version: 66.04
glider: 105
mission: 6
dive: 302
start: 8 19 109 15 28 22
data:
$ID,105
$MISSION,6
$DIVE,302
$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,-1633507.1
$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,26
$R_STBD_OVSHOOT,46
$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
$GPS1,152131,6142.666,-859.729,51,1.3,51,-9.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-52.6
$GPS2,152802,6142.654,-859.689,12,1.3,12,-9.3
$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,136.7,38586,-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,-61.60,0.000,2,0.000,0.000,391,2256,3386
$GC,82,-0.96,-146.6,4.5,-9.7,3,104,11.62,2.58,-0.73,0.000,4,0.130,0.064,2584,3648,3433
$GC,307,-0.96,-146.6,34.1,-7.0,13,311,0.00,2.42,0.00,0.000,6,0.000,0.029,2585,2230,3433
$GC,635,-0.96,-146.6,58.8,-7.2,29,639,0.00,2.55,0.00,0.000,4,0.000,0.050,2585,3640,3434
$GC,883,-0.96,-146.6,78.3,-8.3,40,887,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2250,3434
$GC,1204,-0.96,-146.6,102.7,-8.4,56,1209,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3631,3435
$GC,1407,-0.96,-146.6,122.0,-10.1,65,1411,0.00,2.35,0.00,0.000,6,0.000,0.030,2584,2252,3435
$GC,1734,-0.96,-146.6,150.5,-8.5,81,1738,0.00,2.50,0.00,0.000,4,0.000,0.051,2585,3634,3435
$GC,1857,-0.96,-146.6,161.8,-8.9,86,1863,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,2173,-0.96,-146.6,187.2,-7.5,102,2178,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3632,3435
$GC,2273,-0.96,-146.6,195.3,-8.0,106,2277,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2243,3435
$GC,2589,-0.96,-146.6,217.5,-6.7,121,2594,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3637,3435
$GC,2761,-0.96,-146.6,229.7,-7.0,128,2767,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2252,3434
$GC,3076,-0.96,-146.6,248.9,-5.6,144,3081,0.00,2.50,0.00,0.000,4,0.000,0.051,2584,3634,3434
$GC,3127,-0.96,-146.6,251.9,-5.7,146,3131,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3443,-0.96,-146.6,270.8,-7.0,161,3447,0.00,2.50,0.00,0.000,4,0.000,0.051,2584,3632,3434
$GC,3581,-0.96,-146.6,281.1,-7.2,167,3585,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2250,3434
$GC,3897,-0.96,-146.6,302.4,-6.8,182,3901,0.00,2.50,0.00,0.000,4,0.000,0.051,2584,3637,3434
$GC,4036,-0.96,-146.6,313.2,-8.2,188,4040,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2235,3434
$GC,4352,-0.96,-146.6,336.8,-8.0,203,4357,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3629,3433
$GC,4464,-0.96,-146.6,346.7,-9.0,208,4469,0.00,2.35,0.00,0.000,6,0.000,0.031,2584,2254,3433
$GC,4792,-0.96,-146.6,374.4,-8.7,224,4796,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3638,3433
$GC,4909,-0.96,-146.6,385.3,-9.3,229,4914,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2255,3432
$GC,5230,-0.96,-146.6,410.9,-7.7,245,5234,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3634,3432
$GC,5338,-0.96,-146.6,419.1,-7.2,250,5343,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2253,3432
$GC,5670,-0.96,-146.6,440.7,-6.1,266,5675,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3630,3432
$GC,5748,-0.96,-146.6,445.6,-6.3,269,5752,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2242,3432
$GC,6065,-0.96,-146.6,462.8,-5.4,284,6069,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3631,3432
$GC,6154,-0.96,-146.6,468.0,-5.7,288,6158,0.00,2.38,0.00,0.000,6,0.000,0.032,2584,2249,3432
$GC,6477,-0.96,-146.6,486.5,-6.1,304,6481,0.00,2.50,0.00,0.000,4,0.000,0.053,2584,3631,3431
$GC,6566,-0.96,-146.6,492.9,-7.8,308,6570,0.00,2.38,0.00,0.000,6,0.000,0.031,2584,2245,3431
