version: 66.04
glider: 105
mission: 6
dive: 296
start: 8 18 109 7 23 10
data:
$ID,105
$MISSION,6
$DIVE,296
$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,-1633368.2
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,071506,6142.484,-842.990,32,1.1,32,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.7
$GPS2,072249,6142.621,-843.042,14,1.1,31,-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,154.8,28293,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.42,0.000,2,0.000,0.000,387,2249,3420
$GC,82,-0.96,-146.6,4.6,-8.8,3,104,11.70,2.55,-0.20,0.000,4,0.133,0.050,2584,830,3433
$GC,159,-0.96,-146.6,19.2,-6.8,6,164,0.00,2.45,0.00,0.000,6,0.000,0.034,2584,2242,3434
$GC,476,-0.96,-146.6,45.9,-8.9,21,481,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3651,3435
$GC,515,-0.96,-146.6,49.2,-8.5,22,522,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2230,3435
$GC,831,-0.96,-146.6,74.8,-8.7,38,836,0.00,2.60,0.00,0.000,4,0.000,0.053,2584,3651,3435
$GC,945,-0.96,-146.6,86.1,-10.1,43,949,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2245,3435
$GC,1273,-0.96,-146.6,110.3,-6.6,59,1278,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3653,3435
$GC,1441,-0.96,-146.6,122.6,-6.7,66,1447,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3436
$GC,1757,-0.96,-146.6,140.9,-5.9,82,1762,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3651,3435
$GC,1863,-0.96,-146.6,148.0,-6.9,86,1870,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2233,3435
$GC,2179,-0.96,-146.6,166.7,-6.2,102,2184,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3656,3436
$GC,2296,-0.96,-146.6,174.9,-6.9,107,2305,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2253,3435
$GC,2621,-0.96,-146.6,197.0,-6.8,123,2625,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3654,3435
$GC,2679,-0.96,-146.6,201.0,-7.2,125,2685,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,2995,-0.96,-146.6,223.4,-7.0,141,3000,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3651,3435
$GC,3117,-0.96,-146.6,232.9,-7.6,146,3122,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2252,3435
$GC,3435,-0.96,-146.6,255.2,-7.2,161,3439,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,3552,-0.96,-146.6,265.0,-8.2,166,3556,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3869,-0.96,-146.6,288.9,-7.5,181,3874,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3434
$GC,3919,-0.96,-146.6,293.2,-8.1,183,3924,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2236,3434
$GC,4236,-0.96,-146.6,316.2,-7.2,198,4240,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3654,3433
$GC,4302,-0.96,-146.6,321.6,-7.9,201,4307,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2255,3433
$GC,4629,-0.96,-146.6,344.6,-6.6,217,4633,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3433
$GC,4714,-0.96,-146.6,350.1,-6.6,221,4719,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,5043,-0.96,-146.6,367.7,-5.1,237,5047,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3658,3432
$GC,5087,-0.96,-146.6,370.2,-5.3,239,5091,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2247,3432
$GC,5410,-0.96,-146.6,387.7,-5.6,255,5415,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3651,3432
$GC,5500,-0.96,-146.6,393.7,-6.6,259,5504,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3432
$GC,5824,-0.96,-146.6,412.5,-5.8,275,5828,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3659,3432
