version: 66.04
glider: 105
mission: 6
dive: 290
start: 8 17 109 0 17 28
data:
$ID,105
$MISSION,6
$DIVE,290
$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,-1633255.8
$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,26
$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
$GPS1,001156,6128.626,-847.286,37,3.7,56,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.7
$GPS2,001710,6128.591,-847.349,13,4.2,32,-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,91.6,19921,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,79,0.00,0.00,-58.22,0.000,6,0.000,0.000,384,2239,3432
$GC,82,-0.96,-146.6,5.1,-9.7,3,104,11.73,2.50,0.00,0.000,4,0.133,0.038,2585,840,3433
$GC,188,-0.96,-146.6,22.8,-7.1,7,194,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2246,3433
$GC,504,-0.96,-146.6,49.9,-8.7,23,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2245,3434
$GC,814,-0.96,-146.6,75.3,-9.5,38,818,0.00,2.47,0.00,0.000,4,0.000,0.041,2585,839,3434
$GC,854,-0.96,-146.6,79.2,-9.1,40,858,0.00,2.45,0.00,0.000,6,0.000,0.033,2585,2251,3434
$GC,1180,-0.96,-146.6,111.7,-10.3,56,1185,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3653,3435
$GC,1268,-0.96,-146.6,121.4,-10.4,60,1273,0.00,2.42,0.00,0.000,6,0.000,0.030,2585,2233,3435
$GC,1593,-0.96,-146.6,152.3,-8.7,76,1597,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3651,3435
$GC,1648,-0.96,-146.6,157.3,-8.5,78,1654,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2251,3435
$GC,1966,-0.96,-146.6,178.0,-6.4,94,1970,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3435
$GC,2021,-0.96,-146.6,182.1,-6.9,96,2027,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2246,3434
$GC,2336,-0.96,-146.6,202.3,-6.4,112,2341,0.00,2.55,0.00,0.000,4,0.000,0.052,2585,3657,3434
$GC,2392,-0.96,-146.6,206.4,-7.6,114,2398,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3434
$GC,2711,-0.96,-146.6,226.1,-6.2,130,2715,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3434
$GC,2777,-0.96,-146.6,230.8,-6.7,133,2781,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2247,3434
$GC,3100,-0.96,-146.6,250.0,-5.8,149,3104,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3656,3434
$GC,3163,-0.96,-146.6,254.2,-6.3,152,3168,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2254,3434
$GC,3494,-0.96,-146.6,274.2,-6.3,168,3499,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3651,3433
$GC,3579,-0.96,-146.6,280.0,-7.3,172,3583,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2247,3433
$GC,3906,-0.96,-146.6,298.9,-5.8,188,3910,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3653,3433
$GC,3972,-0.96,-146.6,302.9,-6.0,191,3976,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3433
$GC,4294,-0.96,-146.6,321.2,-6.2,207,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2250,3433
$GC,4605,-0.96,-146.6,340.8,-6.3,222,4609,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3651,3432
$GC,4691,-0.96,-146.6,346.9,-7.6,226,4695,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,5017,-0.96,-146.6,371.6,-8.4,242,5022,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3647,3432
$GC,5100,-0.96,-146.6,379.0,-8.8,245,5107,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2247,3432
$GC,5416,-0.96,-146.6,403.7,-8.0,261,5421,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3653,3432
$GC,5471,-0.96,-146.6,408.5,-8.7,263,5475,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3432
$GC,5787,-0.96,-146.6,432.1,-7.1,278,5791,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3644,3432
$GC,5904,-0.96,-146.6,441.4,-7.4,283,5908,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2241,3432
$GC,6227,-0.96,-146.6,462.9,-6.7,299,6231,0.00,2.55,0.00,0.000,4,0.000,0.056,2585,3651,3431
$GC,6288,-0.96,-146.6,467.4,-7.2,302,6293,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3431
$STATE,6469,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6469,begin apogee
$GC,6477,-0.36,0.0,479.1,6.5,311,6605,0.62,0.00,124.55,1.075,6,0.066,0.000,2720,1463,2832
$STATE,6606,end apogee,CONTROL_FINISHED_OK
$STATE,6606,begin climb
$GC,6608,0.96,146.6,483.2,0.0,317,6742,1.30,2.28,124.43,1.043,4,0.051,0.058,3006,270,2234
$GC,6759,1.01,183.7,479.2,5.0,324,6797,0.00,2.05,32.90,0.991,6,0.000,0.032,3006,1474,2083
