version: 66.04
glider: 105
mission: 6
dive: 314
start: 8 22 109 16 1 52
data:
$ID,105
$MISSION,6
$DIVE,314
$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,-1633713.4
$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,30
$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
$GPS1,155337,6128.393,-830.356,38,1.1,38,-8.9
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.3
$GPS2,160132,6128.342,-830.458,14,1.8,14,-8.9
$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,66.4,5718,-15.4,-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,-1.21,-83.6,0.0,0.0,0,70,0.00,0.00,-53.20,0.000,6,0.000,0.000,386,2245,3175
$GC,73,-1.22,-96.9,2.2,-5.4,2,96,11.38,2.53,-1.00,0.000,4,0.130,0.060,2526,3653,3229
$GC,325,-1.22,-96.9,34.4,-9.4,13,329,0.00,2.42,0.00,0.000,6,0.000,0.029,2526,2229,3230
$GC,646,-1.22,-96.9,65.1,-9.3,29,650,0.00,2.58,0.00,0.000,4,0.000,0.050,2526,3657,3231
$GC,718,-1.22,-96.9,72.7,-11.4,32,722,0.00,2.40,0.00,0.000,6,0.000,0.030,2526,2248,3231
$GC,1036,-1.22,-96.9,102.1,-9.4,47,1041,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3650,3231
$GC,1378,-1.22,-96.9,137.9,-8.7,62,1382,0.00,2.38,0.00,0.000,6,0.000,0.030,2526,2254,3231
$GC,1693,-1.22,-96.9,162.8,-7.7,77,1697,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3651,3231
$GC,1725,-1.22,-96.9,165.9,-9.0,78,1731,0.00,2.40,0.00,0.000,6,0.000,0.030,2526,2248,3232
$GC,2041,-1.22,-96.9,189.9,-7.8,94,2046,0.00,2.55,0.00,0.000,4,0.000,0.051,2526,3647,3232
$GC,2225,-1.22,-96.9,206.1,-8.8,102,2230,0.00,2.38,0.00,0.000,6,0.000,0.031,2526,2252,3231
$GC,2552,-1.22,-96.9,232.7,-7.0,118,2557,0.00,2.55,0.00,0.000,4,0.000,0.052,2526,3651,3231
$GC,2739,-1.22,-96.9,245.5,-6.9,126,2743,0.00,2.42,0.00,0.000,6,0.000,0.031,2526,2249,3231
$GC,3065,-1.22,-96.9,265.4,-6.2,142,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2249,3231
$GC,3376,-1.22,-96.9,286.1,-7.0,157,3381,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3654,3230
$GC,3603,-1.22,-96.9,304.0,-7.5,167,3607,0.00,2.40,0.00,0.000,6,0.000,0.031,2526,2249,3230
$GC,3924,-1.22,-96.9,324.0,-6.0,183,3929,0.00,2.53,0.00,0.000,4,0.000,0.052,2526,3650,3229
$GC,4084,-1.22,-96.9,337.9,-8.3,190,4089,0.00,2.40,0.00,0.000,6,0.000,0.031,2526,2248,3229
$GC,4409,-1.22,-96.9,365.7,-8.5,206,4413,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3651,3229
$GC,4548,-1.22,-96.9,378.9,-9.3,212,4553,0.00,2.40,0.00,0.000,6,0.000,0.031,2526,2249,3229
$GC,4864,-1.22,-96.9,406.8,-8.9,227,4869,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3652,3228
$GC,5041,-1.22,-96.9,423.4,-9.3,235,5045,0.00,2.40,0.00,0.000,6,0.000,0.031,2526,2250,3228
$GC,5369,-1.22,-96.9,448.5,-6.9,251,5373,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3653,3228
$GC,5453,-1.22,-96.9,455.0,-8.2,255,5457,0.00,2.40,0.00,0.000,6,0.000,0.032,2526,2250,3228
$GC,5781,-1.22,-96.9,482.5,-8.4,271,5785,0.00,2.53,0.00,0.000,4,0.000,0.051,2527,3656,3228
