version: 66.04
glider: 105
mission: 6
dive: 18
start: 6 8 109 21 41 32
data:
$ID,105
$MISSION,6
$DIVE,18
$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,-1628392.8
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,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
$GPS1,213500,6139.959,-835.503,36,1.9,36,-9.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-60.9
$GPS2,214038,6140.032,-835.547,11,1.5,11,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.150,-0.187
$KALMAN_X,-72699.7,2676.6,482.5,52898.3,-17401.9
$KALMAN_Y,46884.2,-1520.3,120.0,-17174.3,14714.1
$MHEAD_RNG_PITCHd_Wd,150.3,20785,-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,-59.40,0.000,6,0.000,0.000,394,2461,3431
$GC,81,-1.17,-146.6,4.8,-9.5,3,102,11.55,2.50,0.00,0.000,4,0.140,0.037,2537,1053,3433
$GC,327,-1.17,-146.6,37.7,-9.8,14,331,0.00,2.50,0.00,0.000,6,0.000,0.035,2538,2473,3432
$GC,659,-1.17,-146.6,70.0,-9.6,30,663,0.00,2.45,0.00,0.000,4,0.000,0.055,2538,3830,3433
$GC,714,-1.17,-146.6,75.6,-9.9,32,721,0.00,2.33,0.00,0.000,6,0.000,0.026,2538,2440,3433
$GC,1030,-1.17,-146.6,105.3,-9.3,48,1034,0.00,2.35,0.00,0.000,4,0.000,0.038,2538,1082,3434
$GC,1085,-1.17,-146.6,110.4,-8.7,50,1091,0.00,2.42,0.00,0.000,6,0.000,0.035,2538,2474,3433
$GC,1401,-1.17,-146.6,137.5,-9.0,66,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2475,3434
$GC,1710,-1.17,-146.6,161.8,-7.3,81,1714,0.00,2.42,0.00,0.000,4,0.000,0.038,2538,1084,3434
$GC,1788,-1.17,-146.6,168.0,-7.7,84,1794,0.00,2.42,0.00,0.000,6,0.000,0.036,2538,2474,3434
$GC,2104,-1.17,-146.6,193.2,-8.6,100,2108,0.00,2.42,0.00,0.000,4,0.000,0.039,2538,1085,3434
$GC,2136,-1.17,-146.6,196.3,-9.2,101,2142,0.00,2.42,0.00,0.000,6,0.000,0.036,2537,2476,3434
$GC,2452,-1.17,-146.6,227.2,-10.5,117,2456,0.00,2.42,0.00,0.000,4,0.000,0.040,2538,1086,3434
$GC,2480,-1.17,-146.6,230.2,-11.0,118,2484,0.00,2.42,0.00,0.000,6,0.000,0.037,2537,2476,3434
$GC,2795,-1.17,-146.6,266.7,-11.5,133,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2476,3434
$GC,3108,-1.17,-146.6,301.2,-10.5,148,3112,0.00,2.42,0.00,0.000,4,0.000,0.042,2538,1091,3434
$GC,3163,-1.17,-146.6,306.9,-9.5,150,3170,0.00,2.42,0.00,0.000,6,0.000,0.039,2538,2475,3434
$GC,3480,-1.17,-146.6,338.1,-10.0,166,3484,0.00,2.42,0.00,0.000,4,0.000,0.042,2538,1093,3434
$GC,3520,-1.17,-146.6,342.0,-8.8,168,3524,0.00,2.42,0.00,0.000,6,0.000,0.038,2538,2480,3434
$GC,3846,-1.17,-146.6,378.7,-11.2,184,3850,0.00,2.45,0.00,0.000,4,0.000,0.063,2537,3828,3434
$GC,3912,-1.17,-146.6,386.5,-11.5,187,3917,0.00,2.30,0.00,0.000,6,0.000,0.029,2537,2483,3434
$GC,4238,-1.17,-146.6,418.1,-9.2,203,4243,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1076,3434
$GC,4302,-1.17,-146.6,423.8,-8.7,206,4307,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2481,3434
$GC,4632,-1.17,-146.6,450.8,-7.6,222,4636,0.00,2.45,0.00,0.000,4,0.000,0.041,2538,1084,3434
$GC,4687,-1.17,-146.6,455.3,-7.6,224,4693,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2482,3434
$GC,5003,-1.17,-146.6,476.2,-5.9,240,5008,0.00,2.47,0.00,0.000,4,0.000,0.043,2537,1092,3434
