7.0,85,1825,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3645,3435
$GC,1870,-0.96,-146.6,144.2,-8.0,87,1874,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2252,3435
$GC,2190,-0.96,-146.6,168.9,-7.6,103,2195,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3647,3435
$GC,2251,-0.96,-146.6,173.7,-8.3,105,2258,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2240,3435
$GC,2569,-0.96,-146.6,197.8,-8.0,121,2573,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3648,3434
$GC,2634,-0.96,-146.6,203.4,-8.3,124,2639,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3435
$GC,2958,-0.96,-146.6,226.1,-6.6,140,2962,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3434
$GC,3013,-0.96,-146.6,230.5,-7.7,142,3019,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3434
$GC,3329,-0.96,-146.6,256.2,-8.5,158,3334,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3647,3434
$GC,3385,-0.96,-146.6,261.3,-9.6,160,3391,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3434
$GC,3702,-0.96,-146.6,286.6,-7.8,176,3706,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3433
$GC,3797,-0.96,-146.6,295.0,-9.1,180,3801,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,4112,-0.96,-146.6,322.7,-8.9,195,4116,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3653,3433
$GC,4161,-0.96,-146.6,327.8,-9.9,197,4166,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2235,3433
$GC,4477,-0.96,-146.6,355.1,-8.1,212,4482,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3656,3433
$GC,4533,-0.96,-146.6,359.8,-8.2,214,4540,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2242,3433
$GC,4849,-0.96,-146.6,381.7,-6.4,230,4853,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3647,3432
$GC,4933,-0.96,-146.6,388.3,-8.0,234,4937,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3433
$GC,5262,-0.96,-146.6,411.2,-6.6,250,5266,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3432
$GC,5328,-0.96,-146.6,416.4,-7.8,253,5332,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2244,3432
$STATE,5647,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5647,begin apogee
$GC,5656,-0.36,0.0,439.4,6.6,269,5783,0.62,0.00,124.43,1.048,6,0.067,0.000,2718,1461,2832
$STATE,5784,end apogee,CONTROL_FINISHED_OK
$STATE,5784,begin climb
$GC,5787,0.96,146.6,443.6,0.0,275,5920,1.33,2.20,124.32,1.011,4,0.055,0.058,3008,261,2233
$GC,5971,1.02,193.5,438.2,4.7,283,6019,0.00,2.08,40.70,0.979,6,0.000,0.032,3008,1458,2042
$GC,6331,1.02,193.5,418.6,6.1,301,6335,0.00,2.50,0.00,0.000,4,0.000,0.044,3008,2858,2036
$GC,6409,1.02,193.5,413.4,6.7,304,6415,0.00,2.47,0.00,0.000,6,0.000,0.037,3008,1449,2036
$GC,6724,1.02,193.5,393.2,6.3,320,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1448,2035
$GC,7034,1.04,204.3,375.2,5.7,335,7048,0.00,2.53,9.35,0.871,4,0.000,0.042,3008,2858,1999
$GC,7105,1.05,219.0,371.2,5.6,338,7126,0.00,2.47,14.65,0.924,6,0.000,0.037,3008,1451,1939
$GC,7453,1.05,219.0,352.9,6.2,355,7457,0.00,2.50,0.00,0.000,4,0.000,0.041,3008,2855,1936
$GC,7502,1.08,240.0,350.2,5.4,357,7528,0.12,2.45,19.60,0.946,6,0.041,0.037,3066,1453,1852
$GC,7845,1.08,240.0,321.2,9.0,374,7846,0.15,0.00,0.00,0.000,6,0.074,0.000,3034,1453,1849
$GC,8153,1.08,240.0,299.4,7.0,389,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1453,1849
$GC,8463,1.08,240.0,276.3,7.2,404,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1453,1849
$GC,8772,1.08,240.0,254.3,7.4,419,8776,0.00,2.50,0.00,0.000,4,0.000,0.041,3034,2859,1848
$GC,8828,1.08,240.0,250.4,7.4,421,8834,0.00,2.45,0.00,0.000,6,0.000,0.037,3034,1454,1847
$GC,9144,1.08,240.0,228.6,6.9,437,9148,0.00,2.47,0.00,0.000,4,0.000,0.041,3034,2857,1847
$GC,9183,1.08,240.0,225.9,6.8,439,9187,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1456,1847
$GC,9510,1.09,245.1,206.0,5.9,455,9517,0.00,0.00,5.22,0.683,6,0.000,0.000,3034,1456,1832
$GC,9821,1.09,249.9,188.9,5.9,470,9829,0.00,0.00,5.93,0.713,6,0.000,0.000,3034,1456,1813
$GC,10128,1.12,276.8,171.2,5.3,485,10156,0.00,0.00,25.20,0.869,6,0.000,0.000,3034,1456,1703
$GC,10460,1.12,276.8,151.8,6.5,501,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1456,1699
$GC,10768,1.12,276.8,131.5,6.7,516,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1456,1699
$GC,11076,1.12,276.8,106.9,8.7,531,11080,0.00,2.47,0.00,0.000,4,0.000,0.041,3034,2851,1698
$GC,11108,1.12,276.8,104.1,8.8,532,11115,0.00,2.45,0.00,0.000,6,0.000,0.038,3034,1454,1698
$GC,11426,1.12,276.8,77.7,8.2,548,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1454,1698
$GC,11733,1.12,276.8,56.4,6.2,563,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1454,1697
$GC,12043,1.12,276.8,35.3,6.8,578,12048,0.00,2.47,0.00,0.000,4,0.000,0.040,3034,2848,1697
$GC,12084,1.12,276.8,32.9,6.8,579,12091,0.00,2.42,0.00,0.000,6,0.000,0.036,3034,1450,1697
$GC,12400,1.12,276.8,11.2,7.2,595,12405,0.00,2.47,0.00,0.000,4,0.000,0.038,3034,2849,1697
$GC,12446,1.12,276.8,7.4,8.8,597,12450,0.00,2.42,0.00,0.000,6,0.000,0.035,3034,1453,1696
$STATE,12501,end climb,SURFACE_DEPTH_REACHED
$STATE,12501,begin surface coast
$FINISH,0.2,1.026849
$STATE,12544,end surface coast,CONTROL_FINISHED_OK
$STATE,12544,begin surface
$SM_CCo,12568,14.45,0.727,0,0,1608,300.00
$SM_GC,1.21,0.00,0.00,14.45,0.000,0.000,0.727,381,2245,1608,-11.13,-0.14,300.00
$IRIDIUM_FIX,6103.81,-857.42,101198,161606
$TT8_MAMPS,0.027612
$HUMID,1915
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.2,98.7
$24V_AH,23.3,59.928
$10V_AH,10.1,36.205
$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,25.225,115.750,369.400,14.450,0.000,52.924,61.840,167.968,2.500,0.000,0.000,11.945,1129.649,9346.505,465.086,1386.666,719.004,0.000,1216.310,0.000,1522.120,0.000,18.612,0.000
$DEVICE_MAMPS,131.924,58.292,1048.489,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.769,438.853,477.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31687,602
$CAP_FILE_SIZE,95847,0
$CFSIZE,260165632,237355008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160809,201636,6128.920,-849.917,40,1.2,40,-9.1