version: 66.04
glider: 105
mission: 6
dive: 17
start: 6 8 109 16 21 6
data:
$ID,105
$MISSION,6
$DIVE,17
$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,-1628381.1
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,34
$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
$GPS1,161407,6135.620,-835.505,31,0.9,31,-9.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-52.8
$GPS2,162014,6135.629,-835.546,12,1.7,12,-9.0
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.237,-0.037
$KALMAN_X,-66690.0,828.9,1405.5,47807.7,-17749.7
$KALMAN_Y,40497.4,-2730.3,-909.4,-16662.1,13812.3
$MHEAD_RNG_PITCHd_Wd,108.0,13983,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-100.60,0.000,6,0.000,0.000,397,2466,3431
$GC,122,-1.17,-146.6,4.5,-4.3,5,145,11.52,2.50,0.00,0.000,4,0.140,0.035,2537,1051,3432
$GC,347,-1.17,-146.6,33.6,-8.9,15,352,0.00,2.47,0.00,0.000,6,0.000,0.033,2537,2482,3433
$GC,676,-1.17,-146.6,59.5,-7.4,31,680,0.00,2.47,0.00,0.000,4,0.000,0.035,2537,1054,3432
$GC,725,-1.17,-146.6,63.3,-6.8,33,730,0.00,2.45,0.00,0.000,6,0.000,0.031,2537,2474,3432
$GC,1043,-1.17,-146.6,86.2,-7.2,48,1047,0.00,2.47,0.00,0.000,4,0.000,0.036,2537,1052,3432
$GC,1109,-1.17,-146.6,90.3,-5.8,51,1113,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2480,3432
$GC,1431,-1.17,-146.6,106.1,-6.2,67,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2480,3431
$GC,1741,-1.17,-146.6,131.3,-8.7,82,1745,0.00,2.47,0.00,0.000,4,0.000,0.037,2537,1055,3431
$GC,1781,-1.17,-146.6,135.0,-9.1,84,1785,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2483,3431
$GC,2106,-1.17,-146.6,162.0,-7.7,100,2111,0.00,2.50,0.00,0.000,4,0.000,0.038,2537,1051,3431
$GC,2173,-1.17,-146.6,166.9,-7.6,103,2177,0.00,2.47,0.00,0.000,6,0.000,0.034,2537,2473,3431
$GC,2495,-1.17,-146.6,195.4,-9.9,119,2499,0.00,2.47,0.00,0.000,4,0.000,0.038,2537,1055,3431
$GC,2545,-1.17,-146.6,200.4,-9.6,121,2549,0.00,2.47,0.00,0.000,6,0.000,0.036,2537,2474,3432
$GC,2862,-1.17,-146.6,234.2,-11.8,136,2866,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1057,3431
$GC,2905,-1.17,-146.6,239.3,-10.8,138,2910,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2483,3431
$GC,3227,-1.17,-146.6,265.7,-6.4,154,3232,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1057,3431
$GC,3268,-1.17,-146.6,268.4,-6.8,156,3272,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2485,3432
$GC,3595,-1.17,-146.6,291.1,-7.3,172,3599,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1058,3431
$GC,3650,-1.17,-146.6,295.4,-7.7,174,3656,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2476,3431
$GC,3966,-1.17,-146.6,315.9,-6.7,190,3970,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1052,3431
$GC,4015,-1.17,-146.6,319.4,-7.0,192,4019,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2480,3431
$GC,4330,-1.17,-146.6,343.8,-7.9,207,4334,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1055,3431
$GC,4385,-1.17,-146.6,348.1,-8.1,209,4391,0.00,2.50,0.00,0.000,6,0.000,0.039,2537,2483,3431
$GC,4701,-1.17,-146.6,369.7,-6.4,225,4706,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1058,3431
$GC,4746,-1.17,-146.6,372.7,-6.5,227,4750,0.00,2.50,0.00,0.000,6,0.000,0.039,2537,2482,3431
$GC,5067,-1.17,-146.6,392.3,-6.4,243,5072,0.00,2.50,0.00,0.000,4,0.000,0.042,2537,1058,3430
