version: 66.03
glider: 101
mission: 5
dive: 26
start: 4 4 108 6 34 57
data:
$ID,101
$MISSION,5
$DIVE,26
$D_SURF,2
$D_FLARE,3
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$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,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-691172.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3635
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2564
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.435382
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$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,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043762224
$SEABIRD_T_H,0.0006433985
$SEABIRD_T_I,2.5567888e-05
$SEABIRD_T_J,2.722762e-06
$SEABIRD_C_G,-10.209094
$SEABIRD_C_H,1.1488034
$SEABIRD_C_I,-0.0015548224
$SEABIRD_C_J,0.00021813136
$GPS1,062758,4755.682,-12602.063,30,2.1,49,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.3
$GPS2,063355,4755.693,-12602.011,37,1.1,47,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.215,-0.145
$KALMAN_X,14928.2,-211.8,43.3,-44223.4,420.9
$KALMAN_Y,689.5,-119.9,-21.1,-22940.1,172.9
$MHEAD_RNG_PITCHd_Wd,217.1,181240,-17.9,-10.000
$D_GRID,1001
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.81,-146.6,0.0,0.0,0,80,0.00,0.00,-50.00,0.000,2,0.000,0.000,34,2607,1993
$GC,85,-1.81,-146.6,3.3,-5.1,5,139,11.60,2.00,-34.83,0.000,4,0.161,0.100,2096,3629,3163
$GC,268,-1.81,-146.6,36.5,-20.2,21,275,0.00,1.88,0.00,0.000,6,0.000,0.047,2096,2577,3162
$GC,607,-1.81,-146.6,94.2,-15.6,72,611,0.00,2.47,0.00,0.000,4,0.000,0.051,2096,1198,3162
$GC,663,-1.81,-146.6,103.3,-16.3,76,669,0.00,2.50,0.00,0.000,6,0.000,0.045,2097,2598,3162
$GC,998,-1.81,-146.6,153.6,-15.0,107,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2598,3162
$GC,1309,-1.81,-146.6,200.8,-15.5,122,1313,0.00,2.50,0.00,0.000,4,0.000,0.051,2096,1204,3162
$GC,1349,-1.81,-146.6,207.3,-15.3,124,1354,0.00,2.50,0.00,0.000,6,0.000,0.046,2096,2599,3162
$GC,1677,-1.81,-146.6,255.1,-13.6,140,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2599,3162
$GC,1986,-1.81,-146.6,296.8,-13.5,155,1991,0.00,2.53,0.00,0.000,4,0.000,0.053,2097,1202,3162
$GC,2043,-1.81,-146.6,304.5,-13.2,157,2049,0.00,2.53,0.00,0.000,6,0.000,0.049,2097,2605,3162
$GC,2353,-1.81,-146.6,345.3,-13.3,163,2357,0.00,2.55,0.00,0.000,4,0.000,0.057,2097,1205,3162
$GC,2425,-1.81,-146.6,354.8,-12.4,164,2430,0.00,2.55,0.00,0.000,6,0.000,0.054,2097,2607,3162
$GC,2782,-1.81,-146.6,400.0,-12.7,170,2787,0.00,2.60,0.00,0.000,4,0.000,0.064,2096,1198,3162
$GC,2833,-1.81,-146.6,407.0,-12.7,170,2837,0.00,2.60,0.00,0.000,6,0.000,0.062,2096,2608,3161
$GC,3144,-1.81,-146.6,447.9,-13.3,175,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2609,3161
$GC,3446,-1.81,-146.6,487.2,-12.9,180,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2609,3161
$GC,3750,-1.81,-146.6,527.9,-13.5,185,3754,0.00,2.78,0.00,0.000,4,0.000,0.097,2097,1201,3161
$GC,3806,-1.81,-146.6,535.8,-13.9,185,3812,0.00,2.75,0.00,0.000,6,0.000,0.094,2096,2600,3161
$GC,4116,-1.81,-146.6,575.3,-12.7,191,4121,0.00,2.70,0.00,0.000,4,0.000,0.091,2097,1209,3161
$GC,4150,-1.81,-146.6,579.7,-12.1,191,4154,0.00,2.72,0.00,0.000,6,0.000,0.090,2097,2607,3161
