version: 66.04
glider: 105
mission: 6
dive: 25
start: 6 10 109 10 49 20
data:
$ID,105
$MISSION,6
$DIVE,25
$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,-1628538.9
$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,2476
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,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
$GPS1,104307,6142.452,-858.818,41,1.0,41,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-59.3
$GPS2,104826,6142.461,-858.862,14,1.1,14,-9.3
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.216,-0.104
$KALMAN_X,-120050.6,814.2,479.9,81470.4,-16312.4
$KALMAN_Y,65174.4,-1926.0,-245.1,-30220.5,10911.9
$MHEAD_RNG_PITCHd_Wd,125.1,37790,-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,-59.53,0.000,6,0.000,0.000,398,2453,3432
$GC,81,-1.17,-146.6,4.7,-9.3,3,101,11.48,2.42,0.00,0.000,4,0.136,0.034,2535,1054,3433
$GC,307,-1.17,-146.6,35.2,-8.4,13,312,0.00,2.47,0.00,0.000,6,0.000,0.031,2535,2482,3433
$GC,630,-1.17,-146.6,64.5,-10.5,29,634,0.00,2.47,0.00,0.000,4,0.000,0.035,2535,1058,3434
$GC,703,-1.17,-146.6,72.1,-9.9,32,707,0.00,2.45,0.00,0.000,6,0.000,0.031,2535,2475,3434
$GC,1018,-1.17,-146.6,102.0,-9.7,47,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2476,3434
$GC,1329,-1.17,-146.6,131.6,-9.8,62,1333,0.00,2.47,0.00,0.000,4,0.000,0.036,2536,1055,3434
$GC,1423,-1.17,-146.6,141.3,-9.8,66,1428,0.00,2.50,0.00,0.000,6,0.000,0.032,2536,2474,3434
$GC,1743,-1.17,-146.6,170.4,-8.9,82,1747,0.00,2.47,0.00,0.000,4,0.000,0.036,2536,1053,3434
$GC,1787,-1.17,-146.6,174.4,-9.1,84,1791,0.00,2.47,0.00,0.000,6,0.000,0.033,2535,2477,3434
$GC,2107,-1.17,-146.6,202.8,-8.8,100,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2477,3433
$GC,2416,-1.17,-146.6,230.8,-9.1,115,2421,0.00,2.47,0.00,0.000,4,0.000,0.038,2535,1060,3434
$GC,2456,-1.17,-146.6,234.5,-9.0,117,2461,0.00,2.47,0.00,0.000,6,0.000,0.036,2535,2477,3434
$GC,2782,-1.17,-146.6,262.6,-8.4,133,2786,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1061,3434
$GC,2837,-1.17,-146.6,267.6,-9.8,135,2845,0.00,2.50,0.00,0.000,6,0.000,0.037,2535,2470,3434
$GC,3153,-1.17,-146.6,294.4,-8.6,151,3157,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1057,3434
$GC,3202,-1.17,-146.6,298.8,-8.5,153,3206,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2475,3433
$GC,3519,-1.17,-146.6,326.6,-8.7,168,3523,0.00,2.47,0.00,0.000,4,0.000,0.041,2536,1061,3434
$GC,3551,-1.17,-146.6,329.8,-9.6,169,3558,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2478,3434
$GC,3867,-1.17,-146.6,357.2,-8.4,185,3871,0.00,2.47,0.00,0.000,4,0.000,0.040,2535,1062,3434
$GC,3911,-1.17,-146.6,361.0,-8.5,187,3916,0.00,2.50,0.00,0.000,6,0.000,0.038,2535,2470,3434
$GC,4237,-1.17,-146.6,385.9,-7.9,203,4241,0.00,2.47,0.00,0.000,4,0.000,0.041,2535,1061,3434
$GC,4292,-1.17,-146.6,390.2,-7.8,205,4298,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2477,3434
$GC,4608,-1.17,-146.6,413.7,-8.1,221,4612,0.00,2.50,0.00,0.000,4,0.000,0.042,2535,1069,3434
$GC,4634,-1.17,-146.6,416.1,-9.2,222,4639,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2486,3434
$GC,4956,-1.17,-146.6,444.5,-9.3,238,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2486,3434
$GC,5265,-1.17,-146.6,470.0,-8.3,253,5269,0.00,2.50,0.00,0.000,4,0.000,0.043,2535,1064,3433
$GC,5308,-1.17,-146.6,473.6,-7.7,255,5313,0.00,2.47,0.00,0.000,6,0.000,0.038,2535,2478,3433
