version: 66.04
glider: 105
mission: 6
dive: 22
start: 6 9 109 18 28 26
data:
$ID,105
$MISSION,6
$DIVE,22
$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,-1628453.6
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,182207,6140.743,-847.685,36,0.9,36,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.6
$GPS2,182732,6140.784,-847.817,14,1.3,14,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.193,-0.141
$KALMAN_X,-99575.4,3120.3,854.3,68074.6,-20397.3
$KALMAN_Y,51699.9,-1129.0,-600.6,-20239.8,9734.1
$MHEAD_RNG_PITCHd_Wd,135.4,28381,-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,-59.33,0.000,6,0.000,0.000,398,2464,3432
$GC,80,-1.17,-146.6,4.8,-9.6,3,101,11.50,2.50,0.00,0.000,4,0.138,0.035,2537,1052,3433
$GC,291,-1.17,-146.6,33.0,-10.1,12,296,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2466,3433
$GC,612,-1.17,-146.6,63.4,-9.5,28,616,0.00,2.45,0.00,0.000,4,0.000,0.035,2537,1056,3433
$GC,667,-1.17,-146.6,69.7,-11.7,30,673,0.00,2.45,0.00,0.000,6,0.000,0.031,2537,2474,3433
$GC,982,-1.17,-146.6,94.3,-7.6,46,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3434
$GC,1293,-1.17,-146.6,118.0,-8.7,61,1297,0.00,2.47,0.00,0.000,4,0.000,0.036,2537,1052,3434
$GC,1387,-1.17,-146.6,126.5,-9.1,65,1391,0.00,2.50,0.00,0.000,6,0.000,0.033,2537,2478,3434
$GC,1708,-1.17,-146.6,153.4,-8.3,81,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2477,3434
$GC,2019,-1.17,-146.6,180.4,-9.4,96,2023,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1057,3434
$GC,2060,-1.17,-146.6,184.3,-9.1,98,2064,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2482,3435
$GC,2385,-1.17,-146.6,214.3,-8.9,114,2390,0.00,2.53,0.00,0.000,4,0.000,0.040,2537,1057,3435
$GC,2446,-1.17,-146.6,219.7,-8.4,116,2452,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2477,3435
$GC,2764,-1.17,-146.6,245.0,-7.6,132,2768,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1060,3434
$GC,2844,-1.17,-146.6,252.0,-8.4,135,2850,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2474,3435
$GC,3162,-1.17,-146.6,278.6,-9.1,151,3166,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1061,3435
$GC,3217,-1.17,-146.6,284.1,-9.5,153,3223,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2484,3434
$GC,3535,-1.17,-146.6,317.3,-11.7,169,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2484,3434
$GC,3842,-1.17,-146.6,354.8,-11.1,184,3846,0.00,2.50,0.00,0.000,4,0.000,0.042,2536,1061,3434
$GC,3930,-1.17,-146.6,365.4,-11.2,188,3935,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2484,3434
$GC,4252,-1.17,-146.6,400.9,-10.2,204,4257,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1062,3434
$GC,4330,-1.17,-146.6,409.2,-10.8,207,4336,0.00,2.50,0.00,0.000,6,0.000,0.040,2537,2482,3434
$GC,4648,-1.17,-146.6,442.3,-10.4,223,4652,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1061,3434
$GC,4704,-1.17,-146.6,448.2,-10.1,225,4710,0.00,2.50,0.00,0.000,6,0.000,0.040,2537,2484,3434
$GC,5020,-1.17,-146.6,477.9,-9.2,241,5024,0.00,2.45,0.00,0.000,4,0.000,0.063,2537,3828,3434
$GC,5075,-1.17,-146.6,483.8,-9.9,243,5081,0.00,2.33,0.00,0.000,6,0.000,0.030,2537,2453,3434
$GC,5390,-1.17,-146.6,510.9,-8.1,259,5394,0.00,2.40,0.00,0.000,4,0.000,0.042,2537,1077,3434
