version: 66.04
glider: 105
mission: 6
dive: 10
start: 6 7 109 5 37 11
data:
$ID,105
$MISSION,6
$DIVE,10
$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,-1628276.8
$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
$GPS1,053036,6133.409,-831.360,39,2.0,50,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-59.2
$GPS2,053619,6133.456,-831.485,14,2.0,31,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.208,-0.119
$KALMAN_X,-31060.6,808.9,679.1,16563.0,-17978.2
$KALMAN_Y,16844.1,1210.8,-110.5,-1832.7,7246.0
$MHEAD_RNG_PITCHd_Wd,128.9,8591,-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,13,begin dive
$GC,15,-1.17,-146.6,0.0,0.0,0,87,0.00,0.00,-69.60,0.000,6,0.000,0.000,395,2492,3431
$GC,90,-1.17,-146.6,3.4,-4.6,4,111,11.40,2.45,0.00,0.000,4,0.133,0.035,2536,1077,3432
$GC,291,-1.17,-146.6,33.0,-8.9,13,295,0.00,2.47,0.00,0.000,6,0.000,0.033,2536,2510,3432
$GC,617,-1.17,-146.6,67.4,-10.7,29,622,0.00,2.47,0.00,0.000,4,0.000,0.035,2536,1078,3432
$GC,667,-1.17,-146.6,72.6,-10.6,31,672,0.00,2.47,0.00,0.000,6,0.000,0.032,2536,2496,3433
$GC,988,-1.17,-146.6,106.1,-10.4,47,992,0.00,2.45,0.00,0.000,4,0.000,0.035,2536,1077,3433
$GC,1020,-1.17,-146.6,109.5,-9.6,48,1026,0.00,2.45,0.00,0.000,6,0.000,0.032,2536,2500,3433
$GC,1337,-1.17,-146.6,136.7,-8.0,64,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2500,3433
$GC,1646,-1.17,-146.6,155.8,-5.1,79,1650,0.00,2.47,0.00,0.000,4,0.000,0.037,2536,1070,3433
$GC,1686,-1.17,-146.6,157.9,-5.1,81,1691,0.00,2.47,0.00,0.000,6,0.000,0.034,2536,2499,3433
$GC,2016,-1.17,-146.6,174.6,-5.3,97,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2499,3433
$GC,2322,-1.17,-146.6,192.4,-6.3,112,2327,0.00,2.47,0.00,0.000,4,0.000,0.038,2536,1076,3433
$GC,2412,-1.17,-146.6,197.7,-6.1,116,2416,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2506,3433
$GC,2732,-1.17,-146.6,221.7,-7.6,132,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2505,3433
$GC,3042,-1.17,-146.6,248.6,-8.1,147,3046,0.00,2.50,0.00,0.000,4,0.000,0.040,2536,1072,3433
$GC,3114,-1.17,-146.6,255.2,-9.0,150,3118,0.00,2.47,0.00,0.000,6,0.000,0.037,2536,2497,3434
$GC,3429,-1.17,-146.6,282.0,-9.0,165,3434,0.00,2.50,0.00,0.000,4,0.000,0.041,2536,1081,3433
$GC,3479,-1.17,-146.6,286.3,-8.3,167,3483,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2501,3433
$GC,3802,-1.17,-146.6,313.4,-8.5,183,3806,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1081,3434
$GC,3842,-1.17,-146.6,317.3,-9.5,185,3846,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2501,3434
$GC,4170,-1.17,-146.6,346.8,-9.1,201,4174,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1081,3433
$GC,4208,-1.17,-146.6,350.5,-9.3,203,4213,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2503,3433
$GC,4537,-1.17,-146.6,377.9,-8.0,219,4542,0.00,2.50,0.00,0.000,4,0.000,0.041,2536,1074,3433
$GC,4582,-1.17,-146.6,381.7,-7.7,221,4586,0.00,2.50,0.00,0.000,6,0.000,0.038,2536,2509,3433
$GC,4903,-1.17,-146.6,407.9,-8.4,237,4908,0.00,2.50,0.00,0.000,4,0.000,0.042,2535,1079,3432
$GC,4944,-1.17,-146.6,411.3,-8.8,239,4948,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2502,3433
$GC,5272,-1.17,-146.6,438.8,-8.0,255,5276,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1072,3432
