version: 66.03
glider: 101
mission: 5
dive: 53
start: 4 10 108 9 54 41
data:
$ID,101
$MISSION,5
$DIVE,53
$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,412.5
$T_MISSION,450
$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,-691704.06
$T_RSLEEP,57
$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,2550
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$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,0
$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
$GPS1,094448,4716.807,-12717.960,40,1.7,56,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.0
$GPS2,095337,4716.784,-12717.917,13,2.0,29,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.104,-0.214
$KALMAN_X,15580.7,-321.6,685.5,-139219.4,-1423.0
$KALMAN_Y,21032.2,529.4,-627.5,-115389.4,2725.8
$MHEAD_RNG_PITCHd_Wd,187.1,61575,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,88,0.00,0.00,-60.47,0.000,2,0.000,0.000,34,2550,2119
$GC,93,-1.51,-146.6,3.1,-3.9,6,147,11.62,2.10,-37.35,0.000,4,0.150,0.094,2159,3622,3162
$GC,351,-1.51,-146.6,41.7,-18.0,29,357,0.00,1.92,0.00,0.000,6,0.000,0.046,2159,2536,3161
$GC,697,-1.51,-146.6,93.3,-15.0,83,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2535,3161
$GC,1016,-1.51,-146.6,135.9,-11.8,113,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2536,3161
$GC,1329,-1.51,-146.6,172.0,-11.7,134,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2535,3161
$GC,1638,-1.51,-146.6,206.9,-11.3,149,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2535,3161
$GC,1948,-1.51,-146.6,242.9,-11.4,164,1952,0.00,2.47,0.00,0.000,4,0.000,0.056,2159,1158,3161
$GC,1998,-1.51,-146.6,248.6,-10.8,166,2003,0.00,2.47,0.00,0.000,6,0.000,0.046,2159,2551,3161
$GC,2316,-1.51,-146.6,282.9,-10.9,181,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2551,3161
$GC,2661,-1.51,-146.6,321.1,-11.1,192,2665,0.00,2.05,0.00,0.000,4,0.000,0.084,2159,3636,3161
$GC,2712,-1.51,-146.6,327.2,-12.5,192,2716,0.00,1.90,0.00,0.000,6,0.000,0.048,2159,2551,3161
$GC,3035,-1.51,-146.6,363.2,-11.1,198,3039,0.00,2.55,0.00,0.000,4,0.000,0.067,2159,1158,3161
$GC,3062,-1.51,-146.6,366.5,-11.0,198,3067,0.00,2.50,0.00,0.000,6,0.000,0.056,2159,2549,3161
$GC,3396,-1.51,-146.6,402.5,-10.9,204,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2549,3161
$GC,3698,-1.51,-146.6,435.2,-10.7,209,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2549,3161
$GC,4001,-1.51,-146.6,465.9,-10.0,214,4005,0.00,2.65,0.00,0.000,4,0.000,0.084,2159,1160,3160
$GC,4056,-1.51,-146.6,471.6,-10.3,214,4063,0.00,2.62,0.00,0.000,6,0.000,0.075,2159,2553,3160
$GC,4367,-1.51,-146.6,503.5,-10.4,220,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2553,3160
$GC,4669,-1.51,-146.6,536.2,-10.8,225,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2553,3160
$GC,4973,-1.51,-146.6,568.2,-10.5,230,4977,0.00,2.70,0.00,0.000,4,0.000,0.093,2159,1162,3159
$GC,5023,-1.51,-146.6,573.5,-10.7,230,5027,0.00,2.65,0.00,0.000,6,0.000,0.083,2159,2550,3159
$GC,5333,-1.51,-146.6,604.1,-9.9,235,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2550,3159
$GC,5636,-1.51,-146.6,632.2,-9.3,240,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2550,3158
$GC,5939,-1.51,-146.6,658.9,-8.8,245,5943,0.00,2.67,0.00,0.000,4,0.000,0.090,2160,1162,3158
$GC,6001,-1.51,-146.6,664.4,-8.8,246,6005,0.00,2.65,0.00,0.000,6,0.000,0.081,2159,2550,3157
