version: 66.03
glider: 101
mission: 5
dive: 43
start: 4 7 108 21 9 58
data:
$ID,101
$MISSION,5
$DIVE,43
$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,-691481.75
$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,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
$GPS1,210326,4732.430,-12653.046,41,1.3,41,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.4
$GPS2,210856,4732.426,-12653.032,16,1.0,32,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.210,-0.153
$KALMAN_X,13914.6,85.5,-266.7,-106241.5,576.8
$KALMAN_Y,10638.6,-251.7,491.6,-76360.8,425.2
$MHEAD_RNG_PITCHd_Wd,215.2,103735,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-60.10,0.000,2,0.000,0.000,31,2602,2145
$GC,95,-1.81,-146.6,3.2,-4.5,6,149,11.52,2.00,-33.45,0.000,4,0.160,0.097,2096,3630,3162
$GC,330,-1.81,-146.6,44.7,-19.9,29,337,0.00,1.88,0.00,0.000,6,0.000,0.046,2096,2576,3162
$GC,667,-1.81,-146.6,107.1,-17.6,76,672,0.00,2.45,0.00,0.000,4,0.000,0.051,2096,1202,3162
$GC,697,-1.81,-146.6,111.8,-16.0,78,701,0.00,2.50,0.00,0.000,6,0.000,0.044,2096,2603,3162
$GC,1034,-1.81,-146.6,163.0,-15.3,105,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2603,3161
$GC,1340,-1.81,-146.6,210.7,-15.3,120,1345,0.00,2.53,0.00,0.000,4,0.000,0.051,2096,1196,3162
$GC,1397,-1.81,-146.6,219.4,-15.2,122,1403,0.00,2.50,0.00,0.000,6,0.000,0.046,2096,2606,3162
$GC,1713,-1.81,-146.6,265.8,-14.5,138,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2606,3162
$GC,2041,-1.81,-146.6,310.4,-13.1,152,2046,0.00,2.53,0.00,0.000,4,0.000,0.054,2096,1207,3162
$GC,2109,-1.81,-146.6,319.6,-12.9,153,2113,0.00,2.50,0.00,0.000,6,0.000,0.051,2096,2601,3162
$GC,2469,-1.81,-146.6,368.3,-13.7,159,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3162
$GC,2772,-1.81,-146.6,409.6,-13.6,164,2776,0.00,2.60,0.00,0.000,4,0.000,0.069,2096,1199,3161
$GC,2816,-1.81,-146.6,415.7,-13.6,164,2821,0.00,2.58,0.00,0.000,6,0.000,0.064,2096,2600,3161
$GC,3133,-1.81,-146.6,457.6,-13.3,170,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2600,3161
$GC,3437,-1.81,-146.6,495.9,-12.6,175,3441,0.00,2.70,0.00,0.000,4,0.000,0.094,2096,1211,3161
$GC,3471,-1.81,-146.6,500.5,-13.3,175,3475,0.00,2.67,0.00,0.000,6,0.000,0.087,2096,2596,3161
$GC,3797,-1.81,-146.6,542.7,-12.9,181,3801,0.00,2.70,0.00,0.000,4,0.000,0.094,2096,1209,3160
$GC,3870,-1.81,-146.6,552.2,-12.7,182,3874,0.00,2.70,0.00,0.000,6,0.000,0.088,2096,2602,3160
$GC,4224,-1.81,-146.6,596.5,-12.5,188,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2603,3159
$GC,4527,-1.81,-146.6,633.0,-11.9,193,4532,0.00,2.70,0.00,0.000,4,0.000,0.090,2096,1205,3159
$GC,4589,-1.81,-146.6,640.2,-11.9,194,4594,0.00,2.70,0.00,0.000,6,0.000,0.085,2096,2605,3158
$GC,4955,-1.81,-146.6,683.0,-11.8,200,4960,0.00,2.70,0.00,0.000,4,0.000,0.089,2096,1204,3158
$GC,5005,-1.81,-146.6,689.4,-11.8,200,5010,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3158
