version: 66.04
glider: 105
mission: 6
dive: 20
start: 6 9 109 7 27 0
data:
$ID,105
$MISSION,6
$DIVE,20
$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,-1628423.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,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,18
$R_STBD_OVSHOOT,27
$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
$GPS1,072036,6138.076,-846.508,30,0.9,30,-9.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-56.3
$GPS2,072608,6138.065,-846.499,13,0.9,13,-9.1
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.197,0.136
$KALMAN_X,-86919.1,33.3,1318.0,59198.6,-19981.3
$KALMAN_Y,50358.0,-1058.1,-760.6,-23815.3,8003.1
$MHEAD_RNG_PITCHd_Wd,64.4,24168,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.17,-146.6,0.0,0.0,0,90,0.00,0.00,-72.60,0.000,6,0.000,0.000,395,2456,3431
$GC,94,-1.17,-146.6,2.6,-4.6,3,114,11.48,2.50,0.00,0.000,4,0.137,0.035,2538,1045,3432
$GC,153,-1.17,-146.6,18.3,-10.0,5,160,0.00,2.50,0.00,0.000,6,0.000,0.034,2538,2482,3432
$GC,469,-1.17,-146.6,48.1,-9.7,21,473,0.00,2.50,0.00,0.000,4,0.000,0.035,2538,1046,3432
$GC,509,-1.17,-146.6,51.9,-9.4,23,514,0.00,2.47,0.00,0.000,6,0.000,0.032,2538,2477,3432
$GC,836,-1.17,-146.6,85.2,-11.1,39,840,0.00,2.42,0.00,0.000,4,0.000,0.056,2538,3823,3432
$GC,903,-1.17,-146.6,93.8,-13.3,42,907,0.00,2.33,0.00,0.000,6,0.000,0.027,2538,2441,3432
$GC,1230,-1.17,-146.6,132.9,-12.1,58,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2438,3432
$GC,1541,-1.17,-146.6,170.1,-11.5,73,1545,0.00,2.38,0.00,0.000,4,0.000,0.041,2538,1075,3433
$GC,1586,-1.17,-146.6,175.6,-11.6,75,1591,0.00,2.45,0.00,0.000,6,0.000,0.035,2537,2482,3433
$GC,1909,-1.17,-146.6,206.4,-9.1,91,1913,0.00,2.45,0.00,0.000,4,0.000,0.040,2538,1082,3433
$GC,1975,-1.17,-146.6,213.4,-10.8,94,1979,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2479,3433
$GC,2296,-1.17,-146.6,244.0,-9.4,110,2300,0.00,2.45,0.00,0.000,4,0.000,0.041,2538,1082,3433
$GC,2335,-1.17,-146.6,247.7,-9.3,112,2339,0.00,2.45,0.00,0.000,6,0.000,0.038,2538,2481,3433
$GC,2661,-1.17,-146.6,280.4,-10.9,128,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2481,3433
$GC,2970,-1.17,-146.6,309.9,-8.9,143,2975,0.00,2.47,0.00,0.000,4,0.000,0.041,2538,1086,3433
$GC,3087,-1.17,-146.6,322.5,-10.5,148,3092,0.00,2.45,0.00,0.000,6,0.000,0.039,2538,2480,3433
$GC,3408,-1.17,-146.6,355.9,-10.0,164,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2480,3432
$GC,3718,-1.17,-146.6,383.3,-9.2,179,3722,0.00,2.47,0.00,0.000,4,0.000,0.043,2538,1094,3433
$GC,3795,-1.17,-146.6,390.1,-8.8,182,3799,0.00,2.42,0.00,0.000,6,0.000,0.039,2538,2476,3433
$GC,4111,-1.17,-146.6,418.3,-9.1,197,4115,0.00,2.45,0.00,0.000,4,0.000,0.042,2538,1083,3433
$GC,4177,-1.17,-146.6,424.9,-10.0,200,4186,0.00,2.45,0.00,0.000,6,0.000,0.040,2538,2478,3433
$GC,4508,-1.17,-146.6,456.2,-9.5,216,4512,0.00,2.45,0.00,0.000,4,0.000,0.043,2538,1085,3432
$GC,4547,-1.17,-146.6,459.8,-9.0,218,4551,0.00,2.45,0.00,0.000,6,0.000,0.040,2538,2483,3433
$GC,4873,-1.17,-146.6,485.9,-8.1,234,4877,0.00,2.47,0.00,0.000,4,0.000,0.043,2538,1078,3432
$GC,5030,-1.17,-146.6,498.2,-8.3,241,5034,0.00,2.45,0.00,0.000,6,0.000,0.040,2538,2472,3432
$GC,5354,-1.17,-146.6,525.8,-8.7,257,5358,0.00,2.47,0.00,0.000,4,0.000,0.061,2538,3834,3432
$GC,5465,-1.17,-146.6,537.4,-10.1,262,5470,0.00,2.30,0.00,0.000,6,0.000,0.031,2538,2479,3432
