version: 66.04
glider: 105
mission: 6
dive: 30
start: 6 11 109 9 43 0
data:
$ID,105
$MISSION,6
$DIVE,30
$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,-1628616.8
$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,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
$GPS1,093431,6148.701,-914.660,39,1.8,39,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-49.2
$GPS2,094208,6148.787,-914.830,12,1.8,12,-9.5
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.205,0.124
$KALMAN_X,-158720.6,1714.2,1592.9,103934.1,-34025.2
$KALMAN_Y,83979.9,-2401.8,-479.8,-36557.6,19256.3
$MHEAD_RNG_PITCHd_Wd,68.3,56122,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-89.43,0.000,6,0.000,0.000,396,2452,3431
$GC,110,-1.17,-146.6,3.4,-3.2,5,131,11.40,2.42,0.00,0.000,4,0.133,0.033,2535,1054,3432
$GC,254,-1.17,-146.6,26.4,-10.2,11,258,0.00,2.47,0.00,0.000,6,0.000,0.032,2535,2480,3432
$GC,570,-1.17,-146.6,57.2,-10.2,26,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2481,3432
$GC,879,-1.17,-146.6,89.7,-10.9,41,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2480,3432
$GC,1190,-1.17,-146.6,121.0,-9.6,56,1194,0.00,2.47,0.00,0.000,4,0.000,0.037,2535,1056,3432
$GC,1267,-1.17,-146.6,128.4,-8.7,59,1274,0.00,2.47,0.00,0.000,6,0.000,0.033,2535,2483,3433
$GC,1582,-1.17,-146.6,157.5,-9.7,75,1587,0.00,2.50,0.00,0.000,4,0.000,0.037,2536,1051,3433
$GC,1627,-1.17,-146.6,162.1,-10.0,77,1632,0.00,2.50,0.00,0.000,6,0.000,0.033,2535,2473,3433
$GC,1953,-1.17,-146.6,191.0,-8.2,93,1957,0.00,2.47,0.00,0.000,4,0.000,0.037,2535,1054,3433
$GC,2002,-1.17,-146.6,195.2,-8.3,95,2007,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2476,3433
$GC,2319,-1.17,-146.6,225.8,-11.3,110,2323,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,1055,3433
$GC,2363,-1.17,-146.6,231.1,-11.0,112,2368,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2476,3433
$GC,2685,-1.17,-146.6,268.6,-11.8,128,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2476,3433
$GC,2996,-1.17,-146.6,305.1,-12.5,143,3000,0.00,2.47,0.00,0.000,4,0.000,0.039,2535,1059,3433
$GC,3052,-1.17,-146.6,311.6,-10.7,145,3058,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2478,3434
$GC,3369,-1.17,-146.6,343.9,-9.7,161,3373,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1059,3434
$GC,3404,-1.17,-146.6,347.7,-10.8,162,3410,0.00,2.47,0.00,0.000,6,0.000,0.038,2534,2474,3434
$GC,3719,-1.17,-146.6,377.2,-8.2,178,3724,0.00,2.50,0.00,0.000,4,0.000,0.040,2535,1064,3433
$GC,3757,-1.17,-146.6,380.2,-7.9,179,3764,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2479,3433
$GC,4076,-1.17,-146.6,397.0,-3.8,195,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2478,3433
$GC,4383,-1.17,-146.6,402.3,-0.9,210,4387,0.00,2.50,0.00,0.000,4,0.000,0.041,2535,1055,3433
$GC,4439,-1.17,-146.6,402.6,-0.2,212,4445,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2474,3433
$GC,4755,-1.17,-146.6,409.9,-3.6,228,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2474,3433
$GC,5064,-1.17,-146.6,422.5,-4.6,243,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2474,3433
$GC,5376,-1.17,-146.6,451.6,-12.1,258,5381,0.00,2.47,0.00,0.000,4,0.000,0.064,2535,3831,3432
$GC,5432,-1.17,-146.6,459.5,-13.6,260,5438,0.00,2.33,0.00,0.000,6,0.000,0.029,2535,2454,3432
$GC,5748,-1.17,-146.6,509.3,-14.9,276,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2452,3432
$GC,6057,-1.17,-146.6,549.7,-13.3,291,6063,0.00,2.45,0.00,0.000,4,0.000,0.044,2535,1078,3432
$GC,6227,-1.17,-146.6,565.0,-8.1,298,6232,0.00,2.47,0.00,0.000,6,0.000,0.041,2535,2479,3431
$GC,6548,-1.17,-146.6,575.0,-3.1,313,6553,0.00,2.47,0.00,0.000,4,0.000,0.046,2535,1084,3430
$GC,6611,-1.17,-146.6,575.7,-0.3,316,6616,0.00,2.47,0.00,0.000,6,0.000,0.042,2534,2483,3430
$GC,6938,-1.17,-146.6,581.2,-2.7,332,6943,0.00,2.50,0.00,0.000,4,0.000,0.047,2535,1080,3428
$GC,6994,-1.17,-146.6,584.8,-6.9,334,7000,0.00,2.47,0.00,0.000,6,0.000,0.043,2535,2473,3428
