version: 66.03
glider: 101
mission: 5
dive: 29
start: 4 4 108 22 6 18
data:
$ID,101
$MISSION,5
$DIVE,29
$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,-691214.44
$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,19
$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
$GPS1,215937,4752.729,-12612.497,41,1.2,41,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.7
$GPS2,220515,4752.705,-12612.490,13,1.8,13,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.225,-0.130
$KALMAN_X,14873.0,136.7,-224.8,-57166.4,468.5
$KALMAN_Y,1025.9,241.4,110.3,-29307.5,-320.2
$MHEAD_RNG_PITCHd_Wd,221.2,167233,-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,-50.05,0.000,2,0.000,0.000,33,2609,1989
$GC,85,-1.81,-146.6,3.1,-4.4,5,139,11.62,1.98,-34.97,0.000,4,0.163,0.098,2096,3617,3162
$GC,332,-1.81,-146.6,50.9,-18.8,31,339,0.00,1.88,0.00,0.000,6,0.000,0.047,2096,2571,3162
$GC,673,-1.81,-146.6,106.2,-14.4,77,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2571,3162
$GC,991,-1.81,-146.6,153.2,-14.4,106,995,0.00,2.45,0.00,0.000,4,0.000,0.051,2096,1205,3162
$GC,1025,-1.81,-146.6,158.2,-13.9,107,1029,0.00,2.50,0.00,0.000,6,0.000,0.045,2096,2599,3162
$GC,1341,-1.81,-146.6,205.7,-15.4,122,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3162
$GC,1653,-1.81,-146.6,251.1,-14.3,137,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3162
$GC,1960,-1.81,-146.6,293.0,-13.0,152,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3162
$GC,2266,-1.81,-146.6,332.2,-12.9,159,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3162
$GC,2567,-1.81,-146.6,371.5,-13.1,164,2571,0.00,2.55,0.00,0.000,4,0.000,0.062,2096,1212,3162
$GC,2617,-1.81,-146.6,378.3,-13.0,164,2621,0.00,2.53,0.00,0.000,6,0.000,0.058,2096,2604,3162
$GC,2927,-1.81,-146.6,419.4,-13.3,169,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2604,3162
$GC,3230,-1.81,-146.6,459.6,-13.3,174,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2604,3161
$GC,3533,-1.81,-146.6,498.1,-12.6,179,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2604,3161
$GC,3836,-1.81,-146.6,534.6,-12.0,184,3841,0.00,2.72,0.00,0.000,4,0.000,0.095,2096,1216,3160
$GC,3875,-1.81,-146.6,539.3,-11.9,184,3880,0.00,2.70,0.00,0.000,6,0.000,0.092,2096,2596,3160
$GC,4196,-1.81,-146.6,580.1,-12.8,190,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2596,3160
$GC,4499,-1.81,-146.6,619.8,-13.2,195,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2595,3159
$GC,4802,-1.81,-146.6,659.1,-12.8,200,4806,0.00,2.67,0.00,0.000,4,0.000,0.089,2096,1211,3159
$GC,4846,-1.81,-146.6,664.9,-12.4,200,4851,0.00,2.67,0.00,0.000,6,0.000,0.086,2096,2601,3158
$GC,5163,-1.81,-146.6,703.0,-11.9,206,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3158
$GC,5466,-1.81,-146.6,738.2,-11.7,211,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3158
$GC,5768,-1.81,-146.6,772.4,-11.3,216,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3157
$GC,6072,-1.81,-146.6,805.5,-10.9,221,6076,0.00,2.67,0.00,0.000,4,0.000,0.087,2096,1213,3157
$GC,6128,-1.81,-146.6,811.6,-10.5,221,6134,0.00,2.67,0.00,0.000,6,0.000,0.083,2096,2607,3157
$GC,6437,-1.81,-146.6,844.8,-10.9,227,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2606,3157
$GC,6741,-1.81,-146.6,878.9,-11.2,232,6746,0.00,2.67,0.00,0.000,4,0.000,0.087,2096,1216,3156
$GC,6786,-1.81,-146.6,884.3,-11.9,232,6791,0.00,2.67,0.00,0.000,6,0.000,0.083,2096,2604,3156
$GC,7102,-1.81,-146.6,919.2,-11.0,238,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2604,3156
$GC,7406,-1.81,-146.6,952.7,-11.0,243,7410,0.00,2.67,0.00,0.000,4,0.000,0.086,2096,1213,3156
$GC,7445,-1.81,-146.6,957.2,-11.2,243,7449,0.00,2.65,0.00,0.000,6,0.000,0.081,2096,2602,3156
$STATE,7762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7762,begin apogee
$GC,7770,-0.45,0.0,991.7,10.9,249,7900,1.45,0.00,125.65,1.479,6,0.081,0.000,2399,2222,2565
$STATE,7901,end apogee,CONTROL_FINISHED_OK
$STATE,7901,begin climb
$GC,7904,1.81,146.6,996.2,0.0,251,8040,2.20,2.92,126.38,1.433,4,0.047,0.098,2899,789,1966
$GC,8301,1.81,146.6,967.3,11.2,257,8305,0.00,2.72,0.00,0.000,6,0.000,0.074,2899,2206,1966
