version: 66.04
glider: 105
mission: 6
dive: 19
start: 6 9 109 2 17 56
data:
$ID,105
$MISSION,6
$DIVE,19
$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,-1628407.8
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,021125,6140.418,-841.289,42,1.0,42,-9.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-60.5
$GPS2,021702,6140.417,-841.473,14,1.3,14,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.177,-0.161
$KALMAN_X,-80773.0,1748.0,1027.9,56112.0,-23500.1
$KALMAN_Y,50945.9,1026.2,-1651.4,-21273.6,15320.7
$MHEAD_RNG_PITCHd_Wd,141.4,24167,-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,-59.62,0.000,6,0.000,0.000,396,2458,3432
$GC,81,-1.17,-146.6,4.8,-9.7,3,101,11.50,2.47,0.00,0.000,4,0.137,0.036,2535,1060,3433
$GC,349,-1.17,-146.6,43.7,-11.1,15,353,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2477,3434
$GC,675,-1.17,-146.6,81.0,-11.8,31,680,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,1061,3434
$GC,716,-1.17,-146.6,86.0,-12.8,33,720,0.00,2.50,0.00,0.000,6,0.000,0.035,2535,2476,3434
$GC,1048,-1.17,-146.6,130.1,-14.1,49,1052,0.00,2.45,0.00,0.000,4,0.000,0.059,2535,3830,3435
$GC,1171,-1.17,-146.6,149.0,-14.1,54,1177,0.00,2.33,0.00,0.000,6,0.000,0.028,2535,2439,3435
$GC,1488,-1.17,-146.6,193.9,-13.7,70,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2438,3435
$GC,1795,-1.17,-146.6,233.4,-12.3,85,1799,0.00,2.38,0.00,0.000,4,0.000,0.041,2535,1076,3434
$GC,1862,-1.17,-146.6,241.3,-12.2,88,1866,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2473,3434
$GC,2182,-1.17,-146.6,278.6,-11.6,104,2187,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1077,3434
$GC,2267,-1.17,-146.6,289.4,-13.3,108,2271,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2478,3435
$GC,2593,-1.17,-146.6,329.9,-11.5,124,2597,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1083,3434
$GC,2677,-1.17,-146.6,339.3,-10.9,128,2681,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2480,3435
$GC,3004,-1.17,-146.6,372.8,-10.5,144,3008,0.00,2.45,0.00,0.000,4,0.000,0.042,2535,1085,3435
$GC,3047,-1.17,-146.6,377.7,-10.3,146,3051,0.00,2.45,0.00,0.000,6,0.000,0.039,2535,2476,3434
$GC,3368,-1.17,-146.6,408.6,-8.7,162,3372,0.00,2.45,0.00,0.000,4,0.000,0.043,2535,1081,3434
$GC,3435,-1.17,-146.6,414.5,-9.1,165,3439,0.00,2.45,0.00,0.000,6,0.000,0.039,2535,2477,3435
$GC,3757,-1.17,-146.6,440.8,-8.6,181,3761,0.00,2.45,0.00,0.000,4,0.000,0.043,2535,1085,3435
$GC,3834,-1.17,-146.6,447.6,-8.1,184,3841,0.00,2.45,0.00,0.000,6,0.000,0.040,2534,2480,3435
$GC,4150,-1.17,-146.6,468.2,-5.7,200,4155,0.00,2.47,0.00,0.000,4,0.000,0.043,2535,1076,3434
$GC,4195,-1.17,-146.6,471.0,-5.8,202,4200,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2472,3434
$GC,4521,-1.17,-146.6,485.1,-3.6,218,4526,0.00,2.47,0.00,0.000,4,0.000,0.061,2535,3837,3434
$GC,4586,-1.17,-146.6,487.1,-3.2,221,4590,0.00,2.30,0.00,0.000,6,0.000,0.031,2535,2482,3434
$GC,4912,-1.17,-146.6,496.9,-3.1,237,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2481,3434
$GC,5224,-1.17,-146.6,509.3,-5.7,252,5228,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,1079,3434
$GC,5310,-1.17,-146.6,513.7,-5.3,256,5314,0.00,2.47,0.00,0.000,6,0.000,0.041,2535,2485,3434
