version: 66.04
glider: 105
mission: 6
dive: 28
start: 6 11 109 1 53 54
data:
$ID,105
$MISSION,6
$DIVE,28
$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,-1628586.2
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,014237,6145.316,-905.131,30,1.7,30,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-53.0
$GPS2,015302,6145.348,-905.239,16,1.6,16,-9.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.225,0.083
$KALMAN_X,-140627.7,1071.9,795.1,95787.8,-21252.6
$KALMAN_Y,74393.6,845.9,-388.9,-36710.1,10005.1
$MHEAD_RNG_PITCHd_Wd,79.2,45523,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-68.60,0.000,6,0.000,0.000,394,2455,3431
$GC,89,-1.17,-146.6,3.0,-5.5,3,110,11.45,2.50,0.00,0.000,4,0.134,0.034,2537,1052,3433
$GC,245,-1.17,-146.6,27.4,-9.0,10,250,0.00,2.47,0.00,0.000,6,0.000,0.031,2536,2482,3433
$GC,572,-1.17,-146.6,59.8,-10.0,26,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2483,3432
$GC,882,-1.17,-146.6,88.2,-9.3,41,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2483,3433
$GC,1192,-1.17,-146.6,122.0,-11.1,56,1196,0.00,2.50,0.00,0.000,4,0.000,0.037,2537,1052,3433
$GC,1286,-1.17,-146.6,133.1,-12.5,60,1291,0.00,2.50,0.00,0.000,6,0.000,0.032,2536,2474,3433
$GC,1609,-1.17,-146.6,165.2,-8.8,76,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3433
$GC,1916,-1.17,-146.6,192.6,-9.9,91,1921,0.00,2.47,0.00,0.000,4,0.000,0.037,2537,1055,3433
$GC,2016,-1.17,-146.6,203.2,-9.4,95,2023,0.00,2.47,0.00,0.000,6,0.000,0.035,2537,2474,3433
$GC,2333,-1.17,-146.6,234.4,-9.6,111,2338,0.00,2.47,0.00,0.000,4,0.000,0.061,2537,3834,3433
$GC,2373,-1.17,-146.6,238.6,-10.1,113,2377,0.00,2.33,0.00,0.000,6,0.000,0.027,2536,2454,3433
$GC,2702,-1.17,-146.6,267.3,-8.8,129,2706,0.00,2.38,0.00,0.000,4,0.000,0.039,2537,1080,3433
$GC,2742,-1.17,-146.6,271.3,-9.5,131,2746,0.00,2.42,0.00,0.000,6,0.000,0.035,2537,2480,3433
$GC,3068,-1.17,-146.6,299.5,-8.3,147,3073,0.00,2.45,0.00,0.000,4,0.000,0.039,2537,1078,3433
$GC,3113,-1.17,-146.6,303.4,-8.1,149,3117,0.00,2.45,0.00,0.000,6,0.000,0.036,2536,2484,3433
$GC,3440,-1.17,-146.6,331.8,-9.1,165,3445,0.00,2.45,0.00,0.000,4,0.000,0.040,2537,1082,3433
$GC,3473,-1.17,-146.6,334.9,-9.4,166,3479,0.00,2.45,0.00,0.000,6,0.000,0.037,2537,2485,3433
$GC,3789,-1.17,-146.6,360.5,-7.4,182,3794,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1091,3433
$GC,3845,-1.17,-146.6,364.6,-7.1,184,3849,0.00,2.42,0.00,0.000,6,0.000,0.038,2537,2473,3433
$GC,4160,-1.17,-146.6,386.2,-7.3,199,4164,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1076,3433
$GC,4233,-1.17,-146.6,391.6,-8.0,202,4237,0.00,2.45,0.00,0.000,6,0.000,0.038,2537,2478,3433
$GC,4551,-1.17,-146.6,419.8,-10.7,217,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2478,3433
$GC,4858,-1.17,-146.6,452.4,-11.7,232,4862,0.00,2.45,0.00,0.000,4,0.000,0.041,2537,1082,3433
$GC,4965,-1.17,-146.6,466.3,-13.4,237,4970,0.00,2.45,0.00,0.000,6,0.000,0.038,2536,2470,3433
$GC,5296,-1.17,-146.6,507.7,-13.3,253,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2470,3432
$GC,5607,-1.17,-146.6,542.7,-11.3,268,5611,0.00,2.45,0.00,0.000,4,0.000,0.042,2537,1078,3432
$GC,5751,-1.17,-146.6,557.2,-8.2,274,5757,0.00,2.45,0.00,0.000,6,0.000,0.040,2537,2477,3431
$GC,6070,-1.17,-146.6,570.3,-1.3,290,6074,0.00,2.47,0.00,0.000,4,0.000,0.043,2536,1073,3431
$GC,6181,-1.17,-146.6,577.3,-11.3,295,6185,0.00,2.47,0.00,0.000,6,0.000,0.041,2537,2477,3431
$GC,6502,-1.17,-146.6,599.9,-7.9,311,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2477,3430
$GC,6813,-1.17,-146.6,634.3,-5.9,326,6817,0.00,2.50,0.00,0.000,4,0.000,0.070,2537,3833,3428
$GC,6856,-1.17,-146.6,638.8,-10.8,328,6861,0.00,2.33,0.00,0.000,6,0.000,0.033,2537,2480,3428
$GC,7178,-1.17,-146.6,664.8,-7.0,344,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2477,3427
