version: 66.04
glider: 5
mission: 5
dive: 106
start: 11 24 108 5 7 51
data:
$ID,5
$MISSION,5
$DIVE,106
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,12
$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,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-89349.406
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$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,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,050208,6110.241,-202.715,36,1.0,36,-5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-58.3
$GPS2,050702,6110.208,-202.708,16,1.0,16,-5.5
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.110
$KALMAN_X,30785.4,2017.3,1208.1,164203.9,-19869.8
$KALMAN_Y,-17620.1,-778.8,-262.4,-259242.2,5499.6
$MHEAD_RNG_PITCHd_Wd,122.0,14917,-14.8,-8.000
$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,-1.22,-146.6,0.0,0.0,0,79,0.00,0.00,-61.60,0.000,2,0.000,0.000,424,1967,3073
$GC,82,-1.22,-146.6,4.0,-6.2,3,108,10.23,2.53,-9.20,0.000,4,0.132,0.081,2427,605,3431
$GC,362,-0.99,-146.6,51.7,-14.4,15,367,0.28,2.50,0.00,0.000,6,0.089,0.048,2484,2010,3431
$GC,678,-0.93,-146.6,92.1,-11.2,30,683,0.00,2.58,0.00,0.000,4,0.000,0.064,2484,596,3431
$GC,724,-0.88,-146.6,96.6,-9.7,32,729,0.12,2.45,0.00,0.000,6,0.097,0.051,2510,1979,3431
$GC,1046,-0.88,-146.6,125.7,-9.1,48,1050,0.00,2.50,0.00,0.000,4,0.000,0.065,2510,595,3431
$GC,1078,-0.88,-146.6,129.0,-9.6,49,1085,0.00,2.42,0.00,0.000,6,0.000,0.050,2510,1967,3431
$GC,1394,-0.88,-146.6,161.8,-10.4,65,1399,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,3413,3431
$GC,1416,-0.88,-146.6,164.1,-10.4,66,1421,0.00,2.60,0.00,0.000,6,0.000,0.051,2510,1948,3431
$GC,1738,-0.88,-146.6,197.3,-9.8,82,1742,0.00,2.42,0.00,0.000,4,0.000,0.065,2510,590,3431
$GC,1778,-0.88,-146.6,201.4,-10.3,84,1782,0.00,2.42,0.00,0.000,6,0.000,0.050,2510,1966,3431
$GC,2104,-0.88,-146.6,234.0,-10.0,100,2108,0.00,2.58,0.00,0.000,4,0.000,0.061,2510,3409,3431
$GC,2154,-0.88,-146.6,239.1,-9.7,102,2158,0.00,2.55,0.00,0.000,6,0.000,0.050,2510,1972,3431
$GC,2470,-0.88,-146.6,267.8,-8.9,117,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1971,3431
$GC,2778,-0.88,-146.6,295.3,-9.3,132,2783,0.00,2.60,0.00,0.000,4,0.000,0.061,2510,3411,3431
$GC,2811,-0.88,-146.6,298.5,-9.2,133,2817,0.00,2.55,0.00,0.000,6,0.000,0.050,2510,1971,3431
$GC,3129,-0.88,-146.6,326.8,-9.1,149,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1972,3431
$GC,3436,-0.88,-146.6,353.7,-8.4,164,3440,0.00,2.60,0.00,0.000,4,0.000,0.061,2510,3410,3431
$GC,3485,-0.88,-146.6,358.2,-9.1,166,3490,0.00,2.53,0.00,0.000,6,0.000,0.051,2510,1983,3431
$GC,3802,-0.88,-146.6,385.5,-8.6,181,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1983,3431
$GC,4111,-0.88,-146.6,412.7,-9.3,196,4115,0.00,2.47,0.00,0.000,4,0.000,0.064,2510,593,3431
$GC,4132,-0.88,-146.6,414.9,-9.6,197,4136,0.00,2.45,0.00,0.000,6,0.000,0.051,2510,1984,3431
$GC,4453,-0.88,-146.6,443.1,-8.3,213,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1985,3431
$GC,4763,-0.92,-146.6,469.8,-9.1,228,4767,0.00,2.53,0.00,0.000,4,0.000,0.067,2510,594,3431
$GC,4790,-0.97,-146.6,472.5,-9.9,229,4794,0.00,2.42,0.00,0.000,6,0.000,0.051,2510,1967,3431
$GC,5106,-0.97,-146.6,498.7,-8.2,244,5111,0.00,2.58,0.00,0.000,4,0.000,0.064,2509,3404,3431
$GC,5124,-1.01,-146.6,500.3,-8.4,245,5130,0.12,2.55,0.00,0.000,6,0.054,0.056,2471,1978,3431
$STATE,5180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5180,begin apogee