$GC,5639,-1.17,-146.6,537.6,-8.2,272,5643,0.00,2.47,0.00,0.000,4,0.000,0.044,2535,1079,3434
$GC,5701,-1.17,-146.6,542.5,-7.3,275,5705,0.00,2.47,0.00,0.000,6,0.000,0.042,2535,2484,3434
$GC,6028,-1.17,-146.6,570.8,-7.6,291,6032,0.00,2.47,0.00,0.000,4,0.000,0.045,2535,1081,3433
$GC,6161,-1.17,-146.6,580.8,-7.6,297,6166,0.00,2.47,0.00,0.000,6,0.000,0.042,2535,2482,3433
$GC,6482,-1.17,-146.6,604.5,-8.0,313,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2481,3432
$GC,6792,-1.17,-146.6,632.8,-9.4,328,6796,0.00,2.45,0.00,0.000,4,0.000,0.064,2535,3830,3432
$GC,6996,-1.17,-146.6,650.1,-6.8,337,7000,0.00,2.30,0.00,0.000,6,0.000,0.032,2535,2480,3431
$GC,7318,-1.17,-146.6,662.0,-2.2,353,7322,0.00,2.47,0.00,0.000,4,0.000,0.045,2535,1069,3431
$GC,7432,-1.17,-146.6,663.4,-1.3,358,7436,0.00,2.50,0.00,0.000,6,0.000,0.042,2535,2485,3431
$GC,7753,-1.17,-146.6,667.8,-2.1,374,7757,0.00,2.50,0.00,0.000,4,0.000,0.046,2535,1076,3430
$GC,7848,-1.17,-146.6,670.7,-3.6,378,7852,0.00,2.47,0.00,0.000,6,0.000,0.042,2535,2475,3430
$GC,8164,-1.17,-146.6,686.4,-6.5,393,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2475,3429
$GC,8472,-1.17,-146.6,712.7,-9.3,408,8476,0.00,2.50,0.00,0.000,4,0.000,0.051,2535,1078,3427
$GC,8543,-1.17,-146.6,719.8,-10.0,411,8548,0.00,2.50,0.00,0.000,6,0.000,0.047,2535,2479,3427
$GC,8860,-1.17,-146.6,749.3,-8.6,426,8865,0.00,2.55,0.00,0.000,4,0.000,0.051,2535,1078,3426
$GC,8943,-1.17,-146.6,756.0,-7.8,429,8950,0.00,2.50,0.00,0.000,6,0.000,0.048,2535,2474,3425
$GC,9258,-1.17,-146.6,781.4,-8.3,445,9263,0.00,2.53,0.00,0.000,4,0.000,0.052,2535,1074,3424
$GC,9348,-1.17,-146.6,786.9,-7.3,449,9352,0.00,2.53,0.00,0.000,6,0.000,0.046,2535,2487,3424
$GC,9668,-1.17,-146.6,808.4,-8.4,465,9673,0.00,2.55,0.00,0.000,4,0.000,0.053,2535,1075,3423
$GC,9721,-1.17,-146.6,813.1,-7.9,467,9725,0.00,2.53,0.00,0.000,6,0.000,0.048,2535,2483,3423
$GC,10036,-1.17,-146.6,837.4,-8.1,482,10041,0.00,2.55,0.00,0.000,4,0.000,0.053,2535,1085,3421
$GC,10114,-1.17,-146.6,846.3,-12.4,485,10118,0.00,2.47,0.00,0.000,6,0.000,0.047,2535,2475,3421
$STATE,10406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10406,begin apogee
$GC,10414,-0.36,0.0,873.1,8.0,499,10550,0.88,0.00,129.43,1.393,6,0.069,0.000,2721,1470,2831
$STATE,10551,end apogee,CONTROL_FINISHED_OK
$STATE,10551,begin climb
$GC,10553,1.17,146.6,880.9,0.0,506,10695,1.55,2.67,133.23,1.332,4,0.051,0.057,3057,2867,2233
$GC,11035,1.36,294.9,855.8,2.4,528,11177,0.17,2.55,133.10,1.324,6,0.037,0.050,3114,1456,1629
$GC,11487,1.36,294.9,798.8,12.3,549,11491,0.00,2.58,0.00,0.000,4,0.000,0.054,3114,2865,1616
$GC,11609,1.36,294.9,786.3,9.7,554,11616,0.00,2.53,0.00,0.000,6,0.000,0.048,3114,1454,1615
$GC,11925,1.36,294.9,756.1,8.9,570,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1453,1613
$GC,12234,1.36,294.9,722.9,11.4,585,12238,0.00,2.20,0.00,0.000,4,0.000,0.068,3114,262,1612
$GC,12267,1.36,294.9,718.5,13.8,586,12271,0.00,2.08,0.00,0.000,6,0.000,0.037,3114,1470,1612
$GC,12591,1.36,294.9,675.9,14.8,602,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1472,1611
$GC,12897,1.36,294.9,626.9,15.2,617,12901,0.00,2.25,0.00,0.000,4,0.000,0.066,3113,261,1610
$GC,12926,1.36,294.9,622.4,15.4,618,12930,0.00,2.05,0.00,0.000,6,0.000,0.035,3114,1456,1610
