version: 66.04
glider: 105
mission: 6
dive: 316
start: 8 23 109 2 49 4
data:
$ID,105
$MISSION,6
$DIVE,316
$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,-1633747.1
$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,25
$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
$GPS1,024254,6131.711,-836.224,33,1.2,50,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-55.7
$GPS2,024844,6131.658,-836.274,15,1.3,15,-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,116.1,10425,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-58.30,0.000,6,0.000,0.000,389,2247,3431
$GC,81,-0.96,-146.6,5.1,-10.1,3,103,11.65,2.60,0.00,0.000,4,0.130,0.051,2585,3660,3434
$GC,239,-0.96,-146.6,26.4,-8.2,10,243,0.00,2.45,0.00,0.000,6,0.000,0.031,2585,2232,3433
$GC,565,-0.96,-146.6,49.0,-7.4,26,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2232,3434
$GC,875,-0.96,-146.6,72.0,-8.1,41,880,0.00,2.45,0.00,0.000,4,0.000,0.041,2586,851,3435
$GC,936,-0.96,-146.6,77.7,-8.8,43,942,0.00,2.45,0.00,0.000,6,0.000,0.033,2586,2264,3435
$GC,1255,-0.96,-146.6,105.1,-8.6,59,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2264,3435
$GC,1561,-0.96,-146.6,126.4,-6.4,74,1566,0.00,2.53,0.00,0.000,4,0.000,0.057,2586,3652,3435
$GC,1695,-0.96,-146.6,136.5,-9.4,80,1699,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2249,3435
$GC,2016,-0.96,-146.6,161.4,-7.5,96,2020,0.00,2.45,0.00,0.000,4,0.000,0.043,2586,849,3435
$GC,2084,-0.96,-146.6,166.7,-7.7,99,2088,0.00,2.45,0.00,0.000,6,0.000,0.034,2586,2259,3436
$GC,2405,-0.96,-146.6,188.6,-5.8,115,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2259,3435
$GC,2714,-0.96,-146.6,207.8,-7.2,130,2718,0.00,2.50,0.00,0.000,4,0.000,0.043,2585,844,3436
$GC,2759,-0.96,-146.6,211.6,-8.1,132,2763,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2251,3435
$GC,3080,-0.96,-146.6,238.8,-9.0,148,3084,0.00,2.47,0.00,0.000,4,0.000,0.043,2586,849,3435
$GC,3129,-0.96,-146.6,243.3,-8.7,150,3134,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2257,3435
$GC,3448,-0.96,-146.6,268.0,-7.1,165,3452,0.00,2.50,0.00,0.000,4,0.000,0.044,2586,843,3435
$GC,3497,-0.96,-146.6,271.6,-6.3,167,3501,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2249,3435
$GC,3815,-0.96,-146.6,295.0,-8.5,182,3820,0.00,2.55,0.00,0.000,4,0.000,0.060,2585,3651,3435
$GC,3856,-0.96,-146.6,298.6,-9.3,184,3860,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2250,3435
$GC,4185,-0.96,-146.6,321.1,-6.8,200,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3434
$GC,4492,-0.96,-146.6,344.1,-7.6,215,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2249,3434
$GC,4802,-0.96,-146.6,370.9,-9.0,230,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3434
$GC,5111,-0.96,-146.6,395.4,-8.0,245,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3433
$GC,5420,-0.96,-146.6,418.2,-7.4,260,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3434
$GC,5730,-0.96,-146.6,441.7,-7.8,275,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3434
$GC,6039,-0.96,-146.6,465.7,-7.1,290,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3433
$GC,6348,-0.96,-146.6,487.7,-6.9,305,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3433
$GC,6658,-0.96,-146.6,504.8,-5.3,320,6663,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,855,3432
$GC,6713,-0.96,-146.6,508.1,-6.1,322,6717,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2252,3432
