version: 66.03
glider: 101
mission: 5
dive: 28
start: 4 4 108 16 59 56
data:
$ID,101
$MISSION,5
$DIVE,28
$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,-691199.94
$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,17
$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
$GPS1,164238,4753.542,-12608.463,29,1.4,29,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.8
$GPS2,165851,4753.500,-12608.604,14,1.5,14,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.239,-0.102
$KALMAN_X,15850.5,-426.1,-228.5,-52778.2,2114.9
$KALMAN_Y,788.0,132.2,4.8,-27383.2,204.6
$MHEAD_RNG_PITCHd_Wd,228.1,172086,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.81,-146.6,0.0,0.0,0,78,0.00,0.00,-49.97,0.000,2,0.000,0.000,34,2601,1981
$GC,83,-1.81,-146.6,3.2,-5.0,5,137,11.55,2.00,-34.58,0.000,4,0.160,0.099,2098,3626,3162
$GC,285,-1.81,-146.6,41.9,-19.4,23,292,0.00,1.88,0.00,0.000,6,0.000,0.047,2098,2575,3162
$GC,629,-1.81,-146.6,102.7,-16.3,73,633,0.00,2.45,0.00,0.000,4,0.000,0.051,2098,1196,3162
$GC,693,-1.81,-146.6,112.6,-15.5,78,697,0.00,2.53,0.00,0.000,6,0.000,0.045,2098,2602,3162
$GC,1030,-1.81,-146.6,162.7,-14.4,105,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2602,3162
$GC,1336,-1.81,-146.6,205.6,-13.1,120,1341,0.00,2.53,0.00,0.000,4,0.000,0.050,2098,1198,3162
$GC,1392,-1.81,-146.6,213.5,-13.5,122,1399,0.00,2.53,0.00,0.000,6,0.000,0.047,2098,2609,3162
$GC,1709,-1.81,-146.6,257.6,-14.2,138,1713,0.00,2.53,0.00,0.000,4,0.000,0.051,2098,1205,3162
$GC,1753,-1.81,-146.6,264.1,-14.1,140,1758,0.00,2.50,0.00,0.000,6,0.000,0.048,2098,2600,3162
$GC,2074,-1.81,-146.6,309.1,-13.9,154,2078,0.00,2.53,0.00,0.000,4,0.000,0.053,2098,1202,3162
$GC,2113,-1.81,-146.6,314.5,-14.0,154,2117,0.00,2.53,0.00,0.000,6,0.000,0.051,2098,2604,3162
$GC,2434,-1.81,-146.6,357.4,-13.3,160,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3162
$GC,2736,-1.81,-146.6,396.1,-12.8,165,2741,0.00,2.60,0.00,0.000,4,0.000,0.065,2098,1198,3161
$GC,2781,-1.81,-146.6,402.1,-13.1,165,2786,0.00,2.58,0.00,0.000,6,0.000,0.062,2098,2598,3161
$GC,3097,-1.81,-146.6,445.0,-13.8,171,3101,0.00,2.62,0.00,0.000,4,0.000,0.074,2098,1202,3161
$GC,3141,-1.81,-146.6,451.3,-14.0,171,3146,0.00,2.62,0.00,0.000,6,0.000,0.071,2098,2602,3161
$GC,3456,-1.81,-146.6,493.0,-13.1,177,3461,0.00,2.70,0.00,0.000,4,0.000,0.090,2098,1209,3161
$GC,3501,-1.81,-146.6,498.7,-12.9,177,3506,0.00,2.70,0.00,0.000,6,0.000,0.089,2098,2598,3161
$GC,3816,-1.81,-146.6,535.2,-11.3,183,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2598,3160
$GC,4121,-1.81,-146.6,573.1,-12.5,188,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2598,3160
$GC,4422,-1.81,-146.6,610.9,-12.4,193,4427,0.00,2.70,0.00,0.000,4,0.000,0.090,2098,1206,3160
$GC,4473,-1.81,-146.6,617.3,-12.6,193,4477,0.00,2.70,0.00,0.000,6,0.000,0.088,2098,2600,3159
$GC,4784,-1.81,-146.6,654.6,-12.1,198,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3159
$GC,5086,-1.81,-146.6,691.3,-12.2,203,5090,0.00,2.70,0.00,0.000,4,0.000,0.087,2098,1199,3158
