version: 66.04
glider: 105
mission: 6
dive: 292
start: 8 17 109 9 21 46
data:
$ID,105
$MISSION,6
$DIVE,292
$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,-1633287.9
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,091224,6128.302,-834.373,26,1.7,43,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.0
$GPS2,092126,6128.272,-834.280,14,1.6,14,-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,77.7,8803,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-59.42,0.000,6,0.000,0.000,391,2242,3433
$GC,83,-0.96,-146.6,5.1,-10.2,3,104,11.70,2.50,0.00,0.000,4,0.133,0.038,2586,840,3434
$GC,121,-0.96,-146.6,17.4,-19.1,4,127,0.00,2.45,0.00,0.000,6,0.000,0.032,2586,2243,3434
$GC,436,-0.96,-146.6,44.9,-7.1,20,441,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3653,3435
$GC,503,-0.96,-146.6,48.8,-5.4,23,508,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,2229,3434
$GC,825,-0.96,-146.6,72.1,-8.4,39,829,0.00,2.40,0.00,0.000,4,0.000,0.040,2586,852,3435
$GC,858,-0.96,-146.6,75.0,-8.1,40,864,0.00,2.42,0.00,0.000,6,0.000,0.032,2586,2258,3435
$GC,1175,-0.96,-146.6,103.1,-9.2,56,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2258,3435
$GC,1483,-0.96,-146.6,127.8,-7.0,71,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2258,3436
$GC,1796,-0.96,-146.6,150.1,-8.2,86,1800,0.00,2.53,0.00,0.000,4,0.000,0.058,2586,3647,3435
$GC,1851,-0.96,-146.6,155.1,-8.9,88,1857,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2255,3435
$GC,2169,-0.96,-146.6,176.9,-6.9,104,2173,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3652,3434
$GC,2254,-0.96,-146.6,184.1,-8.8,108,2259,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3435
$GC,2583,-0.96,-146.6,213.0,-9.2,124,2588,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3647,3435
$GC,2646,-0.96,-146.6,218.9,-9.0,127,2650,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2236,3434
$GC,2972,-0.96,-146.6,246.7,-8.5,143,2976,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3648,3434
$GC,3049,-0.96,-146.6,253.4,-8.3,146,3055,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2253,3434
$GC,3365,-0.96,-146.6,276.8,-7.1,162,3369,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,3645,3434
$GC,3414,-0.96,-146.6,280.6,-7.5,164,3419,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2252,3434
$GC,3732,-0.96,-146.6,301.9,-6.1,179,3737,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,3646,3433
$GC,3795,-0.96,-146.6,305.8,-5.7,182,3799,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2250,3434
$GC,4122,-0.96,-146.6,323.2,-5.5,198,4126,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3650,3433
$GC,4188,-0.96,-146.6,327.7,-7.2,201,4192,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3433
$GC,4509,-0.96,-146.6,353.1,-8.5,217,4513,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,3642,3433
$GC,4576,-0.96,-146.6,359.0,-8.8,220,4580,0.00,2.38,0.00,0.000,6,0.000,0.031,2586,2250,3433
$GC,4903,-0.96,-146.6,383.9,-7.1,236,4907,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3650,3432
$GC,4958,-0.96,-146.6,388.2,-7.5,238,4964,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3432
$GC,5273,-0.96,-146.6,408.8,-6.3,254,5278,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3653,3432