$GC,5630,-1.17,-146.6,499.5,-7.7,271,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2478,3433
$GC,5942,-1.17,-146.6,522.0,-7.6,286,5946,0.00,2.50,0.00,0.000,4,0.000,0.042,2535,1058,3432
$GC,6049,-1.17,-146.6,530.0,-7.9,291,6053,0.00,2.50,0.00,0.000,6,0.000,0.039,2535,2484,3433
$GC,6375,-1.17,-146.6,556.7,-7.7,307,6379,0.00,2.45,0.00,0.000,4,0.000,0.064,2536,3827,3432
$GC,6414,-1.17,-146.6,559.8,-7.8,309,6418,0.00,2.33,0.00,0.000,6,0.000,0.029,2535,2454,3432
$GC,6740,-1.17,-146.6,587.1,-8.8,325,6744,0.00,2.50,0.00,0.000,4,0.000,0.060,2536,3827,3431
$GC,7019,-1.17,-146.6,611.5,-6.3,337,7025,0.00,2.30,0.00,0.000,6,0.000,0.030,2535,2474,3431
$GC,7336,-1.17,-146.6,628.0,-4.4,353,7340,0.00,2.50,0.00,0.000,4,0.000,0.064,2535,3829,3430
$GC,7380,-1.17,-146.6,629.9,-5.9,355,7384,0.00,2.30,0.00,0.000,6,0.000,0.031,2535,2479,3430
$GC,7702,-1.17,-146.6,656.1,-8.1,371,7706,0.00,2.47,0.00,0.000,4,0.000,0.047,2535,1076,3429
$GC,7768,-1.17,-146.6,662.0,-8.6,374,7772,0.00,2.47,0.00,0.000,6,0.000,0.041,2536,2475,3429
$GC,8089,-1.17,-146.6,690.2,-9.0,390,8093,0.00,2.50,0.00,0.000,4,0.000,0.048,2535,1076,3427
$GC,8177,-1.17,-146.6,698.2,-8.9,394,8181,0.00,2.47,0.00,0.000,6,0.000,0.044,2536,2476,3426
$GC,8499,-1.17,-146.6,721.3,-7.7,410,8503,0.00,2.50,0.00,0.000,4,0.000,0.050,2535,1078,3424
$GC,8560,-1.17,-146.6,725.3,-7.1,412,8566,0.00,2.47,0.00,0.000,6,0.000,0.045,2535,2474,3424
$GC,8875,-1.17,-146.6,753.3,-9.7,428,8879,0.00,2.50,0.00,0.000,4,0.000,0.051,2535,1079,3423
$GC,8941,-1.17,-146.6,759.2,-8.9,431,8945,0.00,2.50,0.00,0.000,6,0.000,0.047,2535,2476,3423
$GC,9262,-1.17,-146.6,784.8,-4.4,447,9267,0.00,2.53,0.00,0.000,4,0.000,0.051,2536,1084,3421
$GC,9353,-1.17,-146.6,787.7,-3.7,451,9358,0.00,2.50,0.00,0.000,6,0.000,0.047,2536,2469,3421
$GC,9685,-1.17,-146.6,805.1,-5.3,467,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2469,3419
$STATE,9724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9724,begin apogee
$GC,9732,-0.36,0.0,806.9,4.5,469,9867,0.88,0.00,128.55,1.345,6,0.076,0.000,2719,1466,2831
$STATE,9867,end apogee,CONTROL_FINISHED_OK
$STATE,9867,begin climb
$GC,9870,1.17,146.6,806.8,0.0,476,10012,1.58,2.30,132.75,1.285,4,0.057,0.071,3055,263,2232
$GC,10349,1.17,146.6,779.6,7.6,498,10353,0.00,2.10,0.00,0.000,6,0.000,0.041,3055,1472,2221
$GC,10682,1.25,210.3,757.3,5.3,514,10747,0.00,2.35,56.92,1.290,4,0.000,0.070,3055,264,1973
$GC,10815,1.25,210.3,746.2,10.6,520,10819,0.00,2.08,0.00,0.000,6,0.000,0.038,3055,1458,1968
$GC,11150,1.26,218.7,715.8,7.2,536,11164,0.00,2.30,7.40,1.068,4,0.000,0.065,3055,260,1940
$GC,11223,1.26,218.7,702.9,16.9,539,11227,0.00,2.08,0.00,0.000,6,0.000,0.037,3055,1458,1939
$GC,11550,1.27,225.4,676.6,7.3,555,11559,0.00,0.00,7.35,1.071,6,0.000,0.000,3055,1458,1914
$GC,11861,1.27,225.4,651.0,9.6,570,11865,0.00,2.53,0.00,0.000,4,0.000,0.052,3055,2855,1911
$GC,11901,1.27,225.4,647.4,9.1,572,11905,0.00,2.53,0.00,0.000,6,0.000,0.045,3055,1449,1910
$GC,12229,1.27,225.4,617.9,9.3,588,12234,0.00,2.55,0.00,0.000,4,0.000,0.051,3055,2857,1910
$GC,12279,1.27,225.4,613.1,9.1,590,12284,0.00,2.53,0.00,0.000,6,0.000,0.044,3055,1446,1909
$GC,12595,1.31,252.4,589.4,6.6,605,12624,0.12,0.00,26.05,1.217,6,0.042,0.000,3104,1446,1803
$GC,12928,1.31,252.4,559.2,9.5,621,12933,0.00,2.53,0.00,0.000,4,0.000,0.045,3104,2858,1798
