version: 66.04
glider: 105
mission: 6
dive: 32
start: 6 11 109 17 39 12
data:
$ID,105
$MISSION,6
$DIVE,32
$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,-1628648.5
$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,29
$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
$GPS1,173345,6152.175,-924.843,40,2.8,59,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-61.6
$GPS2,173820,6152.179,-925.037,9,1.9,15,-9.6
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.205,-0.124
$KALMAN_X,-173985.5,3904.3,1348.1,108182.2,-40286.3
$KALMAN_Y,85985.3,-1255.8,-836.4,-33038.4,15269.8
$MHEAD_RNG_PITCHd_Wd,130.7,67096,-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,-59.38,0.000,6,0.000,0.000,397,2464,3431
$GC,81,-1.17,-146.6,4.6,-9.2,3,101,11.50,2.45,0.00,0.000,4,0.136,0.033,2537,1055,3432
$GC,352,-1.17,-146.6,40.4,-10.4,15,357,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2485,3433
$GC,674,-1.17,-146.6,73.8,-11.1,31,678,0.00,2.47,0.00,0.000,4,0.000,0.035,2538,1058,3433
$GC,728,-1.17,-146.6,80.6,-12.1,33,735,0.00,2.45,0.00,0.000,6,0.000,0.032,2537,2480,3433
$GC,1044,-1.17,-146.6,116.0,-10.3,49,1049,0.00,2.47,0.00,0.000,4,0.000,0.036,2537,1056,3433
$GC,1090,-1.17,-146.6,120.7,-10.2,51,1094,0.00,2.47,0.00,0.000,6,0.000,0.032,2537,2484,3433
$GC,1410,-1.17,-146.6,153.8,-9.3,67,1414,0.00,2.47,0.00,0.000,4,0.000,0.036,2537,1060,3433
$GC,1454,-1.17,-146.6,158.0,-9.3,69,1458,0.00,2.45,0.00,0.000,6,0.000,0.033,2537,2473,3433
$GC,1774,-1.17,-146.6,187.1,-8.8,85,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2473,3433
$GC,2084,-1.17,-146.6,216.1,-9.6,100,2088,0.00,2.47,0.00,0.000,4,0.000,0.037,2537,1054,3433
$GC,2128,-1.17,-146.6,220.9,-10.7,102,2133,0.00,2.50,0.00,0.000,6,0.000,0.035,2537,2473,3433
$GC,2454,-1.17,-146.6,254.5,-9.9,118,2459,0.00,2.50,0.00,0.000,4,0.000,0.039,2537,1061,3433
$GC,2499,-1.17,-146.6,259.0,-10.2,120,2504,0.00,2.50,0.00,0.000,6,0.000,0.035,2537,2478,3433
$GC,2834,-1.17,-146.6,294.9,-12.1,136,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2478,3434
$GC,3140,-1.17,-146.6,334.4,-12.9,151,3144,0.00,2.47,0.00,0.000,4,0.000,0.040,2537,1063,3434
$GC,3184,-1.17,-146.6,340.5,-12.9,153,3189,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2475,3433
$GC,3506,-1.17,-146.6,379.2,-12.0,169,3510,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1061,3434
$GC,3545,-1.17,-146.6,384.2,-13.0,171,3549,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2475,3434
$GC,3871,-1.17,-146.6,418.7,-9.2,187,3875,0.00,2.47,0.00,0.000,4,0.000,0.041,2537,1063,3434
$GC,3915,-1.17,-146.6,422.8,-8.6,189,3920,0.00,2.47,0.00,0.000,6,0.000,0.038,2537,2477,3434
$GC,4237,-1.17,-146.6,447.0,-7.0,205,4241,0.00,2.50,0.00,0.000,4,0.000,0.041,2537,1056,3434
$GC,4276,-1.17,-146.6,449.6,-6.9,207,4280,0.00,2.50,0.00,0.000,6,0.000,0.038,2537,2485,3433
$GC,4602,-1.17,-146.6,469.9,-6.4,223,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2485,3433
$GC,4911,-1.17,-146.6,495.1,-8.3,238,4915,0.00,2.53,0.00,0.000,4,0.000,0.043,2537,1055,3433
$GC,5021,-1.17,-146.6,505.8,-10.3,243,5026,0.00,2.47,0.00,0.000,6,0.000,0.039,2537,2473,3433
$GC,5343,-1.17,-146.6,536.7,-9.8,259,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2473,3433
$GC,5652,-1.17,-146.6,567.3,-9.5,274,5656,0.00,2.50,0.00,0.000,4,0.000,0.045,2537,1061,3432
$GC,5751,-1.17,-146.6,577.8,-9.7,278,5757,0.00,2.50,0.00,0.000,6,0.000,0.043,2537,2475,3432
$GC,6067,-1.17,-146.6,606.9,-9.6,294,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2475,3431
$GC,6376,-1.17,-146.6,635.5,-12.0,309,6381,0.00,2.55,0.00,0.000,4,0.000,0.047,2537,1062,3430
$GC,6430,-1.17,-146.6,641.5,-8.4,311,6435,0.00,2.53,0.00,0.000,6,0.000,0.046,2537,2480,3430
