version: 66.03
glider: 101
mission: 5
dive: 34
start: 4 5 108 23 31 54
data:
$ID,101
$MISSION,5
$DIVE,34
$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,-691305.44
$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,16
$R_STBD_OVSHOOT,15
$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
$GPS1,232538,4745.059,-12628.821,32,1.7,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-58.5
$GPS2,233051,4745.071,-12628.839,14,1.6,14,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.189,-0.178
$KALMAN_X,12895.7,226.7,-107.3,-75620.0,-321.2
$KALMAN_Y,3032.2,-65.5,12.9,-45044.9,475.2
$MHEAD_RNG_PITCHd_Wd,207.9,142215,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.81,-146.6,0.0,0.0,0,96,0.00,0.00,-65.03,0.000,2,0.000,0.000,33,2607,2256
$GC,100,-1.81,-146.6,3.6,-5.2,7,144,11.50,2.60,-23.30,0.000,4,0.158,0.062,2097,1188,3162
$GC,269,-1.81,-146.6,35.1,-18.0,22,273,0.00,2.55,0.00,0.000,6,0.000,0.047,2097,2606,3162
$GC,607,-1.81,-146.6,97.8,-18.7,71,611,0.00,1.95,0.00,0.000,4,0.000,0.084,2097,3632,3162
$GC,646,-1.81,-146.6,105.1,-17.5,74,652,0.00,1.88,0.00,0.000,6,0.000,0.048,2097,2579,3162
$GC,973,-1.81,-146.6,156.5,-14.9,103,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2579,3162
$GC,1281,-1.81,-146.6,200.7,-14.6,118,1285,0.00,2.47,0.00,0.000,4,0.000,0.051,2097,1196,3162
$GC,1314,-1.81,-146.6,206.0,-15.2,119,1321,0.00,2.53,0.00,0.000,6,0.000,0.047,2097,2606,3162
$GC,1632,-1.81,-146.6,252.3,-14.7,135,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2606,3162
$GC,1940,-1.81,-146.6,296.4,-13.9,150,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2606,3161
$GC,2285,-1.81,-146.6,343.8,-13.6,157,2290,0.00,2.55,0.00,0.000,4,0.000,0.058,2097,1209,3162
$GC,2342,-1.81,-146.6,351.4,-12.5,157,2348,0.00,2.53,0.00,0.000,6,0.000,0.055,2097,2598,3162
$GC,2652,-1.81,-146.6,391.2,-13.0,163,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2599,3162
$GC,2955,-1.81,-146.6,430.3,-12.8,168,2960,0.00,2.60,0.00,0.000,4,0.000,0.072,2097,1209,3161
$GC,3023,-1.81,-146.6,439.3,-13.3,169,3027,0.00,2.60,0.00,0.000,6,0.000,0.071,2097,2601,3161
$GC,3383,-1.81,-146.6,486.9,-13.5,175,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2602,3161
$GC,3687,-1.81,-146.6,525.0,-12.4,180,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2602,3161
$GC,3989,-1.81,-146.6,563.4,-12.7,185,3993,0.00,2.70,0.00,0.000,4,0.000,0.088,2097,1204,3161
$GC,4062,-1.81,-146.6,572.8,-13.0,186,4066,0.00,2.70,0.00,0.000,6,0.000,0.089,2097,2597,3160
$GC,4416,-1.81,-146.6,617.9,-12.7,192,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2597,3160
$GC,4720,-1.81,-146.6,654.7,-12.1,197,4724,0.00,2.67,0.00,0.000,4,0.000,0.088,2097,1210,3160
$GC,4764,-1.81,-146.6,660.3,-12.3,197,4769,0.00,2.67,0.00,0.000,6,0.000,0.086,2097,2601,3160
$GC,5080,-1.81,-146.6,698.5,-12.1,203,5084,0.00,2.67,0.00,0.000,4,0.000,0.087,2097,1211,3159
