version: 66.04
glider: 105
mission: 6
dive: 6
start: 6 6 109 12 37 20
data:
$ID,105
$MISSION,6
$DIVE,6
$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,-1628203.2
$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,2500
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,123037,6129.668,-829.874,26,1.5,26,-8.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-60.8
$GPS2,123526,6129.612,-829.904,14,1.4,14,-8.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.245,-0.096
$KALMAN_X,-8054.5,-1300.1,173.1,-2385.4,-4808.7
$KALMAN_Y,5470.1,629.7,-1225.8,4121.5,4299.2
$MHEAD_RNG_PITCHd_Wd,120.3,4393,-18.1,-10.000
$D_GRID,832
$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,-1.47,-146.6,0.0,0.0,0,80,0.00,0.00,-60.75,0.000,6,0.000,0.000,397,2496,3431
$GC,83,-1.47,-146.6,4.1,-8.2,3,99,11.15,2.45,0.00,0.000,4,0.141,0.035,2470,1078,3432
$GC,305,-1.47,-146.6,39.9,-13.3,12,310,0.00,2.47,0.00,0.000,6,0.000,0.035,2471,2506,3433
$GC,628,-1.47,-146.6,87.8,-15.9,28,632,0.00,2.38,0.00,0.000,4,0.000,0.058,2470,3827,3433
$GC,713,-1.47,-146.6,102.8,-17.3,32,717,0.00,2.25,0.00,0.000,6,0.000,0.028,2471,2479,3433
$GC,1041,-1.47,-146.6,150.5,-13.5,48,1045,0.00,2.42,0.00,0.000,4,0.000,0.057,2470,3826,3433
$GC,1148,-1.47,-146.6,164.3,-12.0,53,1153,0.00,2.25,0.00,0.000,6,0.000,0.028,2470,2501,3433
$GC,1480,-1.47,-146.6,196.5,-8.6,69,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2499,3434
$GC,1792,-1.47,-146.6,222.6,-8.2,84,1796,0.00,2.40,0.00,0.000,4,0.000,0.059,2470,3828,3434
$GC,1880,-1.47,-146.6,229.8,-6.9,88,1885,0.00,2.22,0.00,0.000,6,0.000,0.030,2470,2502,3434
$GC,2204,-1.47,-146.6,254.6,-8.8,104,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2501,3434
$GC,2511,-1.47,-146.6,287.6,-10.7,119,2515,0.00,2.40,0.00,0.000,4,0.000,0.061,2470,3827,3434
$GC,2622,-1.47,-146.6,301.7,-11.8,124,2626,0.00,2.22,0.00,0.000,6,0.000,0.031,2470,2501,3434
$GC,2951,-1.47,-146.6,337.3,-11.3,140,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2499,3434
$GC,3258,-1.47,-146.6,379.2,-14.4,155,3262,0.00,2.40,0.00,0.000,4,0.000,0.061,2470,3824,3434
$GC,3405,-1.47,-146.6,402.0,-15.3,161,3411,0.00,2.22,0.00,0.000,6,0.000,0.031,2470,2501,3434
$GC,3720,-1.47,-146.6,444.7,-12.4,177,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2499,3434
$GC,4030,-1.47,-146.6,480.4,-11.6,192,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2498,3434
$GC,4339,-1.47,-146.6,514.0,-11.2,207,4343,0.00,2.40,0.00,0.000,4,0.000,0.061,2470,3831,3434
$GC,4383,-1.47,-146.6,519.6,-12.5,209,4387,0.00,2.25,0.00,0.000,6,0.000,0.031,2470,2488,3434
$GC,4709,-1.47,-146.6,559.6,-13.7,225,4714,0.00,2.40,0.00,0.000,4,0.000,0.056,2470,3825,3434
$GC,4843,-1.47,-146.6,578.4,-12.6,231,4847,0.00,2.22,0.00,0.000,6,0.000,0.031,2470,2502,3434
$GC,5170,-1.47,-146.6,619.0,-11.1,247,5174,0.00,2.38,0.00,0.000,4,0.000,0.058,2470,3825,3433
$GC,5244,-1.47,-146.6,628.1,-12.9,250,5248,0.00,2.22,0.00,0.000,6,0.000,0.031,2470,2501,3433
$GC,5559,-1.47,-146.6,659.8,-10.6,265,5563,0.00,2.42,0.00,0.000,4,0.000,0.043,2470,1094,3433
$GC,5862,-1.47,-146.6,689.9,-10.2,278,5868,0.00,2.45,0.00,0.000,6,0.000,0.044,2470,2495,3433
$GC,6177,-1.47,-146.6,724.3,-11.7,294,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2495,3431
$GC,6487,-1.47,-146.6,769.7,-15.2,309,6491,0.00,2.42,0.00,0.000,4,0.000,0.068,2470,3830,3430