$GC,5786,-1.17,-146.6,566.9,-9.0,278,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2478,3432
$GC,6096,-1.17,-146.6,594.2,-7.9,293,6100,0.00,2.45,0.00,0.000,4,0.000,0.043,2538,1079,3431
$GC,6173,-1.17,-146.6,599.0,-5.7,296,6180,0.00,2.45,0.00,0.000,6,0.000,0.039,2538,2480,3432
$GC,6491,-1.17,-146.6,618.7,-6.6,312,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2480,3431
$GC,6798,-1.17,-146.6,641.8,-8.0,327,6802,0.00,2.47,0.00,0.000,4,0.000,0.044,2538,1079,3431
$GC,6870,-1.17,-146.6,648.1,-8.8,330,6874,0.00,2.45,0.00,0.000,6,0.000,0.040,2538,2473,3430
$GC,7186,-1.17,-146.6,672.5,-7.4,345,7190,0.00,2.47,0.00,0.000,4,0.000,0.045,2538,1074,3430
$GC,7293,-1.17,-146.6,681.4,-8.8,350,7297,0.00,2.47,0.00,0.000,6,0.000,0.042,2538,2475,3430
$GC,7622,-1.17,-146.6,699.7,-5.7,366,7627,0.00,2.50,0.00,0.000,4,0.000,0.048,2538,1075,3429
$GC,7744,-1.17,-146.6,709.2,-7.7,371,7750,0.00,2.53,0.00,0.000,6,0.000,0.045,2538,2473,3429
$GC,8065,-1.17,-146.6,733.3,-7.2,387,8070,0.00,2.50,0.00,0.000,4,0.000,0.051,2538,1081,3427
$GC,8173,-1.17,-146.6,741.3,-7.4,392,8178,0.00,2.53,0.00,0.000,6,0.000,0.049,2538,2472,3427
$GC,8505,-1.17,-146.6,765.4,-7.7,408,8509,0.00,2.53,0.00,0.000,4,0.000,0.052,2538,1086,3425
$GC,8610,-1.17,-146.6,773.5,-7.3,412,8617,0.00,2.50,0.00,0.000,6,0.000,0.048,2538,2482,3424
$GC,8928,-1.17,-146.6,797.8,-8.5,428,8933,0.00,2.53,0.00,0.000,4,0.000,0.052,2538,1080,3423
$GC,9040,-1.17,-146.6,806.1,-7.5,433,9044,0.00,2.53,0.00,0.000,6,0.000,0.048,2538,2486,3422
$GC,9361,-1.17,-146.6,825.7,-5.5,449,9366,0.00,2.53,0.00,0.000,4,0.000,0.054,2538,1085,3420
$GC,9457,-1.17,-146.6,832.2,-4.1,453,9461,0.00,2.50,0.00,0.000,6,0.000,0.050,2538,2473,3420
$GC,9772,-1.17,-146.6,853.1,-6.2,468,9777,0.00,2.55,0.00,0.000,4,0.000,0.074,2538,3828,3418
$GC,9828,-1.17,-146.6,858.2,-5.8,470,9832,0.00,2.35,0.00,0.000,6,0.000,0.039,2538,2481,3418
$GC,10143,-1.17,-146.6,871.0,-4.7,485,10148,0.00,2.53,0.00,0.000,4,0.000,0.054,2538,1074,3417
$STATE,10193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10194,begin apogee
$GC,10200,-0.36,0.0,875.5,8.3,487,10333,0.82,0.00,129.35,1.385,6,0.069,0.000,2718,1464,2832
$STATE,10334,end apogee,CONTROL_FINISHED_OK
$STATE,10334,begin climb
$GC,10337,1.17,146.6,880.9,0.0,494,10484,1.52,2.35,133.50,1.327,4,0.046,0.071,3056,268,2232
$GC,10581,1.17,146.6,869.1,9.2,505,10585,0.00,2.08,0.00,0.000,6,0.000,0.041,3056,1456,2225
$GC,10909,1.25,207.6,851.5,5.4,521,10972,0.00,2.65,54.75,1.317,4,0.000,0.055,3056,2846,1984
$GC,11117,1.25,207.6,832.0,10.5,530,11123,0.00,2.53,0.00,0.000,6,0.000,0.048,3056,1466,1977
$GC,11439,1.25,207.6,798.3,9.5,546,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1466,1974
$GC,11748,1.25,207.6,765.8,10.6,561,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1466,1972
$GC,12060,1.25,207.6,736.7,10.7,576,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1466,1971
$GC,12368,1.25,207.6,706.3,9.2,591,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1466,1970
$GC,12676,1.25,207.6,676.0,9.7,606,12680,0.00,2.50,0.00,0.000,4,0.000,0.050,3056,2856,1970
$GC,12708,1.25,207.6,672.8,9.6,607,12714,0.00,2.53,0.00,0.000,6,0.000,0.044,3056,1447,1969
$GC,13024,1.25,207.6,641.4,9.1,623,13029,0.00,2.20,0.00,0.000,4,0.000,0.065,3056,265,1968
$GC,13158,1.25,207.6,629.2,8.9,629,13162,0.00,2.05,0.00,0.000,6,0.000,0.035,3056,1475,1969
$GC,13491,1.25,208.6,604.3,7.5,645,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1476,1968
