version: 66.03
glider: 101
mission: 5
dive: 54
start: 4 10 108 16 7 29
data:
$ID,101
$MISSION,5
$DIVE,54
$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,-691716.38
$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,25
$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,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
$GPS1,155807,4714.476,-12720.201,34,1.4,34,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.0
$GPS2,160627,4714.479,-12720.213,11,1.7,11,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.236,0.025
$KALMAN_X,16489.9,161.2,-1096.3,-141666.8,4566.2
$KALMAN_Y,21325.2,-70.3,423.2,-120397.4,-1129.0
$MHEAD_RNG_PITCHd_Wd,257.3,56960,-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,-60.00,0.000,2,0.000,0.000,34,2557,2128
$GC,93,-1.51,-146.6,3.2,-3.9,6,146,11.62,0.00,-34.35,0.000,6,0.150,0.000,2160,2557,3162
$GC,472,-1.51,-146.6,59.4,-15.1,52,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2557,3161
$GC,806,-1.51,-146.6,108.2,-14.8,95,810,0.00,2.53,0.00,0.000,4,0.000,0.053,2160,1147,3161
$GC,874,-1.51,-146.6,117.5,-12.7,100,880,0.00,2.50,0.00,0.000,6,0.000,0.045,2160,2553,3161
$GC,1201,-1.51,-146.6,155.3,-11.2,129,1205,0.00,2.53,0.00,0.000,4,0.000,0.051,2160,1147,3161
$GC,1246,-1.51,-146.6,160.9,-11.6,131,1250,0.00,2.50,0.00,0.000,6,0.000,0.045,2160,2553,3161
$GC,1569,-1.51,-146.6,198.1,-11.3,147,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3161
$GC,1877,-1.51,-146.6,231.7,-10.9,162,1881,0.00,2.55,0.00,0.000,4,0.000,0.054,2160,1137,3161
$GC,1955,-1.51,-146.6,240.2,-10.9,165,1961,0.00,2.53,0.00,0.000,6,0.000,0.047,2160,2557,3161
$GC,2271,-1.51,-146.6,273.5,-10.8,181,2276,0.00,2.55,0.00,0.000,4,0.000,0.054,2160,1144,3161
$GC,2313,-1.51,-146.6,277.9,-10.9,183,2317,0.00,2.53,0.00,0.000,6,0.000,0.048,2160,2556,3161
$GC,2637,-1.51,-146.6,313.2,-11.0,195,2641,0.00,2.55,0.00,0.000,4,0.000,0.057,2160,1147,3161
$GC,2704,-1.51,-146.6,320.7,-10.7,196,2708,0.00,2.53,0.00,0.000,6,0.000,0.051,2160,2558,3161
$GC,3064,-1.51,-146.6,356.8,-9.9,202,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2558,3161
$GC,3369,-1.51,-146.6,385.5,-9.4,207,3373,0.00,2.60,0.00,0.000,4,0.000,0.066,2160,1148,3161
$GC,3413,-1.51,-146.6,389.9,-9.3,207,3417,0.00,2.55,0.00,0.000,6,0.000,0.058,2160,2549,3161
$GC,3730,-1.51,-146.6,421.4,-10.1,213,3734,0.00,2.60,0.00,0.000,4,0.000,0.070,2160,1148,3161
$GC,3780,-1.51,-146.6,426.9,-10.7,213,3784,0.00,2.58,0.00,0.000,6,0.000,0.064,2160,2550,3161
$GC,4091,-1.51,-146.6,460.6,-10.8,218,4095,0.00,2.65,0.00,0.000,4,0.000,0.079,2160,1149,3161
$GC,4136,-1.51,-146.6,465.9,-11.7,218,4140,0.00,2.62,0.00,0.000,6,0.000,0.073,2160,2549,3161
$GC,4453,-1.51,-146.6,500.2,-10.9,224,4457,0.00,2.72,0.00,0.000,4,0.000,0.093,2160,1146,3160
$GC,4492,-1.51,-146.6,504.6,-10.2,224,4496,0.00,2.70,0.00,0.000,6,0.000,0.084,2160,2552,3160
$GC,4813,-1.51,-146.6,537.5,-10.3,230,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2552,3160
$GC,5115,-1.51,-146.6,569.3,-10.6,235,5120,0.00,2.72,0.00,0.000,4,0.000,0.092,2160,1144,3159
$GC,5172,-1.51,-146.6,575.3,-10.6,235,5178,0.00,2.70,0.00,0.000,6,0.000,0.084,2160,2553,3159
$GC,5482,-1.51,-146.6,606.9,-10.2,241,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3159
$GC,5785,-1.51,-146.6,635.2,-9.3,246,5790,0.00,2.70,0.00,0.000,4,0.000,0.088,2160,1151,3158
$GC,5869,-1.51,-146.6,643.0,-9.1,247,5873,0.00,2.67,0.00,0.000,6,0.000,0.082,2160,2552,3158
$GC,6212,-1.51,-146.6,672.8,-8.7,253,6216,0.00,2.70,0.00,0.000,4,0.000,0.087,2160,1147,3157
$GC,6268,-1.51,-146.6,677.9,-8.8,253,6274,0.00,2.67,0.00,0.000,6,0.000,0.081,2160,2550,3157
