version: 66.04
glider: 105
mission: 6
dive: 305
start: 8 20 109 10 0 40
data:
$ID,105
$MISSION,6
$DIVE,305
$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,-1633557
$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
$GPS1,095307,6133.584,-855.557,38,1.5,38,-9.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-57.2
$GPS2,100020,6133.584,-855.463,14,2.0,14,-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,113.1,27726,-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,-61.00,0.000,6,0.000,0.000,389,2241,3431
$GC,83,-0.96,-146.6,4.3,-8.4,3,104,11.68,2.60,0.00,0.000,4,0.132,0.051,2583,3653,3433
$GC,288,-0.96,-146.6,30.1,-7.4,12,293,0.00,2.45,0.00,0.000,6,0.000,0.029,2584,2234,3433
$GC,615,-0.96,-146.6,55.4,-8.3,28,620,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3641,3433
$GC,729,-0.96,-146.6,65.5,-9.4,33,734,0.00,2.38,0.00,0.000,6,0.000,0.030,2584,2250,3433
$GC,1056,-0.96,-146.6,92.0,-8.4,49,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3434
$GC,1367,-0.96,-146.6,117.6,-8.2,64,1372,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3435
$GC,1439,-0.96,-146.6,124.2,-9.2,67,1443,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2244,3434
$GC,1758,-0.96,-146.6,151.7,-8.7,82,1762,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3653,3434
$GC,1852,-0.96,-146.6,160.9,-8.8,86,1856,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,2168,-0.96,-146.6,186.9,-7.8,101,2173,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3650,3434
$GC,2251,-0.96,-146.6,193.6,-7.9,104,2258,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,2567,-0.96,-146.6,214.2,-6.3,120,2572,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3650,3434
$GC,2634,-0.96,-146.6,219.1,-7.1,123,2639,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,2961,-0.96,-146.6,239.3,-5.9,139,2965,0.00,2.50,0.00,0.000,4,0.000,0.051,2584,3650,3434
$GC,3056,-0.96,-146.6,245.5,-6.8,143,3060,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,3372,-0.96,-146.6,265.8,-6.7,158,3376,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3651,3433
$GC,3472,-0.96,-146.6,273.4,-7.6,162,3478,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3433
$GC,3788,-0.96,-146.6,296.6,-7.1,178,3792,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3433
$GC,3877,-0.96,-146.6,303.7,-7.8,182,3881,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,4201,-0.96,-146.6,326.6,-7.4,198,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3433
$GC,4507,-0.96,-146.6,349.5,-7.5,213,4511,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3656,3431
$GC,4651,-0.96,-146.6,361.4,-7.8,219,4657,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3431
$GC,4966,-0.96,-146.6,383.9,-7.2,235,4971,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3648,3431
$GC,5097,-0.96,-146.6,394.7,-8.8,241,5101,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2245,3431
$GC,5423,-0.96,-146.6,419.9,-7.1,257,5428,0.00,2.55,0.00,0.000,4,0.000,0.055,2583,3653,3431
$GC,5473,-0.96,-146.6,423.8,-7.4,259,5478,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3431
$GC,5792,-0.96,-146.6,446.5,-7.4,274,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3431
$GC,6098,-0.96,-146.6,469.5,-7.5,289,6102,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3648,3430