$GC,7312,-1.17,-146.6,614.4,-9.3,350,7316,0.00,2.47,0.00,0.000,4,0.000,0.046,2535,1082,3426
$GC,7443,-1.17,-146.6,627.6,-9.8,356,7447,0.00,2.47,0.00,0.000,6,0.000,0.045,2535,2475,3426
$GC,7769,-1.17,-146.6,658.9,-7.8,372,7774,0.00,2.53,0.00,0.000,4,0.000,0.070,2535,3828,3424
$GC,7881,-1.17,-146.6,666.1,-8.8,377,7886,0.00,2.33,0.00,0.000,6,0.000,0.034,2535,2480,3423
$STATE,7979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7979,begin apogee
$GC,7987,-0.36,0.0,672.7,6.9,382,8122,0.85,0.00,127.78,1.243,6,0.043,0.000,2733,1458,2831
$STATE,8123,end apogee,CONTROL_FINISHED_OK
$STATE,8123,begin climb
$GC,8126,1.17,146.6,672.2,0.0,389,8265,1.48,2.62,130.18,1.191,4,0.056,0.051,3052,2856,2233
$GC,8602,1.40,330.6,648.1,1.2,410,8772,0.20,2.55,161.40,1.183,6,0.025,0.044,3120,1453,1484
$GC,9082,1.40,330.6,595.7,10.9,433,9086,0.00,2.55,0.00,0.000,4,0.000,0.049,3120,2863,1471
$GC,9193,1.40,330.6,584.3,8.4,438,9198,0.00,2.53,0.00,0.000,6,0.000,0.044,3120,1450,1471
$GC,9515,1.42,346.4,553.9,7.0,454,9537,0.00,2.28,13.07,1.082,4,0.000,0.069,3120,270,1419
$GC,9620,1.42,346.4,541.0,13.6,458,9627,0.00,2.08,0.00,0.000,6,0.000,0.034,3120,1482,1416
$GC,9939,1.42,346.4,508.8,11.3,474,9943,0.00,2.25,0.00,0.000,4,0.000,0.065,3120,265,1415
$GC,10056,1.42,346.4,496.5,9.7,479,10060,0.00,2.03,0.00,0.000,6,0.000,0.033,3120,1458,1415
$GC,10378,1.42,346.4,464.0,11.0,495,10381,0.00,2.20,0.00,0.000,4,0.000,0.062,3120,262,1413
$GC,10423,1.42,346.4,458.2,13.4,497,10427,0.00,2.03,0.00,0.000,6,0.000,0.033,3120,1459,1413
$GC,10758,1.42,346.4,416.0,13.8,513,10761,0.00,2.20,0.00,0.000,4,0.000,0.059,3120,259,1413
$GC,10819,1.42,346.4,405.9,16.7,515,10825,0.00,2.05,0.00,0.000,6,0.000,0.031,3120,1460,1413
$GC,11137,1.42,346.4,350.1,17.4,531,11141,0.00,2.17,0.00,0.000,4,0.000,0.057,3120,261,1413
$GC,11192,1.42,346.4,338.8,19.5,533,11196,0.00,2.00,0.00,0.000,6,0.000,0.030,3120,1456,1413
$GC,11513,1.42,346.4,277.6,18.0,549,11518,0.00,2.17,0.00,0.000,4,0.000,0.055,3120,269,1413
$GC,11563,1.42,346.4,268.5,18.8,551,11567,0.00,1.98,0.00,0.000,6,0.000,0.029,3120,1456,1413
$GC,11890,1.42,346.4,218.7,14.8,567,11895,0.00,2.17,0.00,0.000,4,0.000,0.054,3120,267,1413
$GC,11950,1.42,346.4,209.0,15.7,569,11956,0.00,1.98,0.00,0.000,6,0.000,0.029,3120,1454,1414
$GC,12266,1.42,346.4,163.9,13.5,585,12270,0.00,2.15,0.00,0.000,4,0.000,0.054,3120,262,1414
$GC,12304,1.42,346.4,158.3,13.4,586,12310,0.00,1.98,0.00,0.000,6,0.000,0.029,3120,1455,1414
$GC,12620,1.42,346.4,113.7,14.7,602,12624,0.00,2.15,0.00,0.000,4,0.000,0.053,3120,261,1414
$GC,12712,1.42,346.4,100.0,15.1,606,12716,0.00,1.98,0.00,0.000,6,0.000,0.028,3120,1455,1415
$GC,13046,1.42,346.4,51.2,15.8,622,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1457,1414
$GC,13354,1.42,346.4,7.4,13.6,637,13355,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1457,1415
$STATE,13393,end climb,SURFACE_DEPTH_REACHED
$STATE,13393,begin surface coast
$FINISH,-0.0,1.027312
$STATE,13415,end surface coast,CONTROL_FINISHED_OK
$STATE,13415,begin surface
$SM_CCo,13499,0.00,0.000,0,0,1414,347.84
$SM_GC,0.78,11.80,0.00,0.00,0.025,0.000,0.000,394,2465,1414,-10.98,-0.28,347.84
$IRIDIUM_FIX,6126.23,-917.27,050998,090953
$TT8_MAMPS,0.027612
$HUMID,1837
$INTERNAL_PRESSURE,8.05043
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.0,107.0
$24V_AH,23.2,22.560
$10V_AH,10.0,9.590
$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,25.725,125.725,432.425,0.000,0.000,55.318,55.877,175.377,4.750,0.000,0.000,12.656,1220.071,9934.964,523.037,1569.333,710.489,33.351,1392.310,0.000,1681.156,0.000,33.190,0.000
$DEVICE_MAMPS,133.458,69.797,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.345,436.988,395.576,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31708,640
$CAP_FILE_SIZE,104283,0
$CFSIZE,260165632,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,110609,132907,6152.503,-917.567,31,1.1,31,-9.5