version: 66.04
glider: 105
mission: 6
dive: 289
start: 8 16 109 20 22 58
data:
$ID,105
$MISSION,6
$DIVE,289
$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,-1633222.1
$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,29
$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
$GPS1,201636,6128.920,-849.917,40,1.2,40,-9.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.8
$GPS2,202238,6128.907,-849.857,12,1.2,12,-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,93.8,22059,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.47,0.000,6,0.000,0.000,380,2244,3431
$GC,81,-0.96,-146.6,5.2,-10.5,3,102,11.70,2.53,0.00,0.000,4,0.132,0.038,2585,831,3432
$GC,170,-0.96,-146.6,21.9,-8.2,7,174,0.00,2.47,0.00,0.000,6,0.000,0.033,2585,2248,3433
$GC,496,-0.96,-146.6,46.9,-7.5,23,501,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3654,3433
$GC,619,-0.96,-146.6,56.8,-8.5,28,626,0.00,2.42,0.00,0.000,6,0.000,0.030,2585,2231,3434
$GC,935,-0.96,-146.6,78.2,-6.6,44,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2231,3434
$GC,1244,-0.96,-146.6,99.1,-7.3,59,1248,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3652,3434
$GC,1322,-0.96,-146.6,105.3,-8.0,62,1328,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2252,3434
$GC,1638,-0.96,-146.6,128.0,-7.4,78,1642,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3647,3434
$GC,1698,-0.96,-146.6,133.0,-8.3,80,1705,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2240,3435
$GC,2015,-0.96,-146.6,158.3,-8.3,96,2019,0.00,2.60,0.00,0.000,4,0.000,0.054,2585,3651,3435
$GC,2082,-0.96,-146.6,164.2,-8.8,99,2086,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3434
$GC,2409,-0.96,-146.6,190.4,-7.9,115,2413,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3652,3434
$GC,2503,-0.96,-146.6,198.5,-8.9,119,2507,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3434
$GC,2821,-0.96,-146.6,222.2,-7.1,134,2825,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3660,3433
$GC,2916,-0.96,-146.6,229.5,-7.3,138,2920,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2245,3433
$GC,3231,-0.96,-146.6,249.7,-6.5,153,3237,0.00,2.58,0.00,0.000,4,0.000,0.054,2585,3650,3433
$GC,3322,-0.96,-146.6,256.1,-7.8,157,3326,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,3651,-0.96,-146.6,277.5,-6.7,173,3655,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3654,3432
$GC,3736,-0.96,-146.6,283.7,-7.7,177,3740,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3433
$GC,4062,-0.96,-146.6,305.7,-6.4,193,4067,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3645,3433
$GC,4140,-0.96,-146.6,310.9,-6.4,196,4144,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3432
$GC,4457,-0.96,-146.6,332.1,-7.0,211,4461,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3660,3432
$GC,4547,-0.96,-146.6,339.1,-8.0,215,4552,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2247,3432
$GC,4871,-0.96,-146.6,363.4,-8.2,231,4875,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3660,3432
$GC,4948,-0.96,-146.6,371.1,-9.4,234,4955,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3432
$GC,5264,-0.96,-146.6,395.8,-7.0,250,5268,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3653,3431
$GC,5326,-0.96,-146.6,400.6,-7.9,253,5330,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2246,3431
$GC,5655,-0.96,-146.6,421.4,-6.2,269,5659,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3655,3431
$GC,5718,-0.96,-146.6,425.6,-6.3,272,5723,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3431
$GC,6045,-0.96,-146.6,446.2,-6.5,288,6050,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3648,3431
$GC,6141,-0.96,-146.6,453.1,-7.5,292,6145,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3430
$GC,6462,-0.96,-146.6,474.5,-6.8,308,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2241,3431
$STATE,6624,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6624,begin apogee
$GC,6632,-0.36,0.0,485.4,6.7,316,6760,0.62,0.00,124.80,1.077,6,0.070,0.000,2718,1466,2832
$STATE,6761,end apogee,CONTROL_FINISHED_OK
