version: 66.03
glider: 101
mission: 5
dive: 202
start: 5 23 108 14 47 57
data:
$ID,101
$MISSION,5
$DIVE,202
$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,550
$T_MISSION,570
$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,120
$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,350
$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,-695071.81
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,29
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2473
$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
$GPS1,144207,4805.441,-12546.308,39,2.0,44,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-61.1
$GPS2,144653,4805.415,-12546.320,14,5.2,33,18.9
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.186,-0.046
$KALMAN_X,-29244.7,-57.0,-98.9,19355.6,562.4
$KALMAN_Y,147293.0,-100.7,-0.4,-151584.8,-1090.7
$MHEAD_RNG_PITCHd_Wd,237.1,207812,-12.5,-6.000
$D_GRID,527
$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,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-49.97,0.000,2,0.000,0.000,30,2553,2049
$GC,83,-1.28,-117.3,3.2,-4.2,5,130,11.40,2.05,-30.20,0.000,4,0.129,0.089,2215,3644,2952
$GC,247,-1.07,-117.3,23.0,-14.0,19,254,0.17,1.95,0.00,0.000,6,0.074,0.041,2265,2539,2953
$GC,576,-1.07,-117.3,55.3,-9.7,50,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2539,2953
$GC,900,-1.07,-117.3,86.3,-9.7,78,903,0.00,2.03,0.00,0.000,4,0.000,0.072,2265,3619,2953
$GC,946,-1.07,-117.3,90.6,-9.7,80,950,0.00,1.90,0.00,0.000,6,0.000,0.043,2265,2550,2953
$GC,1279,-1.12,-117.3,117.6,-7.5,96,1283,0.00,2.50,0.00,0.000,4,0.000,0.051,2265,1152,2953
$GC,1382,-1.17,-117.3,123.9,-5.5,100,1388,0.00,2.47,0.00,0.000,6,0.000,0.042,2265,2553,2952
$GC,1699,-1.23,-117.3,140.7,-5.8,116,1700,0.15,0.00,0.00,0.000,6,0.065,0.000,2230,2553,2953
$GC,2005,-1.23,-117.3,161.8,-7.3,127,2009,0.00,2.50,0.00,0.000,4,0.000,0.049,2230,1156,2953
$GC,2084,-1.23,-117.3,168.0,-7.9,128,2090,0.00,2.47,0.00,0.000,6,0.000,0.042,2230,2556,2953
$GC,2415,-1.23,-117.3,193.5,-7.6,137,2420,0.00,2.50,0.00,0.000,4,0.000,0.049,2230,1156,2953
$GC,2502,-1.23,-117.3,200.5,-8.4,139,2507,0.00,2.47,0.00,0.000,6,0.000,0.042,2230,2556,2953
$GC,2828,-1.23,-117.3,225.8,-7.4,147,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2557,2953
$GC,3152,-1.23,-117.3,247.4,-6.6,155,3156,0.00,2.53,0.00,0.000,4,0.000,0.051,2230,1146,2952
$GC,3199,-1.23,-117.3,250.2,-5.9,156,3203,0.00,2.47,0.00,0.000,6,0.000,0.043,2230,2551,2952
$GC,3519,-1.23,-117.3,273.4,-7.8,164,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2551,2952
$GC,3846,-1.23,-117.3,301.2,-8.6,172,3850,0.00,2.53,0.00,0.000,4,0.000,0.053,2230,1148,2952
$GC,3931,-1.23,-117.3,308.6,-8.7,173,3935,0.00,2.50,0.00,0.000,6,0.000,0.047,2230,2549,2952
