version: 66.04
glider: 105
mission: 6
dive: 8
start: 6 6 109 19 40 36
data:
$ID,105
$MISSION,6
$DIVE,8
$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,440
$T_MISSION,480
$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,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,-1628227.4
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,193206,6128.581,-827.415,34,1.1,34,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-60.8
$GPS2,193944,6128.597,-827.337,10,2.0,10,-8.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.239,-0.011
$KALMAN_X,-14747.9,-355.3,318.0,5458.6,-6829.5
$KALMAN_Y,4246.7,-469.3,673.9,2661.3,-354.2
$MHEAD_RNG_PITCHd_Wd,101.5,3319,-13.9,-7.500
$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,-1.17,-146.6,0.0,0.0,0,78,0.00,0.00,-60.22,0.000,6,0.000,0.000,395,2495,3430
$GC,81,-1.17,-146.6,4.5,-9.0,3,102,11.52,2.47,0.00,0.000,4,0.140,0.034,2540,1082,3431
$GC,247,-1.17,-146.6,29.7,-9.2,10,252,0.00,2.45,0.00,0.000,6,0.000,0.034,2540,2503,3432
$GC,565,-1.17,-146.6,56.5,-8.5,25,569,0.00,2.45,0.00,0.000,4,0.000,0.035,2540,1083,3432
$GC,609,-1.17,-146.6,60.5,-8.5,27,613,0.00,2.45,0.00,0.000,6,0.000,0.032,2540,2503,3432
$GC,931,-1.17,-146.6,90.8,-11.1,43,935,0.00,2.45,0.00,0.000,4,0.000,0.035,2540,1082,3432
$GC,980,-1.17,-146.6,97.1,-11.9,45,984,0.00,2.45,0.00,0.000,6,0.000,0.033,2540,2503,3432
$GC,1298,-1.17,-146.6,131.1,-9.1,60,1302,0.00,2.45,0.00,0.000,4,0.000,0.037,2540,1085,3432
$GC,1369,-1.17,-146.6,137.7,-8.6,63,1374,0.00,2.45,0.00,0.000,6,0.000,0.035,2540,2503,3432
$GC,1687,-1.17,-146.6,165.3,-8.8,78,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2503,3432
$GC,1994,-1.17,-146.6,196.0,-9.9,93,1998,0.00,2.45,0.00,0.000,4,0.000,0.038,2540,1085,3432
$GC,2077,-1.17,-146.6,205.1,-10.7,97,2082,0.00,2.45,0.00,0.000,6,0.000,0.035,2540,2499,3432
$GC,2404,-1.17,-146.6,234.5,-7.7,113,2408,0.00,2.45,0.00,0.000,4,0.000,0.040,2540,1085,3432
$GC,2466,-1.17,-146.6,239.2,-7.8,116,2471,0.00,2.47,0.00,0.000,6,0.000,0.038,2540,2494,3432
$GC,2797,-1.17,-146.6,267.2,-9.1,132,2802,0.00,2.45,0.00,0.000,4,0.000,0.041,2540,1085,3432
$GC,2865,-1.17,-146.6,273.6,-9.7,135,2870,0.00,2.47,0.00,0.000,6,0.000,0.038,2540,2509,3432
$GC,3188,-1.17,-146.6,302.7,-8.5,151,3192,0.00,2.47,0.00,0.000,4,0.000,0.041,2540,1088,3433
$GC,3237,-1.17,-146.6,307.3,-9.1,153,3242,0.00,2.47,0.00,0.000,6,0.000,0.038,2540,2511,3433
$GC,3553,-1.17,-146.6,336.3,-9.5,168,3558,0.00,2.50,0.00,0.000,4,0.000,0.041,2540,1093,3432
$GC,3613,-1.17,-146.6,341.8,-8.4,170,3620,0.00,2.45,0.00,0.000,6,0.000,0.038,2540,2506,3432
$GC,3930,-1.17,-146.6,368.1,-7.8,186,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2505,3432
$GC,4239,-1.17,-146.6,391.1,-7.2,201,4243,0.00,2.47,0.00,0.000,4,0.000,0.042,2541,1083,3432
$GC,4306,-1.17,-146.6,396.2,-7.9,204,4310,0.00,2.47,0.00,0.000,6,0.000,0.038,2540,2506,3432
$GC,4627,-1.17,-146.6,419.2,-7.0,220,4631,0.00,2.47,0.00,0.000,4,0.000,0.042,2540,1083,3432
$GC,4683,-1.17,-146.6,423.1,-7.1,222,4689,0.00,2.45,0.00,0.000,6,0.000,0.038,2540,2499,3432
