version: 66.04
glider: 105
mission: 6
dive: 21
start: 6 9 109 12 52 56
data:
$ID,105
$MISSION,6
$DIVE,21
$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,-1628438.8
$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,24
$R_STBD_OVSHOOT,32
$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
$GPS1,124625,6139.663,-846.870,39,1.3,39,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-61.3
$GPS2,125202,6139.637,-846.881,14,1.5,14,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.231,-0.063
$KALMAN_X,-92356.3,1579.8,1167.2,62900.2,-17442.3
$KALMAN_Y,51620.3,-3768.2,-942.2,-19308.5,12086.4
$MHEAD_RNG_PITCHd_Wd,114.4,26314,-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,-59.55,0.000,6,0.000,0.000,396,2466,3432
$GC,81,-1.17,-146.6,4.9,-9.9,3,101,11.50,2.50,0.00,0.000,4,0.137,0.035,2537,1052,3432
$GC,304,-1.17,-146.6,36.6,-10.3,13,308,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2480,3433
$GC,631,-1.17,-146.6,69.1,-9.3,29,635,0.00,2.47,0.00,0.000,4,0.000,0.036,2537,1059,3434
$GC,675,-1.17,-146.6,73.3,-8.7,31,680,0.00,2.45,0.00,0.000,6,0.000,0.032,2537,2474,3434
$GC,997,-1.17,-146.6,96.3,-6.4,47,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3434
$GC,1307,-1.17,-146.6,116.2,-6.8,62,1311,0.00,2.50,0.00,0.000,4,0.000,0.037,2537,1058,3434
$GC,1340,-1.17,-146.6,118.3,-6.3,63,1344,0.00,2.47,0.00,0.000,6,0.000,0.033,2537,2470,3434
$GC,1660,-1.17,-146.6,147.1,-10.5,79,1665,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1051,3434
$GC,1722,-1.17,-146.6,153.8,-11.0,82,1726,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2477,3434
$GC,2048,-1.17,-146.6,188.4,-10.5,98,2052,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1058,3434
$GC,2110,-1.17,-146.6,195.0,-11.1,101,2115,0.00,2.50,0.00,0.000,6,0.000,0.035,2537,2476,3434
$GC,2444,-1.17,-146.6,228.4,-9.5,117,2448,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1056,3434
$GC,2488,-1.17,-146.6,232.7,-8.5,119,2492,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2474,3434
$GC,2811,-1.17,-146.6,262.1,-8.5,135,2815,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1060,3434
$GC,2843,-1.17,-146.6,265.3,-8.5,136,2849,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2477,3434
$GC,3161,-1.17,-146.6,295.5,-10.5,152,3165,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1061,3435
$GC,3211,-1.17,-146.6,300.8,-9.7,154,3215,0.00,2.47,0.00,0.000,6,0.000,0.038,2538,2476,3434
$GC,3529,-1.17,-146.6,326.6,-7.4,169,3534,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1053,3434
$GC,3592,-1.17,-146.6,331.3,-7.0,172,3596,0.00,2.50,0.00,0.000,6,0.000,0.038,2538,2482,3434