$GC,6887,-0.96,-146.6,517.1,-7.7,324,6892,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3639,3431
$GC,7012,-0.96,-146.6,527.7,-8.2,329,7018,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2239,3431
$GC,7327,-0.96,-146.6,553.3,-8.1,345,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2234,3431
$GC,7637,-0.96,-146.6,576.2,-7.0,360,7642,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3628,3431
$GC,7721,-0.96,-146.6,582.4,-7.0,363,7727,0.00,2.35,0.00,0.000,6,0.000,0.032,2584,2251,3431
$GC,8036,-0.96,-146.6,603.1,-6.5,379,8040,0.00,2.45,0.00,0.000,4,0.000,0.045,2584,850,3431
$GC,8076,-0.96,-146.6,605.8,-7.2,381,8081,0.00,2.40,0.00,0.000,6,0.000,0.035,2584,2237,3431
$GC,8403,-0.96,-146.6,628.0,-6.2,397,8408,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3652,3430
$GC,8639,-0.96,-146.6,644.8,-6.5,407,8645,0.00,2.40,0.00,0.000,6,0.000,0.034,2585,2253,3430
$GC,8957,-0.96,-146.6,661.2,-4.5,423,8961,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,3651,3429
$GC,9012,-0.96,-146.6,663.8,-4.9,425,9019,0.00,2.42,0.00,0.000,6,0.000,0.034,2585,2236,3428
$GC,9330,-0.96,-146.6,677.7,-4.6,441,9334,0.00,2.45,0.00,0.000,4,0.000,0.048,2585,846,3428
$GC,9370,-0.96,-146.6,679.8,-5.4,443,9374,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2255,3429
$GC,9697,-0.96,-146.6,696.8,-5.7,459,9701,0.00,2.55,0.00,0.000,4,0.000,0.061,2585,3645,3428
$GC,9788,-0.96,-146.6,703.3,-7.7,463,9792,0.00,2.40,0.00,0.000,6,0.000,0.035,2585,2256,3428
$GC,10114,-0.96,-146.6,724.4,-6.2,479,10119,0.00,2.58,0.00,0.000,4,0.000,0.060,2584,3644,3427
$GC,10159,-0.96,-146.6,727.4,-7.1,481,10163,0.00,2.42,0.00,0.000,6,0.000,0.037,2584,2253,3427
$GC,10486,-0.96,-146.6,747.0,-5.9,497,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3427
$GC,10795,-0.96,-146.6,765.3,-5.5,512,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2247,3425
$GC,11107,-0.96,-146.6,780.2,-5.8,527,11111,0.00,2.58,0.00,0.000,4,0.000,0.062,2584,3651,3424
$GC,11168,-0.96,-146.6,785.2,-8.7,530,11173,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2250,3424
$GC,11495,-0.96,-146.6,809.8,-8.6,546,11500,0.00,2.53,0.00,0.000,4,0.000,0.055,2585,843,3421
$GC,11609,-0.96,-146.6,817.2,-5.0,551,11614,0.00,2.47,0.00,0.000,6,0.000,0.041,2584,2244,3422
$STATE,11659,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11659,begin apogee
$GC,11667,-0.36,0.0,821.5,8.2,554,11803,0.62,0.00,129.30,1.384,6,0.061,0.000,2720,1458,2831
$STATE,11803,end apogee,CONTROL_FINISHED_OK
$STATE,11804,begin climb
$GC,11807,0.96,146.6,824.5,0.0,561,11947,1.33,2.33,131.02,1.331,4,0.053,0.071,3010,264,2234
$GC,12032,0.96,146.6,818.3,8.6,571,12036,0.00,2.08,0.00,0.000,6,0.000,0.037,3009,1473,2228
$GC,12355,0.98,158.3,797.3,5.7,587,12370,0.00,2.30,10.45,1.172,4,0.000,0.066,3009,261,2185
$GC,12381,1.06,228.2,795.7,4.1,587,12457,0.10,2.10,64.88,1.318,6,0.048,0.039,3046,1452,1899
$GC,12767,1.06,228.2,769.2,6.1,606,12771,0.00,2.53,0.00,0.000,4,0.000,0.050,3046,2853,1891
$GC,12829,1.06,228.2,764.6,8.1,609,12833,0.00,2.50,0.00,0.000,6,0.000,0.045,3046,1451,1890
$GC,13155,1.06,228.2,739.6,8.1,625,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1451,1888
$GC,13464,1.06,228.2,707.1,10.8,640,13469,0.00,2.53,0.00,0.000,4,0.000,0.052,3046,2854,1887
$GC,13492,1.06,228.2,704.1,10.4,641,13496,0.00,2.50,0.00,0.000,6,0.000,0.046,3046,1454,1887
$GC,13810,1.07,235.3,680.2,5.8,656,13820,0.00,2.55,5.15,0.974,4,0.000,0.051,3046,2851,1872
$GC,13888,1.13,282.2,675.8,4.7,659,13940,0.00,2.50,45.47,1.309,6,0.000,0.046,3046,1453,1680
