version: 66.03
glider: 101
mission: 5
dive: 36
start: 4 6 108 9 36 40
data:
$ID,101
$MISSION,5
$DIVE,36
$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,-691356.62
$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,15
$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
$GPS1,093004,4742.511,-12634.196,41,2.0,49,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.6
$GPS2,093538,4742.507,-12634.218,33,2.0,34,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.204,-0.160
$KALMAN_X,13044.6,127.5,8.8,-82443.8,-391.7
$KALMAN_Y,4582.7,395.6,277.7,-52078.6,-125.6
$MHEAD_RNG_PITCHd_Wd,213.1,133928,-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,-146.6,0.0,0.0,0,100,0.00,0.00,-70.03,0.000,2,0.000,0.000,32,2612,2339
$GC,105,-1.81,-146.6,4.0,-5.4,7,144,11.55,1.92,-20.62,0.000,4,0.161,0.098,2096,3622,3162
$GC,180,-1.81,-146.6,19.5,-20.1,14,183,0.00,1.83,0.00,0.000,6,0.000,0.048,2096,2578,3161
$GC,516,-1.81,-146.6,88.7,-20.1,61,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2578,3162
$GC,835,-1.81,-146.6,140.9,-15.7,91,839,0.00,2.00,0.00,0.000,4,0.000,0.081,2096,3631,3161
$GC,874,-1.81,-146.6,147.7,-16.4,94,880,0.00,1.83,0.00,0.000,6,0.000,0.048,2095,2602,3162
$GC,1201,-1.81,-146.6,194.8,-13.9,111,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3162
$GC,1511,-1.81,-146.6,237.5,-13.6,126,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3162
$GC,1820,-1.81,-146.6,278.3,-12.9,141,1824,0.00,2.50,0.00,0.000,4,0.000,0.054,2097,1204,3162
$GC,1892,-1.81,-146.6,287.9,-13.5,144,1897,0.00,2.50,0.00,0.000,6,0.000,0.050,2096,2603,3161
$GC,2246,-1.81,-146.6,333.9,-13.1,153,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2603,3162
$GC,2548,-1.81,-146.6,372.8,-12.7,158,2552,0.00,2.55,0.00,0.000,4,0.000,0.063,2096,1205,3161
$GC,2603,-1.81,-146.6,380.1,-12.8,158,2610,0.00,2.53,0.00,0.000,6,0.000,0.058,2096,2598,3161
$GC,2913,-1.81,-146.6,420.8,-13.2,164,2918,0.00,2.58,0.00,0.000,4,0.000,0.069,2096,1206,3161
$GC,2964,-1.81,-146.6,427.7,-12.6,164,2969,0.00,2.58,0.00,0.000,6,0.000,0.066,2096,2607,3161
$GC,3274,-1.81,-146.6,468.7,-13.2,169,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2607,3160
$GC,3577,-1.81,-146.6,509.2,-13.5,174,3582,0.00,2.72,0.00,0.000,4,0.000,0.094,2096,1207,3161
$GC,3633,-1.81,-146.6,517.0,-13.4,174,3640,0.00,2.72,0.00,0.000,6,0.000,0.094,2096,2604,3160
$GC,3944,-1.81,-146.6,556.8,-12.8,180,3949,0.00,2.70,0.00,0.000,4,0.000,0.089,2096,1201,3160
$GC,4000,-1.81,-146.6,564.0,-11.9,180,4007,0.00,2.70,0.00,0.000,6,0.000,0.087,2096,2602,3159
$GC,4311,-1.81,-146.6,601.0,-11.9,186,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3159
$GC,4613,-1.81,-146.6,636.6,-11.7,191,4618,0.00,2.67,0.00,0.000,4,0.000,0.088,2096,1209,3159
$GC,4687,-1.81,-146.6,645.3,-11.9,192,4691,0.00,2.67,0.00,0.000,6,0.000,0.085,2096,2603,3158
