version: 66.04
glider: 105
mission: 6
dive: 315
start: 8 22 109 21 14 34
data:
$ID,105
$MISSION,6
$DIVE,315
$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,-1633729.1
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,210736,6131.901,-828.436,40,1.0,40,-8.9
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-63.0
$GPS2,211414,6131.947,-828.414,15,1.3,15,-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,149.0,4702,-19.6,-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,-1.46,-54.4,0.0,0.0,0,67,0.00,0.00,-48.45,0.000,6,0.000,0.000,388,2249,3055
$GC,70,-1.46,-54.4,2.4,-6.8,2,88,11.12,2.50,0.00,0.000,4,0.130,0.041,2472,828,3057
$GC,117,-1.46,-54.4,12.0,-12.8,4,125,0.00,2.53,0.00,0.000,6,0.000,0.036,2472,2246,3057
$GC,433,-1.46,-54.4,46.9,-10.1,20,437,0.00,2.55,0.00,0.000,4,0.000,0.053,2472,3660,3058
$GC,774,-1.46,-54.4,82.9,-9.7,35,779,0.00,2.47,0.00,0.000,6,0.000,0.031,2472,2230,3058
$GC,1095,-1.46,-54.4,107.6,-7.5,51,1099,0.00,2.58,0.00,0.000,4,0.000,0.051,2472,3656,3059
$GC,1435,-1.46,-54.4,140.8,-9.8,66,1440,0.00,2.42,0.00,0.000,6,0.000,0.031,2472,2255,3059
$GC,1756,-1.46,-54.4,170.5,-8.1,82,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2255,3059
$GC,2065,-1.46,-54.4,198.9,-9.6,97,2070,0.00,2.58,0.00,0.000,4,0.000,0.054,2472,3657,3060
$GC,2406,-1.46,-54.4,235.1,-11.5,112,2410,0.00,2.42,0.00,0.000,6,0.000,0.032,2472,2246,3059
$GC,2727,-1.46,-54.4,263.6,-8.0,128,2731,0.00,2.55,0.00,0.000,4,0.000,0.052,2471,3660,3059
$GC,3026,-1.46,-54.4,286.2,-8.1,141,3030,0.00,2.42,0.00,0.000,6,0.000,0.032,2472,2250,3059
$GC,3343,-1.46,-54.4,310.5,-7.6,156,3347,0.00,2.55,0.00,0.000,4,0.000,0.052,2472,3660,3059
$GC,3654,-1.46,-54.4,338.9,-10.5,170,3658,0.00,2.42,0.00,0.000,6,0.000,0.032,2472,2250,3058
$GC,3982,-1.46,-54.4,370.4,-9.1,186,3986,0.00,2.53,0.00,0.000,4,0.000,0.051,2472,3655,3058
$GC,4066,-1.46,-54.4,379.1,-10.4,190,4070,0.00,2.42,0.00,0.000,6,0.000,0.032,2472,2239,3058
$GC,4393,-1.46,-54.4,406.3,-6.9,206,4397,0.00,2.58,0.00,0.000,4,0.000,0.053,2472,3663,3058
$GC,4734,-1.46,-54.4,431.1,-6.4,221,4739,0.00,2.45,0.00,0.000,6,0.000,0.032,2472,2255,3057
$GC,5056,-1.46,-54.4,451.4,-7.4,237,5060,0.00,2.53,0.00,0.000,4,0.000,0.051,2472,3660,3057
$GC,5324,-1.46,-54.4,476.3,-6.7,249,5328,0.00,2.42,0.00,0.000,6,0.000,0.032,2472,2251,3057
$GC,5645,-1.47,-59.1,494.0,-5.7,265,5649,0.00,2.53,0.00,0.000,4,0.000,0.051,2472,3656,3056
$GC,5988,-1.47,-59.1,526.7,-11.2,280,5992,0.00,2.42,0.00,0.000,6,0.000,0.033,2472,2250,3056
$GC,6303,-1.47,-59.1,551.9,-6.5,295,6307,0.00,2.47,0.00,0.000,4,0.000,0.047,2472,848,3056
$GC,6356,-1.47,-59.1,556.3,-8.8,297,6360,0.00,2.45,0.00,0.000,6,0.000,0.036,2472,2255,3056
$GC,6672,-1.47,-59.1,589.9,-9.9,312,6676,0.00,2.53,0.00,0.000,4,0.000,0.049,2472,847,3055
$GC,7014,-1.47,-59.1,610.0,-9.0,327,7019,0.00,2.47,0.00,0.000,6,0.000,0.038,2471,2239,3054
$GC,7334,-1.48,-66.9,629.2,-5.4,343,7339,0.00,2.50,0.00,0.000,4,0.000,0.048,2472,844,3054
