version: 66.04
glider: 105
mission: 6
dive: 335
start: 8 27 109 17 24 58
data:
$ID,105
$MISSION,6
$DIVE,335
$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,-1634076.8
$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,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
$GPS1,171354,6133.489,-853.575,24,1.4,42,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.7
$GPS2,172438,6133.393,-853.678,10,1.7,10,-9.2
$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,113.1,26110,-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,-58.70,0.000,6,0.000,0.000,394,2238,3432
$GC,81,-0.96,-146.6,5.0,-9.9,3,102,11.62,2.60,0.00,0.000,4,0.130,0.051,2587,3653,3433
$GC,439,-0.96,-146.6,43.7,-8.1,19,444,0.00,2.45,0.00,0.000,6,0.000,0.029,2586,2231,3434
$GC,772,-0.96,-146.6,65.1,-6.5,35,776,0.00,2.58,0.00,0.000,4,0.000,0.051,2587,3654,3435
$GC,946,-0.96,-146.6,77.4,-6.9,43,950,0.00,2.40,0.00,0.000,6,0.000,0.030,2587,2246,3435
$GC,1273,-0.96,-146.6,100.6,-7.3,59,1277,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3656,3435
$GC,1359,-0.96,-146.6,106.9,-7.7,63,1363,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2248,3435
$GC,1686,-0.96,-146.6,131.4,-8.1,79,1691,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3659,3435
$GC,1751,-0.96,-146.6,137.0,-8.8,82,1755,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2253,3435
$GC,2077,-0.96,-146.6,162.4,-7.5,98,2081,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3654,3435
$GC,2139,-0.96,-146.6,167.5,-8.3,101,2144,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2251,3435
$GC,2471,-0.96,-146.6,192.7,-7.7,117,2475,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3654,3434
$GC,2515,-0.96,-146.6,196.4,-8.4,119,2519,0.00,2.40,0.00,0.000,6,0.000,0.030,2587,2246,3434
$GC,2836,-0.96,-146.6,221.4,-7.7,135,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2246,3434
$GC,3145,-0.96,-146.6,245.6,-7.6,150,3149,0.00,2.53,0.00,0.000,4,0.000,0.051,2587,3654,3433
$GC,3308,-0.96,-146.6,259.2,-8.2,157,3312,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2249,3434
$GC,3624,-0.96,-146.6,282.4,-7.1,172,3629,0.00,2.55,0.00,0.000,4,0.000,0.051,2587,3652,3433
$GC,3696,-0.96,-146.6,288.0,-7.5,175,3700,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2248,3433
$GC,4018,-0.96,-146.6,309.8,-6.7,191,4022,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3654,3433
$GC,4118,-0.96,-146.6,317.1,-7.4,195,4125,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2249,3432
$GC,4435,-0.96,-146.6,337.9,-6.7,211,4440,0.00,2.53,0.00,0.000,4,0.000,0.052,2586,3654,3432
$GC,4531,-0.96,-146.6,345.2,-7.5,215,4535,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2249,3432
$GC,4846,-0.96,-146.6,368.2,-7.6,230,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3432
$GC,5157,-0.96,-146.6,391.4,-7.6,245,5161,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3661,3432
$GC,5236,-0.96,-146.6,398.0,-8.5,248,5242,0.00,2.42,0.00,0.000,6,0.000,0.032,2587,2246,3432
$GC,5551,-0.96,-146.6,422.5,-7.9,264,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2246,3431
$GC,5863,-0.96,-146.6,446.6,-7.7,279,5867,0.00,2.55,0.00,0.000,4,0.000,0.053,2587,3661,3431
$GC,5932,-0.96,-146.6,452.3,-8.3,282,5937,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2248,3431