$STATE,7443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7443,begin apogee
$GC,7451,-0.36,0.0,680.0,7.7,357,7586,0.88,0.00,126.85,1.239,6,0.074,0.000,2721,1462,2832
$STATE,7587,end apogee,CONTROL_FINISHED_OK
$STATE,7587,begin climb
$GC,7590,1.17,146.6,682.4,0.0,364,7728,1.55,2.62,129.68,1.183,4,0.064,0.051,3052,2858,2233
$GC,8067,1.17,146.6,639.4,13.3,385,8075,0.00,2.53,0.00,0.000,6,0.000,0.044,3052,1458,2222
$GC,8383,1.31,254.7,624.5,3.8,401,8488,0.15,2.62,95.12,1.184,4,0.043,0.051,3106,2856,1792
$GC,8549,1.31,254.7,612.6,8.8,408,8555,0.00,2.53,0.00,0.000,6,0.000,0.043,3106,1453,1786
$GC,8865,1.31,254.7,568.1,15.4,424,8869,0.00,2.55,0.00,0.000,4,0.000,0.049,3106,2866,1781
$GC,8908,1.31,254.7,561.5,13.8,426,8913,0.00,2.53,0.00,0.000,6,0.000,0.043,3106,1461,1780
$GC,9235,1.31,254.7,525.4,12.1,442,9238,0.00,2.22,0.00,0.000,4,0.000,0.066,3106,258,1778
$GC,9409,1.31,254.7,501.0,14.7,449,9415,0.00,2.08,0.00,0.000,6,0.000,0.033,3106,1478,1777
$GC,9725,1.31,254.7,458.1,15.0,465,9728,0.00,2.22,0.00,0.000,4,0.000,0.060,3106,264,1776
$GC,9922,1.31,254.7,424.9,16.7,473,9929,0.00,2.00,0.00,0.000,6,0.000,0.031,3106,1457,1775
$GC,10240,1.31,254.7,378.0,15.0,489,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1457,1775
$GC,10547,1.31,254.7,332.5,13.3,504,10551,0.00,2.17,0.00,0.000,4,0.000,0.055,3106,259,1775
$GC,10597,1.31,254.7,325.4,14.3,506,10601,0.00,2.03,0.00,0.000,6,0.000,0.031,3106,1456,1775
$GC,10924,1.31,254.7,290.4,9.2,522,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1458,1775
$GC,11233,1.32,260.7,265.9,7.3,537,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1458,1776
$GC,11542,1.32,263.2,243.9,7.4,552,11553,0.00,2.15,5.80,0.737,4,0.000,0.053,3106,263,1758
$GC,11604,1.34,280.4,239.2,6.9,555,11627,0.00,2.05,16.88,0.882,6,0.000,0.030,3106,1459,1689
$GC,11938,1.40,329.9,220.0,5.8,571,11985,0.00,0.00,45.03,0.894,6,0.000,0.000,3106,1460,1486
$GC,12286,1.40,329.9,194.3,8.0,588,12290,0.00,2.17,0.00,0.000,4,0.000,0.054,3106,258,1480
$GC,12336,1.40,329.9,189.5,8.8,590,12340,0.00,2.03,0.00,0.000,6,0.000,0.029,3106,1456,1480
$GC,12666,1.40,329.9,157.4,10.7,606,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1457,1479
$GC,12973,1.40,329.9,123.4,11.3,621,12976,0.00,2.15,0.00,0.000,4,0.000,0.052,3106,261,1478
$GC,13078,1.40,329.9,109.6,13.5,625,13085,0.00,2.03,0.00,0.000,6,0.000,0.028,3106,1456,1478
$GC,13395,1.40,329.9,72.2,11.5,641,13399,0.00,2.15,0.00,0.000,4,0.000,0.052,3105,258,1479
$GC,13451,1.40,329.9,65.3,12.3,643,13455,0.00,2.03,0.00,0.000,6,0.000,0.029,3106,1464,1478
$GC,13772,1.40,329.9,27.2,12.5,659,13776,0.00,2.17,0.00,0.000,4,0.000,0.051,3106,257,1478
$GC,13845,1.40,329.9,16.9,14.1,662,13848,0.00,2.00,0.00,0.000,6,0.000,0.029,3106,1455,1479
$STATE,13964,end climb,SURFACE_DEPTH_REACHED
$STATE,13964,begin surface coast
$FINISH,0.2,1.027237
$STATE,13985,end surface coast,CONTROL_FINISHED_OK
$STATE,13985,begin surface
$SM_CCo,14069,0.00,0.000,0,0,1476,332.38
$SM_GC,0.73,11.70,0.00,0.00,0.022,0.000,0.000,394,2462,1476,-10.98,-0.37,332.38
$IRIDIUM_FIX,6121.73,-903.08,050998,010117
$TT8_MAMPS,0.026845
$HUMID,1822
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.2,63.2
$24V_AH,23.2,22.196
$10V_AH,10.1,9.450
$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,25.725,116.325,419.350,0.000,0.000,61.328,67.872,311.210,5.500,0.000,0.000,16.342,1271.050,10425.389,494.173,1629.027,874.662,33.352,1365.684,0.000,1720.420,0.000,39.233,0.000
$DEVICE_MAMPS,134.225,69.797,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.329,457.366,413.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34802,669
$CAP_FILE_SIZE,108993,0
$CFSIZE,260165632,256237568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,110609,054937,6147.981,-909.376,37,1.1,37,-9.4