$GC,5124,-1.81,-146.6,703.9,-12.3,203,5129,0.00,2.67,0.00,0.000,6,0.000,0.085,2097,2601,3159
$GC,5440,-1.81,-146.6,741.4,-11.9,209,5444,0.00,2.67,0.00,0.000,4,0.000,0.087,2097,1211,3158
$GC,5484,-1.81,-146.6,747.1,-12.5,209,5489,0.00,2.67,0.00,0.000,6,0.000,0.085,2097,2600,3158
$GC,5800,-1.81,-146.6,785.8,-12.3,215,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2600,3158
$GC,6104,-1.81,-146.6,820.8,-11.5,220,6109,0.00,2.67,0.00,0.000,4,0.000,0.086,2097,1210,3157
$GC,6149,-1.81,-146.6,826.1,-11.4,220,6154,0.00,2.67,0.00,0.000,6,0.000,0.083,2097,2604,3157
$GC,6465,-1.81,-146.6,860.4,-10.8,226,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2604,3156
$GC,6768,-1.81,-146.6,892.4,-10.6,231,6772,0.00,2.67,0.00,0.000,4,0.000,0.087,2097,1213,3156
$GC,6818,-1.81,-146.6,898.0,-10.6,231,6822,0.00,2.67,0.00,0.000,6,0.000,0.084,2097,2604,3156
$GC,7129,-1.81,-146.6,931.0,-10.7,236,7133,0.00,2.67,0.00,0.000,4,0.000,0.085,2097,1210,3156
$GC,7179,-1.81,-146.6,936.5,-10.6,236,7183,0.00,2.67,0.00,0.000,6,0.000,0.083,2097,2606,3156
$GC,7489,-1.81,-146.6,970.1,-11.0,241,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2606,3155
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7667,begin apogee
$GC,7676,-0.45,0.0,990.1,11.0,244,7806,1.42,0.00,126.07,1.463,6,0.080,0.000,2397,2215,2564
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7810,1.81,146.6,994.8,0.0,246,7946,2.20,2.92,126.35,1.424,4,0.046,0.098,2896,792,1966
$GC,8207,1.81,146.6,967.5,10.4,252,8212,0.00,2.72,0.00,0.000,6,0.000,0.075,2897,2204,1966
$GC,8573,1.81,146.6,928.7,10.5,258,8578,0.00,2.80,0.00,0.000,4,0.000,0.092,2896,790,1965
$GC,8827,1.81,146.6,899.6,12.0,261,8832,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2203,1965
$GC,9137,1.81,146.6,864.7,11.2,266,9142,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,791,1965
$GC,9305,1.81,146.6,844.7,11.8,268,9310,0.00,2.67,0.00,0.000,6,0.000,0.074,2897,2204,1965
$GC,9631,1.81,146.6,807.6,11.4,274,9636,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,792,1965
$GC,9884,1.81,146.6,780.9,10.3,277,9888,0.00,2.67,0.00,0.000,6,0.000,0.073,2897,2203,1965
$GC,10194,1.83,165.2,752.4,9.1,282,10218,0.00,2.88,17.05,1.260,4,0.000,0.090,2897,784,1890
$GC,10281,1.84,173.2,744.0,9.6,283,10295,0.00,2.67,8.68,1.133,6,0.000,0.071,2896,2201,1857
$GC,10629,1.84,173.2,709.0,10.2,289,10634,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,787,1857
$GC,10888,1.84,173.2,679.8,11.6,292,10894,0.00,2.67,0.00,0.000,6,0.000,0.073,2896,2201,1857
$GC,11198,1.84,173.2,645.3,11.2,298,11202,0.00,2.75,0.00,0.000,4,0.000,0.091,2897,792,1857
$GC,11363,1.84,173.2,625.7,12.1,300,11367,0.00,2.65,0.00,0.000,6,0.000,0.072,2896,2203,1856
$GC,11695,1.84,173.2,586.2,11.8,306,11699,0.00,2.75,0.00,0.000,4,0.000,0.089,2897,784,1856