$GC,5316,-1.81,-146.6,727.3,-12.3,205,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3157
$GC,5618,-1.81,-146.6,763.3,-11.8,210,5623,0.00,2.67,0.00,0.000,4,0.000,0.087,2096,1210,3157
$GC,5697,-1.81,-146.6,773.0,-12.5,211,5701,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2602,3157
$GC,6046,-1.81,-146.6,814.2,-11.8,217,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3157
$GC,6349,-1.81,-146.6,848.7,-11.3,222,6353,0.00,2.67,0.00,0.000,4,0.000,0.087,2096,1208,3156
$GC,6411,-1.81,-146.6,855.7,-11.0,223,6416,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3156
$GC,6777,-1.81,-146.6,894.1,-10.2,229,6782,0.00,2.67,0.00,0.000,4,0.000,0.086,2096,1207,3156
$GC,6817,-1.81,-146.6,898.2,-10.3,229,6821,0.00,2.67,0.00,0.000,6,0.000,0.082,2096,2608,3156
$GC,7138,-1.81,-146.6,930.5,-10.1,235,7143,0.00,2.67,0.00,0.000,4,0.000,0.085,2096,1210,3156
$GC,7178,-1.81,-146.6,934.8,-10.4,235,7182,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2607,3156
$GC,7499,-1.81,-146.6,966.6,-9.9,241,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2606,3156
$STATE,7738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7738,begin apogee
$GC,7747,-0.45,0.0,991.2,10.1,245,7877,1.42,0.00,126.20,1.467,6,0.078,0.000,2397,2216,2564
$STATE,7877,end apogee,CONTROL_FINISHED_OK
$STATE,7877,begin climb
$GC,7881,1.81,146.6,995.1,0.0,247,8016,2.28,2.90,126.70,1.433,4,0.048,0.098,2900,784,1965
$GC,8168,1.81,146.6,977.3,11.8,251,8175,0.00,2.72,0.00,0.000,6,0.000,0.075,2899,2206,1965
$GC,8478,1.81,146.6,942.7,11.1,257,8483,0.00,2.80,0.00,0.000,4,0.000,0.094,2900,789,1965
$GC,8680,1.81,146.6,920.2,10.9,260,8685,0.00,2.70,0.00,0.000,6,0.000,0.075,2899,2205,1965
$GC,9040,1.81,146.6,881.8,10.7,266,9044,0.00,2.80,0.00,0.000,4,0.000,0.093,2899,785,1964
$GC,9280,1.81,146.6,855.0,11.6,269,9285,0.00,2.70,0.00,0.000,6,0.000,0.074,2900,2203,1964
$GC,9601,1.81,146.6,820.9,10.8,275,9605,0.00,2.78,0.00,0.000,4,0.000,0.091,2899,788,1964
$GC,9794,1.81,146.6,800.1,11.3,277,9800,0.00,2.70,0.00,0.000,6,0.000,0.074,2900,2207,1964
$GC,10104,1.81,146.6,768.5,10.1,283,10109,0.00,2.78,0.00,0.000,4,0.000,0.092,2900,788,1964
$GC,10216,1.81,146.6,757.2,10.1,284,10220,0.00,2.67,0.00,0.000,6,0.000,0.074,2900,2201,1963
$GC,10531,1.82,152.7,726.3,9.7,290,10545,0.00,2.85,6.50,1.074,4,0.000,0.091,2900,791,1941
$GC,10776,1.82,155.1,701.9,9.9,293,10786,0.00,2.67,4.07,0.848,6,0.000,0.074,2900,2202,1931
$GC,11103,1.83,163.1,670.6,9.6,299,11117,0.00,2.85,8.27,1.108,4,0.000,0.091,2900,791,1899
$GC,11309,1.83,163.1,648.5,10.6,302,11314,0.00,2.67,0.00,0.000,6,0.000,0.072,2900,2202,1899
$GC,11669,1.83,163.1,610.3,10.6,308,11674,0.00,2.75,0.00,0.000,4,0.000,0.091,2900,791,1899
$GC,11815,1.83,163.1,594.4,11.1,310,11819,0.00,2.65,0.00,0.000,6,0.000,0.072,2900,2201,1899
$GC,12163,1.83,163.1,556.9,10.8,316,12168,0.00,2.75,0.00,0.000,4,0.000,0.090,2900,786,1899
