version: 66.04
glider: 105
mission: 6
dive: 318
start: 8 23 109 12 29 46
data:
$ID,105
$MISSION,6
$DIVE,318
$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,-1633778
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,122426,6134.663,-827.680,36,2.5,55,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-54.5
$GPS2,122926,6134.699,-827.714,15,1.7,15,-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,173.6,9027,-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,-59.05,0.000,6,0.000,0.000,394,2242,3432
$GC,81,-0.96,-146.6,4.8,-9.6,3,102,11.57,2.53,0.00,0.000,4,0.128,0.038,2584,831,3434
$GC,209,-0.96,-146.6,24.0,-7.7,8,215,0.00,2.47,0.00,0.000,6,0.000,0.035,2584,2247,3435
$GC,526,-0.96,-146.6,43.7,-6.1,24,530,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3653,3435
$GC,633,-0.96,-146.6,51.5,-7.4,29,637,0.00,2.42,0.00,0.000,6,0.000,0.029,2584,2229,3436
$GC,961,-0.96,-146.6,73.3,-6.5,45,965,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3653,3436
$GC,1072,-0.96,-146.6,81.6,-7.3,50,1076,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,2248,3436
$GC,1395,-0.96,-146.6,110.2,-8.6,66,1399,0.00,2.45,0.00,0.000,4,0.000,0.041,2584,846,3436
$GC,1518,-0.96,-146.6,119.1,-8.1,71,1524,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2259,3437
$GC,1836,-0.96,-146.6,143.4,-7.1,87,1840,0.00,2.47,0.00,0.000,4,0.000,0.041,2584,850,3437
$GC,1868,-0.96,-146.6,146.1,-8.1,88,1875,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2245,3438
$GC,2184,-0.96,-146.6,169.4,-7.7,104,2189,0.00,2.55,0.00,0.000,4,0.000,0.056,2584,3651,3437
$GC,2257,-0.96,-146.6,175.2,-8.2,107,2262,0.00,2.38,0.00,0.000,6,0.000,0.029,2584,2254,3437
$GC,2573,-0.96,-146.6,198.8,-7.2,122,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2254,3438
$GC,2883,-0.96,-146.6,217.5,-5.3,137,2887,0.00,2.45,0.00,0.000,4,0.000,0.043,2584,852,3438
$GC,2939,-0.96,-146.6,221.1,-7.4,139,2945,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2259,3438
$GC,3256,-0.96,-146.6,239.1,-4.9,155,3260,0.00,2.53,0.00,0.000,4,0.000,0.058,2584,3651,3438
$GC,3295,-0.96,-146.6,241.6,-6.5,157,3299,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2245,3438
$GC,3622,-0.96,-146.6,265.1,-7.4,173,3626,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3437
$GC,3671,-0.96,-146.6,269.2,-7.9,175,3676,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2250,3438
$GC,3987,-0.96,-146.6,291.0,-6.7,190,3992,0.00,2.45,0.00,0.000,4,0.000,0.044,2583,849,3437
$GC,4032,-0.96,-146.6,294.3,-7.2,192,4036,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2257,3438
$GC,4353,-0.96,-146.6,318.5,-7.8,208,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2257,3437
$GC,4662,-0.96,-146.6,344.1,-7.8,223,4666,0.00,2.53,0.00,0.000,4,0.000,0.060,2584,3648,3437
$GC,4725,-0.96,-146.6,348.7,-7.6,226,4730,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2246,3437
$GC,5053,-0.96,-146.6,371.1,-6.6,242,5057,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3648,3437
$GC,5169,-0.96,-146.6,379.3,-6.6,247,5174,0.00,2.40,0.00,0.000,6,0.000,0.030,2584,2245,3437
$GC,5491,-0.96,-146.6,401.9,-7.7,263,5495,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3653,3437
$GC,5591,-0.96,-146.6,410.2,-8.6,267,5597,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2250,3437
$GC,5906,-0.96,-146.6,434.3,-7.2,283,5911,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3654,3436
