version: 66.04
glider: 105
mission: 6
dive: 24
start: 6 10 109 5 16 26
data:
$ID,105
$MISSION,6
$DIVE,24
$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,-1628523.9
$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,28
$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
$GPS1,050636,6142.270,-854.256,38,1.1,38,-9.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-58.6
$GPS2,051534,6142.315,-854.431,15,3.2,34,-9.2
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.203,-0.127
$KALMAN_X,-110516.1,-96.3,681.1,76533.6,-14354.8
$KALMAN_Y,58118.5,678.6,483.8,-26774.3,2643.2
$MHEAD_RNG_PITCHd_Wd,131.3,34593,-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,13,begin dive
$GC,16,-1.17,-146.6,0.0,0.0,0,77,0.00,0.00,-59.53,0.000,6,0.000,0.000,397,2454,3431
$GC,80,-1.17,-146.6,2.7,-4.3,3,101,11.48,2.40,0.00,0.000,4,0.137,0.033,2535,1058,3432
$GC,281,-1.17,-146.6,30.2,-9.0,12,285,0.00,2.47,0.00,0.000,6,0.000,0.032,2534,2486,3433
$GC,608,-1.17,-146.6,59.7,-9.4,28,612,0.00,2.47,0.00,0.000,4,0.000,0.035,2535,1061,3433
$GC,640,-1.17,-146.6,63.0,-10.6,29,646,0.00,2.45,0.00,0.000,6,0.000,0.032,2535,2480,3433
$GC,957,-1.17,-146.6,96.4,-11.4,45,961,0.00,2.42,0.00,0.000,4,0.000,0.057,2535,3825,3433
$GC,1023,-1.17,-146.6,104.6,-12.2,48,1027,0.00,2.30,0.00,0.000,6,0.000,0.026,2535,2453,3433
$GC,1344,-1.17,-146.6,136.4,-8.7,64,1348,0.00,2.38,0.00,0.000,4,0.000,0.036,2535,1077,3433
$GC,1393,-1.17,-146.6,140.8,-8.4,66,1398,0.00,2.42,0.00,0.000,6,0.000,0.031,2535,2486,3433
$GC,1709,-1.17,-146.6,165.7,-8.5,81,1713,0.00,2.45,0.00,0.000,4,0.000,0.036,2535,1076,3433
$GC,1804,-1.17,-146.6,174.6,-9.4,85,1808,0.00,2.42,0.00,0.000,6,0.000,0.032,2535,2477,3433
$GC,2120,-1.17,-146.6,206.5,-11.2,100,2124,0.00,2.42,0.00,0.000,4,0.000,0.038,2535,1084,3434
$GC,2188,-1.17,-146.6,214.6,-12.0,103,2193,0.00,2.42,0.00,0.000,6,0.000,0.035,2535,2475,3433
$GC,2509,-1.17,-146.6,247.8,-9.4,119,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2476,3434
$GC,2819,-1.17,-146.6,274.6,-8.0,134,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2476,3433
$GC,3128,-1.17,-146.6,302.1,-9.1,149,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2476,3433
$GC,3440,-1.17,-146.6,326.5,-7.8,164,3444,0.00,2.42,0.00,0.000,4,0.000,0.039,2534,1084,3433
$GC,3513,-1.17,-146.6,332.2,-8.3,167,3518,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2480,3433
$GC,3834,-1.17,-146.6,356.1,-7.3,183,3838,0.00,2.45,0.00,0.000,4,0.000,0.039,2535,1078,3433
$GC,3900,-1.17,-146.6,361.2,-7.4,186,3904,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2481,3433
$GC,4220,-1.17,-146.6,389.8,-9.2,202,4225,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1084,3433
$GC,4288,-1.17,-146.6,395.6,-8.2,205,4292,0.00,2.45,0.00,0.000,6,0.000,0.038,2535,2482,3433
$GC,4614,-1.17,-146.6,428.9,-10.8,221,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2482,3433
$GC,4923,-1.17,-146.6,458.3,-8.7,236,4928,0.00,2.47,0.00,0.000,4,0.000,0.042,2535,1090,3433
$GC,5001,-1.17,-146.6,464.7,-8.1,239,5005,0.00,2.42,0.00,0.000,6,0.000,0.038,2535,2476,3433
$GC,5317,-1.17,-146.6,491.1,-8.5,254,5321,0.00,2.45,0.00,0.000,4,0.000,0.061,2535,3828,3433
$GC,5447,-1.17,-146.6,502.7,-8.5,260,5451,0.00,2.28,0.00,0.000,6,0.000,0.029,2535,2482,3432
$GC,5775,-1.17,-146.6,526.4,-6.9,276,5779,0.00,2.45,0.00,0.000,4,0.000,0.041,2535,1074,3432
$GC,5825,-1.17,-146.6,530.2,-6.9,278,5829,0.00,2.45,0.00,0.000,6,0.000,0.037,2535,2478,3432
