version: 66.04
glider: 105
mission: 6
dive: 309
start: 8 21 109 9 9 28
data:
$ID,105
$MISSION,6
$DIVE,309
$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,-1633618.9
$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,33
$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
$GPS1,085955,6133.933,-831.051,39,1.4,39,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-59.5
$GPS2,090908,6134.113,-830.790,15,1.7,15,-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,155.1,9177,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.12,0.000,6,0.000,0.000,389,2241,3432
$GC,81,-0.96,-146.6,4.9,-10.0,3,102,11.80,2.60,0.00,0.000,4,0.137,0.050,2585,3653,3434
$GC,337,-0.96,-146.6,38.8,-10.4,14,341,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,2230,3435
$GC,653,-0.96,-146.6,72.1,-10.9,29,657,0.00,2.58,0.00,0.000,4,0.000,0.052,2585,3650,3435
$GC,875,-0.96,-146.6,96.5,-11.2,39,880,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2257,3435
$GC,1202,-0.96,-146.6,130.0,-9.8,55,1206,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3648,3436
$GC,1251,-0.96,-146.6,135.1,-9.6,57,1255,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2251,3436
$GC,1567,-0.96,-146.6,164.3,-9.2,72,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3435
$GC,1877,-0.96,-146.6,193.1,-9.4,87,1881,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3647,3435
$GC,1966,-0.96,-146.6,202.1,-10.0,91,1970,0.00,2.38,0.00,0.000,6,0.000,0.030,2585,2253,3435
$GC,2287,-0.96,-146.6,232.2,-9.1,107,2292,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3648,3435
$GC,2376,-0.96,-146.6,240.5,-9.0,111,2380,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2243,3435
$GC,2697,-0.96,-146.6,267.3,-8.4,127,2702,0.00,2.55,0.00,0.000,4,0.000,0.053,2585,3637,3435
$GC,2769,-0.96,-146.6,273.7,-8.9,130,2773,0.00,2.38,0.00,0.000,6,0.000,0.031,2585,2251,3434
$GC,3091,-0.96,-146.6,300.1,-8.2,146,3095,0.00,2.53,0.00,0.000,4,0.000,0.051,2585,3651,3434
$GC,3146,-0.96,-146.6,305.1,-8.8,148,3153,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2248,3434
$GC,3462,-0.96,-146.6,330.8,-8.0,164,3466,0.00,2.53,0.00,0.000,4,0.000,0.052,2585,3650,3434
$GC,3524,-0.96,-146.6,336.2,-8.8,167,3528,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3434
$GC,3853,-0.96,-146.6,359.7,-6.6,183,3857,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3645,3434
$GC,3964,-0.96,-146.6,367.3,-6.7,188,3968,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3434
$GC,4285,-0.96,-146.6,385.2,-4.7,204,4289,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3645,3433
$GC,4374,-0.96,-146.6,390.2,-5.2,208,4378,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2242,3433
$GC,4696,-0.96,-146.6,405.4,-5.0,224,4700,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3650,3433
$GC,4785,-0.96,-146.6,410.3,-5.7,228,4789,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3433
$GC,5109,-0.96,-146.6,426.0,-4.6,244,5113,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3648,3432
$GC,5242,-0.96,-146.6,433.1,-5.5,250,5246,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3432
$GC,5572,-0.96,-146.6,450.0,-4.6,266,5577,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3646,3432
$GC,5658,-0.96,-146.6,453.9,-4.0,270,5663,0.00,2.42,0.00,0.000,6,0.000,0.031,2585,2251,3432
$GC,5990,-0.96,-146.6,471.5,-5.8,286,5994,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3647,3431
$GC,6160,-0.96,-146.6,484.0,-7.7,293,6166,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2251,3431
$GC,6476,-0.96,-146.6,507.7,-8.5,309,6481,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3642,3431