$GC,5316,-1.17,-146.6,442.7,-8.1,257,5320,0.00,2.50,0.00,0.000,6,0.000,0.038,2536,2509,3433
$GC,5637,-1.17,-146.6,469.1,-7.4,273,5642,0.00,2.50,0.00,0.000,4,0.000,0.042,2536,1080,3432
$GC,5681,-1.17,-146.6,472.8,-8.4,275,5686,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2507,3433
$GC,6005,-1.17,-146.6,494.7,-6.4,291,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2507,3432
$GC,6313,-1.17,-146.6,514.1,-6.9,306,6317,0.00,2.50,0.00,0.000,4,0.000,0.044,2536,1081,3432
$GC,6375,-1.17,-146.6,519.2,-8.6,309,6380,0.00,2.50,0.00,0.000,6,0.000,0.039,2536,2497,3432
$GC,6707,-1.17,-146.6,551.0,-7.2,325,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2497,3432
$GC,7016,-1.17,-146.6,586.1,-11.6,340,7021,0.00,2.50,0.00,0.000,4,0.000,0.044,2536,1076,3432
$GC,7161,-1.17,-146.6,601.4,-9.0,346,7167,0.00,2.50,0.00,0.000,6,0.000,0.041,2536,2503,3431
$GC,7477,-1.17,-146.6,631.1,-10.3,362,7482,0.00,2.53,0.00,0.000,4,0.000,0.046,2536,1074,3431
$GC,7647,-1.17,-146.6,644.4,-7.0,369,7653,0.00,2.50,0.00,0.000,6,0.000,0.041,2536,2500,3430
$GC,7963,-1.17,-146.6,661.2,-9.6,385,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2500,3429
$GC,8271,-1.17,-146.6,695.7,-8.2,400,8276,0.00,2.45,0.00,0.000,4,0.000,0.074,2536,3827,3427
$GC,8349,-1.17,-146.6,701.5,-5.0,403,8355,0.00,2.30,0.00,0.000,6,0.000,0.035,2536,2486,3427
$GC,8665,-1.17,-146.6,731.5,-10.7,419,8669,0.00,2.45,0.00,0.000,4,0.000,0.051,2536,1100,3425
$GC,8731,-1.17,-146.6,738.9,-8.5,422,8736,0.00,2.50,0.00,0.000,6,0.000,0.045,2536,2493,3425
$GC,9060,-1.17,-146.6,766.0,-5.0,438,9065,0.00,2.50,0.00,0.000,4,0.000,0.051,2536,1094,3423
$GC,9196,-1.17,-146.6,787.8,-15.8,444,9200,0.00,2.50,0.00,0.000,6,0.000,0.045,2536,2505,3423
$GC,9517,-1.17,-146.6,827.6,-13.8,460,9521,0.00,2.45,0.00,0.000,4,0.000,0.073,2536,3830,3421
$GC,9611,-1.17,-146.6,838.6,-16.6,464,9615,0.00,2.30,0.00,0.000,6,0.000,0.038,2536,2496,3421
$STATE,9642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9642,begin apogee
$GC,9650,-0.36,0.0,842.7,13.5,466,9785,0.88,0.00,128.62,1.356,6,0.071,0.000,2722,1554,2832
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9786,begin climb
$GC,9788,1.17,146.6,849.9,0.0,473,9930,1.50,2.65,131.95,1.301,4,0.051,0.056,3052,2963,2233
$GC,10168,1.21,172.4,827.7,6.6,489,10200,0.00,2.55,22.75,1.237,6,0.000,0.047,3052,1548,2128
$GC,10512,1.39,323.0,814.1,2.4,506,10652,0.22,0.00,136.70,1.295,6,0.033,0.000,3125,1547,1515
$GC,10963,1.39,323.0,762.0,15.8,528,10967,0.12,2.40,0.00,0.000,4,0.088,0.070,3101,262,1502
$GC,11018,1.39,323.0,755.1,15.3,530,11024,0.00,2.28,0.00,0.000,6,0.000,0.038,3101,1571,1501
$GC,11336,1.39,324.7,724.7,7.4,546,11341,0.00,2.42,0.00,0.000,4,0.000,0.063,3101,261,1499
$GC,11538,1.40,326.6,703.6,7.4,555,11542,0.00,2.22,0.00,0.000,6,0.000,0.037,3101,1544,1498
$GC,11861,1.40,326.6,666.3,11.2,571,11865,0.00,2.40,0.00,0.000,4,0.000,0.065,3101,257,1497
$GC,11928,1.40,326.6,658.7,10.2,574,11932,0.00,2.25,0.00,0.000,6,0.000,0.036,3101,1558,1496
$GC,12254,1.40,326.6,623.6,10.8,590,12258,0.00,2.42,0.00,0.000,4,0.000,0.067,3101,260,1496
$GC,12353,1.40,326.6,611.7,11.1,594,12359,0.00,2.25,0.00,0.000,6,0.000,0.036,3101,1555,1495
$GC,12671,1.40,326.6,579.0,10.5,610,12675,0.00,2.40,0.00,0.000,4,0.000,0.064,3101,261,1495