$GC,6253,-0.96,-146.6,476.7,-7.3,298,6258,0.00,2.55,0.00,0.000,4,0.000,0.053,2587,3650,3431
$GC,6304,-0.96,-146.6,480.5,-7.7,300,6308,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2246,3431
$GC,6628,-0.96,-146.6,502.5,-6.7,316,6632,0.00,2.55,0.00,0.000,4,0.000,0.052,2587,3662,3430
$GC,6739,-0.96,-146.6,510.4,-7.0,321,6743,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2248,3430
$GC,7060,-0.96,-146.6,529.1,-5.7,337,7065,0.00,2.53,0.00,0.000,4,0.000,0.052,2587,3654,3430
$GC,7133,-0.96,-146.6,533.8,-6.5,340,7138,0.00,2.42,0.00,0.000,6,0.000,0.031,2587,2254,3430
$GC,7454,-0.96,-146.6,551.6,-5.7,356,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2254,3430
$GC,7764,-0.96,-146.6,570.6,-6.0,371,7768,0.00,2.55,0.00,0.000,4,0.000,0.054,2587,3648,3429
$GC,7802,-0.96,-146.6,573.2,-6.4,372,7809,0.00,2.42,0.00,0.000,6,0.000,0.032,2587,2233,3429
$GC,8117,-0.96,-146.6,591.5,-6.1,388,8122,0.00,2.60,0.00,0.000,4,0.000,0.054,2587,3653,3429
$GC,8201,-0.96,-146.6,597.5,-7.5,391,8208,0.00,2.40,0.00,0.000,6,0.000,0.032,2587,2253,3429
$GC,8516,-0.96,-146.6,617.8,-6.5,407,8521,0.00,2.55,0.00,0.000,4,0.000,0.053,2587,3653,3429
$GC,8572,-0.96,-146.6,621.9,-8.0,409,8576,0.00,2.40,0.00,0.000,6,0.000,0.032,2587,2251,3429
$STATE,8844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8844,begin apogee
$GC,8853,-0.36,0.0,639.4,5.4,422,8986,0.62,0.00,127.57,1.188,6,0.060,0.000,2722,1464,2831
$STATE,8987,end apogee,CONTROL_FINISHED_OK
$STATE,8987,begin climb
$GC,8990,0.96,146.6,642.5,0.0,429,9125,1.33,2.30,127.70,1.153,4,0.050,0.060,3010,263,2233
$GC,9172,1.03,196.4,635.0,4.6,437,9223,0.00,2.05,44.50,1.112,6,0.000,0.033,3010,1470,2030
$GC,9546,1.03,196.4,607.0,7.7,455,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1473,2024
$GC,9854,1.03,196.4,584.0,7.5,470,9858,0.00,2.45,0.00,0.000,4,0.000,0.045,3010,2846,2022
$GC,9911,1.03,196.4,579.9,7.6,472,9917,0.00,2.45,0.00,0.000,6,0.000,0.039,3010,1455,2022
$GC,10226,1.03,196.4,557.9,7.4,488,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1455,2021
$GC,10536,1.03,202.5,538.7,5.8,503,10547,0.00,2.53,5.22,0.808,4,0.000,0.042,3010,2843,2006
$GC,10606,1.03,202.5,534.6,6.0,506,10610,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1454,2005
$GC,10932,1.03,202.5,514.5,6.2,522,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1454,2005
$GC,11244,1.03,202.5,493.7,6.8,537,11248,0.00,2.47,0.00,0.000,4,0.000,0.043,3010,2849,2004
$GC,11299,1.03,202.5,489.7,7.3,539,11305,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1452,2004
$GC,11615,1.03,202.5,467.8,6.9,555,11619,0.00,2.47,0.00,0.000,4,0.000,0.044,3010,2846,2004
$GC,11677,1.03,202.5,463.5,7.0,558,11681,0.00,2.42,0.00,0.000,6,0.000,0.039,3010,1454,2004
$GC,12004,1.03,202.5,441.3,6.6,574,12009,0.00,2.50,0.00,0.000,4,0.000,0.043,3010,2851,2004
$GC,12053,1.03,202.5,438.0,6.2,576,12057,0.00,2.45,0.00,0.000,6,0.000,0.038,3010,1454,2004
$GC,12374,1.03,202.5,417.9,6.2,592,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1454,2004
$GC,12683,1.04,207.9,399.6,5.9,607,12694,0.00,2.50,6.32,0.827,4,0.000,0.042,3010,2846,1983
$GC,12739,1.04,208.4,396.3,6.0,609,12746,0.00,2.47,0.00,0.000,6,0.000,0.038,3010,1460,1982
$GC,13055,1.06,224.2,379.0,5.6,625,13078,0.00,2.50,16.05,0.972,4,0.000,0.041,3010,2847,1915