$GC,3918,-1.17,-146.6,354.8,-7.1,188,3922,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1058,3434
$GC,3974,-1.17,-146.6,359.6,-8.5,190,3981,0.00,2.50,0.00,0.000,6,0.000,0.039,2537,2468,3434
$GC,4290,-1.17,-146.6,383.8,-7.0,206,4294,0.00,2.47,0.00,0.000,4,0.000,0.042,2537,1056,3434
$GC,4345,-1.17,-146.6,388.0,-7.7,208,4352,0.00,2.53,0.00,0.000,6,0.000,0.040,2537,2475,3434
$GC,4661,-1.17,-146.6,409.2,-6.0,224,4665,0.00,2.47,0.00,0.000,4,0.000,0.043,2537,1062,3434
$GC,4745,-1.17,-146.6,413.8,-5.4,228,4750,0.00,2.47,0.00,0.000,6,0.000,0.040,2537,2475,3434
$GC,5072,-1.17,-146.6,429.7,-5.6,244,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2475,3434
$GC,5382,-1.17,-146.6,450.8,-7.0,259,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2475,3434
$GC,5690,-1.17,-146.6,471.9,-8.2,274,5695,0.00,2.53,0.00,0.000,4,0.000,0.043,2537,1058,3433
$GC,5732,-1.17,-146.6,475.3,-8.9,275,5738,0.00,2.50,0.00,0.000,6,0.000,0.040,2537,2481,3433
$GC,6048,-1.17,-146.6,499.4,-8.3,291,6053,0.00,2.53,0.00,0.000,4,0.000,0.043,2537,1062,3433
$GC,6153,-1.17,-146.6,508.3,-9.0,295,6160,0.00,2.47,0.00,0.000,6,0.000,0.040,2538,2479,3433
$GC,6471,-1.17,-146.6,535.3,-8.2,311,6475,0.00,2.50,0.00,0.000,4,0.000,0.044,2537,1059,3433
$GC,6588,-1.17,-146.6,542.0,-4.7,316,6592,0.00,2.50,0.00,0.000,6,0.000,0.041,2537,2476,3433
$GC,6905,-1.17,-146.6,559.7,-7.0,331,6909,0.00,2.45,0.00,0.000,4,0.000,0.063,2537,3829,3433
$GC,7106,-1.17,-146.6,576.2,-8.1,340,7110,0.00,2.33,0.00,0.000,6,0.000,0.031,2537,2460,3432
$GC,7434,-1.17,-146.6,602.3,-8.9,356,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2458,3432
$GC,7743,-1.17,-146.6,630.0,-9.3,371,7747,0.00,2.42,0.00,0.000,4,0.000,0.044,2538,1072,3432
$GC,7888,-1.17,-146.6,645.4,-9.6,377,7894,0.00,2.47,0.00,0.000,6,0.000,0.041,2537,2481,3431
$GC,8205,-1.17,-146.6,669.7,-6.6,393,8209,0.00,2.47,0.00,0.000,4,0.000,0.045,2537,1078,3431
$GC,8322,-1.17,-146.6,677.3,-6.5,398,8327,0.00,2.50,0.00,0.000,6,0.000,0.043,2537,2473,3431
$GC,8643,-1.17,-146.6,699.4,-7.2,414,8647,0.00,2.47,0.00,0.000,4,0.000,0.048,2538,1079,3430
$GC,8709,-1.17,-146.6,703.6,-6.2,417,8713,0.00,2.47,0.00,0.000,6,0.000,0.044,2537,2476,3430
$GC,9029,-1.17,-146.6,721.0,-5.7,433,9034,0.00,2.53,0.00,0.000,4,0.000,0.050,2538,1079,3429
$GC,9130,-1.17,-146.6,727.4,-7.2,437,9134,0.00,2.50,0.00,0.000,6,0.000,0.047,2537,2478,3428
$GC,9449,-1.17,-146.6,750.2,-7.5,452,9453,0.00,2.50,0.00,0.000,4,0.000,0.050,2537,1081,3426
$GC,9543,-1.17,-146.6,757.5,-7.2,456,9547,0.00,2.50,0.00,0.000,6,0.000,0.046,2537,2480,3426
$GC,9859,-1.17,-146.6,778.8,-7.2,471,9864,0.00,2.55,0.00,0.000,4,0.000,0.051,2538,1079,3424
$GC,9953,-1.17,-146.6,786.0,-7.6,475,9958,0.00,2.53,0.00,0.000,6,0.000,0.048,2537,2471,3424
