version: 66.04
glider: 105
mission: 6
dive: 336
start: 8 27 109 22 31 36
data:
$ID,105
$MISSION,6
$DIVE,336
$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,-1634092.9
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,222536,6131.331,-851.320,31,1.0,31,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.4
$GPS2,223114,6131.344,-851.373,15,1.1,15,-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,105.2,23438,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.55,0.000,6,0.000,0.000,387,2245,3432
$GC,80,-0.96,-146.6,5.3,-10.4,3,101,11.65,2.50,0.00,0.000,4,0.130,0.037,2584,839,3433
$GC,426,-0.96,-146.6,39.9,-5.8,18,430,0.00,2.45,0.00,0.000,6,0.000,0.033,2584,2246,3434
$GC,742,-0.96,-146.6,53.2,-4.9,33,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3435
$GC,1052,-0.96,-146.6,72.8,-6.3,48,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2246,3435
$GC,1360,-0.96,-146.6,99.9,-9.9,63,1364,0.00,2.55,0.00,0.000,4,0.000,0.057,2584,3653,3436
$GC,1540,-0.96,-146.6,117.5,-8.8,71,1544,0.00,2.42,0.00,0.000,6,0.000,0.030,2584,2230,3436
$GC,1862,-0.96,-146.6,143.7,-8.1,87,1866,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3654,3436
$GC,1984,-0.96,-146.6,154.2,-8.7,92,1990,0.00,2.40,0.00,0.000,6,0.000,0.031,2585,2250,3436
$GC,2303,-0.96,-146.6,176.2,-6.2,108,2307,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3653,3436
$GC,2365,-0.96,-146.6,179.9,-5.8,111,2370,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3436
$GC,2694,-0.96,-146.6,195.8,-4.9,127,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3436
$GC,3001,-0.96,-146.6,214.8,-7.3,142,3006,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3435
$GC,3125,-0.96,-146.6,225.2,-8.4,147,3131,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2247,3436
$GC,3441,-0.96,-146.6,249.0,-6.9,163,3446,0.00,2.55,0.00,0.000,4,0.000,0.051,2584,3650,3435
$GC,3509,-0.96,-146.6,253.7,-6.4,166,3513,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2245,3435
$GC,3837,-0.96,-146.6,271.2,-4.5,182,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2245,3434
$GC,4145,-0.96,-146.6,287.1,-5.3,197,4149,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3660,3434
$GC,4210,-0.96,-146.6,290.6,-5.3,200,4214,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2246,3434
$GC,4539,-0.96,-146.6,310.9,-6.7,216,4543,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3434
$GC,4650,-0.96,-146.6,319.7,-7.9,221,4654,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,4971,-0.96,-146.6,344.3,-7.9,237,4976,0.00,2.55,0.00,0.000,4,0.000,0.052,2584,3659,3433
$GC,5086,-0.96,-146.6,353.7,-8.1,242,5090,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2245,3433
$GC,5409,-0.96,-146.6,377.4,-6.9,258,5413,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3657,3433
$GC,5504,-0.96,-146.6,384.2,-6.5,262,5508,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2240,3433
$GC,5819,-0.96,-146.6,404.9,-6.6,277,5823,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3652,3432
$GC,5874,-0.96,-146.6,408.7,-6.9,279,5881,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2248,3433
$GC,6190,-0.96,-146.6,429.2,-6.3,295,6194,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3653,3432
$GC,6268,-0.96,-146.6,434.8,-6.8,298,6274,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,6584,-0.96,-146.6,454.9,-6.6,314,6588,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3655,3431
$GC,6663,-0.96,-146.6,460.6,-7.4,317,6669,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3431
$GC,6978,-0.96,-146.6,482.9,-7.4,333,6983,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3652,3431
$GC,7047,-0.96,-146.6,488.1,-7.3,336,7051,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3431
$GC,7373,-0.96,-146.6,510.3,-6.2,352,7377,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3654,3431
$GC,7451,-0.96,-146.6,516.0,-7.5,355,7458,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2250,3431
$GC,7768,-0.96,-146.6,532.1,-5.0,371,7773,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3651,3430
$GC,7846,-0.96,-146.6,536.4,-5.8,374,7850,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3430
$GC,8164,-0.96,-146.6,551.1,-5.8,389,8168,0.00,2.53,0.00,0.000,4,0.000,0.054,2584,3652,3430
$GC,8236,-0.96,-146.6,556.1,-6.6,392,8241,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2255,3430
$STATE,8534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8534,begin apogee
$GC,8543,-0.36,0.0,570.0,5.5,407,8676,0.62,0.00,126.40,1.139,6,0.062,0.000,2719,1463,2832