$GC,5130,-1.17,-146.6,396.3,-6.7,246,5135,0.00,2.50,0.00,0.000,6,0.000,0.039,2537,2484,3431
$GC,5457,-1.17,-146.6,417.5,-6.7,262,5461,0.00,2.53,0.00,0.000,4,0.000,0.042,2537,1051,3431
$GC,5524,-1.17,-146.6,422.1,-6.6,265,5528,0.00,2.50,0.00,0.000,6,0.000,0.039,2537,2476,3431
$GC,5845,-1.17,-146.6,443.1,-5.0,281,5849,0.00,2.50,0.00,0.000,4,0.000,0.043,2537,1054,3431
$GC,5917,-1.17,-146.6,446.8,-5.9,284,5921,0.00,2.50,0.00,0.000,6,0.000,0.039,2537,2480,3431
$GC,6232,-1.17,-146.6,470.4,-10.2,299,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2480,3431
$GC,6543,-1.17,-146.6,494.8,-7.4,314,6547,0.00,2.50,0.00,0.000,4,0.000,0.044,2537,1059,3430
$GC,6632,-1.17,-146.6,503.2,-9.5,318,6636,0.00,2.50,0.00,0.000,6,0.000,0.041,2537,2484,3431
$GC,6953,-1.17,-146.6,526.4,-6.5,334,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2484,3430
$GC,7262,-1.17,-146.6,545.0,-6.2,349,7266,0.00,2.53,0.00,0.000,4,0.000,0.044,2537,1055,3430
$GC,7328,-1.17,-146.6,549.4,-6.8,352,7333,0.00,2.50,0.00,0.000,6,0.000,0.040,2537,2480,3430
$GC,7652,-1.17,-146.6,571.7,-6.8,368,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2481,3430
$GC,7959,-1.17,-146.6,593.6,-6.9,383,7963,0.00,2.53,0.00,0.000,4,0.000,0.045,2537,1055,3429
$GC,8066,-1.17,-146.6,602.3,-9.0,388,8070,0.00,2.50,0.00,0.000,6,0.000,0.041,2537,2474,3429
$GC,8394,-1.17,-146.6,628.5,-7.6,404,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2475,3428
$GC,8701,-1.17,-146.6,652.6,-7.4,419,8706,0.00,2.53,0.00,0.000,4,0.000,0.047,2537,1054,3427
$GC,8871,-1.17,-146.6,663.5,-6.1,426,8877,0.00,2.53,0.00,0.000,6,0.000,0.044,2537,2479,3427
$GC,9189,-1.17,-146.6,691.3,-10.0,442,9193,0.00,2.53,0.00,0.000,4,0.000,0.048,2537,1059,3426
$GC,9261,-1.17,-146.6,697.7,-7.6,445,9266,0.00,2.53,0.00,0.000,6,0.000,0.046,2537,2477,3426
$GC,9578,-1.17,-146.6,717.8,-3.4,460,9582,0.00,2.50,0.00,0.000,4,0.000,0.071,2537,3828,3425
$GC,9617,-1.17,-146.6,718.6,-2.5,462,9622,0.00,2.35,0.00,0.000,6,0.000,0.035,2537,2461,3424
$GC,9944,-1.17,-146.6,744.0,-6.9,478,9949,0.00,2.47,0.00,0.000,4,0.000,0.051,2537,1072,3422
$GC,10051,-1.17,-146.6,756.0,-12.2,483,10056,0.00,2.50,0.00,0.000,6,0.000,0.047,2537,2474,3422
$GC,10377,-1.17,-146.6,774.8,-7.8,499,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3421
$GC,10687,-1.17,-146.6,805.0,-4.2,514,10691,0.00,2.50,0.00,0.000,4,0.000,0.070,2537,3831,3419
$GC,10699,-1.17,-146.6,804.6,-0.1,514,10705,0.00,2.38,0.00,0.000,6,0.000,0.041,2537,2478,3418
$GC,11014,-1.17,-146.6,806.7,-0.7,530,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2474,3418
$STATE,11115,end dive,NO_VERTICAL_VELOCITY
$STATE,11115,begin apogee
$GC,11123,-0.36,0.0,806.8,0.0,535,11258,0.85,0.00,128.32,1.335,6,0.062,0.000,2722,1456,2831
$STATE,11259,end apogee,CONTROL_FINISHED_OK
$STATE,11259,begin climb
$GC,11262,1.17,146.6,805.2,0.0,542,11402,1.52,2.65,132.15,1.279,4,0.052,0.054,3056,2870,2233
$GC,11742,1.17,146.6,765.2,15.6,563,11746,0.00,2.55,0.00,0.000,6,0.000,0.046,3056,1447,2220
$GC,12068,1.17,146.6,726.9,11.5,579,12072,0.00,2.58,0.00,0.000,4,0.000,0.053,3056,2870,2217
$GC,12291,1.17,146.6,707.6,7.7,589,12295,0.00,2.53,0.00,0.000,6,0.000,0.047,3056,1457,2215
$GC,12611,1.17,146.6,683.5,8.6,605,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1456,2214
$GC,12924,1.24,197.4,667.0,5.8,620,12975,0.00,2.62,44.10,1.261,4,0.000,0.050,3056,2866,2026