$GC,10282,-1.17,-146.6,809.2,-7.3,491,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2471,3422
$GC,10590,-1.17,-146.6,833.0,-7.8,506,10594,0.00,2.50,0.00,0.000,4,0.000,0.053,2538,1082,3421
$GC,10679,-1.17,-146.6,838.7,-5.1,510,10683,0.00,2.50,0.00,0.000,6,0.000,0.048,2537,2476,3420
$GC,11003,-1.17,-146.6,861.8,-5.9,526,11007,0.00,2.53,0.00,0.000,4,0.000,0.054,2537,1075,3419
$GC,11047,-1.17,-146.6,864.6,-4.1,528,11051,0.00,2.55,0.00,0.000,6,0.000,0.053,2537,2481,3419
$STATE,11324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11324,begin apogee
$GC,11332,-0.36,0.0,877.5,5.6,542,11467,0.88,0.00,129.38,1.391,6,0.073,0.000,2722,1470,2832
$STATE,11468,end apogee,CONTROL_FINISHED_OK
$STATE,11468,begin climb
$GC,11471,1.17,146.6,881.0,0.0,549,11609,1.52,0.00,134.00,1.332,6,0.051,0.000,3058,1470,2234
$GC,11907,1.20,163.9,861.1,6.9,570,11930,0.00,2.62,15.12,1.231,4,0.000,0.057,3058,2857,2163
$GC,11974,1.20,163.9,852.5,12.5,573,11979,0.00,2.55,0.00,0.000,6,0.000,0.049,3058,1449,2160
$GC,12296,1.20,163.9,820.7,10.6,589,12301,0.00,2.60,0.00,0.000,4,0.000,0.055,3058,2864,2157
$GC,12331,1.20,163.9,816.9,11.0,590,12337,0.00,2.55,0.00,0.000,6,0.000,0.048,3058,1449,2157
$GC,12646,1.20,163.9,787.1,9.0,606,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1449,2156
$GC,12958,1.21,178.1,758.4,7.0,621,12980,0.00,2.65,13.10,1.228,4,0.000,0.055,3058,2858,2104
$GC,13026,1.21,178.1,752.5,9.0,624,13030,0.00,2.53,0.00,0.000,6,0.000,0.048,3058,1453,2103
$GC,13352,1.21,178.1,726.9,8.8,640,13356,0.00,2.58,0.00,0.000,4,0.000,0.054,3058,2865,2102
$GC,13391,1.21,178.1,723.6,8.7,642,13395,0.00,2.53,0.00,0.000,6,0.000,0.047,3058,1454,2101
$GC,13718,1.21,178.1,694.2,9.5,658,13722,0.00,2.58,0.00,0.000,4,0.000,0.053,3058,2868,2100
$GC,13761,1.21,178.1,690.0,9.4,660,13766,0.00,2.53,0.00,0.000,6,0.000,0.046,3058,1449,2100
$GC,14085,1.21,178.1,658.2,10.8,676,14090,0.00,2.58,0.00,0.000,4,0.000,0.052,3058,2868,2099
$GC,14148,1.21,178.1,650.3,11.6,679,14152,0.00,2.53,0.00,0.000,6,0.000,0.046,3058,1449,2099
$GC,14474,1.27,221.4,621.2,6.0,695,14520,0.00,2.65,40.17,1.253,4,0.000,0.051,3058,2861,1928
$GC,14567,1.32,263.9,615.4,6.0,699,14613,0.12,2.53,40.12,1.215,6,0.042,0.045,3105,1455,1756
$GC,14934,1.32,263.9,579.8,10.7,717,14938,0.00,2.53,0.00,0.000,4,0.000,0.046,3105,2870,1747
$GC,14996,1.32,263.9,573.6,9.6,720,15000,0.00,2.53,0.00,0.000,6,0.000,0.042,3105,1449,1746
$GC,15323,1.32,263.9,538.7,10.8,736,15326,0.00,2.17,0.00,0.000,4,0.000,0.063,3105,264,1744
$GC,15396,1.32,263.9,529.9,11.8,739,15400,0.00,2.08,0.00,0.000,6,0.000,0.032,3105,1486,1744
$GC,15722,1.32,263.9,488.1,13.8,755,15726,0.00,2.25,0.00,0.000,4,0.000,0.058,3105,261,1743