$GC,5892,-1.22,-96.9,491.5,-7.7,276,5897,0.00,2.42,0.00,0.000,6,0.000,0.031,2526,2239,3227
$GC,6213,-1.22,-96.9,514.1,-6.5,292,6218,0.00,2.55,0.00,0.000,4,0.000,0.053,2526,3650,3227
$GC,6269,-1.22,-96.9,518.0,-7.5,294,6275,0.00,2.40,0.00,0.000,6,0.000,0.032,2526,2252,3227
$GC,6586,-1.22,-96.9,540.7,-6.9,310,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2249,3227
$GC,6894,-1.22,-96.9,562.2,-8.2,325,6898,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3654,3227
$GC,7086,-1.26,-131.5,574.3,-4.3,333,7092,0.00,2.42,0.00,0.000,6,0.000,0.032,2526,2237,3227
$GC,7402,-1.26,-131.5,595.8,-6.2,349,7406,0.00,2.42,0.00,0.000,4,0.000,0.045,2526,853,3227
$GC,7548,-1.26,-131.5,604.2,-11.3,355,7554,0.00,2.42,0.00,0.000,6,0.000,0.036,2526,2249,3227
$GC,7865,-1.26,-131.5,631.1,-7.8,371,7869,0.00,2.47,0.00,0.000,4,0.000,0.045,2527,851,3226
$GC,8032,-1.26,-131.5,638.4,-8.0,378,8038,0.00,2.45,0.00,0.000,6,0.000,0.038,2526,2254,3226
$GC,8349,-1.28,-146.6,655.5,-4.1,394,8354,0.00,2.50,0.00,0.000,4,0.000,0.047,2526,846,3226
$GC,8693,-1.28,-146.6,675.5,-6.3,409,8697,0.00,2.47,0.00,0.000,6,0.000,0.038,2526,2257,3225
$GC,9010,-1.28,-146.6,694.7,-5.8,424,9014,0.00,2.50,0.00,0.000,4,0.000,0.049,2526,857,3223
$GC,9306,-1.28,-146.6,711.1,-9.2,437,9310,0.00,2.45,0.00,0.000,6,0.000,0.040,2526,2248,3224
$GC,9622,-1.28,-146.6,741.8,-11.2,452,9626,0.00,2.58,0.00,0.000,4,0.000,0.061,2526,3663,3222
$GC,9962,-1.28,-146.6,773.7,1.6,467,9966,0.00,2.45,0.00,0.000,6,0.000,0.039,2526,2258,3220
$GC,10278,-1.28,-146.6,782.8,-9.3,482,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2255,3219
$GC,10587,-1.28,-146.6,797.8,-4.0,497,10592,0.00,2.60,0.00,0.000,4,0.000,0.065,2527,3651,3218
$GC,10677,-1.28,-146.6,804.7,-7.1,501,10682,0.00,2.47,0.00,0.000,6,0.000,0.039,2526,2253,3217
$STATE,11007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11007,begin apogee
$GC,11016,-0.36,0.0,840.6,15.2,517,11104,0.93,0.00,84.78,1.423,6,0.065,0.000,2723,1460,2832
$STATE,11105,end apogee,CONTROL_FINISHED_OK
$STATE,11105,begin climb
$GC,11108,1.28,146.6,849.5,0.0,521,11249,1.67,2.62,132.75,1.371,4,0.067,0.051,3077,2865,2233
$GC,11582,1.28,146.6,823.1,15.4,541,11589,0.00,2.55,0.00,0.000,6,0.000,0.049,3077,1456,2222
$GC,11901,1.28,146.6,786.9,10.0,557,11905,0.00,2.55,0.00,0.000,4,0.000,0.052,3077,2863,2219
$GC,11987,1.28,146.6,775.1,11.0,561,11991,0.00,2.55,0.00,0.000,6,0.000,0.047,3077,1448,2219
$GC,12313,1.47,297.7,775.5,-1.2,577,12461,0.17,2.65,136.68,1.361,4,0.032,0.051,3151,2853,1617
$GC,12509,1.47,297.7,751.0,15.2,586,12515,0.12,2.58,0.00,0.000,6,0.071,0.049,3122,1454,1610
$GC,12842,1.47,297.7,705.8,15.7,602,12846,0.00,2.25,0.00,0.000,4,0.000,0.074,3121,259,1604
$GC,12920,1.47,297.7,693.1,15.9,605,12924,0.00,2.10,0.00,0.000,6,0.000,0.039,3122,1468,1602
$GC,13244,1.47,297.7,646.7,13.3,621,13248,0.00,2.28,0.00,0.000,4,0.000,0.070,3122,258,1600