$GC,5041,-1.81,-146.6,686.8,-11.7,198,5046,0.00,2.67,0.00,0.000,4,0.000,0.086,2096,1206,3158
$GC,5086,-1.81,-146.6,692.2,-11.5,198,5091,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3158
$GC,5403,-1.81,-146.6,728.9,-11.5,204,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3158
$GC,5706,-1.81,-146.6,764.3,-11.7,209,5711,0.00,2.67,0.00,0.000,4,0.000,0.086,2096,1202,3157
$GC,5757,-1.81,-146.6,770.6,-11.3,209,5761,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3157
$GC,6068,-1.81,-146.6,806.5,-11.7,214,6072,0.00,2.67,0.00,0.000,4,0.000,0.086,2096,1203,3156
$GC,6130,-1.81,-146.6,814.1,-11.7,215,6134,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3156
$GC,6497,-1.81,-146.6,855.0,-11.0,221,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3156
$GC,6799,-1.81,-146.6,885.4,-10.0,226,6803,0.00,2.67,0.00,0.000,4,0.000,0.085,2096,1201,3155
$GC,6866,-1.81,-146.6,892.3,-10.2,227,6870,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2604,3155
$GC,7227,-1.81,-146.6,926.7,-9.5,233,7231,0.00,2.67,0.00,0.000,4,0.000,0.085,2097,1202,3155
$GC,7294,-1.81,-146.6,933.5,-9.8,234,7299,0.00,2.67,0.00,0.000,6,0.000,0.083,2096,2607,3155
$GC,7655,-1.81,-146.6,969.8,-10.2,240,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2607,3155
$STATE,7894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7894,begin apogee
$GC,7903,-0.45,0.0,995.0,10.3,244,8033,1.42,0.00,126.25,1.464,6,0.078,0.000,2397,2214,2564
$STATE,8034,end apogee,CONTROL_FINISHED_OK
$STATE,8034,begin climb
$GC,8037,1.81,146.6,999.1,0.0,246,8170,2.25,0.00,126.82,1.429,6,0.045,0.000,2896,2214,1965
$GC,8507,1.81,146.6,965.5,10.2,254,8512,0.00,2.78,0.00,0.000,4,0.000,0.096,2896,792,1965
$GC,8704,1.81,146.6,944.3,10.9,257,8708,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2207,1965
$GC,9069,1.81,146.6,906.6,10.3,263,9074,0.00,2.80,0.00,0.000,4,0.000,0.094,2896,786,1965
$GC,9328,1.81,146.6,877.9,11.3,266,9334,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2209,1965
$GC,9637,1.81,146.6,845.1,10.6,272,9642,0.00,2.78,0.00,0.000,4,0.000,0.093,2896,791,1965
$GC,9835,1.81,146.6,823.5,10.8,275,9839,0.00,2.67,0.00,0.000,6,0.000,0.074,2896,2201,1964
$GC,10200,1.81,146.6,785.6,10.3,281,10205,0.00,2.75,0.00,0.000,4,0.000,0.092,2896,793,1964
$GC,10457,1.81,146.6,757.9,10.4,284,10463,0.00,2.65,0.00,0.000,6,0.000,0.073,2895,2201,1964
$GC,10767,1.81,146.6,725.5,10.5,290,10772,0.00,2.75,0.00,0.000,4,0.000,0.091,2896,790,1964
$GC,11026,1.81,146.6,697.5,10.7,293,11032,0.00,2.65,0.00,0.000,6,0.000,0.072,2895,2201,1964
$GC,11336,1.81,146.6,666.0,10.2,299,11340,0.00,2.75,0.00,0.000,4,0.000,0.091,2896,789,1964
$GC,11594,1.81,147.5,639.6,10.0,302,11600,0.00,2.65,0.00,0.000,6,0.000,0.072,2896,2201,1964
$GC,11904,1.84,170.3,611.9,8.9,308,11932,0.00,2.80,21.35,1.199,4,0.000,0.090,2896,791,1868
$GC,12181,1.84,170.3,584.0,10.5,312,12185,0.00,2.65,0.00,0.000,6,0.000,0.071,2896,2201,1868