$GC,5115,-1.17,-146.6,482.0,-4.9,245,5120,0.00,2.42,0.00,0.000,6,0.000,0.040,2537,2476,3434
$GC,5444,-1.17,-146.6,497.0,-4.8,261,5448,0.00,2.45,0.00,0.000,4,0.000,0.044,2538,1085,3433
$GC,5479,-1.17,-146.6,498.9,-5.7,262,5485,0.00,2.45,0.00,0.000,6,0.000,0.041,2538,2477,3433
$GC,5795,-1.17,-146.6,518.8,-6.7,278,5799,0.00,2.47,0.00,0.000,4,0.000,0.045,2537,1078,3433
$GC,5850,-1.17,-146.6,522.6,-6.4,280,5857,0.00,2.45,0.00,0.000,6,0.000,0.041,2538,2477,3433
$GC,6166,-1.17,-146.6,546.6,-8.0,296,6171,0.00,2.50,0.00,0.000,4,0.000,0.064,2538,3828,3432
$GC,6341,-1.17,-146.6,560.1,-7.9,303,6347,0.00,2.30,0.00,0.000,6,0.000,0.031,2538,2479,3432
$GC,6657,-1.17,-146.6,586.4,-7.4,319,6661,0.00,2.47,0.00,0.000,4,0.000,0.047,2538,1075,3431
$GC,6791,-1.17,-146.6,596.0,-7.8,325,6795,0.00,2.47,0.00,0.000,6,0.000,0.044,2538,2474,3431
$GC,7114,-1.17,-146.6,625.2,-9.9,341,7118,0.00,2.50,0.00,0.000,4,0.000,0.049,2537,1076,3430
$GC,7142,-1.17,-146.6,627.2,-6.8,342,7147,0.00,2.50,0.00,0.000,6,0.000,0.045,2537,2482,3430
$GC,7459,-1.17,-146.6,650.9,-5.6,357,7463,0.00,2.53,0.00,0.000,4,0.000,0.049,2538,1072,3428
$GC,7508,-1.17,-146.6,655.4,-9.0,359,7513,0.00,2.50,0.00,0.000,6,0.000,0.045,2538,2478,3428
$GC,7824,-1.17,-146.6,682.5,-6.7,374,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2478,3426
$GC,8133,-1.17,-146.6,711.3,-6.6,389,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2478,3424
$GC,8442,-1.17,-146.6,733.5,-7.6,404,8447,0.00,2.55,0.00,0.000,4,0.000,0.053,2538,1081,3423
$GC,8525,-1.17,-146.6,739.0,-10.3,407,8532,0.00,2.50,0.00,0.000,6,0.000,0.050,2538,2471,3422
$GC,8844,-1.17,-146.6,765.8,-11.3,423,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2472,3421
$STATE,8880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8880,begin apogee
$GC,8888,-0.36,0.0,770.2,11.1,425,9023,0.88,0.00,128.50,1.318,6,0.073,0.000,2723,1471,2831
$STATE,9024,end apogee,CONTROL_FINISHED_OK
$STATE,9024,begin climb
$GC,9027,1.17,146.6,776.5,0.0,432,9166,1.50,2.30,131.52,1.262,4,0.051,0.069,3053,264,2233
$GC,9175,1.32,265.3,770.6,3.4,438,9288,0.15,2.15,105.10,1.236,6,0.041,0.041,3113,1475,1749
$GC,9604,1.32,265.3,726.9,11.3,459,9608,0.12,2.28,0.00,0.000,4,0.087,0.067,3089,263,1737
$GC,9782,1.32,265.3,706.2,12.7,467,9786,0.00,2.08,0.00,0.000,6,0.000,0.039,3088,1458,1735
$GC,10109,1.32,265.3,667.0,13.8,483,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1458,1734
$GC,10421,1.33,272.3,637.9,7.3,498,10428,0.00,0.00,4.82,0.889,6,0.000,0.000,3088,1458,1720
$GC,10730,1.33,272.3,605.5,11.1,513,10734,0.00,2.22,0.00,0.000,4,0.000,0.066,3088,259,1719
$GC,10830,1.33,272.3,590.2,16.5,517,10834,0.00,2.08,0.00,0.000,6,0.000,0.038,3088,1463,1719
$GC,11151,1.33,272.3,545.8,13.8,533,11156,0.00,2.53,0.00,0.000,4,0.000,0.051,3088,2851,1718
$GC,11196,1.33,272.3,540.0,11.9,535,11201,0.00,2.50,0.00,0.000,6,0.000,0.044,3088,1458,1717
$GC,11529,1.33,272.3,504.1,10.0,551,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1458,1717