$GC,6578,-1.51,-146.6,705.8,-9.1,259,6582,0.00,2.70,0.00,0.000,4,0.000,0.087,2160,1144,3157
$GC,6622,-1.51,-146.6,710.0,-9.1,259,6627,0.00,2.67,0.00,0.000,6,0.000,0.081,2160,2551,3157
$GC,6937,-1.51,-146.6,739.1,-9.3,265,6941,0.00,2.67,0.00,0.000,4,0.000,0.085,2160,1150,3157
$GC,6993,-1.51,-146.6,744.4,-9.7,265,6999,0.00,2.67,0.00,0.000,6,0.000,0.081,2160,2555,3156
$GC,7303,-1.51,-146.6,773.4,-9.4,271,7307,0.00,2.70,0.00,0.000,4,0.000,0.086,2160,1147,3156
$GC,7359,-1.51,-146.6,778.8,-9.7,271,7365,0.00,2.67,0.00,0.000,6,0.000,0.081,2160,2553,3156
$GC,7669,-1.51,-146.6,807.2,-9.2,277,7673,0.00,2.70,0.00,0.000,4,0.000,0.086,2160,1144,3156
$GC,7736,-1.51,-146.6,813.4,-8.8,278,7740,0.00,2.67,0.00,0.000,6,0.000,0.081,2160,2554,3156
$GC,8095,-1.51,-146.6,844.7,-8.7,284,8100,0.00,2.70,0.00,0.000,4,0.000,0.086,2160,1145,3155
$GC,8134,-1.51,-146.6,848.1,-8.8,284,8139,0.00,2.67,0.00,0.000,6,0.000,0.079,2160,2554,3155
$GC,8456,-1.51,-146.6,875.4,-8.4,290,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2554,3155
$GC,8761,-1.51,-146.6,900.5,-8.3,295,8765,0.00,2.70,0.00,0.000,4,0.000,0.086,2160,1145,3155
$GC,8834,-1.51,-146.6,906.7,-7.9,296,8838,0.00,2.67,0.00,0.000,6,0.000,0.081,2160,2550,3155
$GC,9190,-1.51,-146.6,935.7,-8.2,302,9194,0.00,2.67,0.00,0.000,4,0.000,0.085,2160,1151,3154
$GC,9257,-1.51,-146.6,941.5,-8.7,303,9261,0.00,2.65,0.00,0.000,6,0.000,0.080,2160,2551,3155
$GC,9616,-1.51,-146.6,970.9,-8.2,309,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2551,3154
$STATE,9856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9856,begin apogee
$GC,9865,-0.45,0.0,990.6,8.2,313,9995,1.12,0.00,126.68,1.469,6,0.077,0.000,2397,2010,2564
$STATE,9996,end apogee,CONTROL_FINISHED_OK
$STATE,9996,begin climb
$GC,9999,1.51,146.6,994.9,0.0,315,10135,1.95,2.92,126.75,1.429,4,0.054,0.103,2825,591,1966
$GC,10228,1.51,146.6,986.3,9.4,318,10232,0.00,2.67,0.00,0.000,6,0.000,0.066,2825,2006,1966
$GC,10554,1.51,146.6,957.7,8.7,324,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2006,1966
$GC,10857,1.51,146.6,932.1,8.4,329,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2007,1965
$GC,11160,1.51,146.6,906.9,8.3,334,11165,0.00,2.80,0.00,0.000,4,0.000,0.097,2825,592,1965
$GC,11262,1.51,146.6,898.2,9.0,335,11266,0.00,2.65,0.00,0.000,6,0.000,0.066,2825,2009,1965
$GC,11588,1.53,159.3,873.6,7.5,341,11603,0.00,0.00,12.50,1.280,6,0.000,0.000,2825,2009,1914
$GC,11891,1.53,159.3,848.8,8.2,346,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2010,1914
$GC,12194,1.53,159.3,823.8,8.3,351,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2010,1914
$GC,12497,1.53,159.3,797.2,8.9,356,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2011,1914
$GC,12800,1.53,159.3,768.6,9.4,361,12801,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2011,1914
$GC,13103,1.53,159.3,740.3,9.3,366,13108,0.00,2.80,0.00,0.000,4,0.000,0.096,2825,592,1914
$GC,13233,1.53,159.3,727.4,10.1,368,13238,0.00,2.62,0.00,0.000,6,0.000,0.064,2825,2003,1914
$GC,13599,1.53,159.3,692.4,9.5,374,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1914
$GC,13902,1.53,159.3,665.1,8.9,379,13903,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2005,1914
$GC,14205,1.53,159.3,640.2,8.2,384,14210,0.00,2.78,0.00,0.000,4,0.000,0.095,2825,591,1914
$GC,14268,1.53,159.3,635.1,8.5,385,14272,0.00,2.62,0.00,0.000,6,0.000,0.064,2825,2008,1914
$GC,14633,1.53,160.3,605.8,8.0,391,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2009,1914
$GC,14936,1.53,160.3,581.4,8.1,396,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2009,1914