$GC,14270,1.13,282.2,648.5,9.7,678,14274,0.00,2.53,0.00,0.000,4,0.000,0.048,3046,2860,1672
$GC,14320,1.22,351.5,645.7,4.1,680,14393,0.00,2.53,64.20,1.275,6,0.000,0.043,3046,1447,1398
$GC,14707,1.22,351.5,607.1,10.4,699,14711,0.00,2.17,0.00,0.000,4,0.000,0.062,3046,263,1388
$GC,14753,1.22,351.5,601.5,10.9,701,14756,0.00,2.05,0.00,0.000,6,0.000,0.033,3046,1459,1387
$GC,15088,1.22,351.5,565.8,11.4,717,15089,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,15394,1.22,351.5,531.2,11.0,732,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1386
$GC,15704,1.22,351.5,495.1,11.9,747,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,16013,1.22,351.5,460.5,10.5,762,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,16322,1.22,351.5,430.1,9.8,777,16323,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,16634,1.22,351.5,401.6,9.0,792,16635,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,16941,1.22,351.5,373.1,9.4,807,16942,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,17250,1.22,351.5,342.9,9.6,822,17251,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1459,1385
$GC,17559,1.22,351.5,313.7,9.3,837,17560,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1385
$GC,17869,1.22,351.5,283.0,10.2,852,17874,0.00,2.20,0.00,0.000,4,0.000,0.057,3047,262,1386
$GC,17896,1.22,351.5,279.8,11.9,853,17900,0.00,2.03,0.00,0.000,6,0.000,0.031,3046,1458,1386
$GC,18222,1.22,351.5,246.6,10.0,869,18224,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1386
$GC,18532,1.22,351.5,216.2,9.7,884,18533,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1386
$GC,18841,1.22,351.5,185.4,10.1,899,18842,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1386
$GC,19150,1.22,351.5,155.6,9.3,914,19151,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1459,1386
$GC,19460,1.22,351.5,125.7,9.7,929,19465,0.00,2.20,0.00,0.000,4,0.000,0.056,3046,258,1386
$GC,19501,1.22,351.5,121.3,10.9,930,19508,0.00,2.05,0.00,0.000,6,0.000,0.032,3046,1468,1387
$GC,19817,1.22,351.5,89.7,9.7,946,19821,0.00,2.17,0.00,0.000,4,0.000,0.056,3046,261,1387
$GC,19878,1.22,351.5,83.6,9.4,948,19884,0.00,2.05,0.00,0.000,6,0.000,0.032,3046,1454,1387
$GC,20197,1.22,351.5,56.1,8.1,964,20198,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1454,1387
$GC,20503,1.22,351.5,35.6,8.5,979,20507,0.00,2.15,0.00,0.000,4,0.000,0.054,3046,255,1387
$GC,20527,1.22,351.5,33.2,10.4,980,20530,0.00,2.03,0.00,0.000,6,0.000,0.031,3046,1456,1386
$GC,20861,1.22,351.5,6.8,9.5,996,20862,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1456,1387
$STATE,20919,end climb,SURFACE_DEPTH_REACHED
$STATE,20919,begin surface coast
$FINISH,0.0,1.026630
$STATE,20962,end surface coast,CONTROL_FINISHED_OK
$STATE,20962,begin surface
$SM_CCo,21046,0.00,0.000,0,0,1385,354.95
$SM_GC,0.78,11.43,0.00,0.00,0.022,0.000,0.000,389,2236,1385,-10.98,-0.37,354.95
$IRIDIUM_FIX,6121.73,-854.10,131198,090921
$TT8_MAMPS,0.026845
$HUMID,1913
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,81.4
$24V_AH,23.0,62.256
$10V_AH,10.1,37.476
$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,25.100,175.800,450.475,0.000,0.000,29.978,28.503,203.651,6.750,0.000,0.000,12.211,1891.169,15703.431,535.259,2404.948,895.576,0.000,1803.914,0.000,2554.959,0.000,47.389,0.000
$DEVICE_MAMPS,130.390,71.331,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.193,718.419,580.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50595,1001
$CAP_FILE_SIZE,154783,0
$CFSIZE,260165632,236376064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,190809,212025,6139.229,-902.103,40,1.1,40,-9.3