version: 66.04
glider: 105
mission: 6
dive: 9
start: 6 7 109 0 21 36
data:
$ID,105
$MISSION,6
$DIVE,9
$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,-1628245
$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,19
$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
$GPS1,001454,6131.801,-826.901,40,1.4,40,-8.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-61.3
$GPS2,002044,6131.832,-827.002,15,1.2,15,-8.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.197,-0.136
$KALMAN_X,-22282.0,1970.8,-409.0,11698.0,-13181.3
$KALMAN_Y,10895.5,336.7,118.7,1730.9,6944.8
$MHEAD_RNG_PITCHd_Wd,133.5,3826,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.33,0.000,2,0.000,0.000,395,2485,3429
$GC,82,-1.17,-146.6,4.1,-8.0,3,98,11.43,2.45,0.00,0.000,4,0.136,0.035,2535,1069,3430
$GC,170,-1.17,-146.6,20.9,-9.6,6,175,0.00,2.47,0.00,0.000,6,0.000,0.033,2535,2500,3431
$GC,492,-1.17,-146.6,49.7,-8.7,22,496,0.00,2.47,0.00,0.000,4,0.000,0.035,2535,1069,3430
$GC,538,-1.17,-146.6,54.1,-9.7,24,542,0.00,2.47,0.00,0.000,6,0.000,0.032,2535,2505,3430
$GC,859,-1.17,-146.6,88.6,-10.6,40,863,0.00,2.47,0.00,0.000,4,0.000,0.035,2535,1074,3430
$GC,944,-1.17,-146.6,97.8,-11.5,44,949,0.00,2.47,0.00,0.000,6,0.000,0.033,2535,2508,3431
$GC,1272,-1.17,-146.6,133.7,-11.0,60,1277,0.00,2.50,0.00,0.000,4,0.000,0.036,2535,1081,3431
$GC,1312,-1.17,-146.6,138.0,-10.6,61,1319,0.00,2.45,0.00,0.000,6,0.000,0.033,2535,2499,3431
$GC,1630,-1.17,-146.6,171.3,-10.3,77,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2499,3431
$GC,1937,-1.17,-146.6,198.9,-8.8,92,1941,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,1074,3431
$GC,2026,-1.17,-146.6,206.1,-8.2,96,2030,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2499,3431
$GC,2347,-1.17,-146.6,228.8,-6.7,112,2351,0.00,2.47,0.00,0.000,4,0.000,0.039,2535,1076,3431
$GC,2391,-1.17,-146.6,231.9,-6.7,114,2395,0.00,2.47,0.00,0.000,6,0.000,0.036,2535,2499,3431
$GC,2712,-1.17,-146.6,250.7,-5.4,130,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2499,3431
$GC,3023,-1.17,-146.6,268.1,-6.0,145,3028,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1077,3431
$GC,3079,-1.17,-146.6,271.6,-5.6,147,3085,0.00,2.47,0.00,0.000,6,0.000,0.036,2535,2508,3431
$GC,3395,-1.17,-146.6,287.5,-4.5,163,3400,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1081,3431
$GC,3440,-1.17,-146.6,289.5,-4.4,165,3444,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2498,3431
$GC,3762,-1.17,-146.6,300.9,-3.6,181,3767,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1075,3431
$GC,3803,-1.17,-146.6,302.4,-3.9,183,3807,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2504,3431
$GC,4129,-1.17,-146.6,310.9,-2.9,199,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2504,3431
$GC,4441,-1.17,-146.6,320.7,-2.6,214,4445,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1081,3431
$GC,4521,-1.17,-146.6,322.4,-2.0,217,4527,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2503,3431
$GC,4837,-1.17,-146.6,327.9,-1.3,233,4841,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1079,3431
$GC,4876,-1.17,-146.6,328.3,-1.7,235,4881,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2504,3431
$GC,5204,-1.17,-146.6,331.6,-0.9,251,5208,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1079,3431
$GC,5253,-1.17,-146.6,332.0,-1.2,253,5258,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2504,3431