$GC,4999,-1.17,-146.6,444.2,-6.5,238,5003,0.00,2.47,0.00,0.000,4,0.000,0.041,2540,1078,3432
$GC,5062,-1.17,-146.6,448.2,-6.1,241,5067,0.00,2.47,0.00,0.000,6,0.000,0.038,2540,2507,3432
$GC,5392,-1.17,-146.6,468.9,-7.4,257,5396,0.00,2.47,0.00,0.000,4,0.000,0.042,2540,1084,3432
$GC,5441,-1.17,-146.6,473.3,-8.3,259,5445,0.00,2.47,0.00,0.000,6,0.000,0.039,2540,2507,3432
$GC,5757,-1.17,-146.6,504.5,-11.3,274,5761,0.00,2.40,0.00,0.000,4,0.000,0.065,2540,3832,3432
$GC,5868,-1.17,-146.6,514.3,-8.8,279,5872,0.00,2.28,0.00,0.000,6,0.000,0.029,2540,2475,3432
$GC,6195,-1.17,-146.6,545.2,-9.5,295,6199,0.00,2.38,0.00,0.000,4,0.000,0.041,2540,1098,3432
$GC,6311,-1.17,-146.6,556.1,-8.9,300,6315,0.00,2.42,0.00,0.000,6,0.000,0.038,2540,2501,3432
$GC,6628,-1.17,-146.6,576.1,-5.6,315,6632,0.00,2.42,0.00,0.000,4,0.000,0.041,2540,1103,3431
$GC,6969,-1.17,-146.6,599.7,-8.6,330,6978,0.00,2.45,0.00,0.000,6,0.000,0.041,2540,2508,3431
$GC,7294,-1.17,-146.6,630.5,-10.8,346,7299,0.00,2.47,0.00,0.000,4,0.000,0.044,2540,1107,3430
$GC,7486,-1.17,-146.6,647.8,-8.6,354,7491,0.00,2.47,0.00,0.000,6,0.000,0.042,2540,2504,3430
$GC,7807,-1.17,-146.6,676.1,-9.1,370,7811,0.00,2.47,0.00,0.000,4,0.000,0.047,2540,1101,3428
$GC,7896,-1.17,-146.6,685.5,-11.4,374,7900,0.00,2.45,0.00,0.000,6,0.000,0.044,2540,2498,3428
$GC,8216,-1.17,-146.6,720.6,-11.2,390,8220,0.00,2.47,0.00,0.000,4,0.000,0.049,2540,1103,3426
$GC,8271,-1.17,-146.6,724.7,-6.7,392,8284,0.00,2.47,0.00,0.000,6,0.000,0.046,2540,2504,3426
$GC,8586,-1.17,-146.6,746.6,-4.5,408,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2504,3425
$GC,8895,-1.17,-146.6,767.0,-8.6,423,8899,0.00,2.47,0.00,0.000,4,0.000,0.077,2540,3834,3423
$GC,8951,-1.17,-146.6,770.8,-6.0,425,8958,0.00,2.30,0.00,0.000,6,0.000,0.036,2540,2492,3422
$GC,9267,-1.17,-146.6,791.5,-12.9,441,9271,0.00,2.45,0.00,0.000,4,0.000,0.063,2540,3837,3421
$GC,9334,-1.17,-146.6,797.0,-10.4,444,9338,0.00,2.30,0.00,0.000,6,0.000,0.038,2540,2506,3421
$STATE,9549,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9549,begin apogee
$GC,9557,-0.36,0.0,807.4,4.6,455,9693,0.88,0.00,127.82,1.332,6,0.084,0.000,2722,1559,2831
$STATE,9693,end apogee,CONTROL_FINISHED_OK
$STATE,9693,begin climb
$GC,9696,1.17,146.6,814.3,0.0,462,9835,1.52,2.50,131.20,1.276,4,0.059,0.072,3052,257,2233
$GC,9893,1.17,146.6,786.9,18.2,470,9898,0.00,2.30,0.00,0.000,6,0.000,0.038,3053,1556,2227
$GC,10214,1.33,274.6,761.9,3.1,486,10331,0.15,0.00,113.50,1.255,6,0.041,0.000,3103,1560,1712
$GC,10629,1.36,294.6,709.4,6.8,506,10651,0.00,2.47,17.45,1.162,4,0.000,0.068,3103,262,1631
$GC,10685,1.36,294.6,700.7,14.6,509,10689,0.00,2.25,0.00,0.000,6,0.000,0.038,3103,1551,1629
$GC,11012,1.36,294.6,652.6,18.2,525,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1555,1625
$GC,11321,1.36,294.6,605.3,13.4,540,11325,0.00,2.42,0.00,0.000,4,0.000,0.069,3103,257,1623
$GC,11421,1.36,294.6,587.0,20.9,544,11428,0.00,2.28,0.00,0.000,6,0.000,0.038,3103,1549,1623
