version: 66.04
glider: 105
mission: 6
dive: 339
start: 8 28 109 14 9 58
data:
$ID,105
$MISSION,6
$DIVE,339
$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,-1634136.4
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,135937,6130.350,-833.807,32,1.2,32,-9.0
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-60.4
$GPS2,140938,6130.367,-833.757,13,1.0,13,-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,104.0,7769,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.96,-146.6,0.0,0.0,0,80,0.00,0.00,-58.80,0.000,6,0.000,0.000,388,2239,3432
$GC,83,-0.96,-146.6,5.1,-10.2,3,104,11.62,2.50,0.00,0.000,4,0.130,0.037,2584,841,3434
$GC,412,-0.96,-146.6,44.7,-8.2,17,418,0.00,2.45,0.00,0.000,6,0.000,0.032,2583,2252,3435
$GC,728,-0.96,-146.6,68.7,-7.6,33,732,0.00,2.55,0.00,0.000,4,0.000,0.055,2584,3658,3435
$GC,890,-0.96,-146.6,82.4,-9.3,40,895,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,2236,3435
$GC,1206,-0.96,-146.6,109.8,-7.8,55,1210,0.00,2.58,0.00,0.000,4,0.000,0.052,2584,3656,3436
$GC,1247,-0.96,-146.6,112.8,-7.3,57,1252,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2252,3436
$GC,1580,-0.96,-146.6,135.0,-6.6,73,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2252,3436
$GC,1889,-0.96,-146.6,153.4,-5.9,88,1894,0.00,2.55,0.00,0.000,4,0.000,0.052,2583,3642,3436
$GC,1940,-0.96,-146.6,156.8,-6.5,90,1944,0.00,2.38,0.00,0.000,6,0.000,0.030,2583,2252,3436
$GC,2263,-0.96,-146.6,177.5,-6.5,106,2268,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3651,3436
$GC,2330,-0.96,-146.6,182.3,-6.7,109,2334,0.00,2.40,0.00,0.000,6,0.000,0.030,2583,2246,3435
$GC,2652,-0.96,-146.6,203.4,-7.0,125,2656,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3650,3435
$GC,2695,-0.96,-146.6,206.9,-7.8,127,2700,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2250,3435
$GC,3022,-0.96,-146.6,230.1,-7.1,143,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3435
$GC,3334,-0.96,-146.6,251.7,-6.9,158,3338,0.00,2.53,0.00,0.000,4,0.000,0.051,2583,3651,3434
$GC,3400,-0.96,-146.6,257.0,-7.4,161,3405,0.00,2.42,0.00,0.000,6,0.000,0.031,2584,2251,3434
$GC,3726,-0.96,-146.6,280.5,-7.4,177,3730,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3652,3434
$GC,3791,-0.96,-146.6,285.4,-7.8,180,3796,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2249,3434
$GC,4120,-0.96,-146.6,308.6,-6.9,196,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2248,3434
$GC,4428,-0.96,-146.6,329.7,-6.8,211,4432,0.00,2.53,0.00,0.000,4,0.000,0.051,2584,3650,3433
$GC,4506,-0.96,-146.6,335.5,-6.8,214,4512,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2246,3433
$GC,4821,-0.96,-146.6,358.5,-7.1,230,4825,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3650,3433
$GC,4887,-0.96,-146.6,363.5,-7.5,233,4891,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3433
$GC,5211,-0.96,-146.6,385.6,-6.7,249,5216,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3650,3432
$GC,5292,-0.96,-146.6,391.6,-7.6,252,5298,0.00,2.40,0.00,0.000,6,0.000,0.031,2584,2249,3432
$GC,5608,-0.96,-146.6,413.1,-6.7,268,5612,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3432
$GC,5671,-0.96,-146.6,417.5,-7.5,271,5675,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3432
$GC,5997,-0.96,-146.6,440.2,-7.0,287,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3431
$GC,6308,-0.96,-146.6,461.0,-6.6,302,6312,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3651,3431
$GC,6402,-0.96,-146.6,467.8,-6.9,306,6406,0.00,2.42,0.00,0.000,6,0.000,0.032,2584,2236,3431