$GC,4258,-1.23,-117.3,332.4,-7.1,177,4262,0.00,2.53,0.00,0.000,4,0.000,0.055,2230,1151,2952
$GC,4331,-1.23,-117.3,337.9,-7.6,177,4335,0.00,2.50,0.00,0.000,6,0.000,0.049,2230,2549,2952
$GC,4660,-1.23,-117.3,359.8,-6.7,181,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2548,2952
$GC,4983,-1.23,-117.3,380.6,-6.5,185,4987,0.00,2.55,0.00,0.000,4,0.000,0.062,2230,1155,2952
$GC,5061,-1.23,-117.3,386.6,-7.4,185,5067,0.00,2.53,0.00,0.000,6,0.000,0.054,2230,2549,2951
$GC,5391,-1.23,-117.3,411.5,-7.6,190,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2548,2951
$GC,5713,-1.23,-117.3,435.7,-7.5,194,5717,0.00,2.58,0.00,0.000,4,0.000,0.069,2230,1159,2951
$GC,5769,-1.23,-117.3,439.8,-7.6,194,5773,0.00,2.55,0.00,0.000,6,0.000,0.063,2230,2546,2950
$GC,6115,-1.23,-117.3,464.8,-7.2,199,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2546,2950
$GC,6437,-1.23,-117.3,486.8,-6.8,203,6441,0.00,2.62,0.00,0.000,4,0.000,0.081,2229,1157,2950
$GC,6538,-1.23,-117.3,493.7,-6.7,204,6542,0.00,2.62,0.00,0.000,6,0.000,0.077,2230,2549,2950
$GC,6928,-1.23,-117.3,519.2,-6.5,209,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2549,2949
$STATE,7089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7089,begin apogee
$GC,7098,-0.45,0.0,530.6,6.9,211,7199,0.80,0.00,98.00,1.142,6,0.077,0.000,2398,2022,2473
$STATE,7199,end apogee,CONTROL_FINISHED_OK
$STATE,7200,begin climb
$GC,7203,1.28,117.3,533.9,0.0,212,7311,1.73,2.92,98.90,1.101,4,0.054,0.103,2778,590,1994
$GC,7424,1.08,119.8,530.7,5.9,214,7433,0.22,2.65,3.72,0.650,6,0.128,0.065,2739,1999,1984
$GC,7781,1.00,148.4,513.1,5.0,219,7813,0.12,2.83,25.70,1.068,4,0.106,0.092,2716,3417,1867
$GC,7895,0.92,148.4,507.0,6.0,220,7899,0.00,2.60,0.00,0.000,6,0.000,0.053,2716,1999,1867
$GC,8275,0.90,178.1,487.7,4.9,225,8304,0.00,0.00,26.98,1.069,6,0.000,0.000,2716,1999,1746
$GC,8597,0.90,178.1,464.7,7.2,229,8601,0.00,2.72,0.00,0.000,4,0.000,0.081,2716,3416,1746
$GC,8682,0.85,178.1,458.3,7.8,230,8687,0.15,2.58,0.00,0.000,6,0.111,0.049,2688,1997,1746
$GC,9010,0.85,178.1,437.8,6.2,234,9014,0.00,2.70,0.00,0.000,4,0.000,0.076,2688,3416,1746
$GC,9088,0.85,178.1,432.9,6.3,234,9094,0.00,2.58,0.00,0.000,6,0.000,0.048,2688,1987,1746
$GC,9419,0.85,178.1,411.8,6.4,239,9423,0.00,2.70,0.00,0.000,4,0.000,0.074,2688,3417,1746
$GC,9514,0.85,178.1,405.3,6.8,240,9518,0.00,2.53,0.00,0.000,6,0.000,0.046,2688,1998,1746
$GC,9830,0.88,202.7,388.4,5.1,244,9859,0.00,2.75,23.70,1.033,4,0.000,0.071,2688,3418,1646
$GC,9939,0.88,202.7,381.9,6.2,245,9943,0.00,2.55,0.00,0.000,6,0.000,0.044,2688,1998,1646
$GC,10325,0.93,203.3,359.4,6.0,250,10329,0.00,2.65,0.00,0.000,4,0.000,0.069,2688,3415,1646
$GC,10425,0.93,203.3,352.3,7.3,251,10430,0.00,2.53,0.00,0.000,6,0.000,0.044,2688,1996,1646
