version: 66.04
glider: 105
mission: 6
dive: 26
start: 6 10 109 16 2 41
data:
$ID,105
$MISSION,6
$DIVE,26
$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,-1628555.6
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,155601,6141.511,-900.842,42,1.2,42,-9.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-55.5
$GPS2,160150,6141.507,-900.865,14,1.0,14,-9.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.231,-0.064
$KALMAN_X,-128417.5,1959.2,916.4,86453.6,-20446.7
$KALMAN_Y,66020.1,-1755.4,-992.8,-32183.0,11334.8
$MHEAD_RNG_PITCHd_Wd,114.9,38192,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.65,0.000,6,0.000,0.000,393,2472,3431
$GC,80,-1.17,-146.6,5.1,-10.2,3,101,11.48,2.50,0.00,0.000,4,0.135,0.033,2536,1052,3432
$GC,262,-1.17,-146.6,30.5,-9.5,11,266,0.00,2.45,0.00,0.000,6,0.000,0.032,2536,2471,3433
$GC,590,-1.17,-146.6,62.1,-9.5,27,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2471,3433
$GC,898,-1.17,-146.6,88.7,-7.7,42,902,0.00,2.45,0.00,0.000,4,0.000,0.035,2536,1058,3433
$GC,964,-1.17,-146.6,94.1,-8.3,45,968,0.00,2.45,0.00,0.000,6,0.000,0.032,2536,2473,3433
$GC,1286,-1.17,-146.6,121.0,-8.7,61,1291,0.00,2.47,0.00,0.000,4,0.000,0.036,2536,1052,3433
$GC,1336,-1.17,-146.6,125.3,-7.9,63,1340,0.00,2.47,0.00,0.000,6,0.000,0.032,2536,2481,3433
$GC,1652,-1.17,-146.6,152.3,-9.1,78,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2482,3433
$GC,1961,-1.17,-146.6,181.9,-9.6,93,1965,0.00,2.47,0.00,0.000,4,0.000,0.038,2536,1061,3433
$GC,2005,-1.17,-146.6,186.1,-8.9,95,2009,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2483,3434
$GC,2326,-1.17,-146.6,216.1,-9.5,111,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2483,3434
$GC,2635,-1.17,-146.6,244.3,-9.3,126,2640,0.00,2.53,0.00,0.000,4,0.000,0.040,2536,1058,3434
$GC,2752,-1.17,-146.6,255.1,-9.1,131,2756,0.00,2.47,0.00,0.000,6,0.000,0.036,2536,2473,3434
$GC,3072,-1.17,-146.6,284.2,-9.1,147,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2473,3434
$GC,3382,-1.17,-146.6,311.8,-8.6,162,3386,0.00,2.47,0.00,0.000,4,0.000,0.040,2536,1057,3433
$GC,3476,-1.17,-146.6,320.8,-10.5,166,3480,0.00,2.50,0.00,0.000,6,0.000,0.038,2536,2483,3433
$GC,3792,-1.17,-146.6,352.3,-10.4,181,3796,0.00,2.50,0.00,0.000,4,0.000,0.041,2536,1057,3434
$GC,3825,-1.17,-146.6,355.9,-10.7,182,3831,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2478,3434
$GC,4140,-1.17,-146.6,390.1,-11.2,198,4145,0.00,2.50,0.00,0.000,4,0.000,0.042,2536,1070,3433
$GC,4185,-1.17,-146.6,395.0,-10.9,200,4190,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2470,3433
$GC,4521,-1.17,-146.6,426.4,-9.0,216,4525,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1057,3433
$GC,4564,-1.17,-146.6,430.6,-8.3,218,4569,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2478,3433
$GC,4885,-1.17,-146.6,458.1,-8.5,234,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2478,3433
$GC,5196,-1.17,-146.6,486.0,-8.9,249,5200,0.00,2.47,0.00,0.000,4,0.000,0.042,2536,1063,3433
$GC,5275,-1.17,-146.6,493.0,-9.1,252,5281,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2474,3433
$GC,5590,-1.17,-146.6,519.7,-7.6,268,5594,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1061,3433
$GC,5639,-1.17,-146.6,523.7,-8.1,270,5644,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2478,3433