$GC,11736,1.36,294.6,552.6,9.9,560,11740,0.00,2.38,0.00,0.000,4,0.000,0.066,3103,262,1622
$GC,11893,1.36,294.6,533.8,12.8,567,11898,0.00,2.25,0.00,0.000,6,0.000,0.035,3103,1556,1621
$GC,12219,1.37,306.0,503.6,7.1,583,12235,0.00,2.45,10.35,1.060,4,0.000,0.060,3103,241,1584
$GC,12458,1.37,306.0,476.2,11.1,593,12465,0.00,2.22,0.00,0.000,6,0.000,0.033,3103,1554,1581
$GC,12776,1.37,306.0,439.6,12.2,609,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1557,1581
$GC,13083,1.37,306.0,402.3,12.6,624,13087,0.00,2.38,0.00,0.000,4,0.000,0.059,3103,255,1580
$GC,13190,1.37,306.0,389.5,13.8,629,13194,0.00,2.20,0.00,0.000,6,0.000,0.031,3103,1559,1580
$GC,13516,1.37,306.0,348.1,12.6,645,13520,0.00,2.35,0.00,0.000,4,0.000,0.058,3103,254,1580
$GC,13593,1.37,306.0,337.7,14.3,648,13599,0.00,2.20,0.00,0.000,6,0.000,0.031,3103,1549,1581
$GC,13908,1.37,306.0,297.8,12.6,664,13912,0.00,2.33,0.00,0.000,4,0.000,0.056,3104,259,1581
$GC,14003,1.37,306.0,284.4,13.3,668,14007,0.00,2.20,0.00,0.000,6,0.000,0.031,3103,1557,1581
$GC,14325,1.37,306.0,245.5,11.8,684,14329,0.00,2.35,0.00,0.000,4,0.000,0.056,3103,257,1582
$GC,14409,1.37,306.0,233.9,13.4,688,14413,0.00,2.20,0.00,0.000,6,0.000,0.030,3104,1559,1582
$GC,14735,1.37,306.0,190.4,12.8,704,14740,0.00,2.38,0.00,0.000,4,0.000,0.056,3103,259,1582
$GC,14796,1.37,306.0,182.1,15.1,706,14802,0.00,2.15,0.00,0.000,6,0.000,0.031,3103,1547,1583
$GC,15114,1.37,306.0,144.8,11.1,722,15118,0.00,2.33,0.00,0.000,4,0.000,0.054,3104,255,1583
$GC,15209,1.37,306.0,133.0,12.5,726,15214,0.00,2.22,0.00,0.000,6,0.000,0.030,3103,1553,1584
$GC,15530,1.37,306.0,96.7,11.8,742,15534,0.00,2.33,0.00,0.000,4,0.000,0.054,3103,257,1584
$GC,15596,1.37,306.0,88.1,13.2,745,15600,0.00,2.17,0.00,0.000,6,0.000,0.030,3103,1551,1584
$GC,15923,1.37,306.0,47.1,13.2,761,15927,0.00,2.33,0.00,0.000,4,0.000,0.053,3103,254,1584
$GC,16053,1.37,306.0,28.9,14.3,767,16057,0.00,2.17,0.00,0.000,6,0.000,0.029,3103,1554,1584
$STATE,16274,end climb,SURFACE_DEPTH_REACHED
$STATE,16274,begin surface coast
$FINISH,-0.1,1.012998
$STATE,16297,end surface coast,CONTROL_FINISHED_OK
$STATE,16297,begin surface
$SM_CCo,16381,0.00,0.000,0,0,1581,306.62
$SM_GC,0.75,11.70,0.00,0.00,0.027,0.000,0.000,394,2483,1581,-10.98,-0.48,306.62
$IRIDIUM_FIX,6103.81,-821.82,310898,191934
$TT8_MAMPS,0.026845
$HUMID,1849
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,17.3
$ALTIM_BOTTOM_PING,725.1,92.2
$24V_AH,23.2,18.845
$10V_AH,10.1,7.694
$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,25.775,165.900,400.325,0.000,0.000,56.859,57.407,179.173,6.500,0.000,0.000,10.775,1512.866,12039.448,501.070,2008.205,782.511,33.354,1567.087,0.000,2118.219,0.000,44.485,0.000
$DEVICE_MAMPS,140.361,76.700,1331.512,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.591,533.685,451.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41114,779
$CAP_FILE_SIZE,130184,0
$CFSIZE,260165632,257515520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,070609,001454,6131.801,-826.901,40,1.4,40,-8.9