$GC,7676,-1.48,-69.5,653.3,-5.8,358,7681,0.00,2.53,0.00,0.000,6,0.000,0.040,2472,2255,3053
$GC,7997,-1.48,-69.5,673.0,-6.2,374,8001,0.00,2.53,0.00,0.000,4,0.000,0.051,2472,848,3051
$GC,8337,-1.48,-69.5,698.6,-8.8,389,8342,0.00,2.47,0.00,0.000,6,0.000,0.041,2472,2249,3050
$GC,8654,-1.58,-146.6,715.6,0.4,404,8659,0.00,2.58,0.00,0.000,4,0.000,0.063,2472,3655,3049
$GC,8732,-1.58,-146.6,721.9,-7.9,407,8739,0.00,2.45,0.00,0.000,6,0.000,0.038,2472,2249,3048
$GC,9048,-1.58,-146.6,757.1,-12.1,423,9052,0.00,2.60,0.00,0.000,4,0.000,0.062,2471,3661,3047
$GC,9234,-1.58,-146.6,785.9,-19.0,431,9238,0.00,2.47,0.00,0.000,6,0.000,0.039,2472,2250,3046
$GC,9552,-1.58,-146.6,832.1,-14.3,446,9557,0.00,2.60,0.00,0.000,4,0.000,0.063,2472,3661,3044
$GC,9580,-1.58,-146.6,836.7,-16.0,447,9585,0.00,2.50,0.00,0.000,6,0.000,0.039,2471,2251,3044
$STATE,9860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9860,begin apogee
$GC,9868,-0.36,0.0,842.3,12.8,461,9920,1.23,0.00,47.53,1.422,6,0.087,0.000,2721,1463,2832
$STATE,9921,end apogee,CONTROL_FINISHED_OK
$STATE,9921,begin climb
$GC,9924,1.58,146.6,846.0,0.0,464,10070,1.92,2.33,134.43,1.389,4,0.051,0.068,3139,265,2233
$GC,10135,1.58,146.6,831.6,8.8,473,10142,0.00,2.08,0.00,0.000,6,0.000,0.037,3139,1466,2227
$GC,10451,1.58,146.6,800.9,11.7,489,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1466,2221
$GC,10761,1.58,146.6,776.5,8.1,504,10765,0.00,2.53,0.00,0.000,4,0.000,0.056,3139,2850,2219
$GC,10894,1.58,146.6,760.5,8.6,510,10899,0.00,2.53,0.00,0.000,6,0.000,0.048,3139,1453,2217
$GC,11218,1.58,146.6,729.6,11.5,526,11221,0.00,2.20,0.00,0.000,4,0.000,0.067,3139,262,2216
$GC,11295,1.58,146.6,719.8,12.7,529,11300,0.00,2.08,0.00,0.000,6,0.000,0.038,3139,1450,2216
$GC,11616,1.58,146.6,689.3,8.4,545,11620,0.00,2.53,0.00,0.000,4,0.000,0.054,3139,2848,2215
$GC,11689,1.58,146.6,684.7,6.5,548,11693,0.00,2.50,0.00,0.000,6,0.000,0.047,3139,1450,2214
$GC,12004,1.58,146.6,664.1,8.6,563,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1450,2214
$GC,12317,1.59,155.4,645.2,5.4,578,12327,0.00,2.22,5.55,1.033,4,0.000,0.066,3139,257,2198
$GC,12494,1.59,155.4,632.5,7.6,586,12497,0.00,2.05,0.00,0.000,6,0.000,0.037,3139,1454,2196
$GC,12823,1.59,155.4,602.1,8.9,602,12827,0.00,2.20,0.00,0.000,4,0.000,0.063,3139,258,2195
$GC,13147,1.59,155.4,577.4,6.1,616,13151,0.00,2.08,0.00,0.000,6,0.000,0.036,3139,1456,2195
$GC,13470,1.59,156.6,546.8,5.9,632,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1456,2195
$GC,13778,1.60,167.0,526.6,5.2,647,13792,0.00,0.00,11.95,1.144,6,0.000,0.000,3139,1456,2151
$GC,14089,1.60,167.0,508.0,6.8,662,14094,0.00,2.50,0.00,0.000,4,0.000,0.048,3139,2855,2149
$GC,14212,1.60,167.0,492.6,12.1,667,14218,0.00,2.50,0.00,0.000,6,0.000,0.041,3139,1443,2149
$GC,14530,1.60,167.0,461.2,8.9,683,14534,0.00,2.50,0.00,0.000,4,0.000,0.044,3139,2852,2149
