version: 66.04
glider: 105
mission: 6
dive: 15
start: 6 8 109 7 39 32
data:
$ID,105
$MISSION,6
$DIVE,15
$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,-1628354
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2664
$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,25
$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
$GPS1,072707,6137.411,-832.972,38,1.0,38,-9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-60.2
$GPS2,073838,6137.559,-833.109,13,1.3,13,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.166,-0.173
$KALMAN_X,-54902.5,703.7,544.4,39153.7,-12709.2
$KALMAN_Y,33958.9,1050.2,220.7,-11518.1,6717.7
$MHEAD_RNG_PITCHd_Wd,145.1,15726,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.70,0.000,6,0.000,0.000,392,2417,3430
$GC,81,-1.17,-146.6,4.7,-9.4,3,96,10.77,2.38,0.00,0.000,4,0.137,0.035,2398,1049,3431
$GC,321,-1.17,-146.6,51.3,-16.8,13,326,0.00,2.50,0.00,0.000,6,0.000,0.032,2398,2479,3432
$GC,653,-1.17,-146.6,105.4,-16.5,29,658,0.00,2.42,0.00,0.000,4,0.000,0.055,2398,3824,3432
$GC,839,-1.17,-146.6,138.4,-17.2,37,843,0.00,2.30,0.00,0.000,6,0.000,0.027,2398,2454,3432
$GC,1157,-1.17,-146.6,187.0,-14.9,52,1161,0.00,2.47,0.00,0.000,4,0.000,0.053,2398,3822,3432
$GC,1397,-1.17,-146.6,228.4,-16.8,63,1401,0.00,2.28,0.00,0.000,6,0.000,0.028,2398,2477,3432
$GC,1724,-1.17,-146.6,282.8,-16.9,79,1728,0.00,2.45,0.00,0.000,4,0.000,0.056,2397,3827,3432
$GC,1863,-1.17,-146.6,308.7,-18.9,85,1867,0.00,2.30,0.00,0.000,6,0.000,0.029,2398,2468,3432
$GC,2178,-1.17,-146.6,363.8,-16.8,100,2183,0.00,2.47,0.00,0.000,4,0.000,0.058,2398,3830,3432
$GC,2307,-1.17,-146.6,386.4,-17.7,106,2311,0.00,2.30,0.00,0.000,6,0.000,0.031,2398,2476,3432
$GC,2634,-1.17,-146.6,435.4,-13.6,122,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2474,3432
$GC,2946,-1.17,-146.6,482.4,-13.4,137,2950,0.00,2.45,0.00,0.000,4,0.000,0.059,2398,3821,3432
$GC,3288,-1.17,-146.6,525.4,-11.6,152,3292,0.00,2.30,0.00,0.000,6,0.000,0.031,2398,2467,3432
$GC,3604,-1.17,-146.6,562.3,-11.4,167,3608,0.00,2.47,0.00,0.000,4,0.000,0.058,2398,3828,3432
$GC,3748,-1.17,-146.6,581.5,-14.1,173,3754,0.00,2.30,0.00,0.000,6,0.000,0.031,2398,2479,3432
$GC,4063,-1.17,-146.6,628.1,-14.9,189,4068,0.00,2.45,0.00,0.000,4,0.000,0.044,2398,1077,3431
$GC,4186,-1.17,-146.6,643.9,-12.6,194,4193,0.00,2.45,0.00,0.000,6,0.000,0.041,2398,2472,3430
$GC,4502,-1.17,-146.6,684.8,-12.6,210,4506,0.00,2.47,0.00,0.000,4,0.000,0.064,2398,3831,3429
$GC,4671,-1.17,-146.6,708.0,-17.0,217,4677,0.00,2.33,0.00,0.000,6,0.000,0.035,2398,2479,3428
$GC,4986,-1.17,-146.6,764.0,-16.4,233,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2478,3426
$STATE,5293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5293,begin apogee
$GC,5301,-0.36,0.0,806.6,14.9,248,5436,0.90,0.00,128.75,1.312,6,0.089,0.000,2581,1462,2831
$STATE,5437,end apogee,CONTROL_FINISHED_OK
$STATE,5437,begin climb
$GC,5440,1.17,146.6,814.9,0.0,255,5580,1.60,2.33,130.98,1.266,4,0.074,0.071,2914,274,2233
$GC,5706,1.23,191.4,804.4,6.0,267,5752,0.00,2.08,40.55,1.232,6,0.000,0.038,2913,1471,2050
$GC,6076,1.36,294.0,787.5,4.0,285,6179,0.17,2.55,92.72,1.268,4,0.048,0.053,2965,2845,1631
$GC,6292,1.36,294.0,769.8,9.3,295,6296,0.00,2.53,0.00,0.000,6,0.000,0.047,2965,1450,1624
$GC,6620,1.36,294.0,752.3,8.0,311,6623,0.00,2.22,0.00,0.000,4,0.000,0.070,2964,260,1620
$GC,6636,1.42,342.0,751.1,5.9,311,6684,0.00,2.08,43.47,1.255,6,0.000,0.039,2965,1453,1437
$GC,6995,1.42,342.0,730.6,7.5,329,6999,0.00,2.55,0.00,0.000,4,0.000,0.054,2965,2855,1428
$GC,7057,1.59,486.2,728.5,2.6,332,7196,0.20,2.53,131.25,1.266,6,0.041,0.048,3030,1448,849
$GC,7515,1.59,486.2,687.8,9.2,354,7518,0.00,2.20,0.00,0.000,4,0.000,0.071,3029,264,840
$GC,7542,1.59,486.2,684.8,10.6,355,7547,0.00,2.08,0.00,0.000,6,0.000,0.037,3029,1454,839