$GC,5924,-0.96,-146.6,419.1,-6.3,279,5930,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2249,3431
$GC,6242,-0.96,-146.6,436.5,-5.6,295,6247,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3651,3432
$GC,6376,-0.96,-146.6,445.3,-6.3,301,6381,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,6697,-0.96,-146.6,467.0,-9.1,317,6702,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,6765,-0.96,-146.6,472.3,-8.1,320,6769,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,7093,-0.96,-146.6,500.1,-8.5,336,7097,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3655,3431
$GC,7222,-0.96,-146.6,509.1,-6.9,342,7226,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2237,3431
$GC,7549,-0.96,-146.6,530.0,-6.7,358,7553,0.00,2.42,0.00,0.000,4,0.000,0.044,2584,853,3430
$GC,7576,-0.96,-146.6,532.1,-7.3,359,7581,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2241,3431
$GC,7897,-0.96,-146.6,552.5,-6.5,375,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2241,3431
$GC,8207,-0.96,-146.6,572.0,-5.9,390,8211,0.00,2.45,0.00,0.000,4,0.000,0.044,2584,854,3430
$GC,8228,-0.96,-146.6,573.2,-5.4,391,8233,0.00,2.45,0.00,0.000,6,0.000,0.037,2584,2259,3430
$GC,8550,-0.96,-146.6,590.1,-5.3,407,8555,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,3655,3430
$GC,8687,-0.96,-146.6,596.8,-4.8,413,8692,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2251,3430
$GC,9009,-0.96,-146.6,612.3,-5.1,429,9014,0.00,2.50,0.00,0.000,4,0.000,0.048,2584,850,3429
$GC,9041,-0.96,-146.6,614.3,-6.4,430,9045,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2255,3430
$GC,9358,-0.96,-146.6,635.6,-5.7,445,9363,0.00,2.53,0.00,0.000,4,0.000,0.048,2584,841,3429
$GC,9409,-0.96,-146.6,638.2,-5.7,447,9413,0.00,2.47,0.00,0.000,6,0.000,0.039,2584,2252,3429
$GC,9725,-0.96,-146.6,653.3,-4.3,462,9729,0.00,2.55,0.00,0.000,4,0.000,0.062,2584,3651,3428
$GC,9901,-0.96,-146.6,668.4,-6.6,470,9905,0.00,2.42,0.00,0.000,6,0.000,0.036,2583,2253,3426
$GC,10228,-0.96,-146.6,685.7,-3.5,486,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2247,3425
$GC,10537,-0.96,-146.6,713.9,-8.3,501,10541,0.00,2.58,0.00,0.000,4,0.000,0.064,2584,3653,3424
$GC,10626,-0.96,-146.6,721.5,-8.6,505,10630,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2241,3424
$GC,10947,-0.96,-146.6,749.0,-15.2,521,10952,0.00,2.60,0.00,0.000,4,0.000,0.062,2584,3651,3423
$GC,11042,-0.96,-146.6,761.0,-15.9,525,11046,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2247,3422
$GC,11360,-0.96,-146.6,785.7,-6.0,540,11364,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3650,3421
$GC,11385,-0.96,-146.6,787.3,-6.5,541,11389,0.00,2.45,0.00,0.000,6,0.000,0.039,2584,2253,3421
$STATE,11497,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11497,begin apogee
$GC,11505,-0.36,0.0,799.7,9.1,547,11640,0.65,0.00,128.02,1.374,6,0.068,0.000,2721,1452,2831
$STATE,11641,end apogee,CONTROL_FINISHED_OK
$STATE,11641,begin climb
$GC,11644,0.96,146.6,791.4,0.0,554,11782,1.35,2.30,129.57,1.324,4,0.065,0.070,3006,266,2234
$GC,11841,1.04,208.7,786.0,4.3,563,11902,0.00,2.08,55.53,1.281,6,0.000,0.038,3007,1458,1980
$GC,12229,1.04,208.7,762.4,8.7,582,12234,0.00,2.53,0.00,0.000,4,0.000,0.053,3006,2854,1969
$GC,12296,1.04,208.7,756.6,11.5,585,12301,0.00,2.50,0.00,0.000,6,0.000,0.043,3006,1451,1969
$GC,12618,1.04,208.7,718.6,11.2,601,12622,0.00,2.20,0.00,0.000,4,0.000,0.068,3006,264,1967
$GC,12664,1.04,208.7,712.3,13.5,603,12668,0.00,2.05,0.00,0.000,6,0.000,0.038,3006,1455,1967