$GC,13253,1.36,294.9,581.5,11.4,634,13256,0.00,2.20,0.00,0.000,4,0.000,0.061,3114,260,1610
$GC,13325,1.36,294.9,573.1,11.1,637,13329,0.00,2.05,0.00,0.000,6,0.000,0.034,3114,1456,1610
$GC,13655,1.43,353.5,548.4,5.5,653,13711,0.00,2.25,51.70,1.174,4,0.000,0.060,3114,261,1389
$GC,13728,1.46,375.8,543.1,6.7,655,13756,0.00,2.08,21.60,1.095,6,0.000,0.034,3114,1464,1300
$GC,14067,1.46,375.8,514.3,9.7,672,14071,0.00,2.20,0.00,0.000,4,0.000,0.058,3113,254,1292
$GC,14094,1.46,375.8,510.8,11.3,673,14100,0.00,2.08,0.00,0.000,6,0.000,0.032,3113,1458,1292
$GC,14421,1.46,375.8,475.3,11.5,689,14422,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1459,1291
$GC,14731,1.47,387.6,447.3,7.1,704,14746,0.00,2.22,11.05,0.973,4,0.000,0.056,3113,257,1250
$GC,14824,1.47,387.6,439.7,7.7,708,14828,0.00,2.05,0.00,0.000,6,0.000,0.030,3114,1461,1248
$GC,15151,1.47,387.6,401.9,13.6,724,15155,0.00,2.20,0.00,0.000,4,0.000,0.057,3114,255,1247
$GC,15241,1.47,387.6,387.5,16.3,728,15245,0.00,2.05,0.00,0.000,6,0.000,0.030,3114,1466,1247
$GC,15576,1.47,387.6,328.2,18.2,744,15580,0.00,2.20,0.00,0.000,4,0.000,0.055,3113,254,1247
$GC,15637,1.47,387.6,316.3,17.8,746,15643,0.00,2.03,0.00,0.000,6,0.000,0.029,3114,1455,1247
$GC,15955,1.47,387.6,265.8,15.1,762,15959,0.00,2.17,0.00,0.000,4,0.000,0.055,3114,254,1247
$GC,16011,1.47,387.6,256.6,15.8,764,16014,0.00,2.03,0.00,0.000,6,0.000,0.029,3114,1455,1247
$GC,16332,1.47,387.6,213.9,14.1,780,16335,0.00,2.17,0.00,0.000,4,0.000,0.054,3113,253,1247
$GC,16393,1.47,387.6,204.1,16.4,782,16399,0.00,2.03,0.00,0.000,6,0.000,0.029,3114,1455,1247
$GC,16708,1.47,387.6,159.8,11.3,798,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1455,1248
$GC,17019,1.47,387.6,130.2,9.7,813,17023,0.00,2.15,0.00,0.000,4,0.000,0.054,3114,254,1247
$GC,17161,1.47,387.6,113.0,14.7,819,17164,0.00,2.03,0.00,0.000,6,0.000,0.029,3114,1461,1247
$GC,17488,1.47,387.6,71.6,13.1,835,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1462,1248
$GC,17798,1.47,387.6,28.4,13.7,850,17802,0.00,2.17,0.00,0.000,4,0.000,0.053,3113,253,1248
$GC,17854,1.47,387.6,19.6,16.3,852,17858,0.00,2.03,0.00,0.000,6,0.000,0.029,3114,1465,1248
$STATE,17987,end climb,SURFACE_DEPTH_REACHED
$STATE,17987,begin surface coast
$FINISH,0.1,1.027261
$STATE,18009,end surface coast,CONTROL_FINISHED_OK
$STATE,18009,begin surface
$SM_CCo,18093,0.00,0.000,0,0,1246,389.05
$SM_GC,0.75,11.82,0.00,0.00,0.027,0.000,0.000,394,2454,1246,-11.00,-0.62,389.05
$IRIDIUM_FIX,6117.23,-834.09,020998,212144
$TT8_MAMPS,0.026845
$HUMID,1814
$INTERNAL_PRESSURE,8.06019
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.3,57.7
$24V_AH,23.1,20.785
$10V_AH,10.0,8.657
$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,25.925,173.325,480.100,0.000,0.000,31.141,30.458,158.363,7.750,0.000,0.000,14.379,1667.971,13287.130,540.782,2162.867,772.093,33.347,1693.511,0.000,2278.633,0.000,55.055,0.000
$DEVICE_MAMPS,136.526,68.263,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,762.832,589.871,458.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44259,860
$CAP_FILE_SIZE,139519,0
$CFSIZE,260165632,256790528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,090609,072036,6138.076,-846.508,30,0.9,30,-9.1