$GC,5130,-1.81,-146.6,696.9,-12.6,203,5135,0.00,2.70,0.00,0.000,6,0.000,0.085,2098,2601,3158
$GC,5446,-1.81,-146.6,734.9,-12.1,209,5450,0.00,2.67,0.00,0.000,4,0.000,0.086,2098,1209,3157
$GC,5479,-1.81,-146.6,739.0,-11.6,209,5484,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2603,3158
$GC,5806,-1.81,-146.6,777.5,-11.8,215,5810,0.00,2.67,0.00,0.000,4,0.000,0.085,2098,1208,3157
$GC,5850,-1.81,-146.6,782.9,-11.5,215,5855,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2601,3157
$GC,6165,-1.81,-146.6,818.7,-11.3,221,6170,0.00,2.67,0.00,0.000,4,0.000,0.084,2098,1206,3157
$GC,6199,-1.81,-146.6,822.4,-11.4,221,6203,0.00,2.67,0.00,0.000,6,0.000,0.081,2098,2604,3156
$GC,6526,-1.81,-146.6,855.7,-10.2,227,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3156
$GC,6828,-1.81,-146.6,887.6,-10.6,232,6832,0.00,2.67,0.00,0.000,4,0.000,0.084,2098,1207,3156
$GC,6872,-1.81,-146.6,892.9,-11.7,232,6877,0.00,2.67,0.00,0.000,6,0.000,0.081,2098,2605,3156
$GC,7189,-1.81,-146.6,927.9,-11.1,238,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3156
$GC,7491,-1.81,-146.6,961.3,-11.1,243,7495,0.00,2.67,0.00,0.000,4,0.000,0.085,2098,1209,3155
$GC,7547,-1.81,-146.6,967.9,-11.6,243,7553,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2604,3155
$STATE,7794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7794,begin apogee
$GC,7803,-0.45,0.0,995.2,11.0,248,7933,1.42,0.00,126.47,1.462,6,0.081,0.000,2397,2213,2564
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7937,1.81,146.6,1000.7,0.0,250,8074,2.20,2.90,126.97,1.419,4,0.047,0.097,2896,789,1966
$GC,8206,1.81,146.6,988.9,10.2,254,8211,0.00,2.72,0.00,0.000,6,0.000,0.074,2896,2207,1966
$GC,8556,1.81,146.6,952.3,10.6,260,8560,0.00,2.83,0.00,0.000,4,0.000,0.094,2897,783,1965
$GC,8679,1.81,146.6,938.9,11.1,261,8685,0.00,2.72,0.00,0.000,6,0.000,0.074,2897,2208,1965
$GC,8989,1.81,146.6,907.2,10.2,267,8993,0.00,2.80,0.00,0.000,4,0.000,0.093,2897,791,1965
$GC,9129,1.81,146.6,892.1,10.7,269,9133,0.00,2.70,0.00,0.000,6,0.000,0.074,2897,2204,1965
$GC,9483,1.81,146.6,853.8,10.7,275,9487,0.00,2.80,0.00,0.000,4,0.000,0.093,2897,783,1964
$GC,9645,1.81,146.6,836.2,10.6,277,9650,0.00,2.70,0.00,0.000,6,0.000,0.074,2897,2206,1964
$GC,9978,1.81,147.0,803.1,10.0,283,9982,0.00,2.78,0.00,0.000,4,0.000,0.092,2897,789,1964
$GC,10135,1.81,147.0,787.6,10.2,285,10139,0.00,2.67,0.00,0.000,6,0.000,0.072,2896,2201,1964
$GC,10473,1.83,160.4,756.1,9.4,291,10492,0.00,2.85,12.73,1.228,4,0.000,0.091,2897,791,1910
$GC,10723,1.83,161.4,730.0,10.0,294,10728,0.00,2.67,0.00,0.000,6,0.000,0.074,2897,2201,1910
$GC,11039,1.84,169.1,699.9,9.6,300,11054,0.00,2.83,9.45,1.144,4,0.000,0.091,2897,791,1874
$GC,11239,1.84,169.1,678.5,10.4,303,11244,0.00,2.67,0.00,0.000,6,0.000,0.073,2897,2201,1874
$GC,11600,1.84,169.1,641.6,10.3,309,11604,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,784,1873
$GC,11858,1.84,169.1,613.7,10.6,312,11864,0.00,2.67,0.00,0.000,6,0.000,0.072,2896,2201,1874