$STATE,6761,begin climb
$GC,6764,0.96,146.6,489.7,0.0,322,6898,1.33,2.25,124.95,1.042,4,0.055,0.058,3007,274,2233
$GC,6928,1.01,186.5,485.8,4.9,329,6968,0.00,2.05,35.33,1.001,6,0.000,0.031,3007,1478,2071
$GC,7287,1.05,212.9,467.3,5.3,347,7316,0.00,2.50,23.10,0.989,4,0.000,0.043,3007,2839,1963
$GC,7362,1.08,240.1,462.9,5.3,350,7395,0.12,2.45,25.38,0.987,6,0.043,0.036,3057,1447,1852
$GC,7706,1.08,240.1,435.8,6.9,367,7708,0.12,0.00,0.00,0.000,6,0.074,0.000,3030,1447,1846
$GC,8012,1.08,240.1,410.9,7.7,382,8017,0.00,2.50,0.00,0.000,4,0.000,0.041,3030,2853,1846
$GC,8062,1.08,240.1,406.9,7.7,384,8066,0.00,2.45,0.00,0.000,6,0.000,0.036,3030,1454,1845
$GC,8378,1.08,240.1,382.9,8.5,399,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1454,1845
$GC,8690,1.08,240.1,356.9,7.9,414,8694,0.00,2.45,0.00,0.000,4,0.000,0.042,3030,2846,1845
$GC,8730,1.08,240.1,353.7,7.0,416,8734,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1447,1844
$GC,9057,1.08,240.1,332.3,6.5,432,9058,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1447,1845
$GC,9366,1.08,240.1,309.2,8.2,447,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1447,1844
$GC,9674,1.08,240.1,281.3,9.0,462,9679,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2846,1844
$GC,9724,1.08,240.1,276.7,9.1,464,9729,0.00,2.42,0.00,0.000,6,0.000,0.038,3030,1456,1844
$GC,10043,1.08,240.1,248.6,9.2,479,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1456,1844
$GC,10349,1.08,240.1,222.9,7.7,494,10353,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2855,1844
$GC,10389,1.08,240.1,220.0,6.8,496,10393,0.00,2.45,0.00,0.000,6,0.000,0.037,3030,1451,1843
$GC,10716,1.08,240.1,196.6,7.2,512,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1452,1843
$GC,11024,1.08,240.1,172.5,7.2,527,11028,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2847,1843
$GC,11063,1.08,240.1,169.8,7.3,529,11067,0.00,2.42,0.00,0.000,6,0.000,0.037,3030,1453,1843
$GC,11390,1.08,240.1,148.4,6.8,545,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1453,1843
$GC,11700,1.08,240.1,128.1,6.4,560,11704,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2849,1843
$GC,11744,1.08,240.1,125.0,6.4,562,11748,0.00,2.45,0.00,0.000,6,0.000,0.037,3030,1445,1843
$GC,12065,1.08,240.1,103.7,6.9,578,12069,0.00,2.12,0.00,0.000,4,0.000,0.058,3030,264,1843
$GC,12104,1.08,240.1,100.4,7.9,579,12112,0.00,2.00,0.00,0.000,6,0.000,0.030,3030,1455,1844
$GC,12420,1.08,240.1,74.5,8.5,595,12424,0.00,2.42,0.00,0.000,4,0.000,0.041,3030,2846,1844
$GC,12453,1.08,240.1,71.8,7.7,596,12460,0.00,2.45,0.00,0.000,6,0.000,0.037,3030,1454,1843
$GC,12768,1.08,240.1,48.9,8.0,612,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1454,1843
$GC,13078,1.11,267.3,30.9,5.3,627,13108,0.00,2.17,23.17,0.781,4,0.000,0.054,3030,264,1741
$GC,13131,1.11,267.3,27.7,6.5,629,13135,0.00,2.00,0.00,0.000,6,0.000,0.030,3030,1457,1740
$GC,13454,1.11,267.3,9.0,6.6,645,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1457,1738
$STATE,13555,end climb,SURFACE_DEPTH_REACHED
$STATE,13555,begin surface coast
$FINISH,0.2,1.026830
$STATE,13596,end surface coast,CONTROL_FINISHED_OK
$STATE,13596,begin surface
$SM_CCo,13620,20.48,0.743,0,0,1609,300.00
$SM_GC,0.61,0.00,0.00,20.48,0.000,0.000,0.743,384,2239,1609,-11.11,-0.31,300.00
$IRIDIUM_FIX,6103.81,-852.98,101198,161658
$TT8_MAMPS,0.027612
$HUMID,1924
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.2,69.8
$24V_AH,23.3,60.050
$10V_AH,10.1,36.277
$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,25.225,128.975,356.725,20.475,0.000,31.355,25.955,190.747,3.250,0.000,0.000,12.191,1231.960,10113.911,455.221,1507.024,700.802,0.000,1278.455,0.000,1633.712,0.000,23.399,0.000
$DEVICE_MAMPS,131.924,58.292,1076.868,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.534,487.158,507.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31721,652
$CAP_FILE_SIZE,103095,0
$CFSIZE,260165632,237301760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,170809,001156,6128.626,-847.286,37,3.7,56,-9.1