$GC,5435,-1.17,-146.6,515.3,-9.7,261,5439,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2475,3433
$GC,5756,-1.17,-146.6,543.3,-8.6,277,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2476,3433
$GC,6065,-1.17,-146.6,570.2,-8.5,292,6069,0.00,2.45,0.00,0.000,4,0.000,0.044,2537,1082,3433
$GC,6143,-1.17,-146.6,576.8,-8.0,295,6149,0.00,2.45,0.00,0.000,6,0.000,0.041,2537,2474,3433
$GC,6462,-1.17,-146.6,596.6,-4.8,311,6466,0.00,2.47,0.00,0.000,4,0.000,0.062,2537,3833,3433
$GC,6517,-1.17,-146.6,599.8,-5.6,313,6524,0.00,2.30,0.00,0.000,6,0.000,0.030,2537,2477,3432
$GC,6836,-1.17,-146.6,613.4,-4.3,329,6840,0.00,2.45,0.00,0.000,4,0.000,0.044,2537,1077,3432
$GC,6898,-1.17,-146.6,616.5,-4.6,332,6902,0.00,2.45,0.00,0.000,6,0.000,0.039,2536,2479,3432
$GC,7225,-1.17,-146.6,632.7,-4.8,348,7229,0.00,2.47,0.00,0.000,4,0.000,0.044,2537,1078,3431
$GC,7289,-1.17,-146.6,636.4,-6.7,351,7293,0.00,2.47,0.00,0.000,6,0.000,0.041,2537,2484,3431
$GC,7615,-1.17,-146.6,654.5,-4.8,367,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2484,3430
$GC,7927,-1.17,-146.6,672.7,-6.5,382,7931,0.00,2.50,0.00,0.000,4,0.000,0.048,2537,1080,3429
$GC,8042,-1.17,-146.6,681.3,-7.6,387,8047,0.00,2.50,0.00,0.000,6,0.000,0.046,2537,2480,3429
$GC,8359,-1.17,-146.6,704.0,-7.5,402,8363,0.00,2.50,0.00,0.000,4,0.000,0.050,2537,1083,3427
$GC,8458,-1.17,-146.6,712.0,-7.9,406,8464,0.00,2.50,0.00,0.000,6,0.000,0.047,2537,2482,3427
$GC,8777,-1.17,-146.6,736.4,-8.1,422,8781,0.00,2.50,0.00,0.000,4,0.000,0.051,2537,1084,3425
$GC,8862,-1.17,-146.6,743.2,-7.5,426,8867,0.00,2.50,0.00,0.000,6,0.000,0.047,2537,2485,3425
$GC,9191,-1.17,-146.6,770.2,-8.8,442,9196,0.00,2.53,0.00,0.000,4,0.000,0.051,2537,1079,3423
$GC,9247,-1.17,-146.6,776.0,-10.8,444,9254,0.00,2.50,0.00,0.000,6,0.000,0.047,2537,2483,3423
$GC,9562,-1.17,-146.6,806.7,-8.5,460,9567,0.00,2.53,0.00,0.000,4,0.000,0.053,2537,1083,3422
$GC,9635,-1.17,-146.6,811.6,-8.3,463,9639,0.00,2.47,0.00,0.000,6,0.000,0.047,2537,2474,3421
$GC,9950,-1.17,-146.6,835.5,-8.0,478,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3420
$STATE,10237,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10237,begin apogee
$GC,10245,-0.36,0.0,859.9,7.6,492,10380,0.90,0.00,129.27,1.380,6,0.084,0.000,2721,1468,2831
$STATE,10381,end apogee,CONTROL_FINISHED_OK
$STATE,10381,begin climb
$GC,10384,1.17,146.6,864.0,0.0,499,10529,1.50,2.65,133.45,1.321,4,0.049,0.056,3053,2862,2232
$GC,10646,1.22,179.7,853.3,6.4,511,10681,0.00,2.58,29.90,1.269,6,0.000,0.050,3053,1452,2099
$GC,10997,1.30,244.7,833.3,5.3,527,11062,0.12,2.65,59.58,1.305,4,0.042,0.056,3107,2862,1834
$GC,11114,1.38,312.6,821.3,5.2,532,11184,0.00,2.58,63.40,1.282,6,0.000,0.050,3107,1449,1557
$GC,11496,1.38,312.6,784.9,8.6,551,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1449,1545
$GC,11803,1.38,312.6,753.5,11.4,566,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1449,1542
$GC,12111,1.38,312.6,716.7,12.6,581,12115,0.00,2.58,0.00,0.000,4,0.000,0.054,3107,2865,1541
$GC,12138,1.38,312.6,713.0,13.1,582,12142,0.00,2.55,0.00,0.000,6,0.000,0.046,3107,1451,1540
$GC,12453,1.38,312.6,672.9,11.9,597,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1451,1539
$GC,12762,1.38,312.6,636.0,9.2,612,12767,0.00,2.58,0.00,0.000,4,0.000,0.050,3107,2863,1539