$GC,6252,-0.96,-146.6,481.6,-8.2,296,6256,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3430
$GC,6581,-0.96,-146.6,503.8,-6.8,312,6585,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3648,3430
$GC,6670,-0.96,-146.6,510.6,-7.2,316,6674,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3430
$GC,6991,-0.96,-146.6,531.9,-6.5,332,6996,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3643,3430
$GC,7096,-0.96,-146.6,539.5,-7.8,336,7103,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2245,3429
$GC,7412,-0.96,-146.6,561.9,-7.3,352,7417,0.00,2.58,0.00,0.000,4,0.000,0.055,2584,3647,3429
$GC,7558,-0.96,-146.6,573.8,-8.3,358,7563,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2253,3429
$GC,7878,-0.96,-146.6,597.0,-7.3,374,7882,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3650,3429
$GC,7920,-0.96,-146.6,600.3,-8.1,376,7924,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2253,3429
$GC,8254,-0.96,-146.6,626.2,-7.5,392,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3429
$GC,8563,-0.96,-146.6,647.4,-7.4,407,8567,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3651,3429
$STATE,8647,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8647,begin apogee
$GC,8658,-0.36,0.0,654.4,7.5,411,8789,0.62,0.00,127.25,1.197,6,0.061,0.000,2718,1458,2832
$STATE,8790,end apogee,CONTROL_FINISHED_OK
$STATE,8790,begin climb
$GC,8793,0.96,146.6,659.5,0.0,418,8928,1.33,2.55,127.18,1.162,4,0.054,0.042,3009,2858,2234
$GC,9139,1.05,214.4,646.6,4.1,434,9205,0.00,2.47,59.72,1.137,6,0.000,0.038,3009,1452,1958
$GC,9533,1.05,214.4,623.1,6.5,453,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1452,1951
$GC,9842,1.05,214.4,598.9,9.2,468,9846,0.00,2.53,0.00,0.000,4,0.000,0.044,3008,2861,1950
$GC,9881,1.05,214.4,595.2,9.6,470,9885,0.00,2.47,0.00,0.000,6,0.000,0.038,3009,1454,1949
$GC,10209,1.05,217.8,569.8,5.9,486,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1454,1949
$GC,10517,1.07,234.4,551.4,5.5,501,10542,0.10,2.58,17.92,1.071,4,0.048,0.044,3062,2860,1875
$GC,10610,1.07,234.4,544.3,8.2,505,10615,0.15,2.50,0.00,0.000,6,0.074,0.038,3031,1446,1873
$GC,10934,1.07,234.4,523.8,6.2,521,10938,0.00,2.50,0.00,0.000,4,0.000,0.042,3030,2858,1872
$GC,10973,1.07,234.4,521.2,6.7,523,10978,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1447,1872
$GC,11301,1.09,246.7,502.0,5.7,539,11319,0.00,0.00,12.12,1.005,6,0.000,0.000,3031,1446,1826
$GC,11631,1.10,258.2,483.3,5.7,555,11654,0.00,2.58,11.70,0.992,4,0.000,0.041,3031,2864,1778
$GC,11682,1.10,258.2,480.0,6.4,557,11686,0.00,2.50,0.00,0.000,6,0.000,0.038,3031,1450,1777
$GC,12005,1.10,258.2,459.8,6.3,573,12010,0.00,2.50,0.00,0.000,4,0.000,0.041,3031,2860,1776
$GC,12050,1.10,258.2,456.7,6.4,575,12054,0.00,2.47,0.00,0.000,6,0.000,0.037,3030,1448,1775
$GC,12373,1.10,258.2,436.9,6.2,591,12377,0.00,2.50,0.00,0.000,4,0.000,0.041,3031,2860,1775
$GC,12400,1.10,258.2,434.8,6.4,592,12405,0.00,2.50,0.00,0.000,6,0.000,0.038,3031,1452,1775
$GC,12721,1.10,258.2,412.7,7.5,608,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1452,1774
$GC,13030,1.10,258.2,390.9,7.0,623,13034,0.00,2.50,0.00,0.000,4,0.000,0.042,3031,2861,1775
$GC,13070,1.10,258.2,388.1,7.2,625,13074,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1457,1775
$GC,13396,1.10,258.2,363.5,7.9,641,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1456,1775