$GC,6367,-1.51,-146.6,696.3,-8.7,252,6371,0.00,2.67,0.00,0.000,4,0.000,0.087,2159,1161,3157
$GC,6429,-1.51,-146.6,702.0,-9.3,253,6433,0.00,2.65,0.00,0.000,6,0.000,0.081,2159,2551,3157
$GC,6795,-1.51,-146.6,733.8,-8.7,259,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2551,3157
$GC,7098,-1.51,-146.6,760.9,-9.0,264,7102,0.00,2.67,0.00,0.000,4,0.000,0.087,2159,1158,3156
$GC,7136,-1.51,-146.6,764.8,-9.8,264,7141,0.00,2.65,0.00,0.000,6,0.000,0.078,2159,2555,3156
$GC,7458,-1.51,-146.6,794.3,-9.2,270,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2556,3156
$GC,7762,-1.51,-146.6,822.7,-9.4,275,7767,0.00,2.67,0.00,0.000,4,0.000,0.087,2159,1161,3156
$GC,7801,-1.51,-146.6,826.9,-10.1,275,7805,0.00,2.62,0.00,0.000,6,0.000,0.079,2159,2550,3155
$GC,8122,-1.51,-146.6,857.0,-9.5,281,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2550,3155
$GC,8425,-1.51,-146.6,885.3,-9.3,286,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2550,3155
$GC,8728,-1.51,-146.6,913.2,-9.1,291,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2550,3155
$GC,9031,-1.51,-146.6,939.5,-8.7,296,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2550,3155
$GC,9335,-1.51,-146.6,964.4,-8.2,301,9340,0.00,2.67,0.00,0.000,4,0.000,0.087,2159,1157,3155
$GC,9381,-1.51,-146.6,968.2,-7.6,301,9385,0.00,2.65,0.00,0.000,6,0.000,0.080,2159,2553,3154
$STATE,9694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9694,begin apogee
$GC,9703,-0.45,0.0,992.7,7.7,307,9834,1.15,0.00,127.72,1.470,6,0.081,0.000,2400,2014,2564
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9835,begin climb
$GC,9839,1.51,146.6,996.9,0.0,309,9974,1.92,2.95,127.00,1.425,4,0.052,0.106,2835,590,1966
$GC,10146,1.51,146.6,979.0,10.1,313,10151,0.00,2.67,0.00,0.000,6,0.000,0.066,2835,2005,1966
$GC,10456,1.51,146.6,948.2,9.9,318,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2006,1966
$GC,10759,1.51,146.6,917.6,10.1,323,10764,0.00,2.83,0.00,0.000,4,0.000,0.098,2836,588,1965
$GC,10930,1.51,146.6,900.1,10.6,325,10935,0.00,2.67,0.00,0.000,6,0.000,0.065,2836,2009,1965
$GC,11256,1.51,146.6,868.4,9.5,331,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2010,1965
$GC,11559,1.51,146.6,840.9,9.0,336,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2010,1964
$GC,11863,1.51,146.6,815.5,8.4,341,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2010,1965
$GC,12166,1.53,156.1,792.3,7.6,346,12177,0.00,0.00,9.52,1.208,6,0.000,0.000,2836,2011,1927
$GC,12469,1.53,158.6,768.4,7.9,351,12478,0.00,2.85,4.22,0.896,4,0.000,0.096,2836,587,1917
$GC,12675,1.53,160.1,750.9,7.9,354,12680,0.00,2.65,0.00,0.000,6,0.000,0.064,2835,2007,1917
$GC,13030,1.53,160.1,721.5,8.4,360,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2007,1917
$GC,13333,1.53,160.1,694.9,8.8,365,13338,0.00,2.80,0.00,0.000,4,0.000,0.096,2835,586,1917
$GC,13463,1.53,160.1,682.8,9.1,367,13468,0.00,2.65,0.00,0.000,6,0.000,0.064,2836,2008,1917
$GC,13829,1.53,160.1,649.6,8.9,373,13834,0.00,2.78,0.00,0.000,4,0.000,0.096,2836,591,1917
$GC,13896,1.53,160.1,643.2,9.6,374,13901,0.00,2.62,0.00,0.000,6,0.000,0.063,2836,2008,1917
$GC,14257,1.53,160.1,613.5,8.1,380,14261,0.00,2.78,0.00,0.000,4,0.000,0.096,2836,592,1917
$GC,14369,1.53,161.4,604.1,8.0,381,14378,0.00,2.62,4.05,0.822,6,0.000,0.064,2836,2006,1906
$GC,14690,1.55,173.6,579.9,7.5,387,14704,0.00,0.00,12.25,1.135,6,0.000,0.000,2835,2006,1856
$GC,14993,1.55,173.6,553.7,8.8,392,14997,0.00,2.78,0.00,0.000,4,0.000,0.094,2835,592,1856