$GC,5571,-1.17,-146.6,336.0,-1.4,268,5576,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1081,3431
$GC,5616,-1.17,-146.6,337.2,-3.2,270,5620,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2505,3431
$GC,5940,-1.17,-146.6,344.8,-2.7,286,5944,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1080,3431
$GC,6002,-1.17,-146.6,346.9,-3.7,289,6006,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2503,3431
$GC,6328,-1.17,-146.6,362.7,-6.0,305,6332,0.00,2.40,0.00,0.000,4,0.000,0.065,2535,3828,3431
$GC,6356,-1.17,-146.6,364.7,-6.9,306,6360,0.00,2.28,0.00,0.000,6,0.000,0.031,2535,2473,3430
$GC,6674,-1.17,-146.6,395.4,-11.7,321,6678,0.00,2.45,0.00,0.000,4,0.000,0.058,2535,3830,3431
$GC,6745,-1.17,-146.6,406.2,-15.1,324,6749,0.00,2.22,0.00,0.000,6,0.000,0.031,2535,2503,3431
$GC,7066,-1.17,-146.6,462.9,-20.4,340,7070,0.00,2.38,0.00,0.000,4,0.000,0.055,2535,3830,3430
$GC,7212,-1.17,-146.6,493.5,-21.2,346,7218,0.00,2.25,0.00,0.000,6,0.000,0.031,2535,2493,3431
$GC,7530,-1.17,-146.6,544.0,-13.7,362,7534,0.00,2.42,0.00,0.000,4,0.000,0.043,2535,1095,3431
$GC,7641,-1.17,-146.6,559.6,-13.3,367,7646,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2506,3430
$GC,7968,-1.17,-146.6,588.0,-5.9,383,7972,0.00,2.45,0.00,0.000,4,0.000,0.043,2535,1104,3430
$GC,8264,-1.17,-146.6,596.6,-0.2,396,8269,0.00,2.42,0.00,0.000,6,0.000,0.040,2535,2498,3429
$GC,8583,-1.17,-146.6,597.3,-1.6,411,8587,0.00,2.45,0.00,0.000,4,0.000,0.046,2535,1107,3429
$GC,8690,-1.17,-146.6,599.5,-4.2,416,8695,0.00,2.45,0.00,0.000,6,0.000,0.042,2535,2507,3428
$GC,9017,-1.17,-146.6,631.2,-12.2,432,9021,0.00,2.47,0.00,0.000,4,0.000,0.047,2535,1103,3426
$GC,9044,-1.17,-146.6,633.8,-10.4,433,9048,0.00,2.45,0.00,0.000,6,0.000,0.042,2535,2499,3426
$GC,9359,-1.17,-146.6,672.1,-17.6,448,9364,0.00,2.50,0.00,0.000,4,0.000,0.050,2536,1109,3425
$GC,9450,-1.17,-146.6,682.3,-15.5,452,9454,0.00,2.45,0.00,0.000,6,0.000,0.045,2535,2496,3425
$GC,9778,-1.17,-146.6,711.6,-3.6,468,9783,0.00,2.47,0.00,0.000,4,0.000,0.049,2535,1102,3424
$GC,9819,-1.17,-146.6,715.0,-7.9,470,9823,0.00,2.47,0.00,0.000,6,0.000,0.044,2535,2511,3423
$GC,10145,-1.17,-146.6,742.8,-12.8,486,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2511,3422
$GC,10455,-1.17,-146.6,767.4,-5.4,501,10459,0.00,2.53,0.00,0.000,4,0.000,0.054,2535,1103,3420
$GC,10567,-1.17,-146.6,781.4,-11.9,506,10572,0.00,2.47,0.00,0.000,6,0.000,0.048,2535,2495,3420
$STATE,10865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10865,begin apogee
$GC,10873,-0.36,0.0,815.2,15.6,521,11008,0.88,0.00,127.75,1.345,6,0.080,0.000,2719,1565,2830
$STATE,11009,end apogee,CONTROL_FINISHED_OK
$STATE,11009,begin climb
$GC,11012,1.17,146.6,822.0,0.0,528,11153,1.50,2.47,131.55,1.285,4,0.043,0.066,3058,264,2233
$GC,11192,1.23,188.5,813.5,6.1,535,11235,0.00,2.30,38.03,1.236,6,0.000,0.039,3058,1562,2063
$GC,11550,1.26,211.8,796.2,6.7,552,11576,0.00,2.58,20.77,1.218,4,0.000,0.059,3058,2941,1967
$GC,11886,1.39,318.4,783.7,3.9,567,11991,0.20,2.50,97.65,1.282,6,0.034,0.051,3129,1553,1534
$GC,12299,1.39,318.4,727.1,11.8,587,12304,0.15,2.42,0.00,0.000,4,0.087,0.071,3100,258,1522
$GC,12473,1.44,358.6,709.1,6.1,595,12516,0.00,2.22,36.33,1.236,6,0.000,0.037,3100,1545,1369
$GC,12827,1.44,358.6,661.8,15.1,612,12831,0.00,2.40,0.00,0.000,4,0.000,0.069,3100,258,1361