$GC,6720,-0.96,-146.6,487.1,-6.1,321,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2235,3431
$GC,7028,-0.96,-146.6,507.2,-6.8,336,7032,0.00,2.55,0.00,0.000,4,0.000,0.054,2584,3650,3431
$GC,7116,-0.96,-146.6,513.9,-7.0,340,7121,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2251,3430
$GC,7440,-0.96,-146.6,535.4,-6.7,356,7444,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3430
$GC,7502,-0.96,-146.6,539.3,-6.1,359,7506,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2250,3431
$GC,7828,-0.96,-146.6,557.7,-5.9,375,7833,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3652,3430
$GC,7896,-0.96,-146.6,562.2,-6.8,378,7900,0.00,2.40,0.00,0.000,6,0.000,0.032,2584,2251,3430
$GC,8218,-0.96,-146.6,581.4,-5.8,394,8222,0.00,2.53,0.00,0.000,4,0.000,0.052,2584,3651,3430
$GC,8257,-0.96,-146.6,583.9,-6.8,396,8262,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2250,3430
$GC,8586,-0.96,-146.6,602.3,-5.3,412,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2251,3430
$GC,8893,-0.96,-146.6,621.6,-6.4,427,8898,0.00,2.53,0.00,0.000,4,0.000,0.053,2584,3653,3429
$GC,9095,-0.96,-146.6,635.8,-7.4,436,9100,0.00,2.42,0.00,0.000,6,0.000,0.033,2584,2256,3429
$GC,9422,-0.96,-146.6,656.2,-6.1,452,9426,0.00,2.47,0.00,0.000,4,0.000,0.047,2584,847,3429
$GC,9599,-0.96,-146.6,668.6,-8.5,460,9603,0.00,2.45,0.00,0.000,6,0.000,0.036,2584,2259,3429
$GC,9925,-0.96,-146.6,695.2,-9.0,476,9930,0.00,2.50,0.00,0.000,4,0.000,0.048,2584,851,3429
$GC,10038,-0.96,-146.6,707.2,-9.7,481,10043,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2250,3429
$GC,10360,-0.96,-146.6,724.0,-4.1,497,10365,0.00,2.58,0.00,0.000,4,0.000,0.062,2583,3650,3428
$GC,10416,-0.96,-146.6,727.0,-5.3,499,10420,0.00,2.42,0.00,0.000,6,0.000,0.036,2584,2254,3428
$GC,10732,-0.96,-146.6,741.2,-4.0,514,10737,0.00,2.58,0.00,0.000,4,0.000,0.061,2584,3644,3426
$GC,10760,-0.96,-146.6,741.9,-3.2,515,10764,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2236,3426
$GC,11081,-0.96,-146.6,762.7,-2.9,531,11086,0.00,2.62,0.00,0.000,4,0.000,0.064,2584,3645,3424
$GC,11165,-0.96,-146.6,766.7,-6.6,534,11171,0.00,2.42,0.00,0.000,6,0.000,0.038,2584,2253,3424
$GC,11483,-0.96,-146.6,798.9,-7.7,550,11487,0.00,2.58,0.00,0.000,4,0.000,0.062,2584,3655,3423
$GC,11549,-0.96,-146.6,805.0,-8.8,553,11553,0.00,2.45,0.00,0.000,6,0.000,0.038,2584,2254,3422
$GC,11871,-0.96,-146.6,826.6,-5.1,569,11875,0.00,2.58,0.00,0.000,4,0.000,0.062,2584,3657,3420
$GC,11920,-0.96,-146.6,831.4,-10.0,571,11925,0.00,2.47,0.00,0.000,6,0.000,0.038,2584,2237,3420
$STATE,12110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12110,begin apogee
$GC,12118,-0.36,0.0,844.1,8.9,580,12253,0.62,0.00,129.30,1.415,6,0.061,0.000,2719,1459,2831
$STATE,12254,end apogee,CONTROL_FINISHED_OK
$STATE,12254,begin climb
$GC,12257,0.96,146.6,851.9,0.0,587,12397,1.38,2.62,132.23,1.358,4,0.072,0.050,3006,2865,2232
$GC,12411,1.28,402.6,851.2,-1.0,593,12650,0.32,2.58,228.73,1.330,6,0.028,0.045,3105,1454,1188
$GC,12959,1.28,402.6,774.7,10.1,620,12964,0.12,2.58,0.00,0.000,4,0.079,0.051,3079,2862,1177
$GC,13159,1.28,402.6,748.6,11.8,629,13164,0.00,2.55,0.00,0.000,6,0.000,0.048,3079,1456,1175
$GC,13483,1.28,402.6,712.8,11.3,645,13487,0.00,2.22,0.00,0.000,4,0.000,0.071,3079,262,1174
$GC,13517,1.28,402.6,707.8,14.0,646,13520,0.00,2.08,0.00,0.000,6,0.000,0.038,3079,1470,1173
$GC,13838,1.28,402.6,670.1,11.6,662,13841,0.00,2.25,0.00,0.000,4,0.000,0.068,3079,261,1172
$GC,13960,1.28,402.6,654.1,13.7,667,13964,0.00,2.05,0.00,0.000,6,0.000,0.038,3079,1452,1172