$GC,15817,1.32,263.9,473.6,17.0,759,15821,0.00,2.03,0.00,0.000,6,0.000,0.031,3105,1462,1743
$GC,16144,1.32,263.9,425.2,15.0,775,16148,0.00,2.45,0.00,0.000,4,0.000,0.044,3105,2846,1742
$GC,16170,1.32,263.9,421.0,14.5,776,16175,0.00,2.45,0.00,0.000,6,0.000,0.038,3105,1444,1742
$GC,16487,1.32,263.9,381.3,11.5,791,16490,0.00,2.15,0.00,0.000,4,0.000,0.058,3105,258,1742
$GC,16565,1.32,263.9,371.0,13.1,794,16568,0.00,2.00,0.00,0.000,6,0.000,0.030,3105,1457,1742
$GC,16886,1.32,263.9,332.3,12.3,810,16889,0.00,2.17,0.00,0.000,4,0.000,0.056,3105,261,1742
$GC,16936,1.32,263.9,325.6,15.5,812,16941,0.00,2.03,0.00,0.000,6,0.000,0.030,3105,1448,1742
$GC,17262,1.32,263.9,283.6,12.6,828,17266,0.00,2.15,0.00,0.000,4,0.000,0.056,3105,264,1743
$GC,17289,1.32,263.9,279.8,14.3,829,17293,0.00,1.98,0.00,0.000,6,0.000,0.030,3105,1453,1743
$GC,17616,1.32,263.9,242.3,11.7,845,17617,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1455,1743
$GC,17928,1.32,263.9,206.0,12.6,860,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1455,1744
$GC,18235,1.32,263.9,164.7,13.7,875,18238,0.00,2.15,0.00,0.000,4,0.000,0.055,3105,264,1744
$GC,18289,1.32,263.9,156.1,16.0,877,18293,0.00,1.98,0.00,0.000,6,0.000,0.030,3106,1452,1744
$GC,18611,1.32,263.9,113.9,12.0,893,18612,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1453,1745
$GC,18922,1.32,263.9,77.9,11.7,908,18925,0.00,2.15,0.00,0.000,4,0.000,0.054,3105,261,1745
$GC,19005,1.32,263.9,67.7,13.6,911,19011,0.00,2.00,0.00,0.000,6,0.000,0.030,3106,1450,1745
$GC,19322,1.32,263.9,34.5,10.6,927,19323,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1452,1745
$STATE,19608,end climb,SURFACE_DEPTH_REACHED
$STATE,19608,begin surface coast
$FINISH,0.7,1.027218
$STATE,19629,end surface coast,CONTROL_FINISHED_OK
$STATE,19629,begin surface
$SM_CCo,19653,22.17,0.737,0,0,1609,300.00
$SM_GC,0.58,0.00,0.00,22.17,0.000,0.000,0.737,397,2464,1609,-11.05,-0.34,300.00
$IRIDIUM_FIX,6112.75,-843.05,030998,070716
$TT8_MAMPS,0.027612
$HUMID,1815
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.5,85.2
$24V_AH,23.1,21.100
$10V_AH,10.0,8.842
$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,25.775,198.225,371.900,22.175,0.000,29.312,28.931,159.531,7.000,0.000,0.000,14.448,1799.208,14683.382,528.497,2195.751,806.982,33.352,1690.006,0.000,2352.682,0.000,47.669,0.000
$DEVICE_MAMPS,136.526,62.894,1391.338,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,847.146,646.898,528.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47410,942
$CAP_FILE_SIZE,149520,0
$CFSIZE,260165632,256643072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,090609,182207,6140.743,-847.685,36,0.9,36,-9.2