$GC,6140,-1.17,-146.6,553.2,-7.1,293,6145,0.00,2.50,0.00,0.000,4,0.000,0.042,2535,1077,3432
$GC,6186,-1.17,-146.6,556.5,-7.4,295,6190,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2472,3432
$GC,6521,-1.17,-146.6,580.5,-7.4,311,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2472,3431
$GC,6828,-1.17,-146.6,603.9,-7.5,326,6832,0.00,2.47,0.00,0.000,4,0.000,0.044,2535,1074,3430
$GC,6883,-1.17,-146.6,608.4,-7.8,328,6889,0.00,2.47,0.00,0.000,6,0.000,0.041,2535,2477,3430
$GC,7199,-1.17,-146.6,634.1,-8.4,344,7203,0.00,2.47,0.00,0.000,4,0.000,0.067,2535,3827,3429
$GC,7298,-1.17,-146.6,642.9,-8.8,348,7305,0.00,2.30,0.00,0.000,6,0.000,0.031,2535,2478,3429
$GC,7615,-1.17,-146.6,665.9,-6.9,364,7619,0.00,2.47,0.00,0.000,4,0.000,0.046,2535,1073,3428
$GC,7716,-1.17,-146.6,672.5,-6.5,368,7722,0.00,2.47,0.00,0.000,6,0.000,0.042,2535,2474,3427
$GC,8033,-1.17,-146.6,692.2,-6.5,384,8037,0.00,2.50,0.00,0.000,4,0.000,0.048,2535,1075,3426
$GC,8099,-1.17,-146.6,696.4,-7.6,387,8104,0.00,2.53,0.00,0.000,6,0.000,0.044,2535,2474,3426
$GC,8426,-1.17,-146.6,717.4,-6.2,403,8430,0.00,2.50,0.00,0.000,4,0.000,0.049,2535,1078,3424
$GC,8503,-1.17,-146.6,722.4,-7.1,406,8509,0.00,2.50,0.00,0.000,6,0.000,0.044,2535,2483,3424
$GC,8819,-1.17,-146.6,749.1,-9.1,422,8823,0.00,2.53,0.00,0.000,4,0.000,0.050,2535,1077,3422
$GC,8888,-1.17,-146.6,756.5,-9.9,425,8892,0.00,2.50,0.00,0.000,6,0.000,0.045,2535,2478,3422
$GC,9210,-1.17,-146.6,778.8,-6.5,441,9215,0.00,2.55,0.00,0.000,4,0.000,0.052,2535,1078,3420
$GC,9294,-1.17,-146.6,784.3,-4.7,444,9300,0.00,2.50,0.00,0.000,6,0.000,0.047,2535,2474,3420
$GC,9611,-1.17,-146.6,801.7,-7.5,460,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2474,3419
$STATE,9834,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9834,begin apogee
$GC,9842,-0.36,0.0,818.6,7.9,471,9977,0.88,0.00,128.65,1.352,6,0.075,0.000,2718,1472,2831
$STATE,9977,end apogee,CONTROL_FINISHED_OK
$STATE,9978,begin climb
$GC,9980,1.17,146.6,825.5,0.0,478,10121,1.55,2.38,132.82,1.298,4,0.050,0.071,3056,264,2233
$GC,10458,1.17,146.6,795.2,8.2,500,10462,0.00,2.10,0.00,0.000,6,0.000,0.041,3056,1467,2222
$GC,10790,1.17,146.6,765.0,8.3,516,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1468,2219
$GC,11100,1.21,173.3,742.3,6.6,531,11129,0.00,2.35,22.75,1.259,4,0.000,0.067,3056,258,2124
$GC,11158,1.21,173.3,737.3,9.3,533,11164,0.00,2.08,0.00,0.000,6,0.000,0.036,3056,1457,2123
$GC,11476,1.21,173.3,713.2,8.4,549,11480,0.00,2.53,0.00,0.000,4,0.000,0.052,3056,2855,2120
$GC,11503,1.21,173.3,710.7,7.6,550,11508,0.00,2.53,0.00,0.000,6,0.000,0.045,3056,1458,2119
$GC,11824,1.23,192.7,685.8,6.8,566,11849,0.00,2.60,18.35,1.238,4,0.000,0.051,3056,2846,2045
$GC,11913,1.23,192.7,678.5,7.8,570,11917,0.00,2.50,0.00,0.000,6,0.000,0.045,3057,1452,2044
$GC,12242,1.23,193.6,653.4,7.5,586,12243,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1453,2042
$GC,12549,1.23,193.6,630.6,7.9,601,12553,0.00,2.53,0.00,0.000,4,0.000,0.051,3056,2855,2041
$GC,12581,1.23,193.6,627.7,8.2,602,12588,0.00,2.50,0.00,0.000,6,0.000,0.044,3056,1450,2040
$GC,12897,1.23,193.6,598.9,9.6,618,12901,0.00,2.53,0.00,0.000,4,0.000,0.049,3056,2850,2039
$GC,13030,1.23,193.6,586.2,9.7,624,13034,0.00,2.47,0.00,0.000,6,0.000,0.044,3056,1454,2039
$GC,13353,1.23,193.6,554.4,9.9,640,13357,0.00,2.50,0.00,0.000,4,0.000,0.046,3056,2853,2039
$GC,13438,1.23,193.6,546.0,9.7,644,13442,0.00,2.50,0.00,0.000,6,0.000,0.041,3056,1445,2039