$GC,12973,1.31,252.4,554.3,10.9,623,12977,0.00,2.50,0.00,0.000,6,0.000,0.041,3103,1452,1797
$GC,13293,1.31,252.4,518.2,12.5,639,13298,0.00,2.20,0.00,0.000,4,0.000,0.061,3104,262,1797
$GC,13326,1.31,252.4,513.6,14.2,640,13330,0.00,2.03,0.00,0.000,6,0.000,0.030,3103,1468,1797
$GC,13648,1.31,252.4,475.3,11.4,656,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1471,1796
$GC,13957,1.31,252.4,442.8,10.4,671,13960,0.00,2.20,0.00,0.000,4,0.000,0.057,3103,260,1796
$GC,14012,1.31,252.4,436.4,11.0,673,14016,0.00,2.00,0.00,0.000,6,0.000,0.030,3104,1457,1797
$GC,14334,1.31,252.4,406.0,9.9,689,14338,0.00,2.45,0.00,0.000,4,0.000,0.044,3104,2847,1796
$GC,14361,1.31,252.4,403.0,10.3,690,14366,0.00,2.47,0.00,0.000,6,0.000,0.038,3104,1453,1796
$GC,14682,1.31,252.4,367.5,11.4,706,14686,0.00,2.45,0.00,0.000,4,0.000,0.040,3104,2845,1797
$GC,14731,1.31,252.4,361.6,11.2,708,14735,0.00,2.45,0.00,0.000,6,0.000,0.036,3104,1445,1797
$GC,15049,1.31,252.4,323.1,12.8,723,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1445,1797
$GC,15356,1.31,252.4,285.4,11.3,738,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1445,1798
$GC,15665,1.31,252.4,257.8,7.7,753,15669,0.00,2.12,0.00,0.000,4,0.000,0.056,3104,260,1798
$GC,15726,1.31,252.4,252.5,8.7,755,15734,0.00,2.03,0.00,0.000,6,0.000,0.029,3104,1462,1798
$GC,16042,1.31,252.4,223.8,10.3,771,16046,0.00,2.15,0.00,0.000,4,0.000,0.054,3103,264,1799
$GC,16075,1.31,252.4,220.0,11.4,772,16079,0.00,2.00,0.00,0.000,6,0.000,0.029,3104,1456,1799
$GC,16397,1.31,252.4,184.1,11.3,788,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1457,1799
$GC,16708,1.31,252.4,154.3,9.0,803,16712,0.00,2.15,0.00,0.000,4,0.000,0.053,3104,258,1799
$GC,16758,1.31,252.4,149.3,10.5,805,16762,0.00,2.00,0.00,0.000,6,0.000,0.028,3104,1455,1800
$GC,17087,1.31,252.4,118.5,11.0,821,17090,0.00,2.15,0.00,0.000,4,0.000,0.054,3104,259,1800
$GC,17120,1.31,252.4,114.1,12.4,822,17123,0.00,1.98,0.00,0.000,6,0.000,0.028,3104,1455,1801
$GC,17441,1.31,252.4,78.9,9.6,838,17442,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1456,1801
$GC,17752,1.31,252.4,52.8,8.2,853,17753,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1456,1801
$GC,18060,1.31,252.4,22.3,10.4,868,18061,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1457,1801
$STATE,18243,end climb,SURFACE_DEPTH_REACHED
$STATE,18243,begin surface coast
$FINISH,0.0,1.026745
$STATE,18266,end surface coast,CONTROL_FINISHED_OK
$STATE,18266,begin surface
$SM_CCo,18290,28.98,0.739,0,0,1609,300.00
$SM_GC,0.91,0.00,0.00,28.98,0.000,0.000,0.739,393,2471,1609,-11.07,-0.14,300.00
$IRIDIUM_FIX,6117.23,-852.70,040998,050511
$TT8_MAMPS,0.027612
$HUMID,1800
$INTERNAL_PRESSURE,8.08949
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,91.3
$24V_AH,23.1,21.720
$10V_AH,10.0,9.207
$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,25.825,170.525,359.025,28.975,0.000,24.291,26.588,146.399,6.250,0.000,0.000,14.321,1661.085,13708.546,501.881,2022.941,743.349,33.352,1574.057,0.000,2169.130,0.000,44.575,0.000
$DEVICE_MAMPS,135.759,71.331,1345.318,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.731,603.978,510.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44326,878
$CAP_FILE_SIZE,136410,0
$CFSIZE,260165632,256385024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,100609,155601,6141.511,-900.842,42,1.2,42,-9.3