version: 66.04
glider: 105
mission: 6
dive: 14
start: 6 8 109 2 18 32
data:
$ID,105
$MISSION,6
$DIVE,14
$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,-1628340
$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,2425
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,021201,6135.397,-831.334,45,1.8,45,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-62.9
$GPS2,021738,6135.380,-831.396,15,1.4,15,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.192,-0.144
$KALMAN_X,-52372.8,2503.5,1751.4,35099.6,-18612.4
$KALMAN_Y,27997.8,88.4,-599.3,-7767.0,8231.2
$MHEAD_RNG_PITCHd_Wd,135.8,11456,-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,-59.33,0.000,6,0.000,0.000,393,2418,3431
$GC,81,-1.17,-146.6,5.0,-10.5,3,101,11.45,2.45,0.00,0.000,4,0.135,0.035,2536,1006,3432
$GC,307,-1.17,-146.6,38.1,-12.0,13,312,0.00,2.47,0.00,0.000,6,0.000,0.031,2536,2434,3433
$GC,630,-1.17,-146.6,71.6,-10.1,29,635,0.00,2.47,0.00,0.000,4,0.000,0.035,2536,1010,3433
$GC,674,-1.17,-146.6,76.1,-9.6,31,679,0.00,2.45,0.00,0.000,6,0.000,0.031,2536,2431,3433
$GC,997,-1.17,-146.6,105.4,-9.5,47,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2431,3433
$GC,1305,-1.17,-146.6,131.4,-8.4,62,1309,0.00,2.47,0.00,0.000,4,0.000,0.037,2536,1010,3433
$GC,1352,-1.17,-146.6,135.4,-8.3,64,1356,0.00,2.45,0.00,0.000,6,0.000,0.031,2536,2428,3433
$GC,1675,-1.17,-146.6,163.7,-9.1,80,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2428,3433
$GC,1981,-1.17,-146.6,193.6,-9.4,95,1986,0.00,2.47,0.00,0.000,4,0.000,0.038,2536,1009,3433
$GC,2026,-1.17,-146.6,197.7,-8.9,97,2031,0.00,2.47,0.00,0.000,6,0.000,0.034,2536,2418,3433
$GC,2353,-1.17,-146.6,225.3,-8.4,113,2358,0.00,2.47,0.00,0.000,4,0.000,0.039,2536,1017,3434
$GC,2413,-1.17,-146.6,230.5,-8.3,115,2420,0.00,2.45,0.00,0.000,6,0.000,0.035,2536,2427,3434
$GC,2732,-1.17,-146.6,255.4,-7.7,131,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2427,3434
$GC,3039,-1.17,-146.6,279.3,-8.0,146,3043,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1013,3434
$GC,3071,-1.17,-146.6,282.0,-8.2,147,3077,0.00,2.47,0.00,0.000,6,0.000,0.036,2536,2432,3434
$GC,3387,-1.17,-146.6,307.4,-8.4,163,3391,0.00,2.53,0.00,0.000,4,0.000,0.041,2536,1011,3434
$GC,3425,-1.17,-146.6,310.8,-8.8,164,3431,0.00,2.47,0.00,0.000,6,0.000,0.037,2536,2429,3434
$GC,3741,-1.17,-146.6,338.1,-8.2,180,3745,0.00,2.50,0.00,0.000,4,0.000,0.041,2536,1006,3434
$GC,3780,-1.17,-146.6,341.4,-7.9,182,3784,0.00,2.47,0.00,0.000,6,0.000,0.037,2536,2426,3434
$GC,4107,-1.17,-146.6,364.4,-7.2,198,4111,0.00,2.47,0.00,0.000,4,0.000,0.042,2536,1012,3434
$GC,4134,-1.17,-146.6,366.7,-7.6,199,4139,0.00,2.50,0.00,0.000,6,0.000,0.038,2536,2425,3433
$GC,4455,-1.17,-146.6,391.6,-7.6,215,4459,0.00,2.47,0.00,0.000,4,0.000,0.042,2536,1013,3434
$GC,4495,-1.17,-146.6,394.7,-8.3,217,4499,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2426,3433
$GC,4821,-1.17,-146.6,421.2,-8.7,233,4825,0.00,2.47,0.00,0.000,4,0.000,0.042,2536,1014,3433
$GC,4871,-1.17,-146.6,425.1,-7.6,235,4875,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2429,3433
$GC,5189,-1.17,-146.6,449.3,-8.6,250,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2429,3433