$GC,13117,1.07,233.1,375.5,5.8,627,13132,0.10,2.47,9.38,0.892,6,0.047,0.038,3062,1449,1880
$GC,13456,1.07,233.1,350.3,7.5,644,13461,0.15,2.50,0.00,0.000,4,0.071,0.041,3030,2851,1878
$GC,13496,1.07,233.1,347.5,6.3,646,13500,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1454,1877
$GC,13822,1.07,233.1,327.4,6.4,662,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1454,1877
$GC,14132,1.07,233.1,306.6,7.1,677,14133,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1454,1877
$GC,14440,1.07,233.1,282.6,7.8,692,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1454,1877
$GC,14750,1.07,233.1,259.8,7.2,707,14755,0.00,2.50,0.00,0.000,4,0.000,0.042,3030,2847,1876
$GC,14801,1.07,233.1,256.0,7.2,709,14805,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1450,1876
$GC,15121,1.07,233.1,235.3,6.5,725,15126,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2849,1876
$GC,15166,1.07,233.1,232.3,6.6,727,15171,0.00,2.47,0.00,0.000,6,0.000,0.038,3030,1454,1876
$GC,15492,1.07,233.1,212.6,6.1,743,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1453,1876
$GC,15801,1.07,233.1,192.8,7.1,758,15805,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2855,1876
$GC,15856,1.07,233.1,188.5,7.6,760,15863,0.00,2.45,0.00,0.000,6,0.000,0.038,3030,1446,1876
$GC,16172,1.07,233.1,157.9,10.9,776,16177,0.00,2.47,0.00,0.000,4,0.000,0.041,3030,2849,1876
$GC,16217,1.07,233.1,152.7,11.6,778,16221,0.00,2.42,0.00,0.000,6,0.000,0.036,3030,1454,1876
$GC,16539,1.07,233.1,116.3,11.4,794,16543,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2849,1876
$GC,16611,1.07,233.1,107.9,11.8,797,16615,0.00,2.42,0.00,0.000,6,0.000,0.036,3030,1454,1876
$GC,16927,1.07,233.1,70.5,11.7,812,16931,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2850,1876
$GC,17015,1.07,233.1,60.9,11.3,816,17019,0.00,2.42,0.00,0.000,6,0.000,0.035,3030,1453,1876
$GC,17337,1.07,233.1,33.9,7.3,832,17342,0.00,2.15,0.00,0.000,4,0.000,0.054,3030,264,1876
$GC,17420,1.07,233.1,28.3,6.6,835,17427,0.00,2.00,0.00,0.000,6,0.000,0.029,3030,1454,1876
$GC,17737,1.07,235.4,10.3,5.9,851,17742,0.00,2.45,0.00,0.000,4,0.000,0.041,3030,2838,1876
$GC,17792,1.08,241.9,6.7,5.8,853,17806,0.00,2.40,8.40,0.688,6,0.000,0.034,3030,1450,1846
$STATE,17864,end climb,SURFACE_DEPTH_REACHED
$STATE,17865,begin surface coast
$FINISH,0.2,1.012127
$STATE,17906,end surface coast,CONTROL_FINISHED_OK
$STATE,17906,begin surface
$SM_CCo,17930,36.05,0.759,0,0,1609,300.00
$SM_GC,1.43,0.00,0.00,36.05,0.000,0.000,0.759,386,2244,1609,-11.10,-0.14,300.00
$IRIDIUM_FIX,6112.75,-850.61,211198,171750
$TT8_MAMPS,0.027612
$HUMID,1913
$INTERNAL_PRESSURE,8.16762
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.7,47.8
$24V_AH,23.1,67.751
$10V_AH,10.1,40.770
$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,25.200,174.450,345.150,36.050,0.000,55.515,60.040,328.457,5.250,0.000,0.000,10.861,1623.654,13430.202,499.657,2019.774,1032.408,0.000,1575.917,0.000,2159.418,0.000,37.548,0.000
$DEVICE_MAMPS,129.623,59.826,1188.083,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.138,673.276,539.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44284,859
$CAP_FILE_SIZE,139761,0
$CFSIZE,260165632,234049536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,270809,222536,6131.331,-851.320,31,1.0,31,-9.1