$GC,4476,-1.81,-146.6,616.6,-11.3,197,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2607,3160
$GC,4781,-1.81,-146.6,649.5,-11.0,202,4786,0.00,2.67,0.00,0.000,4,0.000,0.087,2097,1214,3159
$GC,4837,-1.81,-146.6,655.9,-11.4,202,4841,0.00,2.70,0.00,0.000,6,0.000,0.087,2097,2608,3159
$GC,5146,-1.81,-146.6,691.0,-11.4,207,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2608,3158
$GC,5450,-1.81,-146.6,726.4,-11.8,212,5455,0.00,2.70,0.00,0.000,4,0.000,0.087,2097,1208,3158
$GC,5507,-1.81,-146.6,733.0,-11.1,212,5513,0.00,2.70,0.00,0.000,6,0.000,0.086,2096,2607,3158
$GC,5817,-1.81,-146.6,768.3,-11.4,218,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2607,3157
$GC,6120,-1.81,-146.6,802.9,-11.5,223,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2607,3157
$GC,6423,-1.81,-146.6,837.2,-11.1,228,6427,0.00,2.70,0.00,0.000,4,0.000,0.086,2096,1206,3157
$GC,6495,-1.81,-146.6,844.8,-10.2,229,6500,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3156
$GC,6850,-1.81,-146.6,882.4,-10.7,235,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3156
$GC,7155,-1.81,-146.6,914.1,-10.5,240,7159,0.00,2.67,0.00,0.000,4,0.000,0.085,2096,1208,3156
$GC,7222,-1.81,-146.6,922.0,-11.3,241,7226,0.00,2.67,0.00,0.000,6,0.000,0.082,2096,2602,3156
$GC,7582,-1.81,-146.6,962.5,-11.3,247,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3156
$STATE,7882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7882,begin apogee
$GC,7891,-0.45,0.0,995.5,10.9,252,8021,1.45,0.00,126.62,1.464,6,0.080,0.000,2400,2210,2564
$STATE,8022,end apogee,CONTROL_FINISHED_OK
$STATE,8022,begin climb
$GC,8025,1.81,146.6,1000.0,0.0,254,8163,2.22,2.92,127.38,1.422,4,0.044,0.097,2896,793,1966
$GC,8209,1.81,146.6,994.5,11.3,257,8213,0.00,2.72,0.00,0.000,6,0.000,0.074,2896,2207,1965
$GC,8552,1.81,146.6,954.9,11.6,263,8557,0.00,2.83,0.00,0.000,4,0.000,0.094,2896,785,1965
$GC,8810,1.81,146.6,925.2,11.1,266,8816,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2201,1965
$GC,9120,1.81,146.6,892.8,10.4,272,9124,0.00,2.78,0.00,0.000,4,0.000,0.092,2896,785,1965
$GC,9378,1.81,147.8,865.8,9.9,275,9384,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2202,1965
$GC,9688,1.82,152.2,835.6,9.8,281,9702,0.00,2.85,6.47,1.101,4,0.000,0.092,2896,791,1943
$GC,9846,1.82,152.2,819.3,10.7,283,9851,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2206,1943
$GC,10190,1.82,152.2,783.9,10.2,289,10194,0.00,2.78,0.00,0.000,4,0.000,0.091,2896,791,1943
$GC,10252,1.82,152.2,777.5,10.3,290,10257,0.00,2.67,0.00,0.000,6,0.000,0.074,2896,2201,1943
$GC,10619,1.83,159.3,742.0,9.7,296,10633,0.00,2.83,7.65,1.124,4,0.000,0.092,2896,795,1914
$GC,10814,1.83,159.3,721.7,10.3,298,10820,0.00,2.67,0.00,0.000,6,0.000,0.073,2896,2203,1914
$GC,11124,1.83,159.3,690.7,10.1,304,11128,0.00,2.78,0.00,0.000,4,0.000,0.092,2896,789,1914
$GC,11269,1.83,159.3,675.3,10.3,306,11274,0.00,2.67,0.00,0.000,6,0.000,0.073,2896,2202,1914
$GC,11619,1.83,159.3,640.6,10.0,312,11623,0.00,2.75,0.00,0.000,4,0.000,0.091,2896,792,1914
$GC,11804,1.83,159.3,620.4,10.7,314,11808,0.00,2.65,0.00,0.000,6,0.000,0.071,2896,2201,1914
$GC,12114,1.83,159.3,586.9,11.0,319,12118,0.00,2.75,0.00,0.000,4,0.000,0.089,2896,789,1914