$GC,7030,-0.96,-146.6,525.1,-5.2,337,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3432
$GC,7341,-0.96,-146.6,541.4,-5.1,352,7345,0.00,2.47,0.00,0.000,4,0.000,0.044,2585,851,3432
$GC,7403,-0.96,-146.6,544.7,-5.0,355,7407,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2259,3431
$GC,7730,-0.96,-146.6,563.7,-6.5,371,7734,0.00,2.50,0.00,0.000,4,0.000,0.045,2585,849,3431
$GC,7779,-0.96,-146.6,567.4,-7.5,373,7783,0.00,2.45,0.00,0.000,6,0.000,0.036,2585,2256,3431
$GC,8096,-0.96,-146.6,589.3,-5.6,388,8100,0.00,2.53,0.00,0.000,4,0.000,0.058,2585,3653,3431
$GC,8186,-0.96,-146.6,594.7,-5.7,392,8190,0.00,2.40,0.00,0.000,6,0.000,0.032,2585,2253,3431
$GC,8509,-0.96,-146.6,617.6,-9.1,408,8513,0.00,2.47,0.00,0.000,4,0.000,0.045,2586,843,3431
$GC,8542,-0.96,-146.6,621.2,-10.7,409,8548,0.00,2.45,0.00,0.000,6,0.000,0.035,2586,2252,3430
$GC,8858,-0.96,-146.6,653.6,-9.0,425,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3430
$GC,9168,-0.96,-146.6,677.1,-5.1,440,9172,0.00,2.50,0.00,0.000,4,0.000,0.047,2586,845,3429
$GC,9247,-0.96,-146.6,680.1,-3.8,443,9253,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2246,3429
$GC,9563,-0.96,-146.6,688.0,-1.7,459,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2246,3429
$GC,9872,-0.96,-146.6,705.3,-8.3,474,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2246,3429
$GC,10186,-0.96,-146.6,725.8,-5.9,489,10190,0.00,2.50,0.00,0.000,4,0.000,0.049,2586,848,3428
$GC,10243,-0.96,-146.6,729.2,-5.9,491,10249,0.00,2.47,0.00,0.000,6,0.000,0.040,2586,2258,3428
$GC,10559,-0.96,-146.6,741.9,-3.7,507,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2258,3426
$GC,10868,-0.96,-146.6,756.2,-7.5,522,10872,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,847,3425
$GC,10907,-0.96,-146.6,759.6,-9.4,524,10912,0.00,2.47,0.00,0.000,6,0.000,0.041,2585,2249,3425
$GC,11233,-0.96,-146.6,786.8,-6.3,540,11237,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,849,3424
$GC,11341,-0.96,-146.6,790.2,-6.4,545,11345,0.00,2.47,0.00,0.000,6,0.000,0.042,2586,2247,3424
$STATE,11665,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11665,begin apogee
$GC,11673,-0.36,0.0,818.4,9.4,561,11808,0.62,0.00,129.65,1.380,6,0.067,0.000,2718,1463,2832
$STATE,11809,end apogee,CONTROL_FINISHED_OK
$STATE,11809,begin climb
$GC,11812,0.96,146.6,831.1,0.0,568,11951,1.30,2.28,131.48,1.340,4,0.047,0.067,3007,264,2234
$GC,12114,1.25,380.5,833.7,-0.4,581,12333,0.30,2.10,209.45,1.326,6,0.028,0.039,3101,1468,1280
$GC,12650,1.25,380.5,776.0,12.6,607,12655,0.15,2.53,0.00,0.000,4,0.078,0.052,3070,2853,1267
$GC,12667,1.25,380.5,773.6,13.2,608,12672,0.00,2.55,0.00,0.000,6,0.000,0.049,3070,1457,1267
$GC,12999,1.25,380.5,730.0,13.6,624,13002,0.00,2.25,0.00,0.000,4,0.000,0.074,3069,261,1264
$GC,13083,1.25,380.5,718.0,11.6,627,13089,0.00,2.08,0.00,0.000,6,0.000,0.039,3069,1454,1264
$GC,13401,1.25,380.5,681.8,10.9,643,13405,0.00,2.53,0.00,0.000,4,0.000,0.052,3070,2854,1263
$GC,13436,1.25,380.5,678.3,8.9,644,13442,0.00,2.53,0.00,0.000,6,0.000,0.046,3069,1450,1262
$GC,13752,1.25,380.5,646.7,10.0,660,13756,0.00,2.20,0.00,0.000,4,0.000,0.067,3069,260,1260
$GC,13785,1.25,380.5,642.7,11.2,661,13789,0.00,2.05,0.00,0.000,6,0.000,0.036,3070,1454,1261
$GC,14107,1.25,380.5,610.8,8.9,677,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1454,1260
