version: 66.04
glider: 105
mission: 6
dive: 16
start: 6 8 109 11 45 53
data:
$ID,105
$MISSION,6
$DIVE,16
$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,-1628367.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2664
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,114007,6136.389,-837.313,39,1.1,39,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-53.2
$GPS2,114501,6136.388,-837.238,13,1.1,13,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.224,-0.086
$KALMAN_X,-61364.1,-441.2,589.0,43097.6,-15825.3
$KALMAN_Y,38881.6,-768.2,-882.6,-15665.3,13092.0
$MHEAD_RNG_PITCHd_Wd,120.2,16028,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,120,0.00,0.00,-100.80,0.000,6,0.000,0.000,398,2469,3431
$GC,124,-1.17,-146.6,4.2,-4.1,5,139,10.77,2.47,0.00,0.000,4,0.139,0.036,2398,1047,3432
$GC,390,-1.17,-146.6,57.8,-16.2,16,395,0.00,2.47,0.00,0.000,6,0.000,0.032,2398,2474,3432
$GC,712,-1.17,-146.6,100.2,-14.1,32,716,0.00,2.42,0.00,0.000,4,0.000,0.054,2397,3827,3432
$GC,924,-1.17,-146.6,128.7,-12.3,41,931,0.00,2.33,0.00,0.000,6,0.000,0.027,2398,2438,3432
$GC,1240,-1.17,-146.6,174.0,-16.0,57,1244,0.00,2.50,0.00,0.000,4,0.000,0.053,2398,3827,3432
$GC,1446,-1.17,-146.6,210.0,-16.0,66,1450,0.00,2.28,0.00,0.000,6,0.000,0.028,2398,2477,3432
$GC,1766,-1.17,-146.6,253.4,-13.4,82,1771,0.00,2.42,0.00,0.000,4,0.000,0.054,2398,3827,3432
$GC,1925,-1.17,-146.6,277.8,-16.7,89,1930,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,2482,3432
$GC,2251,-1.17,-146.6,329.4,-15.9,105,2256,0.00,2.45,0.00,0.000,4,0.000,0.054,2398,3823,3432
$GC,2379,-1.17,-146.6,350.2,-15.3,110,2387,0.00,2.30,0.00,0.000,6,0.000,0.029,2398,2482,3432
$GC,2695,-1.17,-146.6,390.9,-13.9,126,2699,0.00,2.45,0.00,0.000,4,0.000,0.056,2398,3834,3432
$GC,2908,-1.17,-146.6,424.4,-15.7,135,2916,0.00,2.30,0.00,0.000,6,0.000,0.030,2398,2476,3432
$GC,3227,-1.17,-146.6,471.2,-15.0,151,3231,0.00,2.45,0.00,0.000,4,0.000,0.056,2398,3828,3432
$GC,3496,-1.17,-146.6,515.1,-15.0,163,3500,0.00,2.30,0.00,0.000,6,0.000,0.030,2398,2474,3432
$GC,3817,-1.17,-146.6,563.8,-16.0,179,3822,0.00,2.47,0.00,0.000,4,0.000,0.057,2398,3824,3432
$GC,4157,-1.17,-146.6,620.3,-17.7,194,4161,0.00,2.30,0.00,0.000,6,0.000,0.031,2398,2465,3432
$GC,4484,-1.17,-146.6,671.1,-14.7,210,4488,0.00,2.47,0.00,0.000,4,0.000,0.057,2398,3828,3431
$GC,4825,-1.17,-146.6,725.2,-14.5,225,4830,0.00,2.33,0.00,0.000,6,0.000,0.033,2398,2487,3431
$GC,5146,-1.17,-146.6,767.1,-13.1,241,5151,0.00,2.47,0.00,0.000,4,0.000,0.063,2397,3831,3430
$GC,5256,-1.17,-146.6,782.2,-13.9,246,5260,0.00,2.35,0.00,0.000,6,0.000,0.036,2398,2473,3430
$GC,5582,-1.17,-146.6,828.7,-12.8,262,5587,0.00,2.53,0.00,0.000,4,0.000,0.067,2398,3833,3427