$GC,6598,-0.96,-146.6,517.9,-8.1,314,6602,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2248,3431
$GC,6916,-0.96,-146.6,535.7,-5.1,329,6921,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3647,3431
$GC,7006,-0.96,-146.6,540.6,-5.9,333,7010,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2249,3430
$GC,7329,-0.96,-146.6,559.3,-6.0,349,7334,0.00,2.53,0.00,0.000,4,0.000,0.054,2585,3645,3431
$GC,7565,-0.96,-146.6,575.1,-8.4,359,7571,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2249,3430
$GC,7881,-0.96,-146.6,601.3,-8.4,375,7886,0.00,2.50,0.00,0.000,4,0.000,0.047,2585,846,3430
$GC,7942,-0.96,-146.6,606.9,-9.2,377,7948,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2256,3430
$GC,8258,-0.96,-146.6,631.8,-7.3,393,8263,0.00,2.53,0.00,0.000,4,0.000,0.048,2585,857,3430
$GC,8308,-0.96,-146.6,635.0,-8.0,395,8313,0.00,2.42,0.00,0.000,6,0.000,0.037,2585,2254,3429
$GC,8630,-0.96,-146.6,656.5,-7.5,411,8635,0.00,2.55,0.00,0.000,4,0.000,0.060,2585,3646,3429
$GC,8720,-0.96,-146.6,663.0,-8.2,415,8725,0.00,2.40,0.00,0.000,6,0.000,0.034,2585,2253,3429
$GC,9047,-0.96,-146.6,683.3,-6.0,431,9052,0.00,2.55,0.00,0.000,4,0.000,0.058,2585,3651,3428
$GC,9120,-0.96,-146.6,688.7,-7.8,434,9124,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2251,3428
$GC,9435,-0.96,-146.6,713.6,-8.5,449,9440,0.00,2.55,0.00,0.000,4,0.000,0.059,2585,3648,3427
$GC,9486,-0.96,-146.6,718.2,-8.9,451,9491,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2255,3426
$GC,9807,-0.96,-146.6,737.9,-5.4,467,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3425
$GC,10116,-0.96,-146.6,743.2,-5.0,482,10120,0.00,2.60,0.00,0.000,4,0.000,0.066,2585,3653,3425
$GC,10156,-0.96,-146.6,743.6,-1.2,484,10160,0.00,2.45,0.00,0.000,6,0.000,0.037,2585,2247,3425
$GC,10482,-0.96,-146.6,770.1,-9.3,500,10486,0.00,2.60,0.00,0.000,4,0.000,0.066,2585,3651,3423
$GC,10599,-0.96,-146.6,776.1,-9.9,505,10604,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2250,3423
$GC,10915,-0.96,-146.6,784.2,3.2,520,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3421
$GC,11224,-0.96,-146.6,810.5,-11.0,535,11228,0.00,2.60,0.00,0.000,4,0.000,0.067,2585,3650,3420
$GC,11381,-0.96,-146.6,826.9,-4.6,542,11385,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2247,3419
$STATE,11643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11644,begin apogee
$GC,11652,-0.36,0.0,842.7,8.3,555,11786,0.62,0.00,129.12,1.417,6,0.065,0.000,2718,1461,2832
$STATE,11787,end apogee,CONTROL_FINISHED_OK
$STATE,11787,begin climb
$GC,11790,0.96,146.6,849.1,0.0,562,11931,1.35,2.30,132.62,1.359,4,0.057,0.070,3009,258,2233
$GC,12171,0.96,146.6,821.1,15.9,578,12174,0.00,2.10,0.00,0.000,6,0.000,0.037,3009,1468,2223
$GC,12492,0.96,146.6,799.5,7.2,594,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1471,2220
$GC,12801,1.19,326.9,787.4,1.1,609,12974,0.17,2.58,162.98,1.358,4,0.040,0.054,3064,2852,1498
$GC,13126,1.19,326.9,754.9,12.5,624,13131,0.00,2.55,0.00,0.000,6,0.000,0.047,3065,1459,1488
$GC,13458,1.19,326.9,721.9,6.5,640,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1459,1483
$GC,13767,1.19,326.9,687.1,11.5,655,13771,0.00,2.22,0.00,0.000,4,0.000,0.069,3065,263,1481
$GC,13790,1.19,326.9,683.7,14.5,656,13794,0.00,2.05,0.00,0.000,6,0.000,0.037,3065,1455,1481
$GC,14124,1.19,326.9,640.7,12.6,672,14127,0.00,2.22,0.00,0.000,4,0.000,0.066,3065,256,1480
$GC,14202,1.19,326.9,630.8,10.4,675,14207,0.00,2.08,0.00,0.000,6,0.000,0.035,3065,1454,1479
$GC,14523,1.19,326.9,596.1,9.1,691,14524,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1455,1478
$GC,14833,1.19,326.9,568.5,8.3,706,14837,0.00,2.50,0.00,0.000,4,0.000,0.048,3065,2851,1478