$GC,11840,1.33,272.3,473.4,9.7,566,11845,0.00,2.47,0.00,0.000,4,0.000,0.043,3088,2853,1717
$GC,11862,1.33,272.3,470.6,11.5,567,11866,0.00,2.47,0.00,0.000,6,0.000,0.039,3088,1449,1717
$GC,12184,1.33,272.3,433.9,10.8,583,12188,0.00,2.15,0.00,0.000,4,0.000,0.060,3088,264,1717
$GC,12359,1.33,272.3,414.5,11.0,590,12366,0.00,2.05,0.00,0.000,6,0.000,0.031,3088,1465,1717
$GC,12675,1.33,272.3,384.2,9.1,606,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1465,1717
$GC,12984,1.33,272.3,354.3,10.1,621,12989,0.00,2.20,0.00,0.000,4,0.000,0.057,3089,264,1718
$GC,13029,1.33,272.3,349.4,11.5,623,13034,0.00,2.05,0.00,0.000,6,0.000,0.031,3088,1456,1718
$GC,13361,1.33,272.3,315.8,10.6,639,13365,0.00,2.15,0.00,0.000,4,0.000,0.056,3088,264,1718
$GC,13388,1.33,272.3,312.6,11.4,640,13392,0.00,2.00,0.00,0.000,6,0.000,0.030,3089,1462,1718
$GC,13718,1.33,272.3,274.7,11.4,656,13721,0.00,2.17,0.00,0.000,4,0.000,0.054,3088,258,1719
$GC,13740,1.33,272.3,271.5,12.2,657,13744,0.00,2.00,0.00,0.000,6,0.000,0.030,3088,1455,1719
$GC,14073,1.33,272.3,233.6,12.1,673,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1456,1719
$GC,14382,1.33,272.3,193.4,12.5,688,14386,0.00,2.15,0.00,0.000,4,0.000,0.054,3088,264,1720
$GC,14443,1.33,272.3,185.1,13.6,690,14450,0.00,2.00,0.00,0.000,6,0.000,0.031,3088,1446,1720
$GC,14759,1.33,272.3,145.5,13.4,706,14763,0.00,2.12,0.00,0.000,4,0.000,0.054,3088,264,1720
$GC,14831,1.33,272.3,136.4,12.2,709,14835,0.00,2.00,0.00,0.000,6,0.000,0.030,3088,1461,1720
$GC,15158,1.33,272.3,98.8,11.2,725,15163,0.00,2.42,0.00,0.000,4,0.000,0.044,3088,2847,1721
$GC,15199,1.33,272.3,94.2,11.9,727,15204,0.00,2.45,0.00,0.000,6,0.000,0.036,3089,1454,1721
$GC,15531,1.33,272.3,56.8,10.5,743,15535,0.00,2.45,0.00,0.000,4,0.000,0.038,3088,2857,1721
$GC,15557,1.33,272.3,53.8,10.5,744,15562,0.00,2.42,0.00,0.000,6,0.000,0.034,3088,1453,1721
$GC,15875,1.33,272.3,22.1,10.2,759,15879,0.00,2.12,0.00,0.000,4,0.000,0.053,3088,260,1721
$GC,15975,1.33,272.3,10.5,11.6,763,15980,0.00,2.03,0.00,0.000,6,0.000,0.030,3088,1463,1721
$STATE,16046,end climb,SURFACE_DEPTH_REACHED
$STATE,16046,begin surface coast
$FINISH,0.8,1.027222
$STATE,16068,end surface coast,CONTROL_FINISHED_OK
$STATE,16068,begin surface
$SM_CCo,16092,19.45,0.735,0,0,1609,300.00
$SM_GC,0.43,0.00,0.00,19.45,0.000,0.000,0.735,396,2458,1609,-11.06,-0.54,300.00
$IRIDIUM_FIX,6112.75,-837.21,020998,161642
$TT8_MAMPS,0.027612
$HUMID,1833
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.9,102.5
$24V_AH,23.1,20.595
$10V_AH,10.0,8.567
$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,25.875,158.500,369.950,19.450,0.000,31.164,30.276,160.133,5.750,0.000,0.000,11.026,1468.250,11939.096,488.994,1831.159,723.324,33.351,1478.909,0.000,1953.033,0.000,39.632,0.000
$DEVICE_MAMPS,139.594,69.030,1318.473,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,682.518,525.879,458.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37873,768
$CAP_FILE_SIZE,124396,0
$CFSIZE,260165632,256872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,090609,021125,6140.418,-841.289,42,1.0,42,-9.1