$GC,12840,1.38,312.6,626.8,12.0,615,12845,0.00,2.53,0.00,0.000,6,0.000,0.044,3107,1444,1539
$GC,13158,1.38,312.6,590.3,11.5,630,13162,0.00,2.17,0.00,0.000,4,0.000,0.064,3107,262,1538
$GC,13226,1.38,312.6,581.7,12.1,633,13230,0.00,2.08,0.00,0.000,6,0.000,0.033,3107,1482,1538
$GC,13558,1.38,312.6,531.7,16.1,649,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1484,1538
$GC,13867,1.38,312.6,499.3,9.0,664,13871,0.00,2.22,0.00,0.000,4,0.000,0.059,3107,262,1537
$GC,13900,1.38,312.6,495.5,11.0,665,13904,0.00,2.03,0.00,0.000,6,0.000,0.032,3107,1459,1537
$GC,14224,1.38,312.6,457.5,12.2,681,14228,0.00,2.17,0.00,0.000,4,0.000,0.057,3106,262,1537
$GC,14269,1.38,312.6,450.9,13.6,683,14273,0.00,2.00,0.00,0.000,6,0.000,0.031,3107,1459,1538
$GC,14602,1.38,312.6,406.0,13.2,699,14607,0.00,2.20,0.00,0.000,4,0.000,0.056,3107,264,1538
$GC,14640,1.38,312.6,400.9,12.8,700,14646,0.00,2.03,0.00,0.000,6,0.000,0.031,3107,1448,1538
$GC,14956,1.38,312.6,361.6,12.0,716,14957,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1450,1538
$GC,15265,1.38,312.6,322.1,12.6,731,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1450,1539
$GC,15574,1.38,312.6,282.4,13.0,746,15576,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1450,1540
$GC,15886,1.38,312.6,241.7,12.4,761,15890,0.00,2.15,0.00,0.000,4,0.000,0.054,3107,261,1540
$GC,15941,1.38,312.6,233.6,13.4,763,15945,0.00,2.00,0.00,0.000,6,0.000,0.029,3107,1457,1540
$GC,16262,1.38,312.6,194.5,11.8,779,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1458,1540
$GC,16574,1.38,312.6,156.3,13.3,794,16578,0.00,2.15,0.00,0.000,4,0.000,0.053,3107,259,1540
$GC,16620,1.38,312.6,150.2,12.9,796,16623,0.00,2.00,0.00,0.000,6,0.000,0.029,3107,1453,1541
$GC,16954,1.38,312.6,110.5,12.0,812,16958,0.00,2.42,0.00,0.000,4,0.000,0.041,3107,2843,1541
$GC,16978,1.38,312.6,107.4,12.2,813,16982,0.00,2.42,0.00,0.000,6,0.000,0.035,3107,1446,1540
$GC,17299,1.38,312.6,71.2,12.3,829,17302,0.00,2.10,0.00,0.000,4,0.000,0.054,3107,267,1541
$GC,17411,1.38,312.6,56.4,13.3,834,17416,0.00,2.03,0.00,0.000,6,0.000,0.029,3106,1464,1541
$GC,17743,1.38,312.6,18.7,11.2,850,17748,0.00,2.17,0.00,0.000,4,0.000,0.053,3107,273,1542
$GC,17827,1.38,312.6,8.2,15.2,853,17833,0.00,1.98,0.00,0.000,6,0.000,0.029,3107,1452,1542
$STATE,17872,end climb,SURFACE_DEPTH_REACHED
$STATE,17872,begin surface coast
$FINISH,0.0,1.027331
$STATE,17894,end surface coast,CONTROL_FINISHED_OK
$STATE,17894,begin surface
$SM_CCo,17978,0.00,0.000,0,0,1539,316.93
$SM_GC,0.70,11.70,0.00,0.00,0.022,0.000,0.000,388,2468,1539,-11.00,-0.23,316.93
$IRIDIUM_FIX,6117.23,-847.52,030998,121205
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.4,93.5
$24V_AH,23.1,21.267
$10V_AH,10.0,8.928
$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,25.725,166.500,415.600,0.000,0.000,26.455,25.796,147.404,6.750,0.000,0.000,14.197,1615.887,13473.918,524.865,1951.691,733.182,33.353,1574.287,0.000,2086.865,0.000,47.806,0.000
$DEVICE_MAMPS,138.060,64.428,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,778.763,587.075,495.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44195,857
$CAP_FILE_SIZE,132264,0
$CFSIZE,260165632,256593920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,090609,232924,6141.375,-850.828,25,1.7,43,-9.2