version: 66.04
glider: 105
mission: 6
dive: 7
start: 6 6 109 16 16 32
data:
$ID,105
$MISSION,6
$DIVE,7
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,-3
$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,1
$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,-1628216
$T_RSLEEP,2
$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,2500
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,29
$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,20
$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
$GPS1,161007,6128.312,-830.375,39,1.0,39,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-59.1
$GPS2,161438,6128.283,-830.392,12,1.4,12,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.263,-0.015
$KALMAN_X,-11861.6,-1370.0,-473.7,1679.4,-2903.3
$KALMAN_Y,3770.2,222.8,-296.6,2870.8,919.5
$MHEAD_RNG_PITCHd_Wd,102.2,5728,-18.1,-10.000
$D_GRID,752
$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,14,begin dive
$GC,17,-1.47,-146.6,0.0,0.0,0,85,0.00,0.00,-65.78,0.000,6,0.000,0.000,399,2495,3430
$GC,88,-1.47,-146.6,3.1,-5.7,3,104,11.12,2.45,0.00,0.000,4,0.140,0.034,2469,1075,3431
$GC,204,-1.47,-146.6,24.9,-11.1,7,209,0.00,2.45,0.00,0.000,6,0.000,0.033,2469,2502,3432
$GC,520,-1.47,-146.6,62.9,-13.0,22,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2502,3432
$GC,831,-1.47,-146.6,106.7,-14.1,37,835,0.00,2.45,0.00,0.000,4,0.000,0.037,2469,1081,3432
$GC,886,-1.47,-146.6,114.5,-13.2,39,894,0.00,2.47,0.00,0.000,6,0.000,0.035,2469,2494,3432
$GC,1202,-1.47,-146.6,160.7,-15.3,55,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3432
$GC,1511,-1.47,-146.6,207.7,-15.5,70,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3433
$GC,1820,-1.47,-146.6,254.8,-15.7,85,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3433
$GC,2129,-1.47,-146.6,297.6,-13.6,100,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3432
$GC,2439,-1.47,-146.6,340.6,-13.7,115,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3433
$GC,2748,-1.47,-146.6,381.5,-12.9,130,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2494,3433
$GC,3060,-1.47,-146.6,418.9,-11.8,145,3064,0.00,2.45,0.00,0.000,4,0.000,0.041,2469,1084,3433
$GC,3092,-1.47,-146.6,423.0,-11.4,146,3099,0.00,2.45,0.00,0.000,6,0.000,0.038,2469,2498,3433
$GC,3410,-1.47,-146.6,457.5,-10.2,162,3415,0.00,2.47,0.00,0.000,4,0.000,0.042,2469,1077,3433
$GC,3451,-1.47,-146.6,462.0,-10.4,164,3455,0.00,2.47,0.00,0.000,6,0.000,0.038,2469,2507,3433
$GC,3779,-1.47,-146.6,493.5,-10.4,180,3783,0.00,2.38,0.00,0.000,4,0.000,0.061,2469,3828,3432
$GC,3818,-1.47,-146.6,498.1,-10.8,182,3822,0.00,2.28,0.00,0.000,6,0.000,0.030,2469,2473,3432
$GC,4145,-1.47,-146.6,532.8,-10.7,198,4150,0.00,2.42,0.00,0.000,4,0.000,0.056,2469,3828,3432
$GC,4263,-1.47,-146.6,547.0,-12.5,203,4267,0.00,2.22,0.00,0.000,6,0.000,0.030,2469,2502,3432
$GC,4584,-1.47,-146.6,587.9,-11.5,219,4588,0.00,2.40,0.00,0.000,4,0.000,0.041,2469,1102,3432
$GC,4633,-1.47,-146.6,594.8,-13.4,221,4638,0.00,2.45,0.00,0.000,6,0.000,0.037,2469,2501,3432
$GC,4954,-1.47,-146.6,634.9,-15.2,237,4958,0.00,2.38,0.00,0.000,4,0.000,0.058,2469,3830,3431
$GC,5048,-1.47,-146.6,649.1,-12.7,241,5052,0.00,2.25,0.00,0.000,6,0.000,0.031,2469,2483,3432
$GC,5369,-1.47,-146.6,690.5,-10.4,257,5374,0.00,2.38,0.00,0.000,4,0.000,0.042,2469,1109,3431
$GC,5683,-1.47,-146.6,727.3,-11.6,271,5687,0.00,2.42,0.00,0.000,6,0.000,0.042,2469,2497,3431
