version: 66.04
glider: 105
mission: 6
dive: 297
start: 8 18 109 12 39 48
data:
$ID,105
$MISSION,6
$DIVE,297
$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,-1633398.2
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,123137,6143.784,-849.233,29,1.7,29,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-51.0
$GPS2,123928,6143.854,-849.341,9,4.9,28,-9.2
$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,149.2,33482,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,98,0.00,0.00,-75.53,0.000,6,0.000,0.000,386,2238,3430
$GC,101,-0.96,-146.6,5.9,-8.2,4,122,11.73,2.47,0.00,0.000,4,0.133,0.040,2581,834,3432
$GC,145,-0.96,-146.6,20.4,-15.2,6,150,0.00,2.47,0.00,0.000,6,0.000,0.034,2581,2255,3431
$GC,472,-0.96,-146.6,45.9,-8.3,22,477,0.00,2.53,0.00,0.000,4,0.000,0.057,2582,3649,3432
$GC,803,-0.96,-146.6,72.9,-8.0,37,807,0.00,2.42,0.00,0.000,6,0.000,0.028,2582,2224,3433
$GC,1130,-0.96,-146.6,98.8,-9.5,53,1134,0.00,2.40,0.00,0.000,4,0.000,0.042,2582,852,3433
$GC,1224,-0.96,-146.6,109.2,-11.0,57,1229,0.00,2.42,0.00,0.000,6,0.000,0.032,2582,2255,3434
$GC,1540,-0.96,-146.6,142.7,-11.0,72,1545,0.00,2.53,0.00,0.000,4,0.000,0.058,2582,3648,3434
$GC,1586,-0.96,-146.6,147.8,-11.6,74,1591,0.00,2.38,0.00,0.000,6,0.000,0.029,2582,2252,3434
$GC,1907,-0.96,-146.6,178.4,-8.6,90,1912,0.00,2.53,0.00,0.000,4,0.000,0.052,2582,3647,3434
$GC,1976,-0.96,-146.6,184.5,-8.8,93,1980,0.00,2.40,0.00,0.000,6,0.000,0.029,2582,2240,3434
$GC,2297,-0.96,-146.6,210.6,-8.2,109,2302,0.00,2.58,0.00,0.000,4,0.000,0.053,2581,3645,3434
$GC,2386,-0.96,-146.6,218.7,-9.4,113,2391,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2256,3434
$GC,2718,-0.96,-146.6,248.0,-8.8,129,2722,0.00,2.53,0.00,0.000,4,0.000,0.052,2581,3650,3434
$GC,2829,-0.96,-146.6,258.7,-9.2,134,2833,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2250,3434
$GC,3153,-0.96,-146.6,285.9,-8.1,150,3157,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3647,3433
$GC,3231,-0.96,-146.6,293.4,-9.4,153,3237,0.00,2.38,0.00,0.000,6,0.000,0.030,2582,2250,3433
$GC,3546,-0.96,-146.6,320.6,-8.7,169,3550,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,3647,3433
$GC,3675,-0.96,-146.6,331.7,-8.2,175,3679,0.00,2.40,0.00,0.000,6,0.000,0.030,2581,2241,3432
$GC,4001,-0.96,-146.6,358.2,-8.2,191,4006,0.00,2.55,0.00,0.000,4,0.000,0.054,2581,3647,3432
$GC,4119,-0.96,-146.6,368.2,-8.3,196,4123,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2247,3432
$GC,4435,-0.96,-146.6,390.4,-6.6,211,4439,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,3651,3431
$GC,4529,-0.96,-146.6,397.0,-7.0,215,4533,0.00,2.40,0.00,0.000,6,0.000,0.030,2582,2250,3431
$GC,4846,-0.96,-146.6,416.2,-5.9,230,4850,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3647,3431
$GC,4954,-0.96,-146.6,423.3,-5.9,235,4958,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2241,3431
$GC,5281,-0.96,-146.6,440.5,-4.9,251,5285,0.00,2.55,0.00,0.000,4,0.000,0.056,2582,3649,3431
$GC,5398,-0.96,-146.6,446.9,-4.8,256,5403,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2251,3430
$GC,5714,-0.96,-146.6,461.1,-4.4,271,5719,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3647,3430
$GC,5867,-0.96,-146.6,469.4,-6.2,278,5871,0.00,2.40,0.00,0.000,6,0.000,0.031,2581,2245,3430
$GC,6193,-0.96,-146.6,494.5,-9.1,294,6197,0.00,2.55,0.00,0.000,4,0.000,0.055,2581,3650,3430
