version: 66.04
glider: 105
mission: 6
dive: 321
start: 8 24 109 6 59 3
data:
$ID,105
$MISSION,6
$DIVE,321
$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,-1633838.2
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,065307,6134.082,-837.003,40,1.8,40,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-55.0
$GPS2,065843,6134.165,-837.097,14,1.7,14,-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,134.8,13182,-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,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,2,0.000,0.000,384,2235,3373
$GC,102,-0.96,-146.6,4.0,-5.4,4,125,11.68,2.55,-0.95,0.000,4,0.130,0.061,2580,3657,3432
$GC,203,-0.96,-146.6,22.6,-10.7,8,208,0.00,2.47,0.00,0.000,6,0.000,0.028,2580,2228,3433
$GC,524,-0.96,-146.6,54.3,-10.0,24,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2228,3433
$GC,834,-0.96,-146.6,85.4,-11.1,39,838,0.00,2.60,0.00,0.000,4,0.000,0.054,2580,3654,3434
$GC,896,-0.96,-146.6,92.7,-11.7,42,900,0.00,2.40,0.00,0.000,6,0.000,0.028,2580,2239,3434
$GC,1223,-0.96,-146.6,128.9,-10.8,58,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2240,3435
$GC,1532,-0.96,-146.6,156.5,-9.9,73,1536,0.00,2.60,0.00,0.000,4,0.000,0.056,2580,3663,3434
$GC,1755,-0.96,-146.6,178.9,-11.1,83,1760,0.00,2.40,0.00,0.000,6,0.000,0.029,2580,2254,3435
$GC,2077,-0.96,-146.6,206.1,-7.3,99,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2255,3435
$GC,2386,-0.96,-146.6,231.1,-7.9,114,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2255,3435
$GC,2696,-0.96,-146.6,254.8,-7.2,129,2700,0.00,2.55,0.00,0.000,4,0.000,0.052,2580,3660,3435
$GC,2758,-0.96,-146.6,259.6,-7.1,132,2762,0.00,2.40,0.00,0.000,6,0.000,0.030,2580,2253,3435
$GC,3084,-0.96,-146.6,281.1,-6.6,148,3088,0.00,2.55,0.00,0.000,4,0.000,0.051,2580,3661,3435
$GC,3155,-0.96,-146.6,286.6,-7.7,151,3160,0.00,2.42,0.00,0.000,6,0.000,0.029,2580,2245,3434
$GC,3472,-0.96,-146.6,309.4,-7.4,166,3477,0.00,2.58,0.00,0.000,4,0.000,0.053,2580,3648,3434
$GC,3539,-0.96,-146.6,314.9,-8.3,169,3544,0.00,2.40,0.00,0.000,6,0.000,0.030,2580,2247,3434
$GC,3867,-0.96,-146.6,339.5,-6.7,185,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2245,3434
$GC,4176,-0.96,-146.6,359.4,-6.4,200,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2245,3434
$GC,4485,-0.96,-146.6,373.2,-3.7,215,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2244,3434
$GC,4797,-0.96,-146.6,389.5,-5.7,230,4801,0.00,2.55,0.00,0.000,4,0.000,0.052,2580,3654,3434
$GC,4882,-0.96,-146.6,394.7,-5.9,234,4887,0.00,2.42,0.00,0.000,6,0.000,0.030,2580,2236,3434
$GC,5210,-0.96,-146.6,413.5,-6.2,250,5214,0.00,2.58,0.00,0.000,4,0.000,0.053,2580,3657,3433
$GC,5332,-0.96,-146.6,422.5,-7.8,255,5339,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2249,3433
$GC,5648,-0.96,-146.6,443.6,-6.5,271,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2249,3433
$GC,5959,-0.96,-146.6,463.5,-6.7,286,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2248,3432
$GC,6267,-0.96,-146.6,484.4,-7.5,301,6272,0.00,2.55,0.00,0.000,4,0.000,0.054,2580,3654,3432
$GC,6340,-0.96,-146.6,490.9,-9.7,304,6344,0.00,2.40,0.00,0.000,6,0.000,0.031,2580,2250,3432
$GC,6655,-0.96,-146.6,517.1,-8.0,319,6659,0.00,2.45,0.00,0.000,4,0.000,0.044,2580,852,3432
$GC,6706,-0.96,-146.6,521.1,-7.4,321,6711,0.00,2.47,0.00,0.000,6,0.000,0.035,2580,2256,3432
$GC,7027,-0.96,-146.6,537.7,-3.8,337,7031,0.00,2.50,0.00,0.000,4,0.000,0.044,2580,845,3431