$GC,14416,1.25,380.5,579.2,12.5,692,14419,0.00,2.20,0.00,0.000,4,0.000,0.062,3070,260,1260
$GC,14546,1.25,380.5,561.1,12.5,697,14552,0.00,2.08,0.00,0.000,6,0.000,0.035,3069,1457,1259
$GC,14861,1.25,380.5,530.2,9.1,713,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1457,1260
$GC,15171,1.25,380.5,494.8,13.2,728,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1457,1260
$GC,15482,1.25,380.5,459.2,10.1,743,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1457,1260
$GC,15789,1.25,380.5,433.0,9.7,758,15793,0.00,2.17,0.00,0.000,4,0.000,0.058,3070,261,1260
$GC,15844,1.25,380.5,427.1,11.1,760,15848,0.00,2.03,0.00,0.000,6,0.000,0.033,3070,1457,1260
$GC,16168,1.25,380.5,396.7,9.8,776,16172,0.00,2.17,0.00,0.000,4,0.000,0.058,3069,260,1261
$GC,16206,1.25,380.5,392.4,9.7,777,16213,0.00,2.05,0.00,0.000,6,0.000,0.032,3070,1457,1261
$GC,16522,1.25,380.5,356.0,13.0,793,16524,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1457,1261
$GC,16831,1.25,380.5,315.9,11.9,808,16832,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1457,1261
$GC,17143,1.25,380.5,282.4,10.3,823,17147,0.00,2.17,0.00,0.000,4,0.000,0.057,3070,261,1262
$GC,17244,1.25,380.5,270.2,10.9,827,17248,0.00,2.03,0.00,0.000,6,0.000,0.031,3069,1456,1262
$GC,17565,1.25,380.5,234.7,11.4,843,17570,0.00,2.20,0.00,0.000,4,0.000,0.057,3070,260,1263
$GC,17616,1.25,380.5,228.2,11.5,845,17620,0.00,2.05,0.00,0.000,6,0.000,0.031,3069,1463,1262
$GC,17943,1.25,380.5,188.9,12.0,861,17948,0.00,2.20,0.00,0.000,4,0.000,0.056,3070,268,1263
$GC,17982,1.25,380.5,184.1,12.1,862,17989,0.00,2.03,0.00,0.000,6,0.000,0.032,3069,1451,1263
$GC,18297,1.25,380.5,151.0,9.5,878,18299,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1453,1263
$GC,18608,1.25,380.5,124.4,8.7,893,18611,0.00,2.15,0.00,0.000,4,0.000,0.054,3069,259,1264
$GC,18640,1.25,380.5,120.9,10.4,894,18644,0.00,2.05,0.00,0.000,6,0.000,0.031,3069,1456,1264
$GC,18963,1.25,380.5,88.8,10.0,910,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1456,1264
$GC,19271,1.25,380.5,59.7,10.4,925,19275,0.00,2.15,0.00,0.000,4,0.000,0.053,3070,259,1264
$GC,19355,1.25,380.5,50.1,11.2,928,19362,0.00,2.08,0.00,0.000,6,0.000,0.031,3069,1457,1264
$GC,19671,1.25,380.5,20.1,7.9,944,19675,0.00,2.15,0.00,0.000,4,0.000,0.051,3069,258,1264
$GC,19710,1.25,380.5,15.5,12.4,945,19718,0.00,2.05,0.00,0.000,6,0.000,0.031,3070,1454,1264
$STATE,19858,end climb,SURFACE_DEPTH_REACHED
$STATE,19858,begin surface coast
$FINISH,0.2,1.014441
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19882,begin surface
$SM_CCo,19966,0.00,0.000,0,0,1262,384.88
$SM_GC,0.90,11.57,0.00,0.00,0.025,0.000,0.000,388,2242,1262,-10.98,-0.23,384.88
$IRIDIUM_FIX,6108.28,-831.40,161198,212120
$TT8_MAMPS,0.026845
$HUMID,1911
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.8,102.6
$24V_AH,23.0,64.513
$10V_AH,10.0,38.889
$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,25.600,148.025,470.575,0.000,0.000,31.146,28.121,156.361,6.250,0.000,0.000,17.435,1738.559,15157.626,533.010,2063.025,816.593,0.000,1642.075,0.000,2224.973,0.000,42.874,0.000
$DEVICE_MAMPS,129.623,73.632,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,824.585,689.008,563.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47488,954
$CAP_FILE_SIZE,137398,0
$CFSIZE,260165632,235388928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230809,082307,6129.823,-827.354,40,0.9,40,-8.9