$GC,6404,-0.96,-146.6,516.6,-10.3,303,6411,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2251,3430
$GC,6720,-0.96,-146.6,545.2,-8.4,319,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2245,3430
$GC,7031,-0.96,-146.6,567.8,-5.7,334,7035,0.00,2.53,0.00,0.000,4,0.000,0.054,2582,3647,3429
$GC,7075,-0.96,-146.6,570.4,-5.7,336,7079,0.00,2.40,0.00,0.000,6,0.000,0.031,2582,2249,3430
$GC,7396,-0.96,-146.6,584.6,-3.1,352,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2249,3429
$GC,7705,-0.96,-146.6,594.2,-2.8,367,7709,0.00,2.55,0.00,0.000,4,0.000,0.057,2582,3651,3429
$GC,7894,-0.96,-146.6,603.5,-6.9,375,7902,0.00,2.45,0.00,0.000,6,0.000,0.032,2582,2251,3429
$GC,8211,-0.96,-146.6,628.6,-9.7,391,8215,0.00,2.53,0.00,0.000,4,0.000,0.055,2582,3647,3427
$GC,8356,-0.96,-146.6,644.4,-12.2,397,8362,0.00,2.42,0.00,0.000,6,0.000,0.034,2582,2246,3427
$GC,8673,-0.96,-146.6,663.3,-1.5,413,8677,0.00,2.58,0.00,0.000,4,0.000,0.061,2582,3646,3426
$GC,8757,-0.96,-146.6,669.9,-9.4,417,8762,0.00,2.42,0.00,0.000,6,0.000,0.035,2582,2248,3425
$GC,9085,-0.96,-146.6,686.8,-7.7,433,9089,0.00,2.58,0.00,0.000,4,0.000,0.061,2582,3651,3425
$GC,9218,-0.96,-146.6,697.5,-4.6,439,9222,0.00,2.45,0.00,0.000,6,0.000,0.035,2582,2238,3424
$GC,9545,-0.96,-146.6,702.5,-1.7,455,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2238,3422
$GC,9853,-0.96,-146.6,711.4,-4.1,470,9858,0.00,2.60,0.00,0.000,4,0.000,0.062,2582,3648,3421
$GC,9881,-0.96,-146.6,712.3,-3.4,471,9885,0.00,2.45,0.00,0.000,6,0.000,0.037,2582,2243,3420
$GC,10197,-0.96,-146.6,727.7,-5.4,486,10201,0.00,2.60,0.00,0.000,4,0.000,0.064,2582,3650,3420
$GC,10297,-0.96,-146.6,733.0,-7.8,490,10305,0.00,2.47,0.00,0.000,6,0.000,0.037,2582,2253,3419
$GC,10614,-0.96,-146.6,748.2,-4.5,506,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2253,3418
$GC,10923,-0.96,-146.6,765.2,-5.2,521,10927,0.00,2.53,0.00,0.000,4,0.000,0.053,2582,840,3416
$GC,11001,-0.96,-146.6,768.5,-3.6,524,11007,0.00,2.47,0.00,0.000,6,0.000,0.041,2582,2246,3417
$GC,11317,-0.96,-146.6,778.6,-4.5,540,11321,0.00,2.58,0.00,0.000,4,0.000,0.064,2582,3653,3415
$GC,11328,-0.96,-146.6,779.2,-6.0,540,11335,0.00,2.47,0.00,0.000,6,0.000,0.041,2582,2249,3415
$GC,11645,-0.96,-146.6,782.0,-0.2,556,11650,0.00,2.55,0.00,0.000,4,0.000,0.054,2582,846,3415
$STATE,11802,end dive,NO_VERTICAL_VELOCITY
$STATE,11802,begin apogee
$GC,11809,-0.36,0.0,782.2,0.0,563,11943,0.65,0.00,127.38,1.381,6,0.054,0.000,2725,1474,2831
$STATE,11943,end apogee,CONTROL_FINISHED_OK
$STATE,11943,begin climb
$GC,11947,0.96,146.6,781.5,0.0,570,12085,1.27,2.58,131.05,1.318,4,0.046,0.051,3008,2855,2232
$GC,12104,0.96,146.6,773.0,8.2,576,12110,0.00,2.53,0.00,0.000,6,0.000,0.045,3007,1460,2228
$GC,12420,0.96,146.6,752.4,7.7,592,12425,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,266,2221
$GC,12488,1.01,184.2,746.7,5.0,595,12531,0.00,2.05,33.33,1.282,6,0.000,0.038,3007,1456,2079
$GC,12842,1.01,184.2,721.3,10.1,612,12845,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,258,2072
$GC,12858,1.01,184.2,719.3,9.9,612,12864,0.00,2.08,0.00,0.000,6,0.000,0.038,3007,1456,2072
$GC,13176,1.01,184.2,693.5,8.2,628,13180,0.00,2.53,0.00,0.000,4,0.000,0.050,3007,2860,2070
$GC,13242,1.01,184.2,687.7,7.0,631,13247,0.00,2.55,0.00,0.000,6,0.000,0.045,3007,1452,2069
$GC,13569,1.01,184.2,661.2,9.3,647,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1452,2069