$GC,5956,-1.17,-146.6,550.4,-8.7,285,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2478,3433
$GC,6265,-1.17,-146.6,575.6,-7.7,300,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2478,3433
$GC,6574,-1.17,-146.6,600.1,-8.5,315,6579,0.00,2.53,0.00,0.000,4,0.000,0.043,2536,1061,3432
$GC,6629,-1.17,-146.6,605.2,-9.3,317,6634,0.00,2.47,0.00,0.000,6,0.000,0.038,2536,2475,3432
$GC,6945,-1.17,-146.6,634.8,-9.4,332,6950,0.00,2.53,0.00,0.000,4,0.000,0.044,2536,1062,3432
$GC,7006,-1.17,-146.6,640.2,-8.7,334,7012,0.00,2.47,0.00,0.000,6,0.000,0.040,2536,2474,3432
$GC,7322,-1.17,-146.6,662.2,-6.0,350,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2474,3431
$GC,7632,-1.17,-146.6,679.7,-5.8,365,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2474,3431
$GC,7940,-1.17,-146.6,702.1,-7.7,380,7944,0.00,2.53,0.00,0.000,4,0.000,0.047,2536,1057,3429
$GC,7989,-1.17,-146.6,706.0,-7.9,382,7994,0.00,2.53,0.00,0.000,6,0.000,0.043,2536,2467,3429
$GC,8310,-1.17,-146.6,731.9,-8.6,398,8314,0.00,2.50,0.00,0.000,4,0.000,0.049,2536,1068,3427
$GC,8387,-1.17,-146.6,739.4,-9.4,401,8393,0.00,2.50,0.00,0.000,6,0.000,0.045,2536,2476,3428
$GC,8703,-1.17,-146.6,765.6,-8.2,417,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2476,3426
$GC,9015,-1.17,-146.6,788.8,-6.4,432,9019,0.00,2.53,0.00,0.000,4,0.000,0.052,2536,1069,3424
$GC,9064,-1.17,-146.6,792.6,-6.9,434,9069,0.00,2.53,0.00,0.000,6,0.000,0.047,2536,2479,3424
$STATE,9192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9192,begin apogee
$GC,9200,-0.36,0.0,800.4,6.4,440,9335,0.88,0.00,129.38,1.322,6,0.075,0.000,2720,1459,2831
$STATE,9336,end apogee,CONTROL_FINISHED_OK
$STATE,9336,begin climb
$GC,9339,1.17,146.6,801.8,0.0,447,9479,1.50,2.62,131.55,1.271,4,0.044,0.056,3056,2864,2233
$GC,9816,1.21,178.4,785.6,6.4,468,9852,0.00,2.55,28.30,1.237,6,0.000,0.048,3056,1454,2103
$GC,10174,1.22,185.1,761.6,7.3,486,10189,0.00,2.60,6.43,1.012,4,0.000,0.052,3056,2866,2076
$GC,10325,1.22,185.1,747.9,9.2,492,10331,0.00,2.55,0.00,0.000,6,0.000,0.048,3056,1447,2074
$GC,10643,1.22,185.1,718.6,8.8,508,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1447,2073
$GC,10950,1.22,185.1,691.9,8.6,523,10954,0.00,2.58,0.00,0.000,4,0.000,0.052,3056,2866,2072
$GC,11005,1.22,185.1,687.2,8.3,525,11013,0.00,2.58,0.00,0.000,6,0.000,0.047,3056,1451,2071
$GC,11321,1.22,185.1,660.2,9.0,541,11325,0.00,2.58,0.00,0.000,4,0.000,0.052,3056,2870,2071
$GC,11387,1.22,185.1,654.2,9.4,544,11392,0.00,2.58,0.00,0.000,6,0.000,0.045,3056,1452,2070
$GC,11713,1.22,185.1,624.9,9.5,560,11718,0.00,2.53,0.00,0.000,4,0.000,0.049,3056,2865,2069
$GC,11763,1.22,185.1,619.6,9.9,562,11768,0.00,2.53,0.00,0.000,6,0.000,0.044,3056,1456,2069
$GC,12084,1.22,185.1,588.7,8.3,578,12088,0.00,2.53,0.00,0.000,4,0.000,0.047,3056,2873,2069
$GC,12183,1.22,185.1,580.2,7.9,582,12190,0.00,2.50,0.00,0.000,6,0.000,0.041,3056,1452,2068
$GC,12502,1.22,185.1,555.3,8.5,598,12505,0.00,2.17,0.00,0.000,4,0.000,0.062,3056,262,2069
$GC,12524,1.22,185.1,552.9,9.1,599,12528,0.00,2.05,0.00,0.000,6,0.000,0.031,3057,1483,2068
$GC,12857,1.22,185.1,521.3,9.2,615,12861,0.00,2.40,0.00,0.000,4,0.000,0.045,3056,2845,2068
$GC,12963,1.22,185.1,512.5,8.0,620,12967,0.00,2.45,0.00,0.000,6,0.000,0.038,3056,1448,2068
$GC,13290,1.22,185.1,485.4,8.4,636,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1448,2068
