version: 66.04
glider: 105
mission: 6
dive: 5
start: 6 6 109 9 0 4
data:
$ID,105
$MISSION,6
$DIVE,5
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,-3
$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,-1628188.1
$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,2500
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,30
$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,20
$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
$GPS1,085131,6130.987,-826.343,40,1.8,40,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-59.3
$GPS2,085808,6130.969,-826.445,12,2.0,12,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.145,-0.195
$KALMAN_X,-3226.1,-51.4,-402.5,-4841.0,-1035.8
$KALMAN_Y,3754.8,78.7,467.4,7197.9,1311.9
$MHEAD_RNG_PITCHd_Wd,152.2,2203,-19.8,-10.000
$D_GRID,795
$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,-1.56,-123.1,0.0,0.0,0,78,0.00,0.00,-58.90,0.000,6,0.000,0.000,397,2304,3335
$GC,81,-1.59,-146.6,3.8,-7.9,3,103,11.00,2.17,-1.62,0.000,4,0.140,0.050,2443,1075,3432
$GC,333,-1.59,-146.6,43.6,-12.8,14,337,0.00,2.45,0.00,0.000,6,0.000,0.033,2443,2500,3432
$GC,655,-1.59,-146.6,79.2,-11.3,30,659,0.00,2.38,0.00,0.000,4,0.000,0.056,2443,3827,3433
$GC,717,-1.59,-146.6,86.9,-12.5,33,721,0.00,2.25,0.00,0.000,6,0.000,0.027,2443,2475,3432
$GC,1043,-1.59,-146.6,128.5,-13.3,49,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2473,3433
$GC,1355,-1.59,-146.6,171.6,-14.4,64,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2473,3433
$GC,1662,-1.59,-146.6,216.6,-13.2,79,1666,0.00,2.42,0.00,0.000,4,0.000,0.056,2443,3822,3433
$GC,1791,-1.59,-146.6,233.5,-13.0,85,1795,0.00,2.20,0.00,0.000,6,0.000,0.030,2444,2504,3433
$GC,2118,-1.59,-146.6,273.2,-12.5,101,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2503,3433
$GC,2428,-1.59,-146.6,310.6,-12.1,116,2432,0.00,2.38,0.00,0.000,4,0.000,0.057,2443,3824,3433
$GC,2512,-1.59,-146.6,321.6,-12.8,120,2517,0.00,2.25,0.00,0.000,6,0.000,0.031,2443,2503,3433
$GC,2846,-1.59,-146.6,365.7,-13.2,136,2850,0.00,2.38,0.00,0.000,4,0.000,0.058,2443,3824,3433
$GC,3035,-1.59,-146.6,393.2,-15.7,144,3042,0.00,2.22,0.00,0.000,6,0.000,0.031,2443,2496,3433
$GC,3351,-1.59,-146.6,439.6,-13.9,160,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2494,3433
$GC,3660,-1.59,-146.6,480.5,-13.3,175,3664,0.00,2.40,0.00,0.000,4,0.000,0.061,2444,3828,3433
$GC,4002,-1.59,-146.6,525.8,-14.9,190,4007,0.00,2.25,0.00,0.000,6,0.000,0.031,2444,2506,3432
$GC,4323,-1.59,-146.6,567.8,-11.5,206,4327,0.00,2.42,0.00,0.000,4,0.000,0.041,2444,1095,3433
$GC,4499,-1.59,-146.6,588.8,-11.1,214,4503,0.00,2.42,0.00,0.000,6,0.000,0.040,2444,2494,3433
$GC,4825,-1.59,-146.6,628.2,-13.0,230,4829,0.00,2.42,0.00,0.000,4,0.000,0.064,2444,3834,3432
$GC,5088,-1.59,-146.6,660.8,-10.7,242,5092,0.00,2.25,0.00,0.000,6,0.000,0.033,2444,2502,3431
$GC,5417,-1.59,-146.6,691.9,-10.4,258,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2500,3430
$GC,5725,-1.59,-146.6,727.5,-13.1,273,5729,0.00,2.42,0.00,0.000,4,0.000,0.067,2443,3830,3428
$GC,5869,-1.59,-146.6,747.8,-12.3,279,5875,0.00,2.28,0.00,0.000,6,0.000,0.037,2443,2499,3427
$GC,6185,-1.59,-146.6,780.5,-5.3,295,6189,0.00,2.45,0.00,0.000,4,0.000,0.050,2443,1099,3426
$GC,6242,-1.59,-146.6,788.3,-17.9,297,6249,0.00,2.47,0.00,0.000,6,0.000,0.047,2444,2499,3425
$STATE,6287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6287,begin apogee
$GC,6295,-0.36,0.0,795.5,15.6,300,6431,1.35,0.00,127.60,1.312,6,0.089,0.000,2722,1556,2831
$STATE,6431,end apogee,CONTROL_FINISHED_OK
$STATE,6431,begin climb
