version: 66.04
glider: 105
mission: 6
dive: 29
start: 6 11 109 5 55 29
data:
$ID,105
$MISSION,6
$DIVE,29
$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,-1628603.5
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,054937,6147.981,-909.376,37,1.1,37,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-54.2
$GPS2,055437,6148.004,-909.542,11,1.8,16,-9.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.196,-0.138
$KALMAN_X,-149602.6,786.1,1395.6,100640.9,-27794.6
$KALMAN_Y,78618.2,-830.8,-848.3,-33846.4,13809.2
$MHEAD_RNG_PITCHd_Wd,134.4,51586,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.17,-146.6,0.0,0.0,0,83,0.00,0.00,-64.57,0.000,6,0.000,0.000,394,2464,3431
$GC,86,-1.17,-146.6,2.9,-5.0,3,107,11.43,2.45,0.00,0.000,4,0.133,0.032,2537,1051,3432
$GC,358,-1.17,-146.6,40.5,-9.4,15,363,0.00,2.47,0.00,0.000,6,0.000,0.030,2537,2487,3433
$GC,680,-1.17,-146.6,70.7,-9.6,31,684,0.00,2.50,0.00,0.000,4,0.000,0.035,2537,1049,3433
$GC,719,-1.17,-146.6,74.8,-10.3,33,724,0.00,2.47,0.00,0.000,6,0.000,0.031,2537,2481,3433
$GC,1046,-1.17,-146.6,106.2,-9.4,49,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2481,3433
$GC,1356,-1.17,-146.6,136.5,-10.2,64,1360,0.00,2.47,0.00,0.000,4,0.000,0.036,2536,1055,3434
$GC,1382,-1.17,-146.6,139.2,-9.9,65,1387,0.00,2.45,0.00,0.000,6,0.000,0.033,2537,2471,3434
$GC,1700,-1.17,-146.6,170.8,-10.0,80,1705,0.00,2.47,0.00,0.000,4,0.000,0.037,2537,1050,3433
$GC,1741,-1.17,-146.6,175.0,-9.9,82,1745,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2478,3433
$GC,2067,-1.17,-146.6,206.8,-9.6,98,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2478,3433
$GC,2376,-1.17,-146.6,235.3,-9.1,113,2380,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1058,3434
$GC,2438,-1.17,-146.6,240.6,-9.0,116,2443,0.00,2.50,0.00,0.000,6,0.000,0.036,2537,2471,3434
$GC,2770,-1.17,-146.6,264.7,-6.2,132,2774,0.00,2.47,0.00,0.000,4,0.000,0.039,2537,1055,3434
$GC,2804,-1.17,-146.6,266.7,-5.5,133,2810,0.00,2.50,0.00,0.000,6,0.000,0.036,2537,2487,3434
$GC,3119,-1.17,-146.6,280.4,-3.9,149,3123,0.00,2.50,0.00,0.000,4,0.000,0.039,2536,1056,3434
$GC,3169,-1.17,-146.6,282.0,-3.0,151,3173,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2476,3434
$GC,3487,-1.17,-146.6,291.6,-3.0,166,3492,0.00,2.47,0.00,0.000,4,0.000,0.039,2537,1054,3434
$GC,3528,-1.17,-146.6,293.3,-4.0,168,3532,0.00,2.47,0.00,0.000,6,0.000,0.037,2537,2475,3434
$GC,3857,-1.17,-146.6,309.9,-6.1,184,3861,0.00,2.47,0.00,0.000,4,0.000,0.039,2536,1058,3434
$GC,3897,-1.17,-146.6,312.6,-6.5,186,3902,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2474,3434
$GC,4224,-1.17,-146.6,338.0,-9.0,202,4228,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1058,3434
$GC,4285,-1.17,-146.6,344.3,-10.3,205,4290,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2486,3434
$GC,4612,-1.17,-146.6,380.0,-11.5,221,4617,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1059,3434
$GC,4657,-1.17,-146.6,385.6,-12.6,223,4661,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2476,3434
$GC,4978,-1.17,-146.6,428.8,-14.1,239,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2476,3434
$GC,5287,-1.17,-146.6,470.7,-11.7,254,5292,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1065,3433
$GC,5354,-1.17,-146.6,478.1,-10.7,257,5358,0.00,2.47,0.00,0.000,6,0.000,0.039,2537,2477,3433
$GC,5680,-1.17,-146.6,522.7,-15.1,273,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2477,3433
$GC,5992,-1.17,-146.6,554.2,-8.2,288,5996,0.00,2.50,0.00,0.000,4,0.000,0.044,2537,1061,3433
$GC,6092,-1.17,-146.6,564.0,-8.5,292,6098,0.00,2.50,0.00,0.000,6,0.000,0.041,2537,2475,3432
$GC,6410,-1.17,-146.6,580.6,-2.8,308,6415,0.00,2.53,0.00,0.000,4,0.000,0.047,2537,1055,3432
