version: 66.04
glider: 105
mission: 6
dive: 320
start: 8 24 109 1 8 45
data:
$ID,105
$MISSION,6
$DIVE,320
$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,-1633821.8
$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,28
$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
$GPS1,010131,6134.625,-842.825,40,1.4,41,-9.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-56.4
$GPS2,010825,6134.679,-842.740,12,1.4,12,-9.1
$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,128.0,17912,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.96,-146.6,0.0,0.0,0,85,0.00,0.00,-64.88,0.000,6,0.000,0.000,393,2243,3431
$GC,88,-0.96,-146.6,3.4,-6.4,3,109,11.62,2.60,0.00,0.000,4,0.130,0.051,2586,3655,3433
$GC,222,-0.96,-146.6,29.7,-12.3,9,227,0.00,2.45,0.00,0.000,6,0.000,0.030,2586,2236,3434
$GC,555,-0.96,-146.6,62.6,-8.6,25,560,0.00,2.60,0.00,0.000,4,0.000,0.052,2586,3650,3434
$GC,780,-0.96,-146.6,79.7,-8.8,35,785,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2252,3434
$GC,1108,-0.96,-146.6,102.8,-7.6,51,1113,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3645,3434
$GC,1169,-0.96,-146.6,107.9,-8.9,53,1175,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2247,3434
$GC,1486,-0.96,-146.6,132.8,-7.5,69,1490,0.00,2.55,0.00,0.000,4,0.000,0.051,2586,3656,3434
$GC,1541,-0.96,-146.6,137.2,-7.5,71,1547,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2250,3434
$GC,1860,-0.96,-146.6,158.2,-6.0,87,1864,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3654,3435
$GC,1922,-0.96,-146.6,163.0,-8.0,90,1926,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2239,3435
$GC,2249,-0.96,-146.6,191.6,-9.5,106,2253,0.00,2.42,0.00,0.000,4,0.000,0.043,2586,854,3434
$GC,2304,-0.96,-146.6,197.5,-10.2,108,2311,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2252,3435
$GC,2620,-0.96,-146.6,227.6,-8.0,124,2624,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3656,3434
$GC,2704,-0.96,-146.6,233.9,-7.4,128,2708,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2252,3434
$GC,3030,-0.96,-146.6,252.5,-5.9,144,3035,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3651,3434
$GC,3097,-0.96,-146.6,257.3,-7.5,147,3102,0.00,2.40,0.00,0.000,6,0.000,0.029,2585,2239,3434
$GC,3419,-0.96,-146.6,281.7,-8.1,163,3424,0.00,2.58,0.00,0.000,4,0.000,0.052,2586,3647,3434
$GC,3519,-0.96,-146.6,290.7,-9.2,167,3523,0.00,2.38,0.00,0.000,6,0.000,0.030,2586,2254,3434
$GC,3835,-0.96,-146.6,313.7,-6.2,182,3839,0.00,2.53,0.00,0.000,4,0.000,0.051,2586,3652,3434
$GC,3930,-0.96,-146.6,319.0,-4.7,186,3934,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2247,3433
$GC,4247,-0.96,-146.6,327.9,-2.6,201,4251,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3648,3432
$GC,4309,-0.96,-146.6,330.5,-4.6,204,4314,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2238,3432
$GC,4637,-0.96,-146.6,348.8,-7.1,220,4641,0.00,2.55,0.00,0.000,4,0.000,0.052,2586,3651,3432
$GC,4755,-0.96,-146.6,359.1,-8.5,225,4760,0.00,2.42,0.00,0.000,6,0.000,0.030,2586,2251,3432
$GC,5076,-0.96,-146.6,385.2,-8.0,241,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3432
$GC,5387,-0.96,-146.6,408.2,-7.3,256,5391,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3432
$GC,5459,-0.96,-146.6,413.5,-7.0,259,5464,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2241,3431
$GC,5775,-0.96,-146.6,434.6,-6.6,274,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2241,3431
$GC,6084,-0.96,-146.6,458.1,-8.3,289,6088,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3653,3431
$GC,6146,-0.96,-146.6,463.6,-9.1,292,6150,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3431