$GC,7869,1.59,486.2,650.9,10.9,371,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1454,838
$GC,8178,1.59,486.2,620.5,10.4,386,8183,0.00,2.25,0.00,0.000,4,0.000,0.068,3029,264,836
$GC,8250,1.59,486.2,613.7,9.3,389,8253,0.00,2.03,0.00,0.000,6,0.000,0.035,3029,1455,835
$GC,8579,1.72,593.4,599.9,3.8,405,8666,0.00,0.00,84.72,1.222,6,0.000,0.000,3029,1456,475
$GC,8969,1.72,593.4,571.2,8.4,424,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1456,469
$GC,9276,1.72,593.4,538.6,10.8,439,9280,0.00,2.20,0.00,0.000,4,0.000,0.062,3029,259,468
$GC,9305,1.72,593.4,535.7,9.8,440,9309,0.00,2.05,0.00,0.000,6,0.000,0.033,3029,1469,467
$GC,9632,1.72,593.4,501.4,11.7,456,9637,0.00,2.25,0.00,0.000,4,0.000,0.061,3029,263,467
$GC,9703,1.72,593.4,494.1,11.5,459,9707,0.00,2.03,0.00,0.000,6,0.000,0.033,3029,1460,466
$GC,10033,1.72,593.4,463.9,7.8,475,10037,0.00,2.20,0.00,0.000,4,0.000,0.059,3029,256,467
$GC,10128,1.76,624.3,457.3,6.4,479,10132,0.00,2.03,0.00,0.000,6,0.000,0.032,3029,1463,466
$GC,10455,1.80,654.6,436.8,6.5,495,10457,0.12,0.00,0.00,0.000,6,0.047,0.000,3071,1466,466
$GC,10766,1.80,654.6,402.7,11.6,510,10770,0.00,2.20,0.00,0.000,4,0.000,0.058,3072,256,466
$GC,10838,1.80,654.6,392.4,13.3,513,10844,0.00,2.05,0.00,0.000,6,0.000,0.031,3072,1451,466
$GC,11165,1.80,654.6,350.9,13.0,529,11168,0.00,2.17,0.00,0.000,4,0.000,0.058,3072,256,467
$GC,11243,1.80,654.6,340.8,12.4,532,11247,0.00,2.03,0.00,0.000,6,0.000,0.031,3071,1459,466
$GC,11564,1.80,654.6,301.8,13.2,548,11569,0.00,2.20,0.00,0.000,4,0.000,0.057,3071,262,467
$GC,11619,1.80,654.6,294.8,11.8,550,11623,0.00,2.00,0.00,0.000,6,0.000,0.030,3072,1454,466
$GC,11940,1.80,654.6,254.5,12.9,566,11945,0.00,2.20,0.00,0.000,4,0.000,0.057,3071,258,466
$GC,12012,1.80,654.6,244.7,12.5,569,12016,0.00,2.03,0.00,0.000,6,0.000,0.030,3072,1461,466
$GC,12342,1.80,654.6,209.8,8.6,585,12345,0.00,2.17,0.00,0.000,4,0.000,0.057,3071,261,467
$GC,12442,1.80,654.6,200.4,9.2,589,12446,0.00,2.00,0.00,0.000,6,0.000,0.029,3071,1462,466
$GC,12763,1.80,654.6,167.9,10.6,605,12767,0.00,2.17,0.00,0.000,4,0.000,0.056,3072,258,466
$GC,12813,1.80,654.6,162.3,10.9,607,12818,0.00,2.03,0.00,0.000,6,0.000,0.029,3072,1450,466
$GC,13140,1.80,654.6,123.9,11.6,623,13143,0.00,2.15,0.00,0.000,4,0.000,0.055,3072,259,466
$GC,13217,1.80,654.6,116.1,9.1,626,13222,0.00,2.03,0.00,0.000,6,0.000,0.029,3071,1451,467
$GC,13539,1.85,691.7,100.6,6.2,642,13542,0.00,2.15,0.00,0.000,4,0.000,0.054,3072,257,467
$GC,13666,1.85,691.7,85.7,13.1,647,13673,0.00,2.03,0.00,0.000,6,0.000,0.029,3072,1453,466
$GC,13983,1.85,691.7,33.4,12.8,663,13987,0.00,2.17,0.00,0.000,4,0.000,0.054,3072,259,467
$GC,14043,1.85,691.7,26.2,14.2,665,14049,0.00,2.00,0.00,0.000,6,0.000,0.029,3072,1452,467
$STATE,14253,end climb,SURFACE_DEPTH_REACHED
$STATE,14253,begin surface coast
$FINISH,0.4,1.027217
$STATE,14275,end surface coast,CONTROL_FINISHED_OK
$STATE,14275,begin surface
$SM_CCo,14359,0.00,0.000,0,0,466,580.38
$SM_GC,0.60,11.55,0.00,0.00,0.025,0.000,0.000,397,2467,466,-10.35,-0.25,580.38
$IRIDIUM_FIX,6112.75,-832.74,020998,070742
$TT8_MAMPS,0.026845
$HUMID,1812
$INTERNAL_PRESSURE,7.99183
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.5,89.3
$24V_AH,23.1,20.054
$10V_AH,10.1,8.311
$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,25.325,124.650,652.450,0.000,0.000,86.416,83.055,272.026,6.250,0.000,0.000,13.352,1320.945,10327.060,637.809,1847.803,914.841,33.346,1663.283,0.000,1940.528,0.000,42.825,0.000
$DEVICE_MAMPS,137.293,71.331,1311.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.523,462.288,384.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34764,677
$CAP_FILE_SIZE,119120,0
$CFSIZE,260165632,257069056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,080609,114007,6136.389,-837.313,39,1.1,39,-9.1