$GC,14282,1.28,402.6,613.2,12.2,683,14287,0.00,2.22,0.00,0.000,4,0.000,0.065,3079,266,1171
$GC,14382,1.28,402.6,600.5,11.2,687,14386,0.00,2.05,0.00,0.000,6,0.000,0.035,3079,1455,1171
$GC,14704,1.28,402.6,564.2,11.3,703,14707,0.00,2.17,0.00,0.000,4,0.000,0.060,3079,259,1171
$GC,14743,1.28,402.6,559.4,12.3,704,14749,0.00,2.08,0.00,0.000,6,0.000,0.034,3079,1463,1170
$GC,15061,1.28,402.6,522.3,11.9,720,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1463,1171
$GC,15368,1.28,402.6,486.7,11.9,735,15372,0.00,2.20,0.00,0.000,4,0.000,0.058,3079,259,1171
$GC,15442,1.28,402.6,477.4,12.4,738,15446,0.00,2.05,0.00,0.000,6,0.000,0.032,3079,1459,1171
$GC,15769,1.28,402.6,438.9,11.2,754,15773,0.00,2.17,0.00,0.000,4,0.000,0.058,3079,259,1172
$GC,15819,1.28,402.6,432.8,12.2,756,15824,0.00,2.08,0.00,0.000,6,0.000,0.032,3080,1456,1172
$GC,16145,1.28,402.6,395.2,11.7,772,16149,0.00,2.15,0.00,0.000,4,0.000,0.057,3079,258,1172
$GC,16201,1.28,402.6,388.1,12.6,774,16205,0.00,2.05,0.00,0.000,6,0.000,0.032,3079,1457,1172
$GC,16523,1.28,402.6,349.6,11.7,790,16526,0.00,2.17,0.00,0.000,4,0.000,0.058,3079,258,1173
$GC,16568,1.28,402.6,343.8,12.4,792,16572,0.00,2.05,0.00,0.000,6,0.000,0.032,3079,1457,1173
$GC,16901,1.28,402.6,306.2,11.3,808,16905,0.00,2.17,0.00,0.000,4,0.000,0.057,3079,259,1173
$GC,16946,1.28,402.6,300.8,11.1,810,16950,0.00,2.05,0.00,0.000,6,0.000,0.032,3079,1457,1173
$GC,17281,1.28,402.6,261.9,12.4,826,17284,0.00,2.17,0.00,0.000,4,0.000,0.057,3079,258,1173
$GC,17349,1.28,402.6,252.8,12.1,829,17352,0.00,2.05,0.00,0.000,6,0.000,0.032,3078,1456,1173
$GC,17681,1.28,402.6,213.9,11.1,845,17685,0.00,2.17,0.00,0.000,4,0.000,0.056,3080,257,1174
$GC,17756,1.28,402.6,205.6,11.4,848,17760,0.00,2.05,0.00,0.000,6,0.000,0.031,3079,1457,1174
$GC,18083,1.28,402.6,170.8,10.8,864,18087,0.00,2.15,0.00,0.000,4,0.000,0.055,3079,258,1174
$GC,18140,1.28,402.6,164.2,11.3,866,18144,0.00,2.05,0.00,0.000,6,0.000,0.031,3079,1457,1174
$GC,18462,1.28,402.6,128.3,11.8,882,18465,0.00,2.17,0.00,0.000,4,0.000,0.055,3079,258,1174
$GC,18534,1.28,402.6,118.3,13.6,885,18537,0.00,2.05,0.00,0.000,6,0.000,0.031,3079,1457,1175
$GC,18861,1.28,402.6,79.9,10.5,901,18865,0.00,2.17,0.00,0.000,4,0.000,0.054,3079,255,1175
$GC,18961,1.28,402.6,68.1,10.5,905,18965,0.00,2.05,0.00,0.000,6,0.000,0.030,3079,1463,1175
$GC,19284,1.28,402.6,35.4,10.4,921,19287,0.00,2.17,0.00,0.000,4,0.000,0.053,3079,258,1175
$GC,19379,1.28,402.6,23.8,11.7,925,19383,0.00,2.03,0.00,0.000,6,0.000,0.030,3079,1454,1175
$STATE,19580,end climb,SURFACE_DEPTH_REACHED
$STATE,19580,begin surface coast
$FINISH,0.2,1.026855
$STATE,19602,end surface coast,CONTROL_FINISHED_OK
$STATE,19602,begin surface
$SM_CCo,19685,0.00,0.000,0,0,1173,406.95
$SM_GC,0.87,11.65,0.00,0.00,0.025,0.000,0.000,391,2242,1173,-10.99,-0.20,406.95
$IRIDIUM_FIX,6108.28,-840.31,221198,141430
$TT8_MAMPS,0.026845
$HUMID,1970
$INTERNAL_PRESSURE,8.11879
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,103.6
$24V_AH,22.9,68.376
$10V_AH,10.0,41.138
$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,25.725,200.625,490.250,0.000,0.000,50.955,63.536,286.625,6.500,0.000,0.000,13.904,1802.291,14529.781,550.583,2352.643,1042.947,0.000,1816.391,0.000,2493.664,0.000,44.494,0.000
$DEVICE_MAMPS,130.390,70.564,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,776.180,702.968,541.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47417,936
$CAP_FILE_SIZE,155179,0
$CFSIZE,260165632,233779200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280809,193927,6132.315,-831.011,26,2.3,45,-9.0