version: 66.04
glider: 5
mission: 5
dive: 109
start: 11 24 108 13 45 46
data:
$ID,5
$MISSION,5
$DIVE,109
$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,-89395.656
$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,26
$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
$GPS1,134025,6106.670,-155.503,40,1.3,40,-5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-52.6
$GPS2,134457,6106.618,-155.548,11,1.6,11,-5.4
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,FSCN_SE
$TGT_LATLONG,6105.000,-150.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,-0.050
$KALMAN_X,27658.7,1058.5,750.6,174658.8,-22322.1
$KALMAN_Y,-19021.0,-148.7,-242.5,-265142.9,2557.0
$MHEAD_RNG_PITCHd_Wd,107.1,5802,-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,-61.70,0.000,2,0.000,0.000,422,1982,2916
$GC,82,-1.22,-146.6,3.0,-3.4,3,118,10.30,2.58,-17.15,0.000,4,0.136,0.074,2427,593,3430
$GC,372,-0.99,-146.6,42.9,-18.1,16,378,0.28,2.50,0.00,0.000,6,0.097,0.050,2482,2006,3430
$GC,700,-0.91,-146.6,79.9,-8.8,32,704,0.00,2.58,0.00,0.000,4,0.000,0.064,2483,589,3430
$GC,808,-0.85,-146.6,90.0,-9.9,37,813,0.15,2.47,0.00,0.000,6,0.091,0.049,2515,1983,3430
$GC,1135,-0.85,-146.6,120.7,-9.2,53,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1984,3430
$GC,1444,-0.85,-146.6,152.1,-9.5,68,1448,0.00,2.53,0.00,0.000,4,0.000,0.064,2515,593,3430
$GC,1466,-0.85,-146.6,154.3,-9.5,69,1470,0.00,2.42,0.00,0.000,6,0.000,0.050,2515,1964,3430
$GC,1787,-0.85,-146.6,184.3,-8.3,85,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1966,3430
$GC,2096,-0.85,-146.6,210.2,-8.5,100,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1965,3430
$GC,2406,-0.85,-146.6,238.3,-9.1,115,2410,0.00,2.50,0.00,0.000,4,0.000,0.066,2515,592,3430
$GC,2433,-0.85,-146.6,240.8,-9.1,116,2437,0.00,2.42,0.00,0.000,6,0.000,0.050,2514,1967,3429
$GC,2749,-0.85,-146.6,269.7,-9.5,131,2753,0.00,2.47,0.00,0.000,4,0.000,0.067,2514,596,3430
$GC,2776,-0.85,-146.6,272.4,-9.6,132,2780,0.00,2.40,0.00,0.000,6,0.000,0.050,2515,1955,3430
$GC,3092,-0.85,-146.6,303.4,-9.6,147,3096,0.00,2.60,0.00,0.000,4,0.000,0.062,2515,3413,3430
$GC,3125,-0.89,-146.6,306.7,-10.5,148,3131,0.00,2.58,0.00,0.000,6,0.000,0.051,2514,1963,3430
$GC,3441,-0.89,-146.6,338.0,-10.1,164,3445,0.00,2.45,0.00,0.000,4,0.000,0.065,2515,586,3430
$GC,3462,-0.89,-146.6,340.3,-9.7,165,3466,0.00,2.45,0.00,0.000,6,0.000,0.051,2515,1975,3430
$STATE,3718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3718,begin apogee
$GC,3726,-0.33,0.0,363.8,9.0,178,3846,0.52,0.00,117.60,1.033,6,0.074,0.000,2628,2257,2832
$STATE,3847,end apogee,CONTROL_FINISHED_OK
$STATE,3847,begin climb
$GC,3850,1.22,146.6,367.6,0.0,184,3975,1.52,2.67,116.70,1.006,4,0.058,0.060,2967,848,2234
$GC,3992,1.32,210.6,362.2,5.7,190,4049,0.00,2.53,51.70,0.973,6,0.000,0.050,2967,2246,1973