$GC,8666,1.81,146.6,928.4,10.3,263,8671,0.00,2.80,0.00,0.000,4,0.000,0.092,2899,791,1966
$GC,8848,1.81,146.6,910.0,10.7,265,8853,0.00,2.70,0.00,0.000,6,0.000,0.074,2899,2204,1965
$GC,9163,1.82,152.1,879.0,9.7,271,9177,0.00,2.80,6.22,1.109,4,0.000,0.092,2899,791,1943
$GC,9346,1.82,152.1,859.3,10.9,273,9351,0.00,2.70,0.00,0.000,6,0.000,0.074,2899,2206,1943
$GC,9661,1.82,152.1,826.9,10.2,279,9666,0.00,2.78,0.00,0.000,4,0.000,0.091,2899,791,1942
$GC,9862,1.82,152.1,806.5,10.2,282,9867,0.00,2.67,0.00,0.000,6,0.000,0.073,2899,2201,1943
$GC,10222,1.83,165.6,772.4,9.4,288,10241,0.00,2.85,12.85,1.273,4,0.000,0.091,2899,792,1888
$GC,10375,1.83,165.6,757.1,10.3,290,10380,0.00,2.67,0.00,0.000,6,0.000,0.072,2900,2201,1888
$GC,10725,1.83,165.6,720.9,10.5,296,10729,0.00,2.78,0.00,0.000,4,0.000,0.091,2899,787,1888
$GC,10909,1.83,165.6,700.6,10.9,298,10913,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2202,1888
$GC,11219,1.83,165.6,667.8,10.6,303,11223,0.00,2.75,0.00,0.000,4,0.000,0.089,2899,791,1888
$GC,11416,1.83,165.6,646.7,10.6,306,11420,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2202,1888
$GC,11782,1.84,170.6,610.7,9.8,312,11795,0.00,2.80,6.25,1.030,4,0.000,0.089,2899,783,1867
$GC,12050,1.84,170.6,582.1,10.9,316,12054,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2201,1867
$GC,12415,1.84,170.6,544.4,10.3,322,12420,0.00,2.75,0.00,0.000,4,0.000,0.088,2899,788,1867
$GC,12598,1.84,170.6,524.8,10.6,324,12602,0.00,2.65,0.00,0.000,6,0.000,0.067,2899,2202,1867
$GC,12913,1.84,170.6,491.9,10.3,330,12917,0.00,2.72,0.00,0.000,4,0.000,0.084,2899,787,1867
$GC,13171,1.85,176.7,466.7,9.7,333,13185,0.00,2.62,7.05,0.990,6,0.000,0.061,2899,2206,1843
$GC,13548,1.85,179.8,430.2,9.9,340,13557,0.00,2.72,4.38,0.800,4,0.000,0.075,2899,787,1830
$GC,13812,1.85,179.8,401.8,10.9,344,13816,0.00,2.60,0.00,0.000,6,0.000,0.053,2899,2211,1830
$GC,14178,1.86,189.7,365.7,9.5,350,14193,0.00,2.70,9.75,0.983,4,0.000,0.067,2899,789,1790
$GC,14446,1.87,193.6,337.7,9.8,354,14456,0.00,2.55,5.15,0.823,6,0.000,0.048,2899,2203,1774
$GC,14805,1.87,193.6,300.4,10.6,360,14810,0.00,2.62,0.00,0.000,4,0.000,0.065,2899,786,1774
$GC,15062,1.87,193.6,272.2,10.6,369,15069,0.00,2.55,0.00,0.000,6,0.000,0.048,2899,2204,1774
$GC,15379,1.87,194.5,239.6,10.0,385,15384,0.00,2.62,0.00,0.000,4,0.000,0.064,2899,789,1774
$GC,15638,1.88,204.9,213.3,9.5,396,15654,0.00,2.53,10.90,0.905,6,0.000,0.047,2899,2203,1728
$GC,15971,1.88,205.9,181.1,10.0,413,15976,0.00,2.62,0.00,0.000,4,0.000,0.062,2898,781,1728
$GC,16230,1.89,208.0,154.5,9.9,424,16239,0.00,2.53,4.40,0.678,6,0.000,0.045,2899,2201,1715
$GC,16567,1.89,211.2,121.2,9.8,454,16579,0.00,2.62,4.47,0.665,4,0.000,0.061,2899,788,1702
$GC,16832,1.89,211.2,92.2,10.8,477,16839,0.00,2.53,0.00,0.000,6,0.000,0.044,2899,2209,1702
$GC,17170,1.96,264.9,61.7,7.5,527,17221,0.12,2.70,43.20,0.867,4,0.069,0.077,2928,3605,1482
$GC,17477,1.96,264.9,32.6,10.0,574,17482,0.00,2.53,0.00,0.000,6,0.000,0.042,2928,2175,1482
$GC,17803,2.05,340.4,6.7,6.5,604,17874,0.00,2.78,61.12,0.804,4,0.000,0.069,2928,3596,1174
$STATE,17884,end climb,SURFACE_DEPTH_REACHED
$STATE,17884,begin surface coast
$FINISH,0.7,1.001960
$STATE,17907,end surface coast,CONTROL_FINISHED_OK
$STATE,17908,begin surface
$SM_CCo,17934,48.15,0.749,1,0,933,400.08
$SM_GC,2.05,0.00,0.00,48.15,0.000,0.000,0.749,28,2584,933,-11.37,-0.48,400.08
$IRIDIUM_FIX,4735.69,-12613.68,290697,171728
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.3
$24V_AH,23.2,7.655
$10V_AH,10.1,3.461
$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,28.225,137.150,427.775,48.150,0.000,33.104,51.447,127.233,9.250,0.000,0.000,13.881,1350.038,13572.048,581.710,2245.071,587.982,33.357,1661.876,0.000,2184.422,0.000,58.232
$DEVICE_MAMPS,162.604,98.176,1478.776,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.176,493.820,702.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31712,614
$CAP_FILE_SIZE,128053,0
$CFSIZE,260165632,256794624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050408,030737,4751.855,-12615.560,43,1.5,49,18.8