version: 66.04
glider: 105
mission: 6
dive: 11
start: 6 7 109 10 39 55
data:
$ID,105
$MISSION,6
$DIVE,11
$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,-1628293.9
$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,2425
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,27
$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
$GPS1,103336,6134.369,-835.091,32,1.2,32,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-60.9
$GPS2,103901,6134.341,-835.125,11,1.2,16,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.234,-0.051
$KALMAN_X,-38084.4,-64.2,503.0,21387.7,-15927.0
$KALMAN_Y,23347.1,-643.0,-132.5,-4810.7,10061.4
$MHEAD_RNG_PITCHd_Wd,111.4,12029,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-64.10,0.000,6,0.000,0.000,393,2485,3431
$GC,84,-1.17,-146.6,3.8,-7.6,3,105,11.43,2.58,0.00,0.000,4,0.134,0.035,2535,1005,3432
$GC,279,-1.17,-146.6,34.0,-11.3,11,286,0.00,2.45,0.00,0.000,6,0.000,0.031,2536,2430,3433
$GC,596,-1.17,-146.6,67.6,-10.3,27,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2429,3433
$GC,904,-1.17,-146.6,97.2,-9.7,42,909,0.00,2.47,0.00,0.000,4,0.000,0.037,2535,1006,3432
$GC,955,-1.17,-146.6,102.1,-8.8,44,960,0.00,2.45,0.00,0.000,6,0.000,0.031,2536,2429,3432
$GC,1271,-1.17,-146.6,128.4,-7.7,59,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2429,3433
$GC,1580,-1.17,-146.6,155.2,-9.3,74,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2428,3433
$GC,1890,-1.17,-146.6,184.3,-8.6,89,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2429,3433
$GC,2199,-1.17,-146.6,210.7,-8.8,104,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2428,3433
$GC,2508,-1.17,-146.6,239.7,-9.5,119,2513,0.00,2.50,0.00,0.000,4,0.000,0.038,2536,1013,3433
$GC,2546,-1.17,-146.6,243.5,-10.4,120,2554,0.00,2.47,0.00,0.000,6,0.000,0.035,2536,2420,3433
$GC,2862,-1.17,-146.6,272.2,-8.7,136,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2420,3433
$GC,3174,-1.17,-146.6,301.0,-9.3,151,3179,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1006,3433
$GC,3241,-1.17,-146.6,308.2,-10.1,154,3246,0.00,2.47,0.00,0.000,6,0.000,0.035,2535,2431,3433
$GC,3562,-1.17,-146.6,340.2,-9.5,170,3567,0.00,2.50,0.00,0.000,4,0.000,0.041,2535,1003,3433
$GC,3595,-1.17,-146.6,343.5,-9.8,171,3601,0.00,2.47,0.00,0.000,6,0.000,0.036,2535,2426,3433
$GC,3911,-1.17,-146.6,374.5,-9.2,187,3916,0.00,2.50,0.00,0.000,4,0.000,0.042,2535,1003,3433
$GC,3951,-1.17,-146.6,378.1,-9.3,189,3955,0.00,2.47,0.00,0.000,6,0.000,0.037,2536,2425,3433
$GC,4277,-1.17,-146.6,409.1,-10.2,205,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2425,3433
$GC,4587,-1.17,-146.6,439.1,-9.5,220,4591,0.00,2.50,0.00,0.000,4,0.000,0.044,2535,1006,3433
$GC,4653,-1.17,-146.6,446.1,-10.1,223,4658,0.00,2.50,0.00,0.000,6,0.000,0.037,2535,2424,3433
$GC,4980,-1.17,-146.6,475.4,-8.6,239,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2424,3433
$GC,5288,-1.17,-146.6,502.6,-9.3,254,5293,0.00,2.50,0.00,0.000,4,0.000,0.043,2535,1004,3432
$GC,5362,-1.17,-146.6,510.2,-9.0,257,5366,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2425,3433
$GC,5678,-1.17,-146.6,551.5,-9.6,272,5683,0.00,2.53,0.00,0.000,4,0.000,0.044,2536,1010,3433
