version: 66.04
glider: 5
mission: 5
dive: 108
start: 11 24 108 11 6 16
data:
$ID,5
$MISSION,5
$DIVE,108
$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,-89383.93
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,110038,6108.091,-156.420,41,1.2,41,-5.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.1
$GPS2,110527,6108.026,-156.440,16,1.4,16,-5.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.226,-0.095
$KALMAN_X,30142.7,1544.3,768.1,170928.1,-19172.6
$KALMAN_Y,-17920.4,-341.0,-249.0,-263436.0,4670.5
$MHEAD_RNG_PITCHd_Wd,118.2,8041,-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,-61.60,0.000,2,0.000,0.000,419,1963,3042
$GC,82,-1.22,-146.6,3.4,-4.6,3,112,10.30,2.47,-11.00,0.000,4,0.135,0.071,2427,598,3430
$GC,180,-0.98,-146.6,20.6,-15.3,7,185,0.28,2.50,0.00,0.000,6,0.094,0.050,2482,2008,3430
$GC,498,-0.90,-146.6,54.6,-9.0,22,502,0.00,2.55,0.00,0.000,4,0.000,0.063,2482,599,3430
$GC,606,-0.84,-146.6,66.9,-14.6,27,611,0.17,2.45,0.00,0.000,6,0.096,0.050,2518,1975,3430
$GC,935,-0.84,-146.6,102.3,-7.9,43,939,0.00,2.53,0.00,0.000,4,0.000,0.063,2518,593,3430
$GC,968,-0.84,-146.6,105.1,-7.7,44,975,0.00,2.42,0.00,0.000,6,0.000,0.050,2518,1968,3430
$GC,1286,-0.84,-146.6,126.3,-7.4,60,1290,0.00,2.50,0.00,0.000,4,0.000,0.065,2518,599,3430
$GC,1313,-0.84,-146.6,128.6,-7.4,61,1317,0.00,2.42,0.00,0.000,6,0.000,0.050,2518,1962,3430
$GC,1640,-0.84,-146.6,162.0,-10.3,77,1645,0.00,2.58,0.00,0.000,4,0.000,0.061,2519,3408,3430
$GC,1668,-0.89,-146.6,165.2,-10.8,78,1673,0.00,2.55,0.00,0.000,6,0.000,0.050,2518,1970,3430
$GC,1985,-0.93,-146.6,196.1,-9.2,93,1989,0.00,2.58,0.00,0.000,4,0.000,0.058,2519,3405,3429
$GC,2017,-0.93,-146.6,199.8,-11.3,94,2025,0.00,2.50,0.00,0.000,6,0.000,0.048,2518,1990,3430
$GC,2333,-0.93,-146.6,237.1,-11.5,110,2338,0.00,2.47,0.00,0.000,4,0.000,0.062,2518,593,3429
$GC,2406,-0.98,-146.6,248.4,-15.3,113,2411,0.15,2.45,0.00,0.000,6,0.051,0.048,2476,1987,3430
$GC,2724,-0.92,-146.6,284.4,-9.9,128,2726,0.12,0.00,0.00,0.000,6,0.090,0.000,2503,2001,3430
$GC,3031,-0.92,-146.6,311.7,-8.5,143,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1999,3429
$GC,3340,-0.92,-146.6,340.6,-9.3,158,3345,0.00,2.55,0.00,0.000,4,0.000,0.066,2503,592,3429
$GC,3464,-0.92,-146.6,352.8,-9.5,163,3471,0.00,2.45,0.00,0.000,6,0.000,0.050,2503,1982,3430
$GC,3780,-0.92,-146.6,381.7,-9.4,179,3784,0.00,2.50,0.00,0.000,4,0.000,0.066,2502,594,3430
$GC,3870,-0.92,-146.6,390.4,-9.8,183,3874,0.00,2.40,0.00,0.000,6,0.000,0.050,2503,1962,3429
$STATE,4158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4158,begin apogee
$GC,4166,-0.33,0.0,417.8,9.7,197,4287,0.57,0.00,118.32,1.068,6,0.076,0.000,2626,2253,2832
$STATE,4288,end apogee,CONTROL_FINISHED_OK
$STATE,4288,begin climb
$GC,4291,1.22,146.6,421.7,0.0,203,4417,1.55,2.62,117.20,1.039,4,0.051,0.063,2971,3651,2234
$GC,4437,1.26,200.7,416.4,6.0,210,4489,0.00,2.55,44.40,1.003,6,0.000,0.052,2971,2240,2013