$GC,6041,-0.96,-146.6,443.6,-6.6,289,6045,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2238,3436
$GC,6364,-0.96,-146.6,459.3,-4.4,305,6369,0.00,2.58,0.00,0.000,4,0.000,0.054,2584,3654,3436
$GC,6606,-0.96,-146.6,473.3,-6.3,316,6611,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2252,3435
$GC,6934,-0.96,-146.6,496.3,-7.5,332,6938,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3648,3435
$GC,6978,-0.96,-146.6,499.9,-8.3,334,6983,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2251,3435
$GC,7305,-0.96,-146.6,515.0,-2.1,350,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3434
$GC,7614,-0.96,-146.6,529.8,-2.6,365,7618,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3654,3434
$GC,7724,-0.96,-146.6,533.2,-3.6,370,7728,0.00,2.42,0.00,0.000,6,0.000,0.034,2584,2251,3433
$GC,8053,-0.96,-146.6,546.5,-5.2,386,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3433
$GC,8360,-0.96,-146.6,562.5,-6.2,401,8364,0.00,2.50,0.00,0.000,4,0.000,0.048,2584,842,3432
$GC,8421,-0.96,-146.6,568.2,-9.6,404,8427,0.00,2.50,0.00,0.000,6,0.000,0.038,2584,2249,3432
$GC,8753,-0.96,-146.6,594.7,-7.8,420,8758,0.00,2.55,0.00,0.000,4,0.000,0.060,2584,3651,3431
$GC,8826,-0.96,-146.6,600.7,-8.4,423,8831,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2238,3431
$GC,9145,-0.96,-146.6,613.3,-2.2,438,9149,0.00,2.60,0.00,0.000,4,0.000,0.061,2584,3656,3430
$GC,9200,-0.96,-146.6,615.8,-4.4,440,9206,0.00,2.45,0.00,0.000,6,0.000,0.035,2584,2245,3429
$GC,9518,-0.96,-146.6,639.1,-9.9,456,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2244,3428
$GC,9825,-0.96,-146.6,674.3,-13.5,471,9829,0.00,2.60,0.00,0.000,4,0.000,0.065,2584,3651,3426
$GC,10038,-0.96,-146.6,693.6,-10.3,480,10045,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2249,3426
$GC,10356,-0.96,-146.6,722.2,-4.7,496,10361,0.00,2.58,0.00,0.000,4,0.000,0.062,2584,3651,3424
$GC,10379,-0.96,-146.6,722.7,-1.9,497,10383,0.00,2.47,0.00,0.000,6,0.000,0.040,2584,2258,3424
$GC,10705,-0.96,-146.6,736.8,-9.3,513,10709,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,839,3423
$GC,10749,-0.96,-146.6,742.0,-11.2,515,10753,0.00,2.50,0.00,0.000,6,0.000,0.041,2584,2256,3422
$GC,11071,-0.96,-146.6,754.8,-1.8,531,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2257,3421
$GC,11380,-0.96,-146.6,767.8,-3.5,546,11384,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,847,3420
$GC,11487,-0.96,-146.6,770.9,-6.7,551,11492,0.00,2.50,0.00,0.000,6,0.000,0.043,2584,2240,3420
$GC,11819,-0.96,-146.6,783.2,-0.5,567,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2239,3419
$GC,12128,-0.96,-146.6,796.5,-4.6,582,12133,0.00,2.65,0.00,0.000,4,0.000,0.069,2584,3655,3418
$STATE,12209,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12209,begin apogee
$GC,12220,-0.36,0.0,809.5,10.3,585,12353,0.60,0.00,129.43,1.404,6,0.068,0.000,2715,1462,2832
$STATE,12353,end apogee,CONTROL_FINISHED_OK
$STATE,12353,begin climb
$GC,12356,0.96,146.6,814.2,0.0,592,12494,1.35,0.00,132.98,1.347,6,0.054,0.000,3008,1462,2234
$GC,12810,1.34,451.1,812.8,-2.3,614,13093,0.32,2.65,272.62,1.336,4,0.027,0.051,3114,2861,992
$GC,13105,1.34,451.1,792.6,11.9,628,13110,0.12,2.58,0.00,0.000,6,0.083,0.048,3090,1455,989
$GC,13432,1.34,451.1,748.2,17.1,644,13436,0.00,2.25,0.00,0.000,4,0.000,0.070,3089,266,981
$GC,13559,1.34,451.1,728.2,7.3,649,13565,0.00,2.10,0.00,0.000,6,0.000,0.038,3089,1473,979