$GC,5723,-1.17,-146.6,556.2,-10.1,274,5728,0.00,2.47,0.00,0.000,6,0.000,0.037,2535,2419,3433
$GC,6055,-1.17,-146.6,584.7,-7.6,290,6059,0.00,2.55,0.00,0.000,4,0.000,0.063,2535,3826,3432
$GC,6236,-1.17,-146.6,600.2,-9.2,298,6240,0.00,2.42,0.00,0.000,6,0.000,0.031,2535,2395,3432
$GC,6557,-1.17,-146.6,617.4,-3.4,314,6561,0.00,2.38,0.00,0.000,4,0.000,0.043,2535,1030,3432
$GC,6643,-1.17,-146.6,620.5,-3.9,318,6647,0.00,2.42,0.00,0.000,6,0.000,0.037,2535,2426,3432
$GC,6972,-1.17,-146.6,640.5,-6.0,334,6976,0.00,2.45,0.00,0.000,4,0.000,0.042,2536,1026,3431
$GC,7083,-1.17,-146.6,648.9,-7.9,339,7087,0.00,2.45,0.00,0.000,6,0.000,0.039,2536,2428,3431
$GC,7404,-1.17,-146.6,669.9,-6.7,355,7408,0.00,2.47,0.00,0.000,4,0.000,0.045,2535,1026,3429
$GC,7533,-1.17,-146.6,678.9,-8.1,361,7537,0.00,2.45,0.00,0.000,6,0.000,0.040,2535,2424,3429
$GC,7859,-1.17,-146.6,705.0,-6.4,377,7864,0.00,2.47,0.00,0.000,4,0.000,0.046,2535,1028,3428
$GC,7967,-1.17,-146.6,712.1,-7.3,382,7971,0.00,2.45,0.00,0.000,6,0.000,0.041,2535,2424,3427
$GC,8293,-1.17,-146.6,737.9,-8.0,398,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2424,3426
$GC,8602,-1.17,-146.6,759.1,-6.0,413,8607,0.00,2.60,0.00,0.000,4,0.000,0.070,2535,3818,3426
$GC,8663,-1.17,-146.6,765.1,-7.2,415,8670,0.00,2.40,0.00,0.000,6,0.000,0.035,2535,2424,3425
$GC,8979,-1.17,-146.6,794.4,-12.1,431,8983,0.00,2.50,0.00,0.000,4,0.000,0.052,2536,1020,3424
$GC,9096,-1.17,-146.6,806.1,-6.5,436,9101,0.00,2.50,0.00,0.000,6,0.000,0.044,2535,2428,3423
$GC,9412,-1.17,-146.6,846.8,-6.3,451,9417,0.00,2.58,0.00,0.000,4,0.000,0.067,2535,3828,3422
$GC,9480,-1.17,-146.6,852.7,-12.1,454,9485,0.00,2.42,0.00,0.000,6,0.000,0.038,2536,2431,3422
$STATE,9489,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9490,begin apogee
$GC,9498,-0.36,0.0,853.2,8.8,455,9633,0.85,0.00,129.10,1.354,6,0.054,0.000,2726,1356,2832
$STATE,9634,end apogee,CONTROL_FINISHED_OK
$STATE,9634,begin climb
$GC,9636,1.17,146.6,850.5,0.0,462,9773,1.50,0.00,131.98,1.299,6,0.053,0.000,3054,1356,2234
$GC,10073,1.21,174.9,819.7,6.5,483,10100,0.00,0.00,25.08,1.243,6,0.000,0.000,3055,1356,2119
$GC,10404,1.28,230.4,799.9,5.6,499,10461,0.10,2.62,51.25,1.282,4,0.050,0.049,3092,2767,1891
$GC,10629,1.28,230.4,774.1,12.0,508,10634,0.00,2.58,0.00,0.000,6,0.000,0.047,3091,1344,1883
$GC,10945,1.28,230.4,764.4,9.6,523,10950,0.00,2.60,0.00,0.000,4,0.000,0.053,3091,2751,1881
$GC,11202,1.28,230.4,735.1,8.2,534,11207,0.00,2.53,0.00,0.000,6,0.000,0.048,3091,1345,1878
$GC,11518,1.28,230.4,705.9,10.3,549,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1345,1878
$GC,11827,1.28,230.4,675.6,9.2,564,11832,0.00,2.03,0.00,0.000,4,0.000,0.071,3092,271,1877
$GC,11916,1.28,230.4,665.0,13.0,568,11921,0.00,1.90,0.00,0.000,6,0.000,0.035,3092,1367,1877
$GC,12248,1.28,230.4,621.3,13.9,584,12252,0.00,2.05,0.00,0.000,4,0.000,0.064,3092,259,1876
$GC,12310,1.28,230.4,613.0,13.5,586,12316,0.00,1.88,0.00,0.000,6,0.000,0.034,3091,1361,1876
$GC,12626,1.28,230.4,578.2,9.7,602,12630,0.00,2.47,0.00,0.000,4,0.000,0.048,3092,2748,1876
$GC,12675,1.28,230.4,572.1,12.1,604,12680,0.00,2.50,0.00,0.000,6,0.000,0.041,3091,1340,1875
$GC,12994,1.37,304.2,550.6,5.0,619,13066,0.00,2.05,65.40,1.170,4,0.000,0.061,3091,262,1590