$GC,7099,-0.96,-146.6,541.1,-4.6,340,7103,0.00,2.45,0.00,0.000,6,0.000,0.035,2580,2255,3431
$GC,7415,-0.96,-146.6,556.9,-7.6,355,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2255,3431
$GC,7726,-0.96,-146.6,575.4,-5.5,370,7731,0.00,2.53,0.00,0.000,4,0.000,0.057,2580,3651,3431
$GC,7904,-0.96,-146.6,583.9,-3.3,378,7908,0.00,2.40,0.00,0.000,6,0.000,0.033,2580,2254,3431
$GC,8230,-0.96,-146.6,588.0,0.1,394,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2253,3430
$STATE,8455,end dive,NO_VERTICAL_VELOCITY
$STATE,8455,begin apogee
$GC,8464,-0.36,0.0,588.0,0.0,405,8597,0.65,0.00,126.47,1.166,6,0.066,0.000,2717,1462,2831
$STATE,8598,end apogee,CONTROL_FINISHED_OK
$STATE,8598,begin climb
$GC,8601,0.96,146.6,586.5,0.0,412,8735,1.33,2.25,126.97,1.127,4,0.053,0.061,3007,262,2233
$GC,8811,1.07,234.3,578.4,3.6,422,8896,0.12,2.05,76.15,1.105,6,0.046,0.035,3048,1456,1876
$GC,9206,1.21,344.4,564.2,3.0,441,9310,0.00,2.58,97.18,1.111,4,0.000,0.047,3048,2855,1426
$GC,9394,1.47,553.8,560.9,0.3,449,9589,0.32,2.50,183.02,1.098,6,0.028,0.039,3154,1451,573
$GC,9898,1.47,553.8,505.7,14.9,474,9903,0.17,2.17,0.00,0.000,4,0.075,0.060,3115,260,566
$GC,10200,1.47,553.8,460.2,16.1,487,10206,0.00,2.05,0.00,0.000,6,0.000,0.034,3114,1460,564
$GC,10518,1.47,553.8,414.0,15.3,503,10522,0.00,2.17,0.00,0.000,4,0.000,0.058,3114,265,564
$GC,10641,1.47,553.8,391.6,18.4,508,10645,0.00,2.05,0.00,0.000,6,0.000,0.033,3114,1456,564
$GC,10963,1.47,553.8,331.6,19.1,524,10967,0.00,2.17,0.00,0.000,4,0.000,0.058,3114,262,564
$GC,11099,1.47,553.8,304.8,20.0,530,11103,0.00,2.05,0.00,0.000,6,0.000,0.033,3114,1466,563
$GC,11434,1.47,553.8,248.9,16.3,546,11438,0.00,2.20,0.00,0.000,4,0.000,0.058,3114,262,563
$GC,11592,1.47,553.8,223.8,16.1,553,11596,0.00,2.05,0.00,0.000,6,0.000,0.032,3114,1456,563
$GC,11927,1.47,553.8,178.8,13.9,569,11930,0.00,2.17,0.00,0.000,4,0.000,0.056,3114,259,563
$GC,12095,1.47,553.8,151.9,16.8,576,12098,0.00,2.05,0.00,0.000,6,0.000,0.032,3114,1456,563
$GC,12417,1.47,553.8,112.0,11.1,592,12421,0.00,2.15,0.00,0.000,4,0.000,0.055,3114,263,563
$GC,12586,1.47,553.8,89.7,12.0,599,12590,0.00,2.05,0.00,0.000,6,0.000,0.032,3114,1466,563
$GC,12907,1.47,553.8,54.9,10.0,615,12911,0.00,2.17,0.00,0.000,4,0.000,0.055,3114,263,563
$GC,13094,1.47,553.8,32.7,12.0,623,13098,0.00,2.03,0.00,0.000,6,0.000,0.031,3114,1456,563
$STATE,13377,end climb,SURFACE_DEPTH_REACHED
$STATE,13377,begin surface coast
$FINISH,0.2,1.026841
$STATE,13400,end surface coast,CONTROL_FINISHED_OK
$STATE,13400,begin surface
$SM_CCo,13484,0.00,0.000,0,0,563,556.83
$SM_GC,0.69,11.90,0.00,0.00,0.028,0.000,0.000,391,2236,563,-11.00,-0.40,556.83
$IRIDIUM_FIX,6108.28,-846.14,181198,010133
$TT8_MAMPS,0.026845
$HUMID,1913
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.1,65.460
$10V_AH,10.1,39.354
$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,26.175,101.350,609.800,0.000,0.000,25.487,25.597,152.992,4.500,0.000,0.000,15.864,1217.612,9641.794,600.527,1688.783,665.148,0.000,1533.775,0.000,1785.230,0.000,30.084,0.000
$DEVICE_MAMPS,130.390,61.360,1165.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,550.329,459.323,407.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31776,638
$CAP_FILE_SIZE,102494,0
$CFSIZE,260165632,235102208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240809,104506,6136.555,-837.204,36,1.2,42,-9.1