$GC,12996,1.04,208.7,680.2,8.9,619,13000,0.00,2.53,0.00,0.000,4,0.000,0.051,3006,2857,1966
$GC,13051,1.08,237.6,676.5,5.2,621,13084,0.12,2.50,25.15,1.267,6,0.041,0.045,3062,1450,1862
$GC,13414,1.08,237.6,646.0,9.3,639,13418,0.15,2.55,0.00,0.000,4,0.071,0.051,3030,2854,1857
$GC,13514,1.30,415.6,642.5,1.1,643,13690,0.22,2.50,162.05,1.269,6,0.030,0.046,3101,1455,1135
$GC,13996,1.30,415.6,589.2,14.3,667,14000,0.00,2.20,0.00,0.000,4,0.000,0.067,3101,264,1123
$GC,14046,1.30,415.6,580.7,16.6,669,14050,0.00,2.08,0.00,0.000,6,0.000,0.038,3101,1461,1122
$GC,14376,1.30,415.6,543.0,9.0,685,14380,0.00,2.22,0.00,0.000,4,0.000,0.064,3101,259,1120
$GC,14422,1.30,415.6,538.5,9.3,687,14425,0.00,2.08,0.00,0.000,6,0.000,0.035,3101,1459,1119
$GC,14756,1.30,415.6,505.2,11.5,703,14760,0.00,2.20,0.00,0.000,4,0.000,0.061,3101,258,1119
$GC,14812,1.30,415.6,496.7,16.3,705,14816,0.00,2.05,0.00,0.000,6,0.000,0.034,3101,1457,1117
$GC,15136,1.30,415.6,453.4,14.3,721,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1457,1117
$GC,15444,1.30,415.6,407.7,15.0,736,15448,0.00,2.17,0.00,0.000,4,0.000,0.059,3101,262,1117
$GC,15513,1.30,415.6,396.3,17.1,739,15516,0.00,2.03,0.00,0.000,6,0.000,0.031,3101,1457,1116
$GC,15845,1.30,415.6,344.9,15.1,755,15849,0.00,2.17,0.00,0.000,4,0.000,0.059,3101,262,1117
$GC,15900,1.30,415.6,336.0,17.0,757,15904,0.00,2.03,0.00,0.000,6,0.000,0.032,3101,1457,1116
$GC,16222,1.30,415.6,287.8,15.3,773,16226,0.00,2.17,0.00,0.000,4,0.000,0.058,3101,262,1117
$GC,16261,1.30,415.6,281.3,15.1,774,16267,0.00,2.05,0.00,0.000,6,0.000,0.032,3101,1461,1117
$GC,16577,1.30,415.6,234.6,14.9,790,16580,0.00,2.17,0.00,0.000,4,0.000,0.058,3101,256,1117
$GC,16627,1.30,415.6,226.9,15.6,792,16632,0.00,2.08,0.00,0.000,6,0.000,0.031,3101,1456,1117
$GC,16953,1.30,415.6,178.9,15.3,808,16957,0.00,2.17,0.00,0.000,4,0.000,0.058,3101,259,1117
$GC,16992,1.30,415.6,172.5,15.7,809,16998,0.00,2.05,0.00,0.000,6,0.000,0.032,3101,1459,1117
$GC,17310,1.30,415.6,126.2,13.8,825,17313,0.00,2.17,0.00,0.000,4,0.000,0.057,3101,259,1117
$GC,17338,1.30,415.6,121.8,14.5,826,17342,0.00,2.05,0.00,0.000,6,0.000,0.032,3101,1458,1117
$GC,17665,1.30,415.6,81.5,11.3,842,17670,0.00,2.20,0.00,0.000,4,0.000,0.057,3100,258,1117
$GC,17721,1.30,415.6,75.2,10.6,844,17724,0.00,2.05,0.00,0.000,6,0.000,0.031,3101,1460,1117
$GC,18044,1.30,415.6,38.8,12.5,860,18047,0.00,2.17,0.00,0.000,4,0.000,0.055,3101,256,1118
$GC,18099,1.30,415.6,31.1,14.1,862,18103,0.00,2.05,0.00,0.000,6,0.000,0.031,3101,1468,1117
$STATE,18337,end climb,SURFACE_DEPTH_REACHED
$STATE,18337,begin surface coast
$FINISH,0.4,1.026810
$STATE,18357,end surface coast,CONTROL_FINISHED_OK
$STATE,18358,begin surface
$SM_CCo,18441,0.00,0.000,0,0,1115,420.93
$SM_GC,0.87,11.70,0.00,0.00,0.023,0.000,0.000,386,2238,1115,-11.00,-0.37,420.93
$IRIDIUM_FIX,6112.75,-842.36,121198,010113
$TT8_MAMPS,0.026845
$HUMID,1959
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.8,83.0
$24V_AH,23.0,61.284
$10V_AH,10.0,36.914
$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,25.900,207.200,500.325,0.000,0.000,27.461,26.859,259.345,6.500,0.000,0.000,31.449,1695.136,13474.118,570.544,2231.659,927.855,0.000,1787.620,0.000,2350.063,0.000,45.777,0.000
$DEVICE_MAMPS,132.691,69.797,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,775.554,612.418,514.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44358,875
$CAP_FILE_SIZE,149564,0
$CFSIZE,260165632,236785664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,180809,123137,6143.784,-849.233,29,1.7,29,-9.2