$GC,12802,1.40,326.6,560.5,12.5,616,12807,0.00,2.22,0.00,0.000,6,0.000,0.034,3101,1556,1494
$GC,13129,1.40,326.6,511.5,14.0,632,13133,0.00,2.38,0.00,0.000,4,0.000,0.060,3101,258,1494
$GC,13236,1.40,326.6,499.8,10.6,637,13240,0.00,2.22,0.00,0.000,6,0.000,0.032,3101,1542,1494
$GC,13567,1.40,326.6,461.9,9.6,653,13571,0.00,2.35,0.00,0.000,4,0.000,0.058,3101,254,1494
$GC,13611,1.40,326.6,457.1,10.5,655,13615,0.00,2.20,0.00,0.000,6,0.000,0.030,3101,1557,1494
$GC,13939,1.40,326.6,418.7,13.2,671,13943,0.00,2.35,0.00,0.000,4,0.000,0.057,3101,260,1495
$GC,13972,1.40,326.6,414.3,12.7,672,13978,0.00,2.20,0.00,0.000,6,0.000,0.031,3101,1557,1495
$GC,14287,1.40,326.6,382.5,11.0,688,14292,0.00,2.38,0.00,0.000,4,0.000,0.057,3101,264,1495
$GC,14342,1.40,326.6,375.6,12.4,690,14346,0.00,2.17,0.00,0.000,6,0.000,0.030,3101,1558,1496
$GC,14664,1.40,326.6,336.7,12.3,706,14669,0.00,2.38,0.00,0.000,4,0.000,0.057,3101,264,1496
$GC,14741,1.40,326.6,326.7,12.5,709,14745,0.00,2.17,0.00,0.000,6,0.000,0.029,3101,1551,1496
$GC,15065,1.40,326.6,285.2,12.8,725,15069,0.00,2.35,0.00,0.000,4,0.000,0.055,3101,254,1496
$GC,15131,1.40,326.6,276.1,13.3,728,15135,0.00,2.20,0.00,0.000,6,0.000,0.029,3101,1554,1497
$GC,15458,1.40,326.6,239.7,10.7,744,15462,0.00,2.35,0.00,0.000,4,0.000,0.055,3101,254,1497
$GC,15547,1.40,326.6,228.4,13.0,748,15551,0.00,2.17,0.00,0.000,6,0.000,0.029,3101,1545,1497
$GC,15876,1.40,326.6,193.2,10.7,764,15880,0.00,2.33,0.00,0.000,4,0.000,0.055,3101,258,1498
$GC,16011,1.40,326.6,177.5,11.5,770,16015,0.00,2.20,0.00,0.000,6,0.000,0.029,3101,1560,1498
$GC,16335,1.40,326.6,144.6,9.9,786,16339,0.00,2.35,0.00,0.000,4,0.000,0.054,3101,255,1498
$GC,16469,1.40,326.6,130.5,8.6,792,16473,0.00,2.17,0.00,0.000,6,0.000,0.028,3101,1553,1499
$GC,16796,1.40,326.6,98.2,10.2,808,16800,0.00,2.33,0.00,0.000,4,0.000,0.053,3101,258,1499
$GC,16869,1.40,326.6,90.3,10.8,811,16873,0.00,2.17,0.00,0.000,6,0.000,0.028,3101,1554,1499
$GC,17190,1.40,326.6,54.2,12.7,827,17194,0.00,2.33,0.00,0.000,4,0.000,0.054,3101,258,1499
$GC,17342,1.40,326.6,35.3,12.7,834,17347,0.00,2.20,0.00,0.000,6,0.000,0.028,3101,1551,1500
$STATE,17611,end climb,SURFACE_DEPTH_REACHED
$STATE,17611,begin surface coast
$FINISH,0.4,1.027224
$STATE,17632,end surface coast,CONTROL_FINISHED_OK
$STATE,17632,begin surface
$SM_CCo,17716,0.00,0.000,0,0,1497,327.23
$SM_GC,0.76,11.73,0.00,0.00,0.026,0.000,0.000,393,2485,1497,-11.00,-0.42,327.23
$IRIDIUM_FIX,6108.28,-822.48,010998,000038
$TT8_MAMPS,0.026845
$HUMID,1818
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.5,17.7
$ALTIM_BOTTOM_PING,750.4,101.3
$24V_AH,23.2,19.192
$10V_AH,10.1,7.877
$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,25.850,180.750,420.025,0.000,0.000,30.684,28.926,148.162,6.750,0.000,0.000,31.166,1641.876,12991.072,529.030,2149.429,743.516,33.379,1655.011,0.000,2263.430,0.000,46.103,0.000
$DEVICE_MAMPS,133.458,74.399,1356.056,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,769.232,580.954,490.195,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44232,848
$CAP_FILE_SIZE,139346,0
$CFSIZE,260165632,257363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,070609,103336,6134.369,-835.091,32,1.2,32,-9.0