$GC,12894,1.44,358.6,651.7,15.6,615,12898,0.00,2.25,0.00,0.000,6,0.000,0.036,3099,1554,1360
$GC,13220,1.44,358.6,609.3,12.4,631,13225,0.00,2.42,0.00,0.000,4,0.000,0.067,3100,262,1359
$GC,13293,1.44,358.6,598.5,16.0,634,13297,0.00,2.22,0.00,0.000,6,0.000,0.036,3100,1557,1358
$GC,13614,1.44,358.6,557.4,14.2,650,13618,0.00,2.42,0.00,0.000,4,0.000,0.067,3100,260,1358
$GC,13822,1.44,358.6,523.6,14.7,659,13826,0.00,2.22,0.00,0.000,6,0.000,0.035,3099,1557,1357
$GC,14137,1.44,358.6,483.4,11.0,674,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1560,1357
$GC,14446,1.44,358.6,444.6,12.6,689,14450,0.00,2.38,0.00,0.000,4,0.000,0.061,3100,260,1356
$GC,14540,1.44,358.6,431.9,12.5,693,14544,0.00,2.17,0.00,0.000,6,0.000,0.030,3100,1555,1356
$GC,14862,1.44,358.6,393.5,11.7,709,14866,0.00,2.38,0.00,0.000,4,0.000,0.058,3100,257,1356
$GC,14962,1.44,358.6,382.3,10.1,713,14968,0.00,2.20,0.00,0.000,6,0.000,0.031,3100,1548,1356
$GC,15280,1.44,358.6,351.5,9.3,729,15284,0.00,2.33,0.00,0.000,4,0.000,0.058,3100,260,1357
$GC,15380,1.44,358.6,340.9,10.5,733,15386,0.00,2.20,0.00,0.000,6,0.000,0.031,3100,1554,1357
$GC,15695,1.44,358.6,312.3,10.4,749,15700,0.00,2.35,0.00,0.000,4,0.000,0.058,3100,264,1358
$GC,15823,1.44,358.6,298.3,12.0,754,15829,0.00,2.17,0.00,0.000,6,0.000,0.031,3100,1558,1358
$GC,16141,1.44,358.6,257.7,13.2,770,16145,0.00,2.35,0.00,0.000,4,0.000,0.056,3100,260,1358
$GC,16241,1.44,358.6,243.1,14.9,774,16247,0.00,2.20,0.00,0.000,6,0.000,0.030,3099,1560,1358
$GC,16557,1.44,358.6,200.1,13.2,790,16561,0.00,2.35,0.00,0.000,4,0.000,0.056,3100,259,1359
$GC,16641,1.44,358.6,188.4,12.6,794,16645,0.00,2.17,0.00,0.000,6,0.000,0.029,3100,1551,1359
$GC,16973,1.44,358.6,150.6,11.5,810,16977,0.00,2.33,0.00,0.000,4,0.000,0.055,3100,255,1359
$GC,17073,1.44,358.6,138.7,12.1,814,17080,0.00,2.20,0.00,0.000,6,0.000,0.030,3100,1557,1359
$GC,17389,1.44,358.6,109.9,9.2,830,17393,0.00,2.33,0.00,0.000,4,0.000,0.054,3100,255,1359
$GC,17466,1.44,358.6,101.2,10.9,833,17473,0.00,2.20,0.00,0.000,6,0.000,0.029,3100,1543,1360
$GC,17782,1.44,358.6,66.9,10.2,849,17786,0.00,2.28,0.00,0.000,4,0.000,0.054,3100,259,1360
$GC,17893,1.44,358.6,54.3,11.6,854,17897,0.00,2.17,0.00,0.000,6,0.000,0.029,3100,1557,1360
$GC,18221,1.44,358.6,19.4,10.4,870,18225,0.00,2.33,0.00,0.000,4,0.000,0.053,3100,258,1360
$STATE,18358,end climb,SURFACE_DEPTH_REACHED
$STATE,18358,begin surface coast
$FINISH,1.7,1.027263
$STATE,18367,end surface coast,CONTROL_FINISHED_OK
$STATE,18367,begin surface
$SM_CCo,18453,0.00,0.000,0,0,1358,361.57
$SM_GC,0.65,11.70,0.00,0.00,0.026,0.000,0.000,395,2491,1358,-11.00,-0.25,361.57
$IRIDIUM_FIX,6103.81,-830.07,310898,191934
$TT8_MAMPS,0.026845
$HUMID,1813
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,726.4,98.0
$24V_AH,23.2,19.024
$10V_AH,10.1,7.787
$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,25.850,194.850,452.075,0.000,0.000,30.750,33.633,168.466,6.500,0.000,0.000,17.027,1723.564,13459.093,539.497,2283.684,796.340,33.343,1747.925,0.000,2403.902,0.000,44.473,0.000
$DEVICE_MAMPS,135.759,70.564,1344.551,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,785.411,599.969,493.431,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44307,876
$CAP_FILE_SIZE,149230,0
$CFSIZE,260165632,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,070609,053036,6133.409,-831.360,39,2.0,50,-9.0