$GC,15093,1.55,173.6,543.9,10.4,393,15098,0.00,2.62,0.00,0.000,6,0.000,0.062,2835,2009,1856
$GC,15420,1.55,173.6,513.9,9.1,399,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2010,1856
$GC,15723,1.55,173.6,487.0,8.8,404,15728,0.00,2.75,0.00,0.000,4,0.000,0.089,2835,592,1856
$GC,15780,1.55,173.6,481.7,8.9,404,15785,0.00,2.58,0.00,0.000,6,0.000,0.056,2836,2003,1856
$GC,16089,1.55,173.6,456.2,8.1,410,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2003,1856
$GC,16393,1.56,184.9,433.2,7.6,415,16406,0.00,0.00,11.05,1.039,6,0.000,0.000,2835,2004,1810
$GC,16696,1.56,184.9,408.2,8.3,420,16700,0.00,2.70,0.00,0.000,4,0.000,0.079,2836,588,1810
$GC,16925,1.56,184.9,387.4,9.6,423,16930,0.00,2.55,0.00,0.000,6,0.000,0.048,2835,2007,1810
$GC,17257,1.56,184.9,359.1,8.6,429,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2007,1810
$GC,17560,1.56,184.9,332.4,8.8,434,17565,0.00,2.62,0.00,0.000,4,0.000,0.077,2835,3407,1810
$GC,17611,1.56,184.9,327.5,9.5,434,17615,0.00,2.53,0.00,0.000,6,0.000,0.045,2835,1982,1810
$GC,17921,1.56,184.9,300.0,8.9,439,17922,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1982,1810
$GC,18231,1.56,186.7,274.4,7.9,454,18235,0.00,2.58,0.00,0.000,4,0.000,0.075,2835,602,1810
$GC,18363,1.56,186.7,263.7,8.3,460,18367,0.00,2.50,0.00,0.000,6,0.000,0.044,2836,2008,1810
$GC,18690,1.57,189.7,238.4,7.9,476,18698,0.00,0.00,6.07,0.822,6,0.000,0.000,2835,2007,1790
$GC,19001,1.57,189.7,212.3,8.5,491,19005,0.00,2.62,0.00,0.000,4,0.000,0.071,2835,601,1790
$GC,19135,1.57,189.7,199.9,9.4,497,19139,0.00,2.50,0.00,0.000,6,0.000,0.044,2835,2010,1790
$GC,19457,1.58,198.4,174.4,7.7,513,19467,0.00,0.00,8.77,0.848,6,0.000,0.000,2835,2010,1755
$GC,19767,1.58,198.4,150.1,8.1,528,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2010,1755
$GC,20084,1.62,231.2,124.2,6.7,557,20117,0.00,2.70,28.08,0.881,4,0.000,0.070,2836,3399,1621
$GC,20281,1.62,231.2,109.1,8.0,574,20287,0.00,2.47,0.00,0.000,6,0.000,0.041,2835,1999,1620
$GC,20612,1.68,278.9,89.9,6.2,605,20658,0.12,2.70,39.22,0.851,4,0.064,0.071,2871,602,1426
$GC,20784,1.68,278.9,74.6,9.9,625,20791,0.00,2.47,0.00,0.000,6,0.000,0.042,2871,2002,1426
$GC,21130,1.68,278.9,43.3,8.5,686,21137,0.00,2.60,0.00,0.000,4,0.000,0.067,2872,602,1426
$GC,21272,1.68,278.9,30.6,10.1,702,21278,0.00,2.47,0.00,0.000,6,0.000,0.042,2871,2008,1426
$STATE,21584,end climb,SURFACE_DEPTH_REACHED
$STATE,21587,begin surface coast
$FINISH,0.9,1.025401
$STATE,21606,end surface coast,CONTROL_FINISHED_OK
$STATE,21606,begin surface
$SM_CCo,21634,90.65,0.768,1,0,933,400.08
$SM_GC,1.76,0.00,0.00,90.65,0.000,0.000,0.768,34,2556,933,-11.34,0.17,400.08
$IRIDIUM_FIX,4700.70,-12721.36,050797,090943
$TT8_MAMPS,0.026078
$HUMID,1792
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.0,11.763
$10V_AH,10.1,5.672
$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,28.675,136.850,377.975,90.650,0.000,48.051,145.217,129.113,8.750,0.000,0.000,29.518,1486.148,17371.145,618.333,2069.441,722.313,33.387,1610.196,0.000,2010.899,0.000,56.946
$DEVICE_MAMPS,150.332,105.846,1469.572,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.251,572.298,832.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34859,734
$CAP_FILE_SIZE,133019,0
$CFSIZE,260165632,255315968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100408,155807,4714.476,-12720.201,34,1.4,34,18.7