$GC,6434,1.59,146.6,809.9,0.0,307,6578,1.98,2.42,131.07,1.261,4,0.063,0.067,3144,270,2233
$GC,6638,1.59,146.6,792.1,18.4,316,6645,0.00,2.25,0.00,0.000,6,0.000,0.038,3144,1567,2226
$GC,6954,1.59,146.6,738.8,11.6,332,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1567,2220
$GC,7264,1.69,227.9,709.2,5.6,347,7343,0.10,0.00,72.50,1.234,6,0.051,0.000,3183,1567,1900
$GC,7655,1.69,227.9,657.1,14.1,366,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1567,1891
$GC,7963,1.69,227.9,618.2,10.4,381,7967,0.00,2.40,0.00,0.000,4,0.000,0.066,3183,268,1888
$GC,8050,1.69,227.9,605.6,14.8,385,8054,0.00,2.20,0.00,0.000,6,0.000,0.035,3183,1555,1888
$GC,8377,1.69,227.9,566.2,11.9,401,8382,0.00,2.40,0.00,0.000,4,0.000,0.062,3183,267,1887
$GC,8511,1.69,227.9,549.5,11.1,407,8515,0.00,2.20,0.00,0.000,6,0.000,0.035,3183,1556,1886
$GC,8838,1.69,227.9,512.4,11.9,423,8842,0.00,2.47,0.00,0.000,4,0.000,0.049,3183,2949,1884
$GC,8932,1.69,227.9,501.0,11.9,427,8937,0.00,2.42,0.00,0.000,6,0.000,0.038,3183,1546,1884
$GC,9248,1.69,227.9,466.5,10.3,442,9252,0.00,2.33,0.00,0.000,4,0.000,0.058,3183,270,1884
$GC,9315,1.69,227.9,458.8,12.2,445,9319,0.00,2.15,0.00,0.000,6,0.000,0.031,3183,1556,1884
$GC,9649,1.73,255.3,428.8,8.5,461,9678,0.00,2.40,22.55,1.044,4,0.000,0.056,3183,262,1790
$GC,9792,1.73,255.3,411.0,13.6,467,9795,0.00,2.17,0.00,0.000,6,0.000,0.031,3183,1556,1788
$GC,10113,1.73,255.3,368.7,14.4,483,10117,0.00,2.33,0.00,0.000,4,0.000,0.055,3183,267,1786
$GC,10197,1.73,255.3,354.4,17.9,487,10201,0.00,2.15,0.00,0.000,6,0.000,0.031,3183,1547,1786
$GC,10529,1.73,255.3,301.8,16.1,503,10533,0.00,2.30,0.00,0.000,4,0.000,0.054,3183,265,1787
$GC,10602,1.73,255.3,288.9,17.8,506,10607,0.00,2.20,0.00,0.000,6,0.000,0.031,3183,1547,1786
$GC,10922,1.73,255.3,239.5,14.8,522,10926,0.00,2.30,0.00,0.000,4,0.000,0.054,3183,264,1786
$GC,11000,1.73,255.3,227.1,16.0,525,11007,0.00,2.20,0.00,0.000,6,0.000,0.031,3183,1547,1787
$GC,11316,1.73,255.3,179.3,15.3,541,11320,0.00,2.30,0.00,0.000,4,0.000,0.054,3183,263,1786
$GC,11528,1.73,255.3,148.4,13.0,550,11535,0.00,2.20,0.00,0.000,6,0.000,0.031,3183,1551,1787
$GC,11844,1.73,255.3,106.6,15.5,566,11848,0.00,2.30,0.00,0.000,4,0.000,0.052,3183,262,1787
$GC,11996,1.73,255.3,80.2,17.5,573,12001,0.00,2.20,0.00,0.000,6,0.000,0.030,3183,1556,1788
$GC,12328,1.73,255.3,26.9,15.7,589,12332,0.00,2.30,0.00,0.000,4,0.000,0.052,3183,262,1788
$GC,12417,1.73,255.3,12.5,15.6,593,12421,0.00,2.15,0.00,0.000,6,0.000,0.029,3183,1551,1788
$STATE,12496,end climb,SURFACE_DEPTH_REACHED
$STATE,12496,begin surface coast
$FINISH,-0.2,1.013298
$STATE,12517,end surface coast,CONTROL_FINISHED_OK
$STATE,12517,begin surface
$SM_CCo,12541,25.67,0.739,0,0,1608,300.00
$SM_GC,0.84,0.00,0.00,25.67,0.000,0.000,0.739,397,2496,1608,-11.05,-0.11,300.00
$IRIDIUM_FIX,6108.28,-826.94,310898,090951
$TT8_MAMPS,0.027612
$HUMID,1835
$INTERNAL_PRESSURE,8.07973
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,751.6,87.2
$24V_AH,23.3,18.379
$10V_AH,10.1,7.480
$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,26.575,105.000,353.725,25.675,0.000,55.258,71.824,108.850,6.750,0.000,0.000,12.923,1204.551,9042.188,480.640,1627.717,680.383,33.352,1316.491,0.000,1705.447,0.000,46.065,0.000
$DEVICE_MAMPS,140.361,67.496,1311.570,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.949,410.354,354.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31752,598
$CAP_FILE_SIZE,100117,0
$CFSIZE,260165632,257699840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,060609,123037,6129.668,-829.874,26,1.5,26,-8.9