$GC,7108,1.01,183.7,459.2,6.2,341,7112,0.00,2.42,0.00,0.000,4,0.000,0.044,3006,2844,2076
$GC,7247,1.01,183.7,450.4,6.5,347,7252,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1454,2075
$GC,7563,1.01,183.7,430.5,6.6,362,7567,0.00,2.47,0.00,0.000,4,0.000,0.043,3006,2846,2074
$GC,7681,1.01,183.7,423.3,6.0,367,7685,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1450,2074
$GC,7996,1.01,183.7,402.9,6.5,382,8001,0.00,2.47,0.00,0.000,4,0.000,0.042,3006,2856,2074
$GC,8153,1.01,183.7,392.6,7.0,389,8158,0.00,2.47,0.00,0.000,6,0.000,0.038,3006,1459,2073
$GC,8479,1.01,183.7,371.6,6.4,405,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1460,2073
$GC,8789,1.03,201.1,353.2,5.5,420,8811,0.00,2.50,14.75,0.937,4,0.000,0.041,3006,2850,2011
$GC,8857,1.04,206.4,349.2,5.9,423,8870,0.00,2.45,6.40,0.789,6,0.000,0.038,3006,1448,1990
$GC,9188,1.04,206.4,328.9,6.5,439,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1449,1988
$GC,9497,1.04,206.4,307.2,7.0,454,9501,0.00,2.47,0.00,0.000,4,0.000,0.044,3006,2851,1988
$GC,9574,1.04,206.4,301.4,7.8,457,9581,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1453,1987
$GC,9890,1.04,206.4,280.5,6.1,473,9895,0.00,2.47,0.00,0.000,4,0.000,0.042,3006,2850,1987
$GC,9940,1.04,206.4,277.3,6.1,475,9944,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1453,1987
$GC,10257,1.04,208.1,258.2,6.0,490,10261,0.00,2.47,0.00,0.000,4,0.000,0.042,3007,2851,1987
$GC,10297,1.04,209.9,255.8,6.0,492,10306,0.00,2.45,4.25,0.633,6,0.000,0.038,3006,1450,1976
$GC,10628,1.04,209.9,235.5,6.3,508,10632,0.00,2.47,0.00,0.000,4,0.000,0.042,3006,2846,1975
$GC,10667,1.04,209.9,233.1,6.4,510,10672,0.00,2.45,0.00,0.000,6,0.000,0.038,3006,1446,1975
$GC,10996,1.05,217.1,213.7,5.8,526,11011,0.10,2.53,8.18,0.795,4,0.051,0.041,3050,2846,1945
$GC,11062,1.05,217.1,208.7,7.3,529,11068,0.08,2.47,0.00,0.000,6,0.070,0.038,3029,1456,1944
$GC,11395,1.05,217.1,187.7,6.3,545,11399,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2856,1944
$GC,11445,1.05,217.1,184.5,6.4,547,11449,0.00,2.47,0.00,0.000,6,0.000,0.038,3029,1460,1944
$GC,11765,1.05,217.1,164.2,6.4,563,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1460,1944
$GC,12076,1.05,217.1,143.8,6.6,578,12080,0.00,2.45,0.00,0.000,4,0.000,0.041,3029,2846,1944
$GC,12120,1.05,217.1,140.5,7.3,580,12124,0.00,2.45,0.00,0.000,6,0.000,0.038,3029,1445,1943
$GC,12442,1.05,217.1,117.8,7.0,596,12446,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2847,1943
$GC,12475,1.05,217.1,115.5,6.6,597,12481,0.00,2.42,0.00,0.000,6,0.000,0.038,3029,1452,1943
$GC,12793,1.07,230.4,96.3,5.6,613,12816,0.00,2.53,12.73,0.791,4,0.000,0.041,3029,2845,1891
$GC,12833,1.08,239.7,93.8,5.7,614,12849,0.00,2.47,9.62,0.747,6,0.000,0.038,3029,1445,1853
$GC,13171,1.08,239.7,73.8,6.3,631,13175,0.00,2.50,0.00,0.000,4,0.000,0.041,3029,2855,1851
$GC,13237,1.08,239.7,68.8,7.4,634,13242,0.00,2.47,0.00,0.000,6,0.000,0.037,3029,1444,1851
$GC,13559,1.08,239.7,44.8,7.7,650,13563,0.00,2.47,0.00,0.000,4,0.000,0.040,3029,2849,1851
$GC,13711,1.08,239.7,32.8,6.3,657,13716,0.00,2.45,0.00,0.000,6,0.000,0.037,3028,1462,1850
$GC,14043,1.12,274.7,13.1,5.0,673,14076,0.00,0.00,30.92,0.773,6,0.000,0.000,3029,1462,1712
$STATE,14204,end climb,SURFACE_DEPTH_REACHED
$STATE,14204,begin surface coast
$FINISH,0.2,1.002136
$STATE,14248,end surface coast,CONTROL_FINISHED_OK
$STATE,14248,begin surface
$SM_CCo,14272,17.05,0.729,0,0,1609,300.00
$SM_GC,0.78,0.00,0.00,17.05,0.000,0.000,0.729,391,2253,1609,-11.08,0.08,300.00
$IRIDIUM_FIX,6103.81,-853.67,101198,202010
$TT8_MAMPS,0.027612
$HUMID,1928
$INTERNAL_PRESSURE,8.17739
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.2,61.7
$24V_AH,23.3,60.168
$10V_AH,10.1,36.352
$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,25.175,155.325,368.725,17.050,0.000,24.821,27.873,125.060,3.250,0.000,0.000,33.023,1312.162,10473.567,486.012,1680.857,654.295,0.000,1385.637,0.000,1784.761,0.000,23.363,0.000
$DEVICE_MAMPS,133.458,58.292,1074.567,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.282,507.703,497.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34883,683
$CAP_FILE_SIZE,112259,0
$CFSIZE,260165632,237236224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,170809,041700,6128.723,-843.172,42,1.3,42,-9.1