$GC,13764,1.23,193.6,517.6,7.8,660,13768,0.00,2.50,0.00,0.000,4,0.000,0.043,3056,2853,2039
$GC,13886,1.28,228.6,508.8,6.3,665,13926,0.00,2.47,32.60,1.168,6,0.000,0.040,3056,1453,1900
$GC,14243,1.28,228.6,483.3,7.9,683,14247,0.00,2.17,0.00,0.000,4,0.000,0.061,3056,259,1895
$GC,14282,1.28,228.6,480.1,8.7,684,14288,0.00,2.03,0.00,0.000,6,0.000,0.031,3056,1469,1895
$GC,14598,1.28,228.6,455.0,8.6,700,14601,0.00,2.20,0.00,0.000,4,0.000,0.058,3056,260,1895
$GC,14659,1.28,228.6,448.8,9.7,702,14665,0.00,2.03,0.00,0.000,6,0.000,0.030,3056,1460,1894
$GC,14975,1.28,228.6,423.0,7.5,718,14979,0.00,2.45,0.00,0.000,4,0.000,0.043,3056,2845,1894
$GC,15052,1.29,242.8,417.2,7.0,721,15074,0.12,2.42,13.68,1.006,6,0.042,0.037,3104,1452,1841
$GC,15393,1.29,242.8,383.2,12.0,738,15394,0.12,0.00,0.00,0.000,6,0.085,0.000,3080,1452,1839
$GC,15699,1.29,242.8,351.2,10.3,753,15704,0.00,2.45,0.00,0.000,4,0.000,0.040,3079,2840,1840
$GC,15727,1.29,242.8,347.7,12.1,754,15731,0.00,2.42,0.00,0.000,6,0.000,0.036,3079,1453,1839
$GC,16042,1.29,242.8,312.7,11.1,769,16046,0.00,2.42,0.00,0.000,4,0.000,0.038,3079,2840,1839
$GC,16075,1.29,242.8,308.9,10.5,770,16082,0.00,2.42,0.00,0.000,6,0.000,0.035,3079,1449,1840
$GC,16394,1.29,242.8,276.8,9.2,786,16398,0.00,2.45,0.00,0.000,4,0.000,0.038,3079,2850,1840
$GC,16434,1.29,242.8,273.1,8.2,788,16438,0.00,2.42,0.00,0.000,6,0.000,0.035,3079,1456,1840
$GC,16760,1.29,242.8,247.3,7.5,804,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1456,1841
$GC,17071,1.29,242.8,220.7,11.0,819,17075,0.00,2.15,0.00,0.000,4,0.000,0.057,3079,258,1841
$GC,17132,1.29,242.8,213.5,11.9,821,17139,0.00,2.00,0.00,0.000,6,0.000,0.028,3079,1459,1841
$GC,17451,1.29,242.8,183.1,9.3,837,17455,0.00,2.40,0.00,0.000,4,0.000,0.041,3079,2835,1841
$GC,17491,1.29,242.8,179.3,9.3,839,17495,0.00,2.40,0.00,0.000,6,0.000,0.035,3079,1453,1841
$GC,17817,1.29,242.8,147.4,10.3,855,17819,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1453,1842
$GC,18128,1.29,242.8,116.2,9.8,870,18129,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1453,1842
$GC,18436,1.29,242.8,86.4,9.1,885,18440,0.00,2.12,0.00,0.000,4,0.000,0.054,3079,261,1843
$GC,18508,1.29,242.8,78.6,10.7,888,18512,0.00,2.00,0.00,0.000,6,0.000,0.028,3079,1464,1843
$GC,18835,1.32,263.8,53.8,6.8,904,18857,0.00,0.00,20.08,0.766,6,0.000,0.000,3079,1466,1756
$GC,19166,1.32,263.8,28.9,8.5,920,19167,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1466,1752
$STATE,19452,end climb,SURFACE_DEPTH_REACHED
$STATE,19452,begin surface coast
$FINISH,0.1,1.027236
$STATE,19472,end surface coast,CONTROL_FINISHED_OK
$STATE,19472,begin surface
$SM_CCo,19496,23.52,0.732,0,0,1609,300.00
$SM_GC,0.98,0.00,0.00,23.52,0.000,0.000,0.732,398,2452,1609,-11.05,-0.71,300.00
$IRIDIUM_FIX,6117.23,-857.89,040998,050511
$TT8_MAMPS,0.027612
$HUMID,1801
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,77.2
$24V_AH,23.1,21.571
$10V_AH,10.0,9.118
$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,25.850,181.650,368.925,23.525,0.000,49.039,54.460,224.472,6.750,0.000,0.000,37.397,1763.810,14660.936,520.894,2195.277,915.271,33.352,1660.888,0.000,2321.729,0.000,47.365,0.000
$DEVICE_MAMPS,136.526,71.331,1352.221,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,832.565,641.521,543.041,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47504,935
$CAP_FILE_SIZE,147980,0
$CFSIZE,260165632,256438272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,100609,104307,6142.452,-858.818,41,1.0,41,-9.3