$GC,5358,-0.96,-146.6,415.0,-7.9,258,5363,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3432
$GC,5686,-0.96,-146.6,438.5,-7.2,274,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3431
$GC,5994,-0.96,-146.6,460.7,-6.9,289,5999,0.00,2.53,0.00,0.000,4,0.000,0.053,2586,3650,3431
$GC,6112,-0.96,-146.6,469.6,-7.5,294,6116,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3431
$GC,6428,-0.96,-146.6,490.1,-6.0,309,6432,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3647,3431
$GC,6522,-0.96,-146.6,496.4,-6.6,313,6526,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2245,3431
$GC,6839,-0.96,-146.6,515.1,-6.3,328,6843,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3650,3431
$GC,6883,-0.96,-146.6,518.0,-7.1,330,6887,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3431
$GC,7206,-0.96,-146.6,537.0,-6.0,346,7210,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3648,3431
$GC,7277,-0.96,-146.6,542.3,-6.9,349,7282,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2243,3430
$GC,7594,-0.96,-146.6,567.8,-8.8,364,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2242,3430
$GC,7903,-0.96,-146.6,590.3,-6.6,379,7907,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3647,3431
$GC,7969,-0.96,-146.6,595.7,-7.6,382,7973,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2247,3430
$GC,8292,-0.96,-146.6,618.4,-7.0,398,8296,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3648,3430
$GC,8377,-0.96,-146.6,624.2,-7.3,402,8381,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2250,3429
$GC,8705,-0.96,-146.6,643.9,-6.2,418,8710,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3651,3429
$GC,8772,-0.96,-146.6,648.0,-6.1,421,8777,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2253,3429
$GC,9099,-0.96,-146.6,666.2,-6.0,437,9103,0.00,2.47,0.00,0.000,4,0.000,0.045,2586,843,3429
$GC,9177,-0.96,-146.6,671.0,-6.5,440,9184,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2256,3429
$GC,9496,-0.96,-146.6,690.5,-4.5,456,9501,0.00,2.50,0.00,0.000,4,0.000,0.045,2586,844,3428
$GC,9795,-0.96,-146.6,707.0,-4.6,469,9800,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2244,3428
$GC,10111,-0.96,-146.6,734.3,-8.1,484,10116,0.00,2.50,0.00,0.000,4,0.000,0.047,2586,851,3428
$GC,10166,-0.96,-146.6,739.5,-8.9,486,10170,0.00,2.45,0.00,0.000,6,0.000,0.040,2586,2252,3428
$GC,10487,-0.96,-146.6,750.0,-3.5,501,10491,0.00,2.55,0.00,0.000,4,0.000,0.061,2586,3653,3427
$GC,10554,-0.96,-146.6,754.8,-7.3,504,10559,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2243,3427
$GC,10875,-0.96,-146.6,782.4,-9.6,520,10880,0.00,2.60,0.00,0.000,4,0.000,0.064,2586,3653,3426
$GC,10954,-0.96,-146.6,787.9,-4.2,523,10960,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2245,3426
$GC,11272,-0.96,-146.6,805.5,-9.3,539,11276,0.00,2.60,0.00,0.000,4,0.000,0.065,2586,3653,3424
$GC,11312,-0.96,-146.6,809.5,-8.8,541,11316,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2242,3423
$GC,11641,-0.96,-146.6,834.4,-8.2,557,11645,0.00,2.60,0.00,0.000,4,0.000,0.066,2586,3650,3422
$GC,11770,-0.96,-146.6,841.1,-3.9,563,11775,0.00,2.47,0.00,0.000,6,0.000,0.038,2586,2251,3421
$STATE,11777,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11778,begin apogee
$GC,11786,-0.36,0.0,841.8,3.8,563,11918,0.60,0.00,128.77,1.403,6,0.067,0.000,2719,1458,2832