$GC,15239,1.53,160.3,556.9,8.1,401,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2010,1914
$GC,15542,1.53,160.3,532.7,8.0,406,15544,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2010,1914
$GC,15846,1.53,161.8,508.5,7.9,411,15851,0.00,0.00,3.78,0.750,6,0.000,0.000,2825,2012,1904
$GC,16149,1.54,168.3,484.9,7.8,416,16163,0.00,2.83,7.30,0.992,4,0.000,0.088,2825,591,1878
$GC,16265,1.54,168.3,475.2,8.2,417,16270,0.00,2.58,0.00,0.000,6,0.000,0.055,2825,2003,1878
$GC,16581,1.54,168.3,449.9,8.1,423,16582,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2003,1878
$GC,16884,1.55,173.0,426.1,7.8,428,16892,0.00,0.00,6.12,0.918,6,0.000,0.000,2825,2004,1858
$GC,17187,1.57,188.6,403.5,7.4,433,17207,0.00,2.78,14.30,1.043,4,0.000,0.077,2825,583,1795
$GC,17287,1.57,188.6,395.7,8.4,434,17291,0.00,2.58,0.00,0.000,6,0.000,0.048,2825,2008,1795
$GC,17613,1.59,204.3,371.6,7.4,440,17629,0.00,0.00,14.57,1.021,6,0.000,0.000,2825,2008,1731
$GC,17916,1.59,205.3,347.5,8.0,445,17921,0.00,2.67,0.00,0.000,4,0.000,0.073,2825,590,1731
$GC,17995,1.59,205.3,340.3,8.4,446,17999,0.00,2.55,0.00,0.000,6,0.000,0.046,2825,2013,1731
$GC,18344,1.59,205.3,309.4,9.0,452,18348,0.00,2.67,0.00,0.000,4,0.000,0.071,2825,586,1731
$GC,18428,1.59,205.3,301.4,9.4,453,18432,0.00,2.53,0.00,0.000,6,0.000,0.045,2825,2001,1731
$GC,18757,1.59,205.3,273.0,8.8,468,18761,0.00,2.65,0.00,0.000,4,0.000,0.071,2825,589,1731
$GC,18835,1.59,205.3,266.2,9.0,471,18841,0.00,2.53,0.00,0.000,6,0.000,0.046,2825,2005,1731
$GC,19153,1.59,205.3,239.9,8.4,487,19154,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2005,1731
$GC,19461,1.59,205.3,212.0,9.2,502,19462,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2005,1731
$GC,19770,1.59,205.3,183.0,9.0,517,19775,0.00,2.60,0.00,0.000,4,0.000,0.074,2825,3406,1731
$GC,19861,1.59,205.3,175.0,9.3,521,19865,0.00,2.50,0.00,0.000,6,0.000,0.043,2825,1981,1731
$GC,20183,1.59,206.7,148.7,7.9,537,20194,0.00,2.67,4.20,0.657,4,0.000,0.067,2825,3409,1721
$GC,20334,1.65,252.8,137.2,6.2,550,20378,0.15,2.47,37.90,0.908,6,0.077,0.042,2858,2000,1533
$GC,20696,1.65,252.8,103.3,8.8,584,20700,0.00,2.60,0.00,0.000,4,0.000,0.066,2858,3408,1533
$GC,20954,1.66,264.9,81.7,7.5,606,20972,0.00,2.47,11.32,0.806,6,0.000,0.041,2858,1998,1483
$GC,21309,1.66,265.8,54.4,8.0,667,21316,0.00,2.60,0.00,0.000,4,0.000,0.065,2858,3408,1483
$GC,21548,1.66,265.8,33.4,8.8,703,21553,0.00,2.50,0.00,0.000,6,0.000,0.041,2858,1991,1483
$GC,21877,1.66,265.8,6.1,8.2,733,21883,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1991,1483
$STATE,21923,end climb,SURFACE_DEPTH_REACHED
$STATE,21923,begin surface coast
$FINISH,0.9,1.013253
$STATE,21946,end surface coast,CONTROL_FINISHED_OK
$STATE,21946,begin surface
$SM_CCo,21973,97.32,0.763,2,0,933,400.08
$SM_GC,1.75,0.00,0.00,97.32,0.000,0.000,0.763,28,2562,933,-11.37,0.34,400.08
$IRIDIUM_FIX,4657.54,-12719.44,050797,161652
$TT8_MAMPS,0.026078
$HUMID,1786
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,23.2,11.937
$10V_AH,10.1,5.770
$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,27.900,170.750,365.425,97.325,0.000,55.222,55.071,196.523,9.000,0.000,0.000,11.680,1515.270,17624.957,645.242,2059.938,743.824,33.356,1669.058,0.000,2021.096,0.000,56.606
$DEVICE_MAMPS,150.332,102.778,1468.805,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.668,580.647,824.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37949,740
$CAP_FILE_SIZE,141318,0
$CFSIZE,260165632,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100408,221655,4714.764,-12723.435,27,1.4,44,18.7