$GC,12536,1.84,170.9,548.7,10.0,318,12540,0.00,2.72,0.00,0.000,4,0.000,0.087,2896,792,1869
$GC,12754,1.84,170.9,526.2,10.3,321,12759,0.00,2.62,0.00,0.000,6,0.000,0.067,2896,2201,1868
$GC,13098,1.84,173.6,492.5,9.9,327,13107,0.00,2.75,4.32,0.808,4,0.000,0.084,2896,785,1856
$GC,13293,1.84,173.6,471.6,11.6,330,13298,0.00,2.62,0.00,0.000,6,0.000,0.061,2896,2204,1856
$GC,13660,1.84,173.6,433.4,10.5,336,13664,0.00,2.67,0.00,0.000,4,0.000,0.075,2896,786,1856
$GC,13917,1.84,173.6,405.8,11.6,339,13923,0.00,2.58,0.00,0.000,6,0.000,0.053,2896,2209,1856
$GC,14227,1.84,173.6,373.7,10.3,345,14231,0.00,2.62,0.00,0.000,4,0.000,0.068,2896,790,1856
$GC,14351,1.85,176.0,360.6,9.9,346,14360,0.00,2.53,3.97,0.720,6,0.000,0.049,2896,2202,1846
$GC,14727,1.85,176.0,322.0,10.3,353,14732,0.00,2.62,0.00,0.000,4,0.000,0.066,2896,782,1845
$GC,14829,1.85,176.0,311.0,11.2,354,14833,0.00,2.53,0.00,0.000,6,0.000,0.046,2896,2205,1845
$GC,15160,1.85,176.0,277.6,10.2,366,15164,0.00,2.62,0.00,0.000,4,0.000,0.065,2896,781,1846
$GC,15358,1.85,176.3,257.0,10.0,375,15362,0.00,2.53,0.00,0.000,6,0.000,0.044,2896,2208,1846
$GC,15685,1.87,197.8,226.0,9.0,391,15710,0.00,2.70,19.30,0.943,4,0.000,0.064,2896,783,1757
$GC,15879,1.88,201.0,206.3,9.9,399,15889,0.00,2.53,4.80,0.719,6,0.000,0.044,2896,2204,1744
$GC,16218,1.89,211.5,173.7,9.5,416,16230,0.00,0.00,10.00,0.869,6,0.000,0.000,2896,2204,1701
$GC,16529,1.89,211.5,142.6,10.1,434,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2204,1701
$GC,16850,1.93,244.0,110.0,8.5,464,16881,0.10,0.00,27.70,0.872,6,0.074,0.000,2920,2204,1569
$GC,17198,1.98,284.3,77.0,8.1,500,17238,0.00,2.70,33.28,0.842,4,0.000,0.077,2919,3606,1404
$GC,17437,1.98,284.3,50.4,12.3,542,17444,0.00,2.50,0.00,0.000,6,0.000,0.042,2920,2186,1404
$GC,17769,1.98,284.3,11.9,12.4,580,17770,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2182,1404
$STATE,17850,end climb,SURFACE_DEPTH_REACHED
$STATE,17850,begin surface coast
$FINISH,0.6,1.014577
$STATE,17862,end surface coast,CONTROL_FINISHED_OK
$STATE,17862,begin surface
$SM_CCo,17889,75.07,0.767,1,0,932,400.08
$SM_GC,1.45,0.00,0.00,75.07,0.000,0.000,0.767,31,2609,932,-11.36,0.25,400.08
$IRIDIUM_FIX,4726.11,-12629.16,010797,040437
$TT8_MAMPS,0.026078
$HUMID,1797
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,23.2,8.828
$10V_AH,10.1,4.081
$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,28.650,147.225,377.800,75.075,0.000,30.075,25.138,130.807,9.000,0.000,0.000,34.046,1311.477,13670.526,600.905,2162.596,567.571,33.365,1636.140,0.000,2088.917,0.000,58.237
$DEVICE_MAMPS,161.070,98.176,1464.203,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.412,469.686,655.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28523,589
$CAP_FILE_SIZE,128444,0
$CFSIZE,260165632,256368640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060408,143732,4740.709,-12637.212,41,1.5,41,18.8