$GC,12197,1.83,159.3,577.7,10.9,320,12202,0.00,2.65,0.00,0.000,6,0.000,0.070,2896,2202,1914
$GC,12541,1.83,159.3,542.5,10.3,326,12545,0.00,2.75,0.00,0.000,4,0.000,0.088,2896,788,1914
$GC,12799,1.83,159.3,514.5,11.0,329,12805,0.00,2.65,0.00,0.000,6,0.000,0.067,2896,2208,1914
$GC,13108,1.83,159.3,483.2,10.1,335,13113,0.00,2.72,0.00,0.000,4,0.000,0.083,2896,784,1914
$GC,13227,1.83,160.1,471.1,10.0,336,13231,0.00,2.62,0.00,0.000,6,0.000,0.061,2896,2206,1914
$GC,13537,1.85,174.6,442.2,9.3,341,13553,0.00,0.00,14.55,1.067,6,0.000,0.000,2896,2208,1852
$GC,13840,1.85,174.6,411.8,10.1,346,13844,0.00,2.67,0.00,0.000,4,0.000,0.073,2896,791,1852
$GC,14097,1.85,174.6,383.4,11.3,349,14104,0.00,2.55,0.00,0.000,6,0.000,0.051,2896,2202,1852
$GC,14407,1.85,174.6,351.4,10.2,355,14412,0.00,2.62,0.00,0.000,4,0.000,0.067,2896,791,1852
$GC,14637,1.85,174.6,328.3,10.5,358,14642,0.00,2.55,0.00,0.000,6,0.000,0.048,2896,2209,1852
$GC,14969,1.86,184.4,296.7,9.5,364,14984,0.00,2.70,9.70,0.931,4,0.000,0.065,2896,781,1812
$GC,15105,1.86,184.8,283.2,10.0,369,15110,0.00,2.55,0.00,0.000,6,0.000,0.046,2896,2207,1812
$GC,15428,1.86,190.3,251.3,9.7,385,15442,0.00,2.72,6.82,0.851,4,0.000,0.064,2896,785,1787
$GC,15528,1.86,190.3,240.7,10.3,389,15532,0.00,2.55,0.00,0.000,6,0.000,0.044,2896,2211,1787
$GC,15844,1.86,190.3,208.9,10.1,404,15849,0.00,2.62,0.00,0.000,4,0.000,0.064,2896,789,1787
$GC,16002,1.86,190.3,192.8,10.0,411,16006,0.00,2.53,0.00,0.000,6,0.000,0.045,2896,2204,1787
$GC,16324,1.88,204.6,162.3,9.3,427,16345,0.00,2.70,13.30,0.878,4,0.000,0.061,2896,791,1729
$GC,16437,1.88,204.6,150.9,10.6,432,16442,0.00,2.55,0.00,0.000,6,0.000,0.044,2896,2209,1730
$GC,16764,1.88,204.6,117.2,10.1,462,16768,0.00,2.62,0.00,0.000,4,0.000,0.061,2896,781,1730
$GC,16906,1.89,214.5,103.0,9.5,474,16920,0.00,2.53,9.82,0.806,6,0.000,0.044,2896,2200,1689
$GC,17247,1.96,265.3,73.8,7.6,512,17292,0.12,0.00,41.25,0.834,6,0.068,0.000,2925,2199,1481
$GC,17630,1.96,269.4,35.4,9.8,576,17639,0.00,0.00,5.20,0.647,6,0.000,0.000,2926,2199,1465
$GC,17959,2.05,342.3,9.2,6.6,607,18025,0.00,2.70,59.65,0.779,4,0.000,0.061,2925,792,1167
$STATE,18035,end climb,SURFACE_DEPTH_REACHED
$STATE,18035,begin surface coast
$FINISH,0.8,1.024507
$STATE,18047,end surface coast,CONTROL_FINISHED_OK
$STATE,18047,begin surface
$SM_CCo,18078,47.80,0.713,2,0,933,400.08
$SM_GC,1.26,0.00,0.00,47.80,0.000,0.000,0.713,34,2605,933,-11.34,0.17,400.08
$IRIDIUM_FIX,4742.09,-12601.41,290697,010124
$TT8_MAMPS,0.026078
$HUMID,1803
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,23.2,7.129
$10V_AH,10.1,3.187
$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
$DEVICE_SECS,29.825,165.075,428.425,47.800,0.000,31.505,24.354,140.522,9.000,0.000,0.000,47.158,1336.009,13802.241,622.875,2154.573,587.375,33.350,1671.469,0.000,2072.467,0.000,60.900
$DEVICE_MAMPS,161.070,99.710,1464.203,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.806,500.609,702.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31640,615
$CAP_FILE_SIZE,130755,0
$CFSIZE,260165632,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,040408,113838,4754.163,-12605.097,43,1.6,43,18.8