$GC,13525,1.47,297.7,605.1,15.7,633,13531,0.00,2.12,0.00,0.000,6,0.000,0.038,3122,1456,1599
$GC,13840,1.47,297.7,564.9,11.8,649,13844,0.00,2.20,0.00,0.000,4,0.000,0.064,3121,261,1598
$GC,13946,1.47,297.7,549.2,14.0,653,13952,0.00,2.08,0.00,0.000,6,0.000,0.037,3122,1470,1598
$GC,14264,1.47,297.7,506.1,14.3,669,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1470,1597
$GC,14571,1.47,297.7,458.7,15.4,684,14575,0.00,2.22,0.00,0.000,4,0.000,0.061,3121,257,1597
$GC,14672,1.47,297.7,442.4,15.1,688,14675,0.00,2.05,0.00,0.000,6,0.000,0.035,3122,1454,1597
$GC,14995,1.47,297.7,397.0,13.8,704,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1454,1597
$GC,15303,1.47,297.7,355.6,12.2,719,15306,0.00,2.17,0.00,0.000,4,0.000,0.058,3121,258,1597
$GC,15393,1.47,297.7,344.7,12.0,723,15396,0.00,2.05,0.00,0.000,6,0.000,0.034,3122,1454,1597
$GC,15725,1.47,297.7,302.2,12.8,739,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1454,1597
$GC,16035,1.47,297.7,263.7,12.6,754,16038,0.00,2.17,0.00,0.000,4,0.000,0.058,3121,257,1598
$GC,16107,1.47,297.7,253.9,12.9,757,16111,0.00,2.05,0.00,0.000,6,0.000,0.033,3122,1453,1598
$GC,16434,1.47,297.7,215.8,11.9,773,16439,0.00,2.20,0.00,0.000,4,0.000,0.058,3122,257,1598
$GC,16467,1.47,297.7,211.5,14.2,774,16471,0.00,2.05,0.00,0.000,6,0.000,0.034,3121,1452,1599
$GC,16789,1.47,297.7,169.3,13.9,790,16790,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1454,1599
$GC,17098,1.47,297.7,126.5,13.2,805,17099,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1454,1599
$GC,17407,1.47,297.7,91.0,11.3,820,17412,0.00,2.17,0.00,0.000,4,0.000,0.055,3122,262,1600
$GC,17552,1.47,297.7,71.8,12.5,826,17557,0.00,2.08,0.00,0.000,6,0.000,0.033,3122,1456,1600
$GC,17873,1.47,297.7,33.6,11.0,842,17874,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1456,1600
$STATE,18159,end climb,SURFACE_DEPTH_REACHED
$STATE,18159,begin surface coast
$FINISH,0.2,1.003271
$STATE,18182,end surface coast,CONTROL_FINISHED_OK
$STATE,18182,begin surface
$SM_CCo,18267,0.00,0.000,0,0,1598,302.95
$SM_GC,1.11,11.82,0.00,0.00,0.025,0.000,0.000,388,2246,1598,-11.00,-0.11,302.95
$IRIDIUM_FIX,6108.28,-840.31,161198,090948
$TT8_MAMPS,0.026845
$HUMID,1942
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.2,74.6
$24V_AH,23.0,64.209
$10V_AH,10.0,38.696
$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,26.100,151.525,354.200,0.000,0.000,28.709,25.417,276.693,7.000,0.000,0.000,14.904,1706.028,13200.339,430.356,2470.061,925.562,0.000,1672.260,0.000,2574.685,0.000,48.976,0.000
$DEVICE_MAMPS,129.623,74.399,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,742.965,622.589,481.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44287,857
$CAP_FILE_SIZE,141460,0
$CFSIZE,260165632,235532288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220809,210736,6131.901,-828.436,40,1.0,40,-8.9