$STATE,8677,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8680,0.96,146.6,573.3,0.0,414,8815,1.33,2.25,126.62,1.104,4,0.055,0.057,3008,267,2233
$GC,8829,0.97,150.1,568.3,5.9,421,8839,0.00,2.05,4.35,0.680,6,0.000,0.032,3008,1470,2219
$GC,9163,1.04,211.2,552.2,4.3,437,9225,0.00,2.25,54.00,1.081,4,0.000,0.056,3008,271,1971
$GC,9264,1.04,211.2,549.5,6.1,441,9270,0.00,2.05,0.00,0.000,6,0.000,0.035,3008,1450,1968
$GC,9580,1.07,229.7,534.3,5.5,457,9603,0.10,2.62,17.08,1.024,4,0.049,0.044,3065,2858,1893
$GC,9666,1.07,229.7,526.6,9.7,460,9673,0.17,2.47,0.00,0.000,6,0.073,0.038,3029,1456,1892
$GC,9982,1.07,229.7,496.7,9.7,476,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1456,1890
$GC,10294,1.07,229.7,466.8,9.5,491,10299,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2859,1890
$GC,10339,1.07,229.7,462.3,9.0,493,10343,0.00,2.47,0.00,0.000,6,0.000,0.037,3029,1446,1889
$GC,10659,1.07,229.7,435.4,8.1,509,10664,0.00,2.53,0.00,0.000,4,0.000,0.041,3029,2852,1889
$GC,10692,1.07,229.7,432.7,8.1,510,10697,0.00,2.45,0.00,0.000,6,0.000,0.037,3029,1458,1889
$GC,11011,1.07,229.7,408.2,7.7,525,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1458,1889
$GC,11317,1.07,229.7,386.3,6.7,540,11321,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2855,1888
$GC,11356,1.07,229.7,383.6,6.9,542,11360,0.00,2.45,0.00,0.000,6,0.000,0.037,3029,1451,1889
$GC,11683,1.07,229.7,363.3,6.1,558,11687,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2852,1888
$GC,11717,1.07,230.4,361.1,6.0,559,11723,0.00,2.45,0.00,0.000,6,0.000,0.038,3029,1453,1888
$GC,12032,1.07,230.4,340.5,6.7,575,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1453,1888
$GC,12342,1.07,230.4,318.1,7.7,590,12346,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2852,1888
$GC,12398,1.07,230.4,313.9,6.9,592,12404,0.00,2.45,0.00,0.000,6,0.000,0.037,3029,1451,1888
$GC,12713,1.07,230.4,290.2,7.2,608,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1452,1888
$GC,13023,1.07,230.4,267.9,7.1,623,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1451,1888
$GC,13332,1.07,230.4,248.9,6.1,638,13337,0.00,2.50,0.00,0.000,4,0.000,0.042,3029,2844,1888
$GC,13400,1.07,230.4,244.5,6.5,641,13404,0.00,2.42,0.00,0.000,6,0.000,0.037,3029,1457,1887
$GC,13727,1.07,230.4,224.3,6.1,657,13731,0.00,2.47,0.00,0.000,4,0.000,0.041,3029,2858,1887
$GC,13776,1.07,230.4,221.1,6.4,659,13781,0.00,2.45,0.00,0.000,6,0.000,0.036,3029,1452,1887
$GC,14095,1.07,230.4,201.6,6.2,674,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1452,1888
$GC,14402,1.07,230.4,180.7,6.9,689,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1452,1887
$GC,14711,1.10,257.3,163.5,5.3,704,14740,0.00,2.53,24.12,0.871,4,0.000,0.041,3029,2852,1782
$GC,14781,1.12,272.8,159.8,5.6,707,14801,0.00,2.47,15.30,0.827,6,0.000,0.036,3029,1463,1719
$GC,15125,1.17,311.3,141.7,4.9,724,15165,0.10,0.00,34.97,0.853,6,0.047,0.000,3084,1463,1561
$GC,15473,1.17,311.3,115.8,9.6,741,15478,0.15,2.17,0.00,0.000,4,0.074,0.054,3052,257,1556
$GC,15539,1.17,311.3,108.1,12.3,744,15543,0.00,2.03,0.00,0.000,6,0.000,0.029,3052,1464,1555
$GC,15868,1.17,311.3,70.3,10.8,760,15869,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1467,1554
$GC,16176,1.17,311.3,44.2,8.3,775,16180,0.00,2.17,0.00,0.000,4,0.000,0.054,3052,261,1553
$GC,16227,1.17,311.3,39.6,9.3,777,16231,0.00,2.03,0.00,0.000,6,0.000,0.031,3052,1456,1554
$GC,16554,1.17,311.3,12.4,8.3,793,16556,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1456,1552
$STATE,16677,end climb,SURFACE_DEPTH_REACHED
$STATE,16677,begin surface coast
$FINISH,1.0,1.026802
$STATE,16697,end surface coast,CONTROL_FINISHED_OK
$STATE,16698,begin surface
$SM_CCo,16782,0.00,0.000,0,0,1549,314.72
$SM_GC,0.79,11.52,0.00,0.00,0.025,0.000,0.000,393,2243,1549,-10.98,-0.20,314.72
$IRIDIUM_FIX,6108.28,-849.91,211198,171716
$TT8_MAMPS,0.026845
$HUMID,1934
$INTERNAL_PRESSURE,8.15785
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,501.1,77.9
$24V_AH,23.2,67.884
$10V_AH,10.1,40.852
$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,25.650,148.575,402.850,0.000,0.000,31.449,28.839,147.027,4.250,0.000,0.000,15.482,1503.057,12495.766,497.093,1875.679,747.030,0.000,1491.618,0.000,2009.483,0.000,31.206,0.000
$DEVICE_MAMPS,130.390,56.758,1138.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.274,620.063,522.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41117,800
$CAP_FILE_SIZE,123969,0
$CFSIZE,260165632,234004480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,280809,031247,6130.132,-845.746,41,1.7,52,-9.1