$GC,11812,1.84,173.2,572.2,11.5,307,11817,0.00,2.67,0.00,0.000,6,0.000,0.071,2897,2202,1857
$GC,12122,1.84,173.2,537.5,11.3,312,12127,0.00,2.75,0.00,0.000,4,0.000,0.087,2897,786,1856
$GC,12324,1.84,173.2,514.3,11.4,315,12328,0.00,2.65,0.00,0.000,6,0.000,0.067,2896,2204,1856
$GC,12684,1.84,173.2,477.7,10.1,321,12688,0.00,2.70,0.00,0.000,4,0.000,0.081,2896,791,1857
$GC,12866,1.84,173.5,459.7,10.0,323,12871,0.00,2.60,0.00,0.000,6,0.000,0.060,2896,2203,1856
$GC,13182,1.85,180.5,429.0,9.7,329,13192,0.00,0.00,7.68,0.968,6,0.000,0.000,2897,2204,1828
$GC,13485,1.86,182.8,399.2,9.9,334,13494,0.00,2.70,4.10,0.746,4,0.000,0.071,2897,781,1818
$GC,13748,1.86,182.8,372.2,10.3,337,13755,0.00,2.58,0.00,0.000,6,0.000,0.049,2897,2209,1818
$GC,14059,1.87,195.7,343.1,9.4,343,14078,0.00,2.75,11.93,0.983,4,0.000,0.065,2896,786,1766
$GC,14242,1.87,195.7,324.1,10.2,345,14246,0.00,2.55,0.00,0.000,6,0.000,0.048,2897,2202,1766
$GC,14559,1.87,195.7,291.2,10.5,353,14563,0.00,2.62,0.00,0.000,4,0.000,0.064,2897,785,1766
$GC,14756,1.87,195.7,268.4,11.0,362,14760,0.00,2.55,0.00,0.000,6,0.000,0.047,2897,2203,1766
$GC,15083,1.87,195.7,231.5,10.8,378,15088,0.00,2.62,0.00,0.000,4,0.000,0.064,2897,786,1766
$GC,15218,1.87,195.7,216.7,10.3,384,15222,0.00,2.53,0.00,0.000,6,0.000,0.045,2897,2206,1766
$GC,15541,1.90,219.7,186.6,8.9,400,15568,0.00,2.67,21.33,0.915,4,0.000,0.062,2897,789,1668
$GC,15821,1.90,219.7,158.0,10.2,412,15827,0.00,2.50,0.00,0.000,6,0.000,0.044,2897,2201,1669
$GC,16144,1.90,219.7,123.4,11.4,439,16148,0.00,2.60,0.00,0.000,4,0.000,0.060,2896,782,1668
$GC,16403,1.90,221.0,95.4,9.9,461,16409,0.00,2.50,0.00,0.000,6,0.000,0.042,2897,2202,1668
$GC,16737,2.00,297.5,70.2,6.4,505,16804,0.15,0.00,62.92,0.835,6,0.065,0.000,2935,2202,1351
$GC,17141,2.00,297.5,22.9,12.3,565,17145,0.00,2.60,0.00,0.000,4,0.000,0.061,2935,787,1351
$STATE,17316,end climb,SURFACE_DEPTH_REACHED
$STATE,17316,begin surface coast
$FINISH,0.6,1.025063
$STATE,17329,end surface coast,CONTROL_FINISHED_OK
$STATE,17329,begin surface
$SM_CCo,17359,73.40,0.755,1,0,932,400.08
$SM_GC,1.42,0.00,0.00,73.40,0.000,0.000,0.755,33,2607,932,-11.35,0.17,400.08
$IRIDIUM_FIX,4729.30,-12628.49,300697,181838
$TT8_MAMPS,0.026078
$HUMID,1807
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.6
$24V_AH,23.2,8.497
$10V_AH,10.1,3.902
$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,29.675,154.150,386.100,73.400,0.000,26.560,24.420,134.037,9.250,0.000,0.000,14.214,1289.568,13205.839,588.778,2119.999,557.647,33.361,1625.281,0.000,2063.041,0.000,58.242
$DEVICE_MAMPS,158.002,98.176,1463.436,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.612,461.993,659.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28581,581
$CAP_FILE_SIZE,126209,0
$CFSIZE,260165632,256495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,060408,042355,4743.613,-12631.565,40,1.8,42,18.8