$STATE,5918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5918,begin apogee
$GC,5926,-0.36,0.0,753.9,10.9,283,6061,1.20,0.00,127.93,1.227,6,0.086,0.000,2718,1567,2832
$STATE,6062,end apogee,CONTROL_FINISHED_OK
$STATE,6062,begin climb
$GC,6065,1.47,146.6,762.9,0.0,290,6199,1.83,0.00,129.50,1.197,6,0.049,0.000,3122,1567,2234
$GC,6501,1.47,146.6,746.6,10.0,311,6506,0.00,2.40,0.00,0.000,4,0.000,0.066,3122,270,2224
$GC,6631,1.47,146.6,719.8,26.7,317,6636,0.00,2.28,0.00,0.000,6,0.000,0.038,3122,1563,2223
$GC,6963,1.50,170.0,678.2,8.9,333,6988,0.00,2.42,19.98,1.151,4,0.000,0.063,3122,267,2138
$GC,7162,1.50,170.0,660.3,10.5,342,7166,0.00,2.20,0.00,0.000,6,0.000,0.036,3122,1551,2134
$GC,7492,1.65,292.6,636.6,4.4,358,7609,0.17,2.42,109.80,1.183,4,0.036,0.061,3191,271,1638
$GC,7717,1.65,292.6,601.7,18.3,368,7722,0.15,2.20,0.00,0.000,6,0.100,0.035,3163,1547,1630
$GC,8032,1.65,292.6,549.4,17.8,383,8036,0.00,2.35,0.00,0.000,4,0.000,0.058,3163,263,1626
$GC,8160,1.65,292.6,523.9,20.1,389,8165,0.00,2.22,0.00,0.000,6,0.000,0.031,3162,1565,1625
$GC,8487,1.65,292.6,472.8,14.9,405,8491,0.00,2.38,0.00,0.000,4,0.000,0.057,3163,259,1623
$GC,8626,1.65,292.6,449.0,17.2,411,8630,0.00,2.17,0.00,0.000,6,0.000,0.031,3162,1553,1623
$GC,8948,1.65,292.6,404.4,12.5,427,8952,0.00,2.35,0.00,0.000,4,0.000,0.056,3163,259,1623
$GC,9144,1.65,292.6,376.8,15.0,436,9148,0.00,2.20,0.00,0.000,6,0.000,0.031,3162,1560,1622
$GC,9472,1.65,292.6,331.7,14.1,452,9476,0.00,2.35,0.00,0.000,4,0.000,0.054,3163,262,1622
$GC,9613,1.65,292.6,308.5,17.0,458,9616,0.00,2.17,0.00,0.000,6,0.000,0.030,3162,1547,1622
$GC,9933,1.65,292.6,258.0,15.5,474,9938,0.00,2.30,0.00,0.000,4,0.000,0.054,3162,259,1622
$GC,10000,1.65,292.6,246.8,17.4,477,10004,0.00,2.20,0.00,0.000,6,0.000,0.030,3162,1560,1623
$GC,10327,1.65,292.6,192.5,17.7,493,10332,0.00,2.35,0.00,0.000,4,0.000,0.055,3162,270,1622
$GC,10518,1.65,292.6,156.6,17.1,501,10522,0.00,2.15,0.00,0.000,6,0.000,0.029,3162,1551,1623
$GC,10841,1.65,292.6,110.9,13.7,517,10845,0.00,2.30,0.00,0.000,4,0.000,0.052,3162,258,1623
$GC,10948,1.65,292.6,94.6,15.9,522,10952,0.00,2.17,0.00,0.000,6,0.000,0.030,3163,1551,1623
$GC,11276,1.65,292.6,49.9,12.1,538,11280,0.00,2.28,0.00,0.000,4,0.000,0.052,3162,265,1623
$GC,11405,1.65,292.6,32.1,14.8,544,11410,0.00,2.17,0.00,0.000,6,0.000,0.029,3163,1554,1623
$STATE,11612,end climb,SURFACE_DEPTH_REACHED
$STATE,11612,begin surface coast
$FINISH,0.0,1.002935
$STATE,11633,end surface coast,CONTROL_FINISHED_OK
$STATE,11633,begin surface
$SM_CCo,11657,2.58,0.306,0,0,1609,300.00
$SM_GC,1.76,0.00,0.00,2.58,0.000,0.000,0.306,394,2494,1609,-11.07,-0.20,300.00
$IRIDIUM_FIX,6103.81,-826.28,310898,121258
$TT8_MAMPS,0.027612
$HUMID,1819
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.5,16.4
$ALTIM_BOTTOM_PING,751.3,102.3
$24V_AH,23.3,18.685
$10V_AH,10.1,7.611
$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,26.525,96.575,387.200,2.575,0.000,28.142,28.117,113.807,6.750,0.000,0.000,12.112,1104.244,8390.846,434.971,1483.170,586.737,33.340,1219.107,0.000,1555.054,0.000,46.097,0.000
$DEVICE_MAMPS,140.361,65.962,1227.200,306.033,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.881,380.966,335.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28629,555
$CAP_FILE_SIZE,91660,0
$CFSIZE,260165632,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,060609,193206,6128.581,-827.415,34,1.1,34,-8.9