$GC,14865,1.19,326.9,565.9,8.2,707,14871,0.00,2.47,0.00,0.000,6,0.000,0.041,3065,1445,1477
$GC,15183,1.19,326.9,540.4,7.1,723,15187,0.00,2.47,0.00,0.000,4,0.000,0.043,3065,2847,1477
$GC,15211,1.19,326.9,538.3,6.9,724,15216,0.00,2.50,0.00,0.000,6,0.000,0.039,3065,1448,1477
$GC,15532,1.19,326.9,513.0,8.5,740,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1448,1477
$GC,15841,1.19,326.9,483.6,9.7,755,15845,0.00,2.47,0.00,0.000,4,0.000,0.041,3065,2857,1478
$GC,15868,1.19,326.9,480.8,9.8,756,15872,0.00,2.47,0.00,0.000,6,0.000,0.038,3065,1448,1478
$GC,16187,1.19,326.9,451.8,9.3,771,16188,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1448,1478
$GC,16493,1.19,326.9,423.4,9.2,786,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1448,1479
$GC,16803,1.19,326.9,395.0,8.9,801,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1448,1479
$GC,17111,1.19,326.9,367.0,9.1,816,17116,0.00,2.45,0.00,0.000,4,0.000,0.040,3065,2850,1480
$GC,17144,1.19,326.9,363.9,8.7,817,17150,0.00,2.45,0.00,0.000,6,0.000,0.038,3065,1450,1479
$GC,17462,1.19,326.9,335.8,8.8,833,17464,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1450,1479
$GC,17770,1.19,326.9,308.1,9.0,848,17771,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1450,1480
$GC,18078,1.19,326.9,281.1,8.4,863,18080,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1450,1480
$GC,18388,1.19,326.9,256.8,7.4,878,18392,0.00,2.47,0.00,0.000,4,0.000,0.042,3065,2855,1481
$GC,18415,1.19,326.9,254.8,7.4,879,18419,0.00,2.45,0.00,0.000,6,0.000,0.038,3065,1456,1480
$GC,18730,1.19,326.9,232.3,7.0,894,18731,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1456,1481
$GC,19042,1.19,326.9,209.2,7.7,909,19043,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1456,1481
$GC,19349,1.19,326.9,182.3,8.9,924,19350,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1456,1481
$GC,19658,1.19,326.9,157.4,8.2,939,19659,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1456,1481
$GC,19970,1.19,326.9,132.1,8.5,954,19974,0.00,2.45,0.00,0.000,4,0.000,0.041,3065,2856,1482
$GC,20010,1.19,326.9,128.5,10.0,956,20014,0.00,2.45,0.00,0.000,6,0.000,0.037,3065,1453,1481
$GC,20336,1.19,326.9,99.5,9.1,972,20340,0.00,2.15,0.00,0.000,4,0.000,0.058,3065,259,1481
$GC,20364,1.19,326.9,96.7,10.5,973,20368,0.00,2.00,0.00,0.000,6,0.000,0.029,3066,1466,1482
$GC,20693,1.19,326.9,60.1,12.3,989,20696,0.00,2.17,0.00,0.000,4,0.000,0.055,3065,259,1482
$GC,20776,1.19,326.9,49.2,14.6,992,20782,0.00,2.05,0.00,0.000,6,0.000,0.031,3065,1455,1482
$GC,21093,1.19,326.9,16.3,10.3,1008,21094,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1454,1482
$STATE,21233,end climb,SURFACE_DEPTH_REACHED
$STATE,21233,begin surface coast
$FINISH,0.2,1.026818
$STATE,21257,end surface coast,CONTROL_FINISHED_OK
$STATE,21257,begin surface
$SM_CCo,21341,0.00,0.000,0,0,1478,332.14
$SM_GC,0.82,11.60,0.00,0.00,0.025,0.000,0.000,394,2238,1478,-11.00,-0.34,332.14
$IRIDIUM_FIX,6108.28,-831.40,151198,090954
$TT8_MAMPS,0.026845
$HUMID,1930
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.5,102.1
$24V_AH,23.0,63.353
$10V_AH,10.0,38.187
$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,25.550,182.775,424.725,0.000,0.000,60.518,51.129,236.014,6.500,0.000,0.000,15.685,1917.084,16024.373,514.167,2429.661,1000.425,0.000,1782.365,0.000,2573.015,0.000,44.486,0.000
$DEVICE_MAMPS,136.526,69.797,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,880.007,729.145,545.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53758,1016
$CAP_FILE_SIZE,157389,0
$CFSIZE,260165632,235859968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,210809,150630,6134.726,-834.967,39,1.3,44,-9.0