$GC,12382,1.83,163.1,531.5,11.2,319,12386,0.00,2.65,0.00,0.000,6,0.000,0.068,2900,2202,1899
$GC,12725,1.83,163.1,493.5,11.0,325,12729,0.00,2.72,0.00,0.000,4,0.000,0.084,2900,784,1899
$GC,12983,1.83,163.1,464.2,11.1,328,12989,0.00,2.60,0.00,0.000,6,0.000,0.061,2900,2203,1899
$GC,13292,1.83,163.1,431.8,10.5,334,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2203,1899
$GC,13596,1.84,170.1,402.4,9.7,339,13610,0.00,2.72,8.02,0.965,4,0.000,0.071,2900,789,1870
$GC,13760,1.84,170.1,385.6,10.4,341,13764,0.00,2.58,0.00,0.000,6,0.000,0.051,2900,2211,1870
$GC,14098,1.86,183.0,352.8,9.4,347,14117,0.00,2.78,12.05,0.994,4,0.000,0.084,2900,3609,1818
$GC,14208,1.86,183.0,340.6,10.6,348,14213,0.00,2.55,0.00,0.000,6,0.000,0.048,2899,2184,1818
$GC,14530,1.86,183.0,307.1,10.2,354,14531,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2182,1817
$GC,14838,1.86,183.0,274.5,10.4,365,14843,0.00,2.70,0.00,0.000,4,0.000,0.077,2899,3608,1817
$GC,14970,1.86,183.2,260.8,10.0,371,14974,0.00,2.50,0.00,0.000,6,0.000,0.047,2900,2200,1817
$GC,15297,1.86,183.2,228.4,10.4,387,15302,0.00,2.60,0.00,0.000,4,0.000,0.070,2900,792,1817
$GC,15464,1.86,184.9,211.3,9.9,394,15468,0.00,2.50,0.00,0.000,6,0.000,0.046,2899,2203,1817
$GC,15781,1.88,201.0,180.0,9.2,409,15803,0.00,2.65,16.45,0.907,4,0.000,0.065,2900,798,1744
$GC,16057,1.88,201.0,153.4,10.2,421,16061,0.00,2.50,0.00,0.000,6,0.000,0.044,2900,2201,1744
$GC,16389,1.88,201.0,122.3,10.7,450,16394,0.00,2.58,0.00,0.000,4,0.000,0.061,2900,800,1744
$GC,16446,1.88,201.0,116.0,11.1,454,16452,0.00,2.50,0.00,0.000,6,0.000,0.044,2899,2211,1744
$GC,16776,1.97,279.1,91.8,6.3,485,16850,0.12,2.75,63.38,0.852,4,0.068,0.077,2929,3605,1426
$GC,17106,1.97,279.1,52.8,12.2,533,17112,0.00,2.50,0.00,0.000,6,0.000,0.044,2929,2194,1426
$GC,17444,1.97,279.1,13.1,13.0,574,17448,0.00,2.65,0.00,0.000,4,0.000,0.071,2929,3598,1426
$STATE,17519,end climb,SURFACE_DEPTH_REACHED
$STATE,17519,begin surface coast
$FINISH,0.9,1.025323
$STATE,17531,end surface coast,CONTROL_FINISHED_OK
$STATE,17531,begin surface
$SM_CCo,17558,84.55,0.755,2,0,932,400.08
$SM_GC,1.57,0.00,0.00,84.55,0.000,0.000,0.755,23,2575,932,-11.39,-0.71,400.08
$IRIDIUM_FIX,4716.56,-12651.56,020797,161621
$TT8_MAMPS,0.025311
$HUMID,1820
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.2,10.011
$10V_AH,10.1,4.699
$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,28.175,163.350,371.650,84.550,0.000,31.304,28.649,124.886,9.250,0.000,0.000,32.044,1303.202,13372.802,618.170,2126.695,572.101,33.366,1649.083,0.000,2055.964,0.000,58.239
$DEVICE_MAMPS,159.536,98.176,1466.504,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.928,465.112,646.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28485,581
$CAP_FILE_SIZE,128450,0
$CFSIZE,260165632,255942656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080408,020531,4731.359,-12655.856,38,1.8,38,18.8