$GC,4801,1.26,200.7,387.4,8.5,228,4805,0.00,2.53,0.00,0.000,4,0.000,0.063,2971,843,2012
$GC,4896,1.26,200.7,378.4,9.3,232,4900,0.00,2.50,0.00,0.000,6,0.000,0.050,2971,2243,2012
$GC,5223,1.26,200.7,350.6,8.6,248,5227,0.00,2.58,0.00,0.000,4,0.000,0.063,2972,838,2012
$GC,5307,1.26,200.7,342.7,9.0,252,5311,0.00,2.47,0.00,0.000,6,0.000,0.050,2972,2225,2012
$GC,5633,1.26,200.7,315.1,8.0,268,5638,0.00,2.50,0.00,0.000,4,0.000,0.062,2972,845,2012
$GC,5684,1.26,201.3,310.8,8.0,270,5688,0.00,2.42,0.00,0.000,6,0.000,0.051,2971,2201,2012
$GC,6000,1.26,205.6,286.1,7.8,285,6007,0.00,0.00,5.50,0.753,6,0.000,0.000,2972,2202,1993
$GC,6309,1.26,205.6,259.9,8.6,300,6313,0.00,2.47,0.00,0.000,4,0.000,0.063,2972,845,1993
$GC,6354,1.26,205.6,255.9,8.9,302,6358,0.00,2.40,0.00,0.000,6,0.000,0.051,2972,2194,1992
$GC,6681,1.26,205.6,227.7,8.2,318,6685,0.00,2.45,0.00,0.000,4,0.000,0.063,2972,847,1992
$GC,6713,1.26,205.6,224.8,8.1,319,6719,0.00,2.38,0.00,0.000,6,0.000,0.051,2972,2180,1993
$GC,7029,1.26,205.6,194.3,11.1,335,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2180,1993
$GC,7338,1.26,205.6,163.6,8.5,350,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2180,1993
$GC,7648,1.27,211.7,140.2,7.8,365,7661,0.00,2.47,6.40,0.725,4,0.000,0.063,2972,841,1968
$GC,7693,1.33,218.1,136.6,7.8,367,7707,0.00,2.38,6.97,0.741,6,0.000,0.050,2972,2174,1942
$GC,8025,1.49,282.9,114.6,5.6,383,8082,0.20,2.72,50.88,0.864,4,0.044,0.060,3031,3657,1677
$GC,8117,1.40,282.9,102.5,13.7,386,8122,0.15,2.62,0.00,0.000,6,0.090,0.049,3003,2191,1678
$GC,8434,1.40,282.9,71.3,10.5,401,8439,0.00,2.40,0.00,0.000,4,0.000,0.062,3003,847,1678
$GC,8475,1.40,282.9,66.7,9.5,403,8479,0.00,2.40,0.00,0.000,6,0.000,0.049,3003,2196,1679
$GC,8802,1.40,282.9,29.8,11.6,419,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2197,1679
$STATE,9068,end climb,SURFACE_DEPTH_REACHED
$STATE,9068,begin surface coast
$FINISH,2.4,1.027293
$STATE,9089,end surface coast,CONTROL_FINISHED_OK
$STATE,9089,begin surface
$SM_CCo,9172,0.00,0.000,0,0,1678,283.08
$SM_GC,1.42,11.30,0.00,0.00,0.043,0.000,0.000,422,1991,1678,-10.40,-0.25,283.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1783
$TCM_TEMP,17.40
$XPDR_PINGS,294
$ALTIM_TOP_PING,19.2,18.0
$ALTIM_BOTTOM_PING,350.1,77.2
$24V_AH,24.0,19.406
$10V_AH,10.1,8.666
$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,24.800,90.625,349.675,0.000,0.000,37.759,26.623,121.267,76.500,0.000,0.000,15.986,843.674,6779.745,427.997,1045.510,367.737,33.362,987.665,0.000,1020.431,0.000,21.571,0.000
$DEVICE_MAMPS,134.992,70.564,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,320.101,290.395,347.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22256,433
$CAP_FILE_SIZE,75209,0
$CFSIZE,254472192,246513664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,241108,134025,6106.670,-155.503,40,1.3,40,-5.4