$STATE,6581,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6581,begin apogee
$GC,6589,-0.36,0.0,655.9,11.6,318,6722,0.88,0.00,127.32,1.206,6,0.073,0.000,2722,1455,2832
$STATE,6722,end apogee,CONTROL_FINISHED_OK
$STATE,6722,begin climb
$GC,6725,1.17,146.6,661.4,0.0,325,6863,1.55,0.00,129.62,1.163,6,0.052,0.000,3057,1455,2233
$GC,7176,1.17,146.6,640.3,8.5,347,7180,0.00,2.55,0.00,0.000,4,0.000,0.053,3057,2861,2223
$GC,7269,1.17,146.6,627.2,15.4,351,7274,0.00,2.50,0.00,0.000,6,0.000,0.044,3057,1452,2221
$GC,7585,1.17,146.6,597.0,8.6,366,7590,0.00,2.55,0.00,0.000,4,0.000,0.049,3057,2868,2219
$GC,7650,1.20,168.6,591.7,6.7,369,7676,0.00,2.53,18.70,1.119,6,0.000,0.044,3057,1447,2143
$GC,8004,1.26,216.6,565.0,5.9,386,8050,0.00,0.00,43.88,1.160,6,0.000,0.000,3057,1447,1949
$GC,8355,1.45,369.2,551.4,2.3,403,8501,0.22,2.62,137.62,1.143,4,0.033,0.045,3139,2867,1325
$GC,8531,1.45,369.2,540.0,8.8,411,8536,0.12,2.53,0.00,0.000,6,0.091,0.042,3116,1455,1321
$GC,8852,1.45,369.2,509.4,12.0,427,8855,0.00,2.20,0.00,0.000,4,0.000,0.063,3116,261,1312
$GC,8897,1.45,369.2,502.7,14.8,429,8901,0.00,2.05,0.00,0.000,6,0.000,0.031,3116,1481,1311
$GC,9231,1.45,369.2,456.5,13.1,445,9235,0.00,2.22,0.00,0.000,4,0.000,0.058,3116,257,1309
$GC,9281,1.45,369.2,448.6,15.1,447,9285,0.00,2.03,0.00,0.000,6,0.000,0.030,3116,1456,1308
$GC,9610,1.45,369.2,399.7,15.8,463,9614,0.00,2.17,0.00,0.000,4,0.000,0.056,3116,261,1307
$GC,9688,1.45,369.2,386.7,15.3,466,9693,0.00,2.03,0.00,0.000,6,0.000,0.029,3116,1455,1307
$GC,10009,1.45,369.2,338.1,16.0,482,10012,0.00,2.17,0.00,0.000,4,0.000,0.055,3116,258,1307
$GC,10047,1.45,369.2,331.9,16.1,483,10053,0.00,2.03,0.00,0.000,6,0.000,0.029,3116,1462,1306
$GC,10363,1.45,369.2,284.4,15.3,499,10367,0.00,2.17,0.00,0.000,4,0.000,0.055,3116,262,1306
$GC,10401,1.45,369.2,278.1,15.8,500,10408,0.00,2.00,0.00,0.000,6,0.000,0.028,3116,1450,1307
$GC,10720,1.45,369.2,230.4,14.4,516,10724,0.00,2.15,0.00,0.000,4,0.000,0.054,3116,262,1307
$GC,10798,1.45,369.2,218.4,15.2,519,10802,0.00,1.98,0.00,0.000,6,0.000,0.028,3116,1458,1307
$GC,11120,1.45,369.2,176.9,12.5,535,11123,0.00,2.17,0.00,0.000,4,0.000,0.054,3116,255,1307
$GC,11248,1.45,369.2,158.0,14.2,540,11255,0.00,2.05,0.00,0.000,6,0.000,0.028,3116,1456,1307
$GC,11565,1.45,369.2,110.9,15.5,556,11569,0.00,2.15,0.00,0.000,4,0.000,0.053,3116,262,1307
$GC,11621,1.45,369.2,102.0,14.6,558,11625,0.00,1.98,0.00,0.000,6,0.000,0.028,3116,1455,1307
$GC,11942,1.45,369.2,57.4,12.6,574,11946,0.00,2.15,0.00,0.000,4,0.000,0.053,3116,258,1307
$GC,12015,1.45,369.2,46.4,14.6,577,12018,0.00,2.00,0.00,0.000,6,0.000,0.028,3116,1456,1307
$STATE,12320,end climb,SURFACE_DEPTH_REACHED
$STATE,12320,begin surface coast
$FINISH,0.1,1.026230
$STATE,12341,end surface coast,CONTROL_FINISHED_OK
$STATE,12341,begin surface
$SM_CCo,12425,0.00,0.000,0,0,1305,374.57
$SM_GC,0.87,11.82,0.00,0.00,0.028,0.000,0.000,397,2460,1305,-10.98,-0.45,374.57
$IRIDIUM_FIX,6130.75,-919.48,050998,131331
$TT8_MAMPS,0.026845
$HUMID,1828
$INTERNAL_PRESSURE,8.06019
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.0,88.6
$24V_AH,23.2,22.849
$10V_AH,10.1,9.726
$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,26.100,121.225,457.150,0.000,0.000,23.472,26.610,117.665,4.750,0.000,0.000,15.840,1134.439,9080.362,528.277,1401.297,557.695,33.363,1297.905,0.000,1488.868,0.000,33.124,0.000
$DEVICE_MAMPS,135.759,62.894,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.451,404.874,367.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31659,593
$CAP_FILE_SIZE,94298,0
$CFSIZE,260165632,256053248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,110609,210736,6152.421,-929.519,37,1.1,42,-9.6