$GC,5758,-1.17,-146.6,852.7,-12.6,270,5762,0.00,2.38,0.00,0.000,6,0.000,0.038,2398,2472,3426
$STATE,5793,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5793,begin apogee
$GC,5801,-0.36,0.0,858.1,13.9,272,5937,0.93,0.00,129.40,1.333,6,0.091,0.000,2584,1457,2832
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5937,begin climb
$GC,5940,1.17,146.6,865.7,0.0,279,6080,1.58,0.00,132.57,1.288,6,0.062,0.000,2917,1458,2233
$GC,6392,1.25,207.9,851.1,5.4,301,6455,0.00,2.30,55.10,1.279,4,0.000,0.070,2917,260,1983
$GC,6501,1.37,305.8,845.8,4.2,306,6598,0.15,2.12,89.12,1.273,6,0.045,0.040,2961,1457,1584
$GC,6915,1.42,345.9,820.6,6.1,326,6958,0.00,2.58,36.35,1.255,4,0.000,0.052,2961,2855,1420
$GC,7008,1.44,365.9,813.2,6.8,330,7034,0.00,2.55,19.85,1.203,6,0.000,0.048,2961,1459,1339
$GC,7356,1.47,389.0,789.2,6.7,347,7384,0.10,2.60,21.90,1.233,4,0.067,0.053,2997,2854,1245
$GC,7418,1.47,389.0,784.4,8.6,350,7422,0.00,2.55,0.00,0.000,6,0.000,0.047,2997,1449,1243
$GC,7745,1.49,404.9,761.1,7.0,366,7767,0.00,2.62,15.55,1.208,4,0.000,0.051,2996,2857,1180
$GC,7806,1.49,404.9,756.4,7.6,368,7812,0.00,2.55,0.00,0.000,6,0.000,0.047,2997,1453,1178
$GC,8124,1.53,437.2,733.8,6.4,384,8160,0.00,2.62,31.42,1.260,4,0.000,0.051,2997,2858,1048
$GC,8222,1.53,437.2,726.4,8.3,387,8228,0.00,2.53,0.00,0.000,6,0.000,0.046,2997,1453,1045
$GC,8537,1.53,437.2,702.3,7.8,403,8542,0.00,2.55,0.00,0.000,4,0.000,0.051,2997,2857,1042
$GC,8570,1.53,437.2,699.5,7.9,404,8576,0.00,2.53,0.00,0.000,6,0.000,0.045,2997,1453,1042
$GC,8888,1.53,438.1,674.0,7.5,420,8893,0.00,2.53,0.00,0.000,4,0.000,0.048,2996,2858,1040
$GC,8928,1.54,441.4,671.2,7.4,422,8933,0.00,2.50,0.00,0.000,6,0.000,0.043,2997,1449,1040
$GC,9257,1.54,441.4,646.1,8.3,438,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1449,1040
$GC,9564,1.54,444.4,621.0,7.4,453,9573,0.00,0.00,6.55,0.999,6,0.000,0.000,2997,1448,1020
$GC,9876,1.59,488.1,603.2,6.0,468,9921,0.00,0.00,42.45,1.186,6,0.000,0.000,2997,1448,842
$GC,10226,1.60,490.2,578.3,7.4,485,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,1448,837
$GC,10533,1.67,552.0,559.3,5.4,500,10595,0.12,0.00,59.60,1.135,6,0.050,0.000,3042,1448,581
$GC,10904,1.67,552.0,526.1,11.2,518,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1447,577
$GC,11211,1.67,552.0,485.4,14.2,533,11214,0.00,2.15,0.00,0.000,4,0.000,0.058,3042,259,576
$GC,11256,1.67,552.0,478.6,15.7,535,11260,0.00,2.05,0.00,0.000,6,0.000,0.030,3042,1484,575
$GC,11589,1.67,552.0,437.1,11.2,551,11593,0.00,2.22,0.00,0.000,4,0.000,0.056,3042,260,575
$GC,11662,1.67,552.0,428.4,12.2,554,11665,0.00,2.00,0.00,0.000,6,0.000,0.031,3042,1459,575
$GC,11988,1.67,552.0,387.5,13.0,570,11992,0.00,2.17,0.00,0.000,4,0.000,0.056,3042,258,575