$GC,12992,1.29,241.5,661.8,6.0,623,13039,0.10,2.55,41.20,1.219,6,0.049,0.045,3098,1453,1847
$GC,13361,1.29,241.5,623.9,10.9,641,13365,0.00,2.22,0.00,0.000,4,0.000,0.069,3098,257,1837
$GC,13400,1.29,241.5,619.3,10.9,642,13406,0.00,2.10,0.00,0.000,6,0.000,0.037,3098,1475,1836
$GC,13718,1.29,241.5,585.5,10.8,658,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1476,1834
$GC,14024,1.29,241.5,554.5,9.5,673,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1476,1832
$GC,14334,1.29,241.5,521.6,10.7,688,14337,0.00,2.22,0.00,0.000,4,0.000,0.061,3098,261,1833
$GC,14395,1.29,241.5,514.2,12.3,690,14401,0.00,2.05,0.00,0.000,6,0.000,0.034,3098,1455,1832
$GC,14711,1.29,241.5,479.0,11.1,706,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1456,1831
$GC,15020,1.29,241.5,446.2,10.4,721,15023,0.00,2.17,0.00,0.000,4,0.000,0.058,3098,260,1831
$GC,15134,1.29,241.5,432.7,12.6,726,15138,0.00,2.03,0.00,0.000,6,0.000,0.033,3098,1456,1831
$GC,15466,1.29,241.5,394.8,11.3,742,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1831
$GC,15778,1.29,241.5,358.2,11.9,757,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1832
$GC,16085,1.29,241.5,318.4,13.3,772,16089,0.00,2.45,0.00,0.000,4,0.000,0.044,3098,2850,1833
$GC,16140,1.29,241.5,311.1,13.9,774,16146,0.00,2.45,0.00,0.000,6,0.000,0.038,3098,1447,1832
$GC,16458,1.29,241.5,271.7,12.3,790,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1447,1833
$GC,16764,1.29,241.5,235.2,11.8,805,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1447,1833
$GC,17074,1.29,241.5,193.4,14.2,820,17075,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1447,1833
$GC,17383,1.29,241.5,149.2,14.0,835,17387,0.00,2.12,0.00,0.000,4,0.000,0.055,3099,261,1834
$GC,17455,1.29,241.5,138.4,14.7,838,17459,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,1464,1834
$GC,17782,1.29,241.5,100.8,11.4,854,17784,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1466,1834
$GC,18092,1.29,241.5,66.4,10.9,869,18095,0.00,2.15,0.00,0.000,4,0.000,0.053,3099,265,1835
$GC,18214,1.29,241.5,52.6,11.4,874,18218,0.00,2.00,0.00,0.000,6,0.000,0.030,3098,1456,1835
$GC,18536,1.29,241.5,17.6,10.8,890,18537,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1458,1835
$STATE,18677,end climb,SURFACE_DEPTH_REACHED
$STATE,18677,begin surface coast
$FINISH,0.7,1.027212
$STATE,18699,end surface coast,CONTROL_FINISHED_OK
$STATE,18699,begin surface
$SM_CCo,18723,34.70,0.742,0,0,1609,300.00
$SM_GC,1.21,0.00,0.00,34.70,0.000,0.000,0.742,394,2461,1609,-11.07,-0.42,300.00
$IRIDIUM_FIX,6112.75,-832.74,020998,111139
$TT8_MAMPS,0.027612
$HUMID,1822
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,727.1,90.4
$24V_AH,23.2,20.445
$10V_AH,10.1,8.487
$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,25.725,159.650,345.775,34.700,0.000,24.204,30.126,197.122,6.250,0.000,0.000,12.814,1691.314,14028.577,528.118,2075.394,803.025,33.349,1605.467,0.000,2225.003,0.000,42.825,0.000
$DEVICE_MAMPS,139.594,71.331,1335.347,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,810.977,616.298,531.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47321,898
$CAP_FILE_SIZE,139239,0
$CFSIZE,260165632,256917504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,080609,213500,6139.959,-835.503,36,1.9,36,-9.1