$GC,13878,1.24,372.1,646.6,0.9,662,14057,0.25,2.65,169.57,1.279,4,0.029,0.053,3096,2859,1313
$GC,14205,1.24,372.1,609.2,12.1,677,14210,0.12,2.55,0.00,0.000,6,0.079,0.045,3070,1448,1303
$GC,14525,1.24,372.1,576.6,10.8,693,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1448,1298
$GC,14835,1.24,372.1,542.0,10.8,708,14840,0.00,2.55,0.00,0.000,4,0.000,0.048,3070,2856,1296
$GC,14907,1.24,372.1,534.4,10.8,711,14911,0.00,2.50,0.00,0.000,6,0.000,0.041,3070,1449,1295
$GC,15229,1.24,372.1,498.5,11.2,727,15230,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1449,1294
$GC,15538,1.24,372.1,465.5,10.6,742,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1449,1294
$GC,15847,1.24,372.1,432.1,10.3,757,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1449,1294
$GC,16156,1.24,372.1,399.5,10.9,772,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1448,1295
$GC,16468,1.24,372.1,364.5,11.5,787,16469,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1448,1294
$GC,16775,1.24,372.1,330.1,10.7,802,16776,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1448,1295
$GC,17084,1.24,372.1,297.2,11.6,817,17088,0.00,2.15,0.00,0.000,4,0.000,0.058,3070,262,1295
$GC,17107,1.24,372.1,294.5,11.5,818,17111,0.00,2.03,0.00,0.000,6,0.000,0.030,3070,1471,1294
$GC,17439,1.24,372.1,258.5,10.4,834,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1471,1295
$GC,17751,1.24,372.1,225.3,11.0,849,17752,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1472,1294
$GC,18058,1.24,372.1,190.9,11.4,864,18061,0.00,2.20,0.00,0.000,4,0.000,0.057,3070,259,1295
$GC,18126,1.24,372.1,183.1,11.2,867,18130,0.00,2.03,0.00,0.000,6,0.000,0.031,3070,1456,1295
$GC,18459,1.24,372.1,148.6,9.8,883,18463,0.00,2.17,0.00,0.000,4,0.000,0.056,3070,267,1295
$GC,18505,1.24,372.1,143.8,10.5,885,18508,0.00,2.00,0.00,0.000,6,0.000,0.031,3070,1455,1295
$GC,18839,1.24,372.1,109.7,11.1,901,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1455,1295
$GC,19147,1.24,372.1,71.0,11.9,916,19150,0.00,2.15,0.00,0.000,4,0.000,0.054,3070,260,1295
$GC,19174,1.24,372.1,67.5,13.3,917,19178,0.00,2.03,0.00,0.000,6,0.000,0.031,3070,1456,1295
$GC,19503,1.24,372.1,31.1,11.3,933,19504,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1456,1295
$STATE,19767,end climb,SURFACE_DEPTH_REACHED
$STATE,19767,begin surface coast
$FINISH,0.3,1.026819
$STATE,19790,end surface coast,CONTROL_FINISHED_OK
$STATE,19790,begin surface
$SM_CCo,19874,0.00,0.000,0,0,1292,377.52
$SM_GC,0.85,11.65,0.00,0.00,0.027,0.000,0.000,394,2242,1292,-10.98,-0.23,377.52
$IRIDIUM_FIX,6117.23,-848.22,121198,070755
$TT8_MAMPS,0.026845
$HUMID,1942
$INTERNAL_PRESSURE,8.10902
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.1,93.3
$24V_AH,23.0,61.475
$10V_AH,10.0,37.011
$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,25.675,169.825,461.325,0.000,0.000,27.784,35.881,254.639,6.000,0.000,0.000,29.380,1788.286,14746.714,556.219,2312.741,934.610,0.000,1771.482,0.000,2438.259,0.000,41.226,0.000
$DEVICE_MAMPS,132.691,68.263,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,828.912,670.097,528.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47469,947
$CAP_FILE_SIZE,147993,0
$CFSIZE,260165632,236711936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,180809,181208,6145.907,-854.693,26,1.6,28,-9.3