$GC,13100,1.37,304.2,536.8,17.1,624,13104,0.00,1.85,0.00,0.000,6,0.000,0.031,3092,1358,1588
$GC,13432,1.37,304.2,498.9,10.9,640,13436,0.00,2.00,0.00,0.000,4,0.000,0.059,3091,264,1582
$GC,13507,1.37,304.2,489.1,12.9,643,13511,0.00,1.83,0.00,0.000,6,0.000,0.030,3092,1351,1582
$GC,13834,1.37,304.2,453.2,11.7,659,13838,0.00,2.45,0.00,0.000,4,0.000,0.042,3091,2740,1581
$GC,13855,1.37,304.2,450.7,10.8,660,13859,0.00,2.45,0.00,0.000,6,0.000,0.038,3092,1348,1581
$GC,14179,1.37,304.2,413.5,10.3,676,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1348,1581
$GC,14488,1.37,304.2,376.5,12.4,691,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1348,1581
$GC,14796,1.37,304.2,341.9,10.5,706,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1348,1581
$GC,15105,1.37,304.2,308.7,9.8,721,15106,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1348,1581
$GC,15414,1.37,304.2,276.9,10.1,736,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1348,1581
$GC,15723,1.37,304.2,246.0,10.1,751,15724,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1348,1581
$GC,16035,1.37,304.2,215.2,10.0,766,16039,0.00,2.42,0.00,0.000,4,0.000,0.036,3092,2739,1582
$GC,16084,1.37,304.2,209.9,10.6,768,16089,0.00,2.42,0.00,0.000,6,0.000,0.035,3091,1346,1581
$GC,16400,1.37,304.2,175.7,11.2,783,16405,0.00,2.45,0.00,0.000,4,0.000,0.036,3092,2740,1582
$GC,16456,1.37,304.2,169.4,12.0,785,16460,0.00,2.42,0.00,0.000,6,0.000,0.035,3091,1344,1582
$GC,16772,1.37,304.2,135.9,11.5,800,16776,0.00,2.42,0.00,0.000,4,0.000,0.035,3092,2744,1583
$GC,16798,1.37,304.2,133.0,10.2,801,16803,0.00,2.42,0.00,0.000,6,0.000,0.035,3091,1343,1582
$GC,17114,1.37,304.2,100.0,9.9,816,17119,0.00,2.42,0.00,0.000,4,0.000,0.035,3091,2745,1583
$GC,17136,1.37,304.2,97.8,9.6,817,17140,0.00,2.42,0.00,0.000,6,0.000,0.035,3092,1350,1582
$GC,17459,1.37,304.2,67.0,10.0,833,17463,0.00,1.92,0.00,0.000,4,0.000,0.054,3091,264,1583
$GC,17492,1.37,304.2,63.1,10.7,834,17496,0.00,1.83,0.00,0.000,6,0.000,0.028,3092,1367,1583
$GC,17814,1.37,304.2,29.8,10.8,850,17819,0.00,2.00,0.00,0.000,4,0.000,0.052,3092,264,1583
$GC,17859,1.37,304.2,24.9,10.8,852,17863,0.00,1.80,0.00,0.000,6,0.000,0.029,3091,1356,1583
$STATE,18066,end climb,SURFACE_DEPTH_REACHED
$STATE,18066,begin surface coast
$FINISH,0.2,1.027201
$STATE,18088,end surface coast,CONTROL_FINISHED_OK
$STATE,18088,begin surface
$SM_CCo,18171,0.00,0.000,0,0,1581,306.87
$SM_GC,0.75,11.65,0.00,0.00,0.025,0.000,0.000,394,2401,1581,-10.99,-0.71,306.87
$IRIDIUM_FIX,6108.28,-832.07,010998,050517
$TT8_MAMPS,0.026845
$HUMID,1803
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.1,18.1
$ALTIM_BOTTOM_PING,776.8,86.2
$24V_AH,23.2,19.350
$10V_AH,10.1,7.963
$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,25.525,150.875,402.800,0.000,0.000,27.302,33.810,143.719,7.000,0.000,0.000,16.496,1622.125,13660.471,490.566,1991.313,730.793,33.371,1545.008,0.000,2121.019,0.000,47.673,0.000
$DEVICE_MAMPS,134.225,70.564,1353.755,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.484,592.359,498.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44376,863
$CAP_FILE_SIZE,131498,0
$CFSIZE,260165632,257306624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,070609,154401,6134.485,-835.927,38,1.4,38,-9.0