$GC,12063,1.67,552.0,377.5,13.9,573,12067,0.00,2.00,0.00,0.000,6,0.000,0.030,3042,1458,575
$GC,12390,1.67,552.0,334.2,12.5,589,12393,0.00,2.17,0.00,0.000,4,0.000,0.055,3042,256,575
$GC,12468,1.67,552.0,324.4,14.0,592,12471,0.00,2.00,0.00,0.000,6,0.000,0.030,3042,1453,574
$GC,12791,1.67,552.0,292.9,9.1,608,12795,0.00,2.15,0.00,0.000,4,0.000,0.056,3042,260,575
$GC,12852,1.67,552.0,286.3,10.2,610,12859,0.00,2.03,0.00,0.000,6,0.000,0.029,3042,1452,575
$GC,13171,1.67,552.0,253.1,8.7,626,13174,0.00,2.15,0.00,0.000,4,0.000,0.056,3042,259,575
$GC,13232,1.67,552.0,246.6,10.0,628,13238,0.00,2.00,0.00,0.000,6,0.000,0.029,3042,1453,575
$GC,13547,1.67,552.0,216.0,11.3,644,13552,0.00,2.17,0.00,0.000,4,0.000,0.056,3042,264,575
$GC,13597,1.67,552.0,209.9,11.7,646,13601,0.00,1.98,0.00,0.000,6,0.000,0.030,3042,1449,575
$GC,13924,1.67,552.0,174.4,10.1,662,13928,0.00,2.17,0.00,0.000,4,0.000,0.057,3042,262,575
$GC,13979,1.67,552.0,168.8,9.7,664,13982,0.00,2.00,0.00,0.000,6,0.000,0.030,3042,1455,575
$GC,14300,1.67,552.0,138.6,9.0,680,14304,0.00,2.15,0.00,0.000,4,0.000,0.055,3042,260,575
$GC,14368,1.67,552.0,131.9,9.9,683,14372,0.00,2.00,0.00,0.000,6,0.000,0.030,3042,1454,575
$GC,14701,1.67,552.0,101.6,8.1,699,14705,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,259,575
$GC,14770,1.68,557.1,96.7,7.3,702,14779,0.00,2.00,4.93,0.601,6,0.000,0.030,3042,1456,561
$GC,15102,1.72,587.6,74.9,6.5,718,15128,0.00,2.20,21.05,0.770,4,0.000,0.054,3042,260,475
$GC,15218,1.72,587.7,66.3,7.5,723,15221,0.00,2.00,0.00,0.000,6,0.000,0.030,3042,1457,473
$GC,15540,1.72,587.7,37.2,9.4,739,15544,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,259,472
$GC,15610,1.72,587.7,30.4,9.1,742,15613,0.00,2.00,0.00,0.000,6,0.000,0.029,3042,1455,472
$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,0.2,1.015709
$STATE,15943,end surface coast,CONTROL_FINISHED_OK
$STATE,15943,begin surface
$SM_CCo,16026,0.00,0.000,0,0,472,579.15
$SM_GC,0.63,11.43,0.00,0.00,0.024,0.000,0.000,397,2464,472,-10.35,-0.34,579.15
$IRIDIUM_FIX,6112.75,-828.94,020998,070709
$TT8_MAMPS,0.026845
$HUMID,1797
$INTERNAL_PRESSURE,8.01136
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.5,66.3
$24V_AH,23.1,20.297
$10V_AH,10.1,8.396
$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,25.075,141.575,665.850,0.000,0.000,30.501,24.992,128.429,7.000,0.000,0.000,13.037,1486.955,11337.742,731.083,2072.889,691.616,33.349,1837.160,0.000,2173.871,0.000,47.625,0.000
$DEVICE_MAMPS,138.827,69.797,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.628,517.525,452.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38135,758
$CAP_FILE_SIZE,125269,0
$CFSIZE,260165632,257003520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,080609,161407,6135.620,-835.505,31,0.9,31,-9.0