$GC,13705,1.10,258.2,337.3,8.4,656,13710,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2859,1775
$GC,13739,1.10,258.2,334.3,8.4,657,13745,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1444,1775
$GC,14057,1.10,258.2,308.2,7.8,673,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1445,1775
$GC,14364,1.10,258.2,286.0,7.0,688,14368,0.00,2.50,0.00,0.000,4,0.000,0.041,3031,2858,1775
$GC,14397,1.10,258.2,283.7,6.6,689,14403,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1453,1774
$GC,14712,1.10,258.2,263.2,6.6,705,14717,0.00,2.50,0.00,0.000,4,0.000,0.042,3031,2862,1775
$GC,14745,1.10,258.2,261.0,6.9,706,14751,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1447,1774
$GC,15062,1.10,258.2,242.0,6.0,722,15066,0.00,2.50,0.00,0.000,4,0.000,0.041,3031,2860,1774
$GC,15102,1.10,258.2,239.7,6.1,724,15107,0.00,2.45,0.00,0.000,6,0.000,0.038,3031,1454,1774
$GC,15429,1.10,258.2,216.7,7.7,740,15433,0.00,2.47,0.00,0.000,4,0.000,0.041,3031,2860,1775
$GC,15473,1.10,258.2,212.9,9.2,742,15478,0.00,2.47,0.00,0.000,6,0.000,0.038,3031,1462,1775
$GC,15800,1.10,258.2,183.1,9.7,758,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1462,1775
$GC,16108,1.10,258.2,157.1,7.4,773,16113,0.00,2.45,0.00,0.000,4,0.000,0.041,3031,2860,1775
$GC,16148,1.10,258.2,154.3,7.9,775,16152,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1451,1775
$GC,16476,1.10,258.2,132.3,6.5,791,16481,0.00,2.50,0.00,0.000,4,0.000,0.041,3031,2864,1775
$GC,16521,1.10,258.2,129.1,7.6,793,16525,0.00,2.47,0.00,0.000,6,0.000,0.037,3031,1445,1775
$GC,16843,1.11,260.9,109.1,5.9,809,16844,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1445,1775
$GC,17151,1.11,260.9,89.0,6.9,824,17156,0.00,2.50,0.00,0.000,4,0.000,0.041,3031,2861,1775
$GC,17207,1.11,260.9,85.4,6.7,826,17213,0.00,2.45,0.00,0.000,6,0.000,0.037,3031,1453,1775
$GC,17523,1.11,260.9,63.0,7.9,842,17528,0.00,2.15,0.00,0.000,4,0.000,0.058,3031,272,1775
$GC,17591,1.11,260.9,56.7,9.2,845,17596,0.00,2.03,0.00,0.000,6,0.000,0.031,3031,1466,1775
$GC,17924,1.11,260.9,31.9,6.1,861,17928,0.00,2.42,0.00,0.000,4,0.000,0.041,3031,2839,1775
$GC,17998,1.11,267.7,27.2,5.8,864,18014,0.00,2.40,9.40,0.716,6,0.000,0.035,3030,1451,1740
$GC,18325,1.11,267.7,6.1,6.4,880,18329,0.00,2.45,0.00,0.000,4,0.000,0.038,3031,2852,1737
$STATE,18371,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,1.6,1.026832
$STATE,18387,end surface coast,CONTROL_FINISHED_OK
$STATE,18387,begin surface
$SM_CCo,18410,22.10,0.752,0,0,1608,300.00
$SM_GC,0.50,0.00,0.00,22.10,0.000,0.000,0.752,394,2232,1608,-11.06,-0.54,300.00
$IRIDIUM_FIX,6121.73,-1206.64,141198,040439
$TT8_MAMPS,0.027612
$HUMID,1908
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.2,37.7
$24V_AH,23.2,62.715
$10V_AH,10.1,37.783
$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,25.475,182.650,365.300,22.100,0.000,31.048,30.368,239.038,5.250,0.000,0.000,14.270,1676.624,13670.820,505.231,2113.861,895.262,0.000,1624.003,0.000,2262.896,0.000,36.232,0.000
$DEVICE_MAMPS,131.924,58.292,1196.520,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,714.718,684.743,569.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44243,883
$CAP_FILE_SIZE,140274,0
$CFSIZE,260165632,236171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,200809,150927,6131.473,-849.300,33,2.1,52,-9.1