$GC,5188,-0.33,0.0,505.6,9.4,248,5311,0.70,0.00,120.00,1.127,6,0.061,0.000,2629,2250,2832
$STATE,5312,end apogee,CONTROL_FINISHED_OK
$STATE,5312,begin climb
$GC,5315,1.22,146.6,505.3,0.0,254,5442,1.52,2.67,118.57,1.104,4,0.059,0.063,2966,846,2234
$GC,5463,1.22,178.1,499.8,6.9,261,5497,0.00,2.55,26.55,1.042,6,0.000,0.051,2966,2253,2105
$GC,5816,1.25,192.1,472.2,7.5,278,5838,0.00,2.67,13.25,0.988,4,0.000,0.064,2966,846,2047
$GC,5866,1.28,212.1,468.2,7.3,280,5890,0.00,2.53,17.42,1.013,6,0.000,0.054,2966,2239,1967
$GC,6214,1.31,234.1,443.7,7.2,297,6239,0.00,2.65,19.15,1.030,4,0.000,0.066,2966,849,1877
$GC,6280,1.37,234.1,437.9,9.4,300,6285,0.15,2.50,0.00,0.000,6,0.051,0.054,3008,2228,1877
$GC,6608,1.32,234.1,403.2,11.1,316,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2228,1877
$GC,6917,1.27,234.1,369.5,10.6,331,6922,0.15,2.55,0.00,0.000,4,0.085,0.063,2979,839,1876
$GC,6961,1.27,234.1,365.0,9.8,333,6966,0.00,2.47,0.00,0.000,6,0.000,0.051,2978,2223,1876
$GC,7283,1.27,234.1,335.9,9.4,349,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2221,1876
$GC,7592,1.27,234.1,306.8,8.7,364,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2222,1876
$GC,7901,1.28,240.0,281.1,7.8,379,7909,0.00,0.00,6.07,0.792,6,0.000,0.000,2978,2222,1853
$GC,8210,1.28,240.0,251.2,9.9,394,8214,0.00,2.53,0.00,0.000,4,0.000,0.064,2978,841,1853
$GC,8238,1.28,240.0,248.2,11.5,395,8242,0.00,2.45,0.00,0.000,6,0.000,0.050,2978,2218,1853
$GC,8559,1.37,294.3,225.2,6.0,411,8609,0.00,2.60,43.60,0.935,4,0.000,0.063,2978,848,1632
$GC,8639,1.43,294.3,219.4,8.6,414,8646,0.15,2.45,0.00,0.000,6,0.051,0.050,3021,2211,1632
$GC,8956,1.39,296.2,185.8,7.9,430,8961,0.00,0.00,3.62,0.570,6,0.000,0.000,3021,2211,1624
$GC,9265,1.34,296.2,151.2,9.7,445,9270,0.15,2.60,0.00,0.000,4,0.087,0.062,2991,3661,1624
$GC,9286,1.34,296.2,148.6,11.0,446,9291,0.00,2.60,0.00,0.000,6,0.000,0.051,2991,2201,1624
$GC,9608,1.39,300.0,124.1,7.9,462,9618,0.00,2.45,5.18,0.673,4,0.000,0.063,2991,844,1607
$GC,9648,1.39,300.0,120.4,9.0,464,9652,0.00,2.45,0.00,0.000,6,0.000,0.051,2991,2216,1607
$GC,9980,1.39,300.0,90.5,9.3,480,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2232,1607
$GC,10290,1.44,300.0,63.1,9.8,495,10295,0.10,2.53,0.00,0.000,4,0.057,0.060,3021,835,1608
$GC,10335,1.44,300.0,57.5,11.3,497,10339,0.00,2.42,0.00,0.000,6,0.000,0.049,3021,2199,1608
$GC,10656,1.44,300.0,24.5,10.4,513,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,1608
$STATE,10839,end climb,SURFACE_DEPTH_REACHED
$STATE,10839,begin surface coast
$FINISH,0.8,1.027285
$STATE,10881,end surface coast,CONTROL_FINISHED_OK
$STATE,10881,begin surface
$SM_CCo,10965,0.00,0.000,0,0,1608,300.25
$SM_GC,1.38,11.25,0.00,0.00,0.038,0.000,0.000,421,1986,1608,-10.39,-0.42,300.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1785
$TCM_TEMP,17.50
$XPDR_PINGS,364
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,425.2,89.2
$24V_AH,24.0,19.169
$10V_AH,10.1,8.565
$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,24.925,101.975,373.425,0.000,0.000,37.759,26.695,120.354,94.750,0.000,0.000,16.105,988.979,8257.029,454.086,1167.766,392.612,33.362,1076.857,0.000,1141.229,0.000,26.383,0.000
$DEVICE_MAMPS,131.924,80.535,1127.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.084,352.269,371.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25405,524
$CAP_FILE_SIZE,86939,0
$CFSIZE,254472192,246579200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,241108,081138,6109.182,-158.953,26,2.0,26,-5.4