$STATE,11919,end apogee,CONTROL_FINISHED_OK
$STATE,11919,begin climb
$GC,11922,0.96,146.6,847.8,0.0,570,12062,1.33,2.65,131.57,1.345,4,0.051,0.052,3010,2860,2233
$GC,12261,0.96,146.6,832.3,7.0,585,12265,0.00,2.55,0.00,0.000,6,0.000,0.047,3010,1450,2224
$GC,12579,1.41,508.6,819.0,-3.9,600,12913,0.38,2.65,323.88,1.326,4,0.026,0.054,3129,2856,756
$GC,12946,1.41,508.6,769.4,17.6,617,12951,0.12,2.55,0.00,0.000,6,0.084,0.048,3105,1454,753
$GC,13265,1.41,508.6,723.7,13.2,632,13268,0.00,2.22,0.00,0.000,4,0.000,0.071,3105,263,746
$GC,13406,1.41,508.6,700.8,17.8,638,13410,0.00,2.08,0.00,0.000,6,0.000,0.038,3105,1469,746
$GC,13733,1.41,508.6,646.3,18.3,654,13736,0.00,2.25,0.00,0.000,4,0.000,0.067,3105,260,743
$GC,13915,1.41,508.6,614.5,16.9,662,13918,0.00,2.05,0.00,0.000,6,0.000,0.035,3105,1455,742
$GC,14247,1.41,508.6,564.9,13.3,678,14251,0.00,2.20,0.00,0.000,4,0.000,0.061,3105,259,742
$GC,14398,1.41,508.6,540.7,16.6,684,14404,0.00,2.05,0.00,0.000,6,0.000,0.033,3105,1456,742
$GC,14716,1.41,508.6,492.9,15.3,700,14720,0.00,2.17,0.00,0.000,4,0.000,0.058,3105,261,742
$GC,14833,1.41,508.6,473.7,15.8,705,14837,0.00,2.03,0.00,0.000,6,0.000,0.031,3105,1458,742
$GC,15161,1.41,508.6,428.5,13.6,721,15165,0.00,2.17,0.00,0.000,4,0.000,0.058,3105,260,743
$GC,15296,1.41,508.6,409.1,13.8,727,15300,0.00,2.05,0.00,0.000,6,0.000,0.032,3105,1458,743
$GC,15631,1.41,508.6,366.5,13.2,743,15634,0.00,2.17,0.00,0.000,4,0.000,0.058,3105,259,744
$GC,15776,1.41,508.6,344.0,15.6,749,15780,0.00,2.05,0.00,0.000,6,0.000,0.031,3105,1459,743
$GC,16098,1.41,508.6,286.6,19.1,765,16101,0.00,2.17,0.00,0.000,4,0.000,0.058,3105,259,744
$GC,16211,1.41,508.6,264.0,19.3,770,16215,0.00,2.05,0.00,0.000,6,0.000,0.031,3105,1467,743
$GC,16546,1.41,508.6,203.2,17.3,786,16550,0.00,2.20,0.00,0.000,4,0.000,0.058,3105,259,744
$GC,16664,1.41,508.6,181.3,18.0,791,16668,0.00,2.03,0.00,0.000,6,0.000,0.032,3105,1454,744
$GC,16991,1.41,508.6,136.5,12.3,807,16995,0.00,2.15,0.00,0.000,4,0.000,0.056,3105,259,745
$GC,17120,1.41,508.6,116.9,16.4,812,17126,0.00,2.03,0.00,0.000,6,0.000,0.032,3105,1453,745
$GC,17436,1.41,508.6,71.9,17.9,828,17439,0.00,2.15,0.00,0.000,4,0.000,0.055,3105,259,745
$GC,17555,1.41,508.6,49.4,19.7,833,17558,0.00,2.03,0.00,0.000,6,0.000,0.031,3105,1456,745
$STATE,17879,end climb,SURFACE_DEPTH_REACHED
$STATE,17879,begin surface coast
$FINISH,0.2,1.026828
$STATE,17902,end surface coast,CONTROL_FINISHED_OK
$STATE,17903,begin surface
$SM_CCo,17987,0.00,0.000,0,0,745,511.94
$SM_GC,0.88,11.75,0.00,0.00,0.025,0.000,0.000,388,2243,745,-10.98,-0.20,511.94
$IRIDIUM_FIX,6108.28,-835.86,111198,090914
$TT8_MAMPS,0.026845
$HUMID,1991
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.6,74.9
$24V_AH,23.0,60.547
$10V_AH,10.0,36.534
$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,25.875,189.000,584.225,0.000,0.000,57.903,57.491,234.451,7.000,0.000,0.000,14.295,1660.055,13047.805,635.892,2255.412,927.233,0.000,1845.724,0.000,2369.621,0.000,48.975,0.000
$DEVICE_MAMPS,133.458,70.564,1402.843,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,725.628,621.647,482.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44317,850
$CAP_FILE_SIZE,145684,0
$CFSIZE,260165632,237068288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,170809,142237,6131.833,-830.641,27,1.4,27,-9.0