$GC,6473,-1.17,-146.6,582.6,-3.4,311,6478,0.00,2.53,0.00,0.000,6,0.000,0.042,2537,2483,3432
$GC,6800,-1.17,-146.6,597.3,-5.9,327,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2484,3431
$GC,7109,-1.17,-146.6,628.5,-10.2,342,7113,0.00,2.55,0.00,0.000,4,0.000,0.048,2537,1055,3429
$GC,7164,-1.17,-146.6,634.4,-10.1,344,7170,0.00,2.53,0.00,0.000,6,0.000,0.044,2537,2479,3428
$GC,7482,-1.17,-146.6,668.1,-10.1,360,7486,0.00,2.55,0.00,0.000,4,0.000,0.050,2537,1055,3427
$GC,7560,-1.17,-146.6,672.0,-2.9,363,7566,0.00,2.53,0.00,0.000,6,0.000,0.047,2537,2472,3427
$STATE,7710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7711,begin apogee
$GC,7719,-0.36,0.0,689.1,14.0,371,7851,0.88,0.00,127.50,1.242,6,0.074,0.000,2721,1451,2832
$STATE,7852,end apogee,CONTROL_FINISHED_OK
$STATE,7852,begin climb
$GC,7854,1.17,146.6,688.9,0.0,378,7993,1.52,2.28,130.52,1.192,4,0.052,0.068,3055,263,2234
$GC,8333,1.39,321.6,677.8,1.5,399,8497,0.20,2.10,155.45,1.189,6,0.036,0.038,3118,1476,1520
$GC,8814,1.39,321.6,612.5,15.0,423,8817,0.00,2.25,0.00,0.000,4,0.000,0.065,3118,265,1508
$GC,8942,1.39,321.6,592.5,16.8,428,8949,0.00,2.08,0.00,0.000,6,0.000,0.034,3118,1461,1506
$GC,9258,1.39,321.6,554.9,8.9,444,9261,0.00,2.22,0.00,0.000,4,0.000,0.064,3118,262,1504
$GC,9274,1.43,352.7,553.9,6.4,444,9307,0.00,2.08,26.95,1.131,6,0.000,0.034,3118,1459,1393
$GC,9637,1.61,499.8,540.4,2.5,462,9777,0.15,2.33,134.43,1.148,4,0.045,0.064,3176,258,794
$GC,9805,1.61,499.8,527.0,11.4,470,9810,0.15,2.05,0.00,0.000,6,0.090,0.033,3147,1458,790
$GC,10134,1.61,499.8,498.1,9.0,486,10137,0.00,2.22,0.00,0.000,4,0.000,0.063,3147,257,784
$GC,10275,1.61,499.8,481.2,12.4,492,10279,0.00,2.05,0.00,0.000,6,0.000,0.031,3147,1462,782
$GC,10601,1.61,499.8,437.7,14.9,508,10605,0.00,2.20,0.00,0.000,4,0.000,0.059,3147,262,781
$GC,10737,1.61,499.8,413.1,18.0,514,10740,0.00,2.03,0.00,0.000,6,0.000,0.031,3147,1458,780
$GC,11069,1.61,499.8,348.0,21.0,530,11072,0.00,2.17,0.00,0.000,4,0.000,0.058,3147,263,780
$GC,11204,1.61,499.8,319.3,21.1,536,11208,0.00,2.00,0.00,0.000,6,0.000,0.029,3147,1460,779
$GC,11539,1.61,499.8,249.8,21.4,552,11543,0.00,2.17,0.00,0.000,4,0.000,0.056,3148,262,779
$GC,11701,1.61,499.8,215.3,19.4,559,11705,0.00,2.00,0.00,0.000,6,0.000,0.029,3148,1456,779
$GC,12031,1.61,499.8,160.4,15.4,575,12034,0.00,2.17,0.00,0.000,4,0.000,0.054,3148,259,779
$GC,12182,1.61,499.8,133.9,16.9,581,12188,0.00,2.00,0.00,0.000,6,0.000,0.028,3148,1454,780
$GC,12498,1.61,499.8,81.6,16.2,597,12503,0.00,2.17,0.00,0.000,4,0.000,0.054,3147,267,780
$GC,12636,1.61,499.8,59.6,15.8,603,12640,0.00,1.98,0.00,0.000,6,0.000,0.028,3147,1461,779
$GC,12964,1.61,499.8,3.5,17.9,619,12967,0.00,2.17,0.00,0.000,4,0.000,0.054,3147,256,780
$STATE,12972,end climb,SURFACE_DEPTH_REACHED
$STATE,12972,begin surface coast
$FINISH,0.3,1.027240
$STATE,12980,end surface coast,CONTROL_FINISHED_OK
$STATE,12980,begin surface
$SM_CCo,13066,0.00,0.000,0,0,778,503.85
$SM_GC,0.74,12.00,0.00,0.00,0.028,0.000,0.000,396,2451,778,-10.98,-0.71,503.85
$IRIDIUM_FIX,6121.73,-908.29,050998,020235
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,8.0016
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.4,72.5
$24V_AH,23.2,22.398
$10V_AH,10.0,9.520
$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,26.325,130.150,574.850,0.000,0.000,29.685,29.763,128.820,5.500,0.000,0.000,16.669,1206.382,9319.419,599.055,1633.263,609.988,33.350,1500.844,0.000,1718.742,0.000,39.271,0.000
$DEVICE_MAMPS,133.458,68.263,1241.773,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.096,422.196,373.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31627,619
$CAP_FILE_SIZE,104787,0
$CFSIZE,260165632,256192512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,110609,093431,6148.701,-914.660,39,1.8,39,-9.5