$GC,6475,-0.96,-146.6,488.4,-7.0,308,6479,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3650,3431
$GC,6541,-0.96,-146.6,493.7,-7.5,311,6546,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2250,3431
$GC,6867,-0.96,-146.6,516.6,-6.6,327,6872,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3652,3430
$GC,6968,-0.96,-146.6,523.5,-7.2,331,6975,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2236,3430
$GC,7284,-0.96,-146.6,541.6,-5.7,347,7288,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3657,3429
$GC,7328,-0.96,-146.6,544.1,-5.7,349,7333,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2255,3429
$GC,7650,-0.96,-146.6,555.9,-1.9,365,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3429
$GC,7959,-0.96,-146.6,576.4,-9.6,380,7963,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,845,3428
$GC,8015,-0.96,-146.6,582.3,-11.1,382,8021,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2249,3428
$GC,8331,-0.96,-146.6,611.8,-8.3,398,8335,0.00,2.47,0.00,0.000,4,0.000,0.044,2586,851,3428
$GC,8380,-0.96,-146.6,615.5,-7.7,400,8385,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2247,3428
$GC,8696,-0.96,-146.6,631.7,-5.0,415,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3427
$GC,9006,-0.96,-146.6,651.0,-6.5,430,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3427
$GC,9315,-0.96,-146.6,671.2,-6.1,445,9319,0.00,2.50,0.00,0.000,4,0.000,0.047,2586,845,3426
$GC,9387,-0.96,-146.6,675.0,-5.2,448,9392,0.00,2.45,0.00,0.000,6,0.000,0.037,2586,2253,3426
$GC,9708,-0.96,-146.6,687.3,-4.1,464,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3426
$GC,10017,-0.96,-146.6,704.9,-7.2,479,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2252,3425
$GC,10327,-0.96,-146.6,728.8,-6.8,494,10331,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,851,3422
$GC,10360,-0.96,-146.6,730.9,-6.2,495,10367,0.00,2.47,0.00,0.000,6,0.000,0.041,2586,2254,3422
$GC,10680,-0.96,-146.6,750.8,-6.8,511,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3421
$GC,10986,-0.96,-146.6,773.8,-7.4,526,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2254,3420
$GC,11298,-0.96,-146.6,792.3,-5.3,541,11302,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,856,3418
$GC,11347,-0.96,-146.6,795.3,-6.0,543,11352,0.00,2.45,0.00,0.000,6,0.000,0.043,2586,2247,3418
$GC,11663,-0.96,-146.6,813.2,-5.8,558,11668,0.00,2.55,0.00,0.000,4,0.000,0.053,2586,852,3416
$GC,11709,-0.96,-146.6,815.9,-6.1,560,11714,0.00,2.50,0.00,0.000,6,0.000,0.042,2586,2246,3416
$GC,12041,-0.96,-146.6,837.9,-6.8,576,12046,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,856,3414
$GC,12079,-0.96,-146.6,840.8,-7.5,577,12086,0.00,2.47,0.00,0.000,6,0.000,0.043,2586,2257,3414
$STATE,12330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12331,begin apogee
$GC,12339,-0.36,0.0,856.5,6.3,590,12474,0.62,0.00,129.18,1.435,6,0.064,0.000,2719,1469,2831
$STATE,12475,end apogee,CONTROL_FINISHED_OK
$STATE,12475,begin climb
$GC,12478,0.96,146.6,862.1,0.0,597,12618,1.33,2.60,132.65,1.376,4,0.053,0.051,3008,2861,2232
$GC,12802,0.98,157.2,850.9,5.7,611,12817,0.00,2.55,9.55,1.173,6,0.000,0.046,3008,1451,2190
$GC,13134,1.06,226.6,834.5,4.1,627,13205,0.10,2.65,64.53,1.367,4,0.047,0.054,3057,2861,1908
$GC,13272,1.06,226.6,823.0,9.7,633,13277,0.12,2.55,0.00,0.000,6,0.082,0.047,3032,1447,1902
$GC,13590,1.06,226.6,796.6,7.7,648,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1447,1897
$GC,13897,1.06,226.6,772.4,7.5,663,13902,0.00,2.58,0.00,0.000,4,0.000,0.053,3032,2864,1895
$GC,13975,1.06,226.6,766.8,6.3,666,13981,0.00,2.55,0.00,0.000,6,0.000,0.047,3032,1450,1895
$GC,14291,1.10,256.9,747.6,5.2,682,14325,0.00,2.62,27.17,1.342,4,0.000,0.052,3032,2859,1783