$GC,6558,-1.47,-146.6,779.3,-15.5,312,6562,0.00,2.28,0.00,0.000,6,0.000,0.036,2470,2499,3430
$GC,6880,-1.47,-146.6,825.8,-14.3,328,6884,0.00,2.42,0.00,0.000,4,0.000,0.067,2470,3829,3428
$STATE,6932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6933,begin apogee
$GC,6943,-0.36,0.0,832.1,10.3,330,7076,1.20,0.00,128.75,1.322,6,0.094,0.000,2719,1560,2832
$STATE,7076,end apogee,CONTROL_FINISHED_OK
$STATE,7077,begin climb
$GC,7079,1.47,146.6,837.5,0.0,337,7219,1.83,2.60,131.23,1.272,4,0.040,0.054,3126,2957,2233
$GC,7555,1.70,330.9,815.5,1.6,359,7729,0.20,2.53,163.62,1.270,6,0.035,0.046,3187,1542,1482
$GC,8045,1.70,330.9,731.1,20.5,383,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1542,1470
$GC,8354,1.70,330.9,691.7,16.3,398,8358,0.00,2.38,0.00,0.000,4,0.000,0.070,3187,265,1467
$GC,8426,1.70,330.9,678.5,19.0,401,8430,0.00,2.25,0.00,0.000,6,0.000,0.037,3187,1567,1466
$GC,8747,1.70,330.9,627.2,15.7,417,8751,0.00,2.42,0.00,0.000,4,0.000,0.065,3187,262,1466
$GC,8831,1.70,330.9,612.9,17.3,421,8836,0.00,2.22,0.00,0.000,6,0.000,0.037,3187,1555,1465
$GC,9159,1.70,330.9,560.6,15.8,437,9163,0.00,2.38,0.00,0.000,4,0.000,0.061,3187,264,1464
$GC,9304,1.70,330.9,534.7,17.7,443,9310,0.00,2.20,0.00,0.000,6,0.000,0.034,3187,1560,1464
$GC,9619,1.70,330.9,482.1,16.5,459,9624,0.00,2.38,0.00,0.000,4,0.000,0.058,3187,259,1463
$GC,9800,1.70,330.9,449.0,18.7,467,9804,0.00,2.20,0.00,0.000,6,0.000,0.031,3186,1558,1463
$GC,10124,1.70,330.9,397.0,16.0,483,10128,0.00,2.35,0.00,0.000,4,0.000,0.056,3187,261,1464
$GC,10280,1.70,330.9,369.5,17.3,490,10284,0.00,2.17,0.00,0.000,6,0.000,0.030,3187,1549,1463
$GC,10609,1.70,330.9,316.5,16.6,506,10613,0.00,2.33,0.00,0.000,4,0.000,0.055,3187,262,1463
$GC,10828,1.70,330.9,276.0,19.6,516,10833,0.00,2.20,0.00,0.000,6,0.000,0.031,3187,1545,1464
$GC,11160,1.70,330.9,219.7,15.6,532,11164,0.00,2.33,0.00,0.000,4,0.000,0.054,3187,257,1464
$GC,11316,1.70,330.9,193.9,15.5,539,11321,0.00,2.22,0.00,0.000,6,0.000,0.030,3187,1554,1465
$GC,11643,1.70,330.9,144.5,14.9,555,11647,0.00,2.33,0.00,0.000,4,0.000,0.054,3187,261,1465
$GC,11772,1.70,330.9,125.3,14.4,561,11776,0.00,2.17,0.00,0.000,6,0.000,0.031,3187,1551,1465
$GC,12100,1.70,330.9,82.4,12.8,577,12104,0.00,2.30,0.00,0.000,4,0.000,0.052,3187,257,1465
$GC,12300,1.70,330.9,49.1,19.1,586,12305,0.00,2.20,0.00,0.000,6,0.000,0.030,3187,1550,1466
$STATE,12583,end climb,SURFACE_DEPTH_REACHED
$STATE,12583,begin surface coast
$FINISH,-0.1,1.007477
$STATE,12605,end surface coast,CONTROL_FINISHED_OK
$STATE,12607,begin surface
$SM_CCo,12691,0.00,0.000,0,0,1463,335.82
$SM_GC,0.70,12.15,0.00,0.00,0.031,0.000,0.000,399,2495,1463,-10.98,-0.14,335.82
$IRIDIUM_FIX,6103.81,-826.28,310898,090905
$TT8_MAMPS,0.026845
$HUMID,1833
$INTERNAL_PRESSURE,8.06996
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.2,16.9
$ALTIM_BOTTOM_PING,750.5,104.1
$24V_AH,23.3,18.544
$10V_AH,10.1,7.548
$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,26.525,105.825,423.600,0.000,0.000,27.823,26.796,130.855,6.750,0.000,0.000,14.518,1206.052,9044.558,462.808,1703.047,629.273,33.339,1346.070,0.000,1771.154,0.000,46.102,0.000
$DEVICE_MAMPS,141.128,69.797,1321.541,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.712,411.188,342.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31744,601
$CAP_FILE_SIZE,100363,0
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060609,161007,6128.312,-830.375,39,1.0,39,-8.9