$GC,4368,1.32,210.6,333.1,8.3,209,4372,0.00,2.58,0.00,0.000,4,0.000,0.063,2967,843,1973
$GC,4389,1.32,210.6,330.9,8.6,210,4393,0.00,2.53,0.00,0.000,6,0.000,0.051,2968,2246,1973
$GC,4711,1.37,210.6,304.5,8.6,226,4716,0.12,2.58,0.00,0.000,4,0.051,0.062,3005,848,1973
$GC,4751,1.29,210.6,300.2,11.3,228,4756,0.12,2.47,0.00,0.000,6,0.089,0.050,2981,2232,1972
$GC,5078,1.29,210.6,269.9,9.1,244,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2232,1973
$GC,5387,1.31,225.3,244.7,7.5,259,5409,0.00,2.60,13.18,0.877,4,0.000,0.062,2980,848,1913
$GC,5425,1.31,225.3,241.5,8.2,260,5432,0.00,2.47,0.00,0.000,6,0.000,0.050,2980,2227,1913
$GC,5741,1.31,225.3,213.8,9.2,276,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2228,1913
$GC,6051,1.31,225.3,186.9,8.4,291,6055,0.00,2.53,0.00,0.000,4,0.000,0.062,2980,842,1913
$GC,6089,1.31,225.3,183.5,8.6,292,6095,0.00,2.45,0.00,0.000,6,0.000,0.049,2980,2217,1913
$GC,6405,1.31,225.3,155.3,9.3,308,6409,0.00,2.50,0.00,0.000,4,0.000,0.063,2981,838,1913
$GC,6437,1.31,225.3,151.6,11.3,309,6444,0.00,2.45,0.00,0.000,6,0.000,0.050,2980,2212,1913
$GC,6755,1.31,225.3,120.4,10.3,325,6760,0.00,2.50,0.00,0.000,4,0.000,0.062,2980,840,1913
$GC,6783,1.31,225.3,117.1,11.4,326,6787,0.00,2.40,0.00,0.000,6,0.000,0.050,2980,2189,1912
$GC,7099,1.31,225.3,86.4,11.4,341,7104,0.00,2.45,0.00,0.000,4,0.000,0.064,2980,845,1913
$GC,7122,1.31,225.3,84.3,9.5,342,7126,0.00,2.38,0.00,0.000,6,0.000,0.050,2980,2177,1913
$GC,7444,1.31,225.3,53.8,10.9,358,7448,0.00,2.65,0.00,0.000,4,0.000,0.062,2980,3659,1913
$GC,7476,1.31,225.3,50.3,10.6,359,7483,0.00,2.67,0.00,0.000,6,0.000,0.051,2980,2151,1913
$GC,7793,1.35,249.3,27.9,7.1,375,7818,0.00,2.80,19.95,0.787,4,0.000,0.060,2980,3661,1814
$GC,7830,1.40,249.3,24.0,10.7,376,7837,0.10,2.65,0.00,0.000,6,0.060,0.049,3011,2181,1814
$STATE,8021,end climb,SURFACE_DEPTH_REACHED
$STATE,8021,begin surface coast
$FINISH,0.9,1.027288
$STATE,8042,end surface coast,CONTROL_FINISHED_OK
$STATE,8042,begin surface
$SM_CCo,8065,0.15,0.152,0,0,1812,250.21
$SM_GC,2.42,0.00,0.00,0.15,0.000,0.000,0.152,423,1982,1812,-10.47,-0.51,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1775
$TCM_TEMP,17.50
$XPDR_PINGS,231
$ALTIM_TOP_PING,18.3,999.0
$ALTIM_BOTTOM_PING,301.4,71.6
$24V_AH,24.0,19.512
$10V_AH,10.1,8.711
$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,24.375,86.550,319.125,0.150,0.000,37.758,31.321,102.191,60.250,0.000,0.000,11.105,746.230,5937.503,414.950,902.205,344.848,33.356,903.108,0.000,885.381,0.000,18.388,0.000
$DEVICE_MAMPS,135.759,74.399,1033.149,151.866,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,281.436,259.295,329.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19140,387
$CAP_FILE_SIZE,67064,0
$CFSIZE,254472192,246489088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,241108,160132,6106.295,-153.773,40,1.0,40,-5.4