$GC,14597,1.60,167.0,455.3,8.8,686,14601,0.00,2.47,0.00,0.000,6,0.000,0.040,3139,1451,2149
$GC,14919,1.60,167.0,424.1,11.0,702,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1451,2150
$GC,15227,1.60,167.0,393.0,8.4,717,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1451,2151
$GC,15536,1.60,167.0,366.7,9.4,732,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1451,2151
$GC,15846,1.60,167.0,341.7,6.9,747,15847,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1451,2152
$GC,16155,1.60,167.0,320.6,7.1,762,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1451,2153
$GC,16467,1.60,167.0,288.9,9.5,777,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1450,2153
$GC,16774,1.60,167.0,259.8,9.5,792,16777,0.00,2.12,0.00,0.000,4,0.000,0.058,3139,264,2154
$GC,17003,1.60,167.0,237.2,8.2,802,17007,0.00,2.03,0.00,0.000,6,0.000,0.032,3139,1458,2154
$GC,17330,1.60,167.0,204.1,11.7,818,17335,0.00,2.17,0.00,0.000,4,0.000,0.055,3139,264,2155
$GC,17443,1.60,167.0,189.0,13.4,823,17446,0.00,2.03,0.00,0.000,6,0.000,0.033,3139,1454,2155
$GC,17777,1.60,167.0,150.9,10.1,839,17782,0.00,2.47,0.00,0.000,4,0.000,0.047,3139,2851,2155
$GC,17833,1.60,167.0,144.9,8.9,841,17841,0.00,2.47,0.00,0.000,6,0.000,0.038,3139,1451,2156
$GC,18149,1.60,167.0,114.9,8.4,857,18153,0.00,2.12,0.00,0.000,4,0.000,0.056,3139,262,2156
$GC,18195,1.60,167.0,110.9,9.0,859,18200,0.00,2.05,0.00,0.000,6,0.000,0.032,3139,1457,2156
$GC,18528,1.60,167.0,86.8,6.5,875,18532,0.00,2.47,0.00,0.000,4,0.000,0.045,3140,2843,2156
$GC,18596,1.61,175.1,82.9,5.4,878,18611,0.00,2.45,9.88,0.760,6,0.000,0.036,3139,1451,2118
$GC,18924,1.61,175.1,62.4,7.6,893,18927,0.00,2.12,0.00,0.000,4,0.000,0.054,3139,260,2117
$GC,18979,1.61,175.1,56.8,10.1,895,18983,0.00,2.03,0.00,0.000,6,0.000,0.031,3139,1459,2117
$GC,19301,1.61,175.1,22.3,11.7,911,19302,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1459,2117
$STATE,19483,end climb,SURFACE_DEPTH_REACHED
$STATE,19484,begin surface coast
$FINISH,0.2,1.013156
$STATE,19507,end surface coast,CONTROL_FINISHED_OK
$STATE,19507,begin surface
$SM_CCo,19531,77.40,0.766,0,0,1609,300.00
$SM_GC,0.91,0.00,0.00,77.40,0.000,0.000,0.766,390,2247,1609,-11.09,-0.11,300.00
$IRIDIUM_FIX,6103.81,-830.73,161198,161636
$TT8_MAMPS,0.027612
$HUMID,1895
$INTERNAL_PRESSURE,8.14809
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.4,100.2
$24V_AH,22.9,64.322
$10V_AH,10.1,38.796
$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,26.125,151.675,209.325,77.400,0.000,23.881,26.403,215.698,6.500,0.000,0.000,15.104,1853.329,14156.250,394.422,2700.497,901.450,0.000,1699.894,0.000,2819.847,0.000,48.685,0.000
$DEVICE_MAMPS,129.623,68.263,1422.018,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,777.673,663.518,533.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47358,921
$CAP_FILE_SIZE,149456,0
$CFSIZE,260165632,235450368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,230809,024254,6131.711,-836.224,33,1.2,50,-9.0