$GC,13801,1.31,257.3,585.0,5.8,660,13851,0.12,2.30,43.47,1.207,4,0.041,0.060,3099,264,1782
$GC,13914,1.31,257.3,574.4,11.6,665,13918,0.00,2.05,0.00,0.000,6,0.000,0.032,3099,1462,1779
$GC,14242,1.33,275.4,548.7,6.9,681,14264,0.00,2.58,16.90,1.110,4,0.000,0.047,3099,2845,1709
$GC,14314,1.33,275.4,542.6,7.8,684,14319,0.00,2.50,0.00,0.000,6,0.000,0.040,3099,1459,1707
$GC,14640,1.33,275.4,516.9,8.2,700,14644,0.00,2.17,0.00,0.000,4,0.000,0.059,3099,263,1705
$GC,14708,1.33,275.4,510.7,9.6,703,14712,0.00,2.00,0.00,0.000,6,0.000,0.030,3099,1457,1705
$GC,15040,1.33,275.4,480.9,8.6,719,15045,0.00,2.20,0.00,0.000,4,0.000,0.058,3099,265,1704
$GC,15141,1.33,275.4,469.4,11.5,723,15144,0.00,2.00,0.00,0.000,6,0.000,0.030,3099,1455,1704
$GC,15461,1.33,275.4,433.9,11.1,739,15465,0.00,2.17,0.00,0.000,4,0.000,0.058,3099,261,1704
$GC,15539,1.33,275.4,423.6,13.2,742,15543,0.00,2.00,0.00,0.000,6,0.000,0.030,3099,1457,1704
$GC,15861,1.33,275.4,387.2,10.6,758,15862,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1460,1704
$GC,16172,1.33,275.4,351.0,12.4,773,16176,0.00,2.15,0.00,0.000,4,0.000,0.055,3099,264,1705
$GC,16228,1.33,275.4,343.2,13.8,775,16231,0.00,2.00,0.00,0.000,6,0.000,0.030,3099,1453,1705
$GC,16552,1.33,275.4,306.6,11.3,791,16555,0.00,2.15,0.00,0.000,4,0.000,0.056,3099,264,1705
$GC,16597,1.33,275.4,300.3,12.7,793,16601,0.00,2.00,0.00,0.000,6,0.000,0.029,3099,1458,1706
$GC,16929,1.33,275.4,256.5,13.1,809,16934,0.00,2.45,0.00,0.000,4,0.000,0.043,3099,2840,1706
$GC,16967,1.33,275.4,251.7,11.4,810,16975,0.00,2.45,0.00,0.000,6,0.000,0.037,3099,1453,1705
$GC,17283,1.33,275.4,213.4,12.6,826,17287,0.00,2.12,0.00,0.000,4,0.000,0.056,3099,264,1706
$GC,17339,1.33,275.4,206.0,13.3,828,17343,0.00,1.98,0.00,0.000,6,0.000,0.029,3099,1453,1706
$GC,17662,1.33,275.4,156.1,15.8,844,17664,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1455,1706
$GC,17971,1.33,275.4,113.1,13.5,859,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1455,1707
$GC,18279,1.33,275.4,77.2,10.9,874,18280,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1455,1707
$GC,18588,1.33,275.4,48.4,9.5,889,18592,0.00,2.12,0.00,0.000,4,0.000,0.053,3100,264,1707
$GC,18643,1.33,275.4,42.8,9.2,891,18647,0.00,1.98,0.00,0.000,6,0.000,0.030,3099,1456,1708
$GC,18966,1.33,275.4,8.9,10.3,907,18967,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1458,1708
$STATE,19024,end climb,SURFACE_DEPTH_REACHED
$STATE,19024,begin surface coast
$FINISH,-0.1,1.027316
$STATE,19046,end surface coast,CONTROL_FINISHED_OK
$STATE,19046,begin surface
$SM_CCo,19070,15.95,0.719,0,0,1609,300.00
$SM_GC,0.85,0.00,0.00,15.95,0.000,0.000,0.719,395,2465,1609,-11.06,-0.31,300.00
$IRIDIUM_FIX,6117.23,-848.22,030998,020208
$TT8_MAMPS,0.027612
$HUMID,1815
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.3,110.1
$24V_AH,23.1,20.943
$10V_AH,10.0,8.748
$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,25.650,170.725,377.975,15.950,0.000,30.209,24.813,158.981,6.750,0.000,0.000,15.234,1723.331,14282.479,504.896,2141.441,765.264,33.355,1642.635,0.000,2271.332,0.000,46.134,0.000
$DEVICE_MAMPS,137.293,73.632,1385.202,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,819.004,625.981,499.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47451,911
$CAP_FILE_SIZE,141086,0
$CFSIZE,260165632,256716800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,090609,124625,6139.663,-846.870,39,1.3,39,-9.2