$GC,12168,1.84,169.1,581.1,10.5,318,12172,0.00,2.75,0.00,0.000,4,0.000,0.089,2897,785,1874
$GC,12420,1.84,174.1,555.0,9.8,321,12432,0.00,2.67,5.85,0.956,6,0.000,0.071,2897,2203,1854
$GC,12735,1.84,174.1,523.4,10.2,327,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2204,1854
$GC,13038,1.84,174.1,490.4,10.9,332,13043,0.00,2.72,0.00,0.000,4,0.000,0.084,2897,791,1854
$GC,13297,1.85,176.1,462.6,9.9,335,13303,0.00,2.62,0.00,0.000,6,0.000,0.061,2897,2209,1854
$GC,13607,1.86,189.2,433.2,9.4,341,13627,0.00,2.78,14.35,1.055,4,0.000,0.076,2897,785,1792
$GC,13813,1.86,189.2,411.0,11.1,344,13817,0.00,2.58,0.00,0.000,6,0.000,0.053,2897,2202,1792
$GC,14167,1.86,189.2,372.9,10.9,350,14171,0.00,2.65,0.00,0.000,4,0.000,0.068,2897,784,1792
$GC,14251,1.86,189.2,363.1,11.2,351,14256,0.00,2.55,0.00,0.000,6,0.000,0.048,2897,2203,1792
$GC,14594,1.86,189.2,325.2,10.9,357,14599,0.00,2.65,0.00,0.000,4,0.000,0.066,2896,780,1792
$GC,14853,1.86,189.2,297.0,11.1,360,14859,0.00,2.53,0.00,0.000,6,0.000,0.045,2897,2202,1792
$GC,15171,1.89,207.3,266.5,9.2,376,15194,0.00,2.67,16.58,0.956,4,0.000,0.064,2896,789,1717
$GC,15412,1.89,207.3,242.3,10.3,386,15419,0.00,2.53,0.00,0.000,6,0.000,0.045,2896,2203,1717
$GC,15730,1.89,207.3,210.4,10.6,402,15735,0.00,2.62,0.00,0.000,4,0.000,0.064,2897,784,1718
$GC,15910,1.89,207.3,190.2,11.2,410,15914,0.00,2.55,0.00,0.000,6,0.000,0.045,2897,2206,1717
$GC,16237,1.89,207.3,152.1,11.5,426,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2207,1718
$GC,16555,1.89,207.3,119.1,10.1,455,16559,0.00,2.62,0.00,0.000,4,0.000,0.061,2897,781,1718
$GC,16746,1.92,233.4,100.1,8.8,471,16774,0.00,2.53,22.50,0.852,6,0.000,0.043,2897,2211,1612
$GC,17102,1.94,248.1,64.4,9.3,518,17121,0.10,2.72,13.10,0.796,4,0.074,0.060,2920,787,1552
$GC,17377,1.98,282.7,39.8,8.4,566,17412,0.00,2.53,28.92,0.805,6,0.000,0.043,2920,2203,1410
$GC,17740,2.05,339.5,7.3,7.3,600,17792,0.12,0.00,47.15,0.778,6,0.064,0.000,2949,2203,1179
$STATE,17800,end climb,SURFACE_DEPTH_REACHED
$STATE,17800,begin surface coast
$FINISH,0.8,1.024329
$STATE,17823,end surface coast,CONTROL_FINISHED_OK
$STATE,17823,begin surface
$SM_CCo,17850,47.58,0.755,0,0,933,400.08
$SM_GC,2.22,0.00,0.00,47.58,0.000,0.000,0.755,33,2606,933,-11.35,0.17,400.08
$IRIDIUM_FIX,4735.69,-12602.11,290697,171754
$TT8_MAMPS,0.026078
$HUMID,1805
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,18.0
$24V_AH,23.2,7.484
$10V_AH,10.1,3.370
$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,29.875,170.225,424.075,47.575,0.000,148.612,330.167,125.942,9.250,0.000,0.000,14.226,1340.788,13805.612,597.759,2152.733,987.515,33.383,1660.591,0.000,2093.881,0.000,60.847
$DEVICE_MAMPS,159.536,98.943,1461.902,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.652,496.188,688.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31645,608
$CAP_FILE_SIZE,134881,0
$CFSIZE,260165632,256851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040408,215937,4752.729,-12612.497,41,1.2,41,18.8