$GC,14372,1.10,256.9,741.9,6.5,685,14378,0.00,2.55,0.00,0.000,6,0.000,0.047,3032,1456,1780
$GC,14687,1.10,256.9,719.9,8.4,701,14692,0.00,2.55,0.00,0.000,4,0.000,0.054,3032,2860,1777
$GC,14721,1.10,256.9,716.6,9.7,702,14727,0.00,2.55,0.00,0.000,6,0.000,0.047,3032,1447,1777
$GC,15039,1.10,256.9,682.6,11.4,718,15043,0.00,2.55,0.00,0.000,4,0.000,0.052,3032,2860,1776
$GC,15111,1.10,256.9,675.1,9.4,721,15116,0.00,2.55,0.00,0.000,6,0.000,0.045,3031,1460,1775
$GC,15432,1.34,454.2,664.1,0.6,737,15617,0.25,0.00,181.90,1.311,6,0.028,0.000,3114,1460,980
$GC,15925,1.34,454.2,615.7,14.3,761,15930,0.12,2.22,0.00,0.000,4,0.081,0.067,3089,262,967
$GC,16003,1.34,454.2,603.4,14.0,764,16009,0.00,2.10,0.00,0.000,6,0.000,0.035,3089,1469,966
$GC,16318,1.34,454.2,553.6,15.9,780,16322,0.00,2.25,0.00,0.000,4,0.000,0.064,3089,256,963
$GC,16391,1.34,454.2,540.5,19.0,783,16395,0.00,2.05,0.00,0.000,6,0.000,0.034,3089,1454,963
$GC,16718,1.34,454.2,481.4,15.7,799,16722,0.00,2.20,0.00,0.000,4,0.000,0.061,3089,256,962
$GC,16824,1.34,454.2,466.0,14.7,803,16831,0.00,2.08,0.00,0.000,6,0.000,0.032,3089,1456,961
$GC,17140,1.34,454.2,429.2,11.0,819,17144,0.00,2.20,0.00,0.000,4,0.000,0.058,3089,255,961
$GC,17196,1.34,454.2,423.2,10.6,821,17200,0.00,2.05,0.00,0.000,6,0.000,0.032,3089,1457,961
$GC,17517,1.34,454.2,388.8,11.5,837,17521,0.00,2.20,0.00,0.000,4,0.000,0.058,3089,254,961
$GC,17590,1.34,454.2,378.2,15.3,840,17594,0.00,2.08,0.00,0.000,6,0.000,0.031,3089,1466,960
$GC,17917,1.34,454.2,334.8,13.0,856,17921,0.00,2.20,0.00,0.000,4,0.000,0.058,3089,259,961
$GC,18012,1.34,454.2,320.5,14.9,860,18016,0.00,2.05,0.00,0.000,6,0.000,0.031,3089,1457,960
$GC,18341,1.34,454.2,277.4,13.4,876,18344,0.00,2.17,0.00,0.000,4,0.000,0.057,3089,254,961
$GC,18442,1.34,454.2,262.5,14.4,880,18446,0.00,2.05,0.00,0.000,6,0.000,0.031,3089,1457,961
$GC,18763,1.34,454.2,221.7,12.0,896,18768,0.00,2.20,0.00,0.000,4,0.000,0.057,3089,260,962
$GC,18824,1.34,454.2,213.8,14.5,898,18831,0.00,2.05,0.00,0.000,6,0.000,0.031,3089,1461,961
$GC,19140,1.34,454.2,174.5,12.8,914,19144,0.00,2.17,0.00,0.000,4,0.000,0.055,3089,259,962
$GC,19275,1.34,454.2,156.3,12.7,920,19279,0.00,2.05,0.00,0.000,6,0.000,0.031,3089,1463,961
$GC,19610,1.34,454.2,112.7,14.1,936,19613,0.00,2.20,0.00,0.000,4,0.000,0.055,3089,254,961
$GC,19648,1.34,454.2,105.9,17.0,937,19655,0.00,2.08,0.00,0.000,6,0.000,0.031,3089,1457,961
$GC,19964,1.34,454.2,65.4,12.0,953,19968,0.00,2.17,0.00,0.000,4,0.000,0.053,3089,252,961
$GC,20058,1.34,454.2,52.9,13.8,957,20062,0.00,2.05,0.00,0.000,6,0.000,0.030,3089,1460,961
$GC,20387,1.34,454.2,13.1,11.9,973,20390,0.00,2.17,0.00,0.000,4,0.000,0.053,3089,255,961
$STATE,20475,end climb,SURFACE_DEPTH_REACHED
$STATE,20475,begin surface coast
$FINISH,0.1,1.026252
$STATE,20499,end surface coast,CONTROL_FINISHED_OK
$STATE,20499,begin surface
$SM_CCo,20585,0.00,0.000,0,0,961,458.96
$SM_GC,0.76,11.65,0.00,0.00,0.021,0.000,0.000,383,2235,961,-11.00,-0.42,458.96
$IRIDIUM_FIX,6112.75,-837.21,171198,181840
$TT8_MAMPS,0.026845
$HUMID,1947
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.4,91.1
$24V_AH,22.9,65.256
$10V_AH,10.0,39.282
$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,25.825,203.600,544.975,0.000,0.000,29.172,26.407,219.408,6.750,0.000,0.000,12.089,1852.698,15218.609,640.046,2357.549,918.246,0.000,1912.770,0.000,2502.542,0.000,46.095,0.000
$DEVICE_MAMPS,129.623,66.729,1435.057,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.244,691.274,529.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50665,978
$CAP_FILE_SIZE,157000,0
$CFSIZE,260165632,235094016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240809,065307,6134.082,-837.003,40,1.8,40,-9.0