$GC,5495,-1.17,-146.6,478.0,-10.4,265,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2428,3433
$GC,5807,-1.17,-146.6,509.5,-9.1,280,5812,0.00,2.55,0.00,0.000,4,0.000,0.064,2536,3828,3433
$GC,6011,-1.17,-146.6,527.2,-6.9,289,6015,0.00,2.42,0.00,0.000,6,0.000,0.030,2536,2402,3433
$GC,6332,-1.17,-146.6,548.4,-7.1,305,6336,0.00,2.40,0.00,0.000,4,0.000,0.044,2536,1029,3433
$GC,6377,-1.17,-146.6,551.2,-5.6,307,6381,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2434,3432
$GC,6697,-1.17,-146.6,577.4,-9.8,323,6701,0.00,2.47,0.00,0.000,4,0.000,0.043,2536,1030,3432
$GC,6771,-1.17,-146.6,582.7,-8.4,326,6775,0.00,2.45,0.00,0.000,6,0.000,0.039,2536,2428,3432
$GC,7087,-1.17,-146.6,609.3,-8.3,341,7091,0.00,2.47,0.00,0.000,4,0.000,0.045,2536,1030,3431
$GC,7239,-1.17,-146.6,620.0,-6.5,348,7243,0.00,2.45,0.00,0.000,6,0.000,0.040,2536,2428,3430
$GC,7565,-1.17,-146.6,640.9,-8.2,364,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2428,3429
$GC,7875,-1.17,-146.6,660.1,-5.6,379,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2429,3428
$GC,8185,-1.17,-146.6,681.9,-5.9,394,8189,0.00,2.58,0.00,0.000,4,0.000,0.070,2536,3826,3427
$GC,8274,-1.17,-146.6,688.3,-6.8,398,8278,0.00,2.42,0.00,0.000,6,0.000,0.035,2536,2420,3427
$GC,8595,-1.17,-146.6,719.8,-7.5,414,8599,0.00,2.47,0.00,0.000,4,0.000,0.051,2536,1027,3425
$GC,8655,-1.17,-146.6,725.6,-11.5,416,8662,0.00,2.47,0.00,0.000,6,0.000,0.044,2536,2423,3425
$GC,8971,-1.17,-146.6,769.1,-13.5,432,8975,0.00,2.60,0.00,0.000,4,0.000,0.071,2536,3830,3423
$GC,9043,-1.17,-146.6,774.6,-2.3,435,9047,0.00,2.42,0.00,0.000,6,0.000,0.037,2536,2430,3423
$GC,9358,-1.17,-146.6,787.8,-6.4,450,9363,0.00,2.53,0.00,0.000,4,0.000,0.053,2537,1016,3421
$GC,9421,-1.17,-146.6,793.4,-9.1,453,9425,0.00,2.53,0.00,0.000,6,0.000,0.047,2536,2430,3421
$STATE,9664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9664,begin apogee
$GC,9673,-0.36,0.0,816.6,10.0,465,9805,0.88,0.00,127.95,1.349,6,0.069,0.000,2723,1355,2832
$STATE,9806,end apogee,CONTROL_FINISHED_OK
$STATE,9806,begin climb
$GC,9808,1.17,146.6,823.1,0.0,472,9949,1.50,2.62,132.23,1.286,4,0.050,0.054,3054,2760,2232
$GC,10289,1.17,146.6,801.4,9.6,493,10293,0.00,2.55,0.00,0.000,6,0.000,0.050,3054,1347,2221
$GC,10615,1.21,173.6,780.6,6.6,509,10645,0.00,2.65,23.23,1.253,4,0.000,0.052,3054,2758,2123
$GC,10983,1.21,173.6,749.9,10.1,525,10987,0.00,2.55,0.00,0.000,6,0.000,0.049,3054,1341,2118
$GC,11301,1.21,178.4,721.7,7.3,540,11311,0.00,2.60,4.75,0.915,4,0.000,0.052,3054,2764,2104
$GC,11457,1.22,185.0,710.4,7.3,547,11471,0.00,2.55,7.90,1.101,6,0.000,0.048,3054,1346,2077
$GC,11788,1.22,185.0,667.6,11.7,563,11793,0.00,2.58,0.00,0.000,4,0.000,0.051,3054,2763,2075
$GC,11889,1.25,206.1,657.9,6.8,567,11917,0.00,2.55,20.65,1.226,6,0.000,0.047,3054,1348,1992
$GC,12228,1.32,261.0,638.2,5.6,584,12282,0.15,0.00,51.47,1.240,6,0.040,0.000,3112,1348,1768
$GC,12581,1.32,261.0,599.9,11.7,601,12585,0.12,2.03,0.00,0.000,4,0.088,0.069,3087,260,1759
$GC,12686,1.32,261.0,585.6,12.6,605,12693,0.00,1.95,0.00,0.000,6,0.000,0.035,3087,1371,1758
$GC,13002,1.32,261.0,552.4,10.5,621,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1371,1757