$GC,13599,1.22,185.1,458.7,8.8,651,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1448,2069
$GC,13908,1.22,185.1,432.7,8.2,666,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1448,2069
$GC,14220,1.22,185.1,407.3,8.5,681,14221,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1447,2070
$GC,14528,1.22,185.1,379.7,8.8,696,14532,0.00,2.45,0.00,0.000,4,0.000,0.038,3056,2848,2070
$GC,14577,1.22,185.1,375.1,8.4,698,14581,0.00,2.42,0.00,0.000,6,0.000,0.035,3056,1448,2070
$GC,14893,1.22,185.1,347.9,8.2,713,14897,0.00,2.45,0.00,0.000,4,0.000,0.037,3056,2851,2071
$GC,14942,1.22,185.1,343.7,8.3,715,14946,0.00,2.42,0.00,0.000,6,0.000,0.034,3056,1451,2071
$GC,15258,1.25,209.9,320.6,6.7,730,15286,0.00,2.50,22.30,0.946,4,0.000,0.038,3056,2837,1976
$GC,15322,1.27,224.6,316.0,7.0,733,15344,0.00,2.42,14.57,0.899,6,0.000,0.035,3056,1455,1916
$GC,15655,1.27,224.6,290.1,8.3,749,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1455,1912
$GC,15962,1.27,224.6,263.2,8.6,764,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1455,1912
$GC,16271,1.27,224.6,236.3,8.5,779,16276,0.00,2.45,0.00,0.000,4,0.000,0.038,3056,2850,1912
$GC,16315,1.27,224.6,232.4,8.9,781,16321,0.00,2.45,0.00,0.000,6,0.000,0.035,3057,1462,1912
$GC,16642,1.27,224.6,204.7,8.2,797,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1461,1912
$GC,16951,1.27,224.6,178.3,9.1,812,16955,0.00,2.40,0.00,0.000,4,0.000,0.035,3056,2849,1912
$GC,17001,1.27,224.6,173.5,9.6,814,17005,0.00,2.42,0.00,0.000,6,0.000,0.033,3056,1446,1911
$GC,17317,1.27,224.6,144.0,9.0,829,17321,0.00,2.10,0.00,0.000,4,0.000,0.055,3056,270,1912
$GC,17344,1.27,224.6,141.3,8.5,830,17348,0.00,1.95,0.00,0.000,6,0.000,0.027,3056,1469,1912
$GC,17673,1.27,224.6,112.3,8.9,846,17677,0.00,2.35,0.00,0.000,4,0.000,0.038,3056,2833,1912
$GC,17745,1.27,224.6,105.9,9.7,849,17749,0.00,2.38,0.00,0.000,6,0.000,0.032,3056,1452,1912
$GC,18061,1.29,243.0,80.7,6.9,864,18084,0.10,2.47,16.83,0.773,4,0.052,0.035,3095,2836,1840
$GC,18134,1.30,247.7,74.4,7.3,867,18145,0.00,2.40,5.50,0.617,6,0.000,0.032,3095,1456,1822
$GC,18456,1.30,247.7,43.6,9.4,882,18460,0.00,2.12,0.00,0.000,4,0.000,0.054,3095,265,1820
$GC,18578,1.30,247.7,29.1,14.1,887,18582,0.00,1.98,0.00,0.000,6,0.000,0.027,3095,1456,1820
$STATE,18857,end climb,SURFACE_DEPTH_REACHED
$STATE,18857,begin surface coast
$FINISH,0.0,1.027070
$STATE,18878,end surface coast,CONTROL_FINISHED_OK
$STATE,18878,begin surface
$SM_CCo,18902,31.45,0.736,0,0,1609,300.00
$SM_GC,0.90,0.00,0.00,31.45,0.000,0.000,0.736,395,2454,1609,-11.06,-0.62,300.00
$IRIDIUM_FIX,6117.23,-852.70,040998,101044
$TT8_MAMPS,0.027612
$HUMID,1795
$INTERNAL_PRESSURE,8.09926
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.4,82.7
$24V_AH,23.2,21.862
$10V_AH,10.1,9.297
$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,25.625,165.125,354.850,31.450,0.000,28.467,25.083,174.963,6.250,0.000,0.000,16.090,1680.981,14278.089,495.867,2040.764,785.891,33.355,1577.307,0.000,2196.829,0.000,42.804,0.000
$DEVICE_MAMPS,134.992,62.127,1321.541,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,812.030,624.701,532.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47462,902
$CAP_FILE_SIZE,137065,0
$CFSIZE,260165632,256319488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,100609,211936,6143.707,-901.199,41,1.4,41,-9.3