$GC,13876,1.34,451.1,686.8,13.2,665,13879,0.00,2.28,0.00,0.000,4,0.000,0.070,3089,261,977
$GC,13943,1.34,451.1,676.8,15.5,668,13948,0.00,2.08,0.00,0.000,6,0.000,0.038,3090,1444,977
$GC,14275,1.34,451.1,635.2,16.3,684,14279,0.00,2.22,0.00,0.000,4,0.000,0.071,3089,258,977
$GC,14321,1.34,451.1,628.2,11.9,686,14325,0.00,2.10,0.00,0.000,6,0.000,0.038,3089,1457,977
$GC,14653,1.34,451.1,588.1,12.4,702,14657,0.00,2.22,0.00,0.000,4,0.000,0.067,3089,262,976
$GC,14726,1.34,451.1,578.3,13.6,705,14731,0.00,2.10,0.00,0.000,6,0.000,0.038,3089,1456,975
$GC,15053,1.34,451.1,536.3,13.4,721,15058,0.00,2.25,0.00,0.000,4,0.000,0.064,3089,261,975
$GC,15170,1.34,451.1,514.9,19.6,726,15174,0.00,2.08,0.00,0.000,6,0.000,0.036,3089,1469,975
$GC,15498,1.34,451.1,449.9,18.9,742,15502,0.00,2.47,0.00,0.000,4,0.000,0.049,3089,2850,975
$GC,15527,1.34,451.1,445.1,16.9,743,15532,0.00,2.47,0.00,0.000,6,0.000,0.042,3089,1451,975
$GC,15842,1.34,451.1,395.7,14.4,758,15846,0.00,2.17,0.00,0.000,4,0.000,0.062,3089,262,974
$GC,15870,1.34,451.1,391.2,15.9,759,15874,0.00,2.03,0.00,0.000,6,0.000,0.033,3089,1455,974
$GC,16197,1.34,451.1,342.9,15.3,775,16201,0.00,2.17,0.00,0.000,4,0.000,0.059,3089,262,975
$GC,16269,1.34,451.1,330.8,17.9,778,16273,0.00,2.05,0.00,0.000,6,0.000,0.033,3089,1456,974
$GC,16599,1.34,451.1,288.3,10.8,794,16603,0.00,2.17,0.00,0.000,4,0.000,0.058,3089,260,975
$GC,16683,1.34,451.1,277.7,12.3,797,16689,0.00,2.03,0.00,0.000,6,0.000,0.032,3089,1455,975
$GC,16999,1.34,451.1,243.9,11.8,813,17003,0.00,2.17,0.00,0.000,4,0.000,0.058,3089,261,976
$GC,17099,1.34,451.1,229.1,15.3,817,17103,0.00,2.03,0.00,0.000,6,0.000,0.031,3089,1456,976
$GC,17421,1.34,451.1,181.8,13.2,833,17425,0.00,2.17,0.00,0.000,4,0.000,0.056,3089,256,976
$GC,17444,1.34,451.1,178.9,13.1,834,17449,0.00,2.08,0.00,0.000,6,0.000,0.031,3089,1455,976
$GC,17776,1.34,451.1,148.9,7.6,850,17779,0.00,2.15,0.00,0.000,4,0.000,0.055,3089,262,977
$GC,17822,1.34,451.1,145.1,8.7,852,17827,0.00,2.05,0.00,0.000,6,0.000,0.031,3089,1454,977
$GC,18154,1.52,597.6,131.1,2.0,868,18270,0.17,2.20,109.47,0.867,4,0.034,0.054,3166,262,474
$GC,18398,1.52,597.6,103.9,14.0,879,18403,0.17,2.05,0.00,0.000,6,0.087,0.031,3133,1456,469
$GC,18721,1.52,597.6,68.9,14.1,895,18724,0.00,2.15,0.00,0.000,4,0.000,0.054,3133,262,468
$GC,18946,1.52,597.6,32.5,14.8,905,18949,0.00,2.05,0.00,0.000,6,0.000,0.031,3133,1460,467
$STATE,19131,end climb,SURFACE_DEPTH_REACHED
$STATE,19131,begin surface coast
$FINISH,0.1,1.026834
$STATE,19155,end surface coast,CONTROL_FINISHED_OK
$STATE,19155,begin surface
$SM_CCo,19239,0.00,0.000,0,0,465,580.38
$SM_GC,0.66,11.88,0.00,0.00,0.022,0.000,0.000,388,2246,465,-10.99,-0.11,580.38
$IRIDIUM_FIX,6108.28,-826.94,171198,080859
$TT8_MAMPS,0.026845
$HUMID,1947
$INTERNAL_PRESSURE,8.04066
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.3,67.7
$24V_AH,22.9,64.851
$10V_AH,10.0,39.063
$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,26.200,192.900,644.500,0.000,0.000,24.937,34.056,124.126,6.500,0.000,0.000,15.433,1750.464,13991.145,659.474,2341.245,796.885,0.000,1946.810,0.000,2479.951,0.000,44.404,0.000
$DEVICE_MAMPS,128.089,70.564,1404.377,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,806.015,648.312,537.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47391,915
$CAP_FILE_SIZE,148530,0
$CFSIZE,260165632,235257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,230809,175154,6135.876,-835.811,35,1.8,52,-9.0