$GC,13314,1.32,261.0,524.5,8.2,636,13318,0.00,2.47,0.00,0.000,4,0.000,0.048,3087,2749,1756
$GC,13483,1.32,261.0,504.9,12.9,643,13489,0.00,2.47,0.00,0.000,6,0.000,0.043,3087,1349,1755
$GC,13801,1.32,261.0,466.8,8.7,659,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1349,1755
$GC,14108,1.32,261.0,430.9,7.9,674,14111,0.00,1.98,0.00,0.000,4,0.000,0.060,3087,260,1755
$GC,14198,1.32,261.0,422.0,8.7,678,14202,0.00,1.83,0.00,0.000,6,0.000,0.031,3087,1361,1754
$GC,14533,1.32,261.0,389.9,9.6,694,14534,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1361,1754
$GC,14839,1.32,261.0,359.9,9.0,709,14843,0.00,2.42,0.00,0.000,4,0.000,0.043,3087,2739,1755
$GC,14956,1.32,261.0,348.5,10.1,714,14961,0.00,2.47,0.00,0.000,6,0.000,0.039,3086,1349,1755
$GC,15277,1.32,261.0,321.2,8.2,730,15281,0.00,2.45,0.00,0.000,4,0.000,0.038,3087,2745,1756
$GC,15316,1.32,261.0,317.9,8.0,732,15321,0.00,2.45,0.00,0.000,6,0.000,0.038,3087,1345,1755
$GC,15643,1.32,261.0,289.7,8.9,748,15647,0.00,2.45,0.00,0.000,4,0.000,0.037,3087,2744,1755
$GC,15675,1.32,261.0,286.5,9.5,749,15681,0.00,2.45,0.00,0.000,6,0.000,0.037,3087,1343,1756
$GC,15991,1.32,261.0,255.0,10.7,765,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1343,1756
$GC,16300,1.32,261.0,220.2,11.2,780,16304,0.00,2.45,0.00,0.000,4,0.000,0.037,3087,2746,1756
$GC,16366,1.32,261.0,212.3,11.8,783,16370,0.00,2.42,0.00,0.000,6,0.000,0.036,3087,1351,1756
$GC,16687,1.32,261.0,174.6,11.8,799,16692,0.00,2.45,0.00,0.000,4,0.000,0.036,3087,2741,1757
$GC,16754,1.32,261.0,166.9,11.0,802,16758,0.00,2.42,0.00,0.000,6,0.000,0.035,3087,1348,1757
$GC,17082,1.32,261.0,130.2,10.3,818,17083,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1348,1757
$GC,17390,1.32,261.0,99.7,10.4,833,17394,0.00,2.42,0.00,0.000,4,0.000,0.035,3087,2748,1758
$GC,17429,1.32,261.0,95.8,9.3,835,17433,0.00,2.42,0.00,0.000,6,0.000,0.035,3087,1351,1758
$GC,17756,1.32,261.0,62.1,10.6,851,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1351,1758
$GC,18065,1.32,261.0,30.7,9.8,866,18069,0.00,2.40,0.00,0.000,4,0.000,0.033,3087,2745,1758
$GC,18153,1.32,261.0,22.4,9.2,870,18157,0.00,2.42,0.00,0.000,6,0.000,0.035,3087,1347,1758
$STATE,18368,end climb,SURFACE_DEPTH_REACHED
$STATE,18368,begin surface coast
$FINISH,0.0,1.027247
$STATE,18390,end surface coast,CONTROL_FINISHED_OK
$STATE,18391,begin surface
$SM_CCo,18414,22.67,0.733,0,0,1609,300.00
$SM_GC,0.55,0.00,0.00,22.67,0.000,0.000,0.733,392,2417,1609,-11.08,-0.23,300.00
$IRIDIUM_FIX,6112.75,-837.21,010998,212142
$TT8_MAMPS,0.027612
$HUMID,1826
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,725.6,100.2
$24V_AH,23.1,19.799
$10V_AH,10.1,8.232
$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,25.775,165.475,368.175,22.675,0.000,32.983,36.143,148.059,6.500,0.000,0.000,15.696,1692.200,13677.282,503.343,2139.524,764.117,33.379,1607.366,0.000,2264.670,0.000,46.315,0.000
$DEVICE_MAMPS,134.992,70.564,1349.153,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,786.199,605.619,511.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47338,882
$CAP_FILE_SIZE,138414,0
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,080609,072707,6137.411,-832.972,38,1.0,38,-9.0