$GC,10818,1.00,214.5,329.9,5.6,256,10837,0.12,2.72,12.15,0.952,4,0.060,0.067,2721,3408,1597
$GC,10947,1.00,214.5,321.5,7.5,257,10951,0.00,2.50,0.00,0.000,6,0.000,0.043,2721,1999,1598
$GC,11316,1.01,218.7,299.7,5.8,262,11323,0.00,0.00,5.35,0.784,6,0.000,0.000,2722,1999,1581
$GC,11641,1.01,218.7,278.6,7.1,270,11645,0.00,2.65,0.00,0.000,4,0.000,0.066,2721,3420,1581
$GC,11725,1.01,218.7,271.5,8.6,272,11730,0.00,2.53,0.00,0.000,6,0.000,0.043,2721,1999,1581
$GC,12050,1.01,218.7,248.1,6.8,280,12055,0.00,2.60,0.00,0.000,4,0.000,0.065,2721,3415,1581
$GC,12096,1.01,218.7,245.0,7.1,281,12101,0.00,2.50,0.00,0.000,6,0.000,0.042,2721,1998,1581
$GC,12415,1.01,218.7,225.3,6.3,289,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1998,1580
$GC,12740,1.01,218.7,204.0,6.6,297,12744,0.00,2.62,0.00,0.000,4,0.000,0.065,2721,3417,1581
$GC,12863,1.01,218.7,195.5,6.6,299,12869,0.00,2.50,0.00,0.000,6,0.000,0.042,2721,1998,1581
$GC,13195,1.01,218.7,172.9,7.0,308,13199,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,3420,1581
$GC,13256,1.01,218.7,168.4,7.4,309,13261,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,1999,1580
$GC,13581,1.01,218.7,143.4,8.4,319,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1581
$GC,13889,1.01,218.7,119.0,6.4,334,13893,0.00,2.60,0.00,0.000,4,0.000,0.063,2721,3414,1581
$GC,13962,1.01,218.7,114.0,7.0,337,13966,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,1988,1580
$GC,14278,1.03,240.1,96.8,5.2,352,14300,0.00,0.00,19.48,0.834,6,0.000,0.000,2721,1988,1494
$GC,14609,1.10,240.1,76.5,6.2,370,14614,0.00,2.65,0.00,0.000,4,0.000,0.062,2721,3421,1494
$GC,14790,1.18,252.8,65.9,5.5,385,14813,0.17,2.50,12.25,0.783,6,0.068,0.039,2759,1998,1442
$GC,15132,1.18,252.8,43.8,6.5,417,15136,0.00,2.58,0.00,0.000,4,0.000,0.067,2759,605,1442
$GC,15188,1.18,252.8,40.2,6.4,421,15194,0.00,2.47,0.00,0.000,6,0.000,0.038,2759,2023,1442
$GC,15517,1.29,298.4,23.9,4.3,452,15558,0.10,0.00,38.58,0.792,6,0.058,0.000,2790,2023,1255
$GC,15874,1.29,298.4,2.4,6.1,486,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2023,1254
$STATE,15881,end climb,SURFACE_DEPTH_REACHED
$STATE,15881,begin surface coast
$FINISH,0.8,1.024516
$STATE,15914,end surface coast,CONTROL_FINISHED_OK
$STATE,15914,begin surface
$SM_CCo,15941,42.90,0.720,2,0,1045,350.04
$SM_GC,2.04,0.00,0.00,42.90,0.000,0.000,0.720,33,2553,1045,-11.35,0.08,350.04
$IRIDIUM_FIX,4745.30,-12546.49,170897,111107
$TT8_MAMPS,0.026078
$HUMID,1855
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.10
$XPDR_PINGS,1
$24V_AH,23.3,35.264
$10V_AH,10.2,22.265
$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,28.375,133.625,364.800,42.900,0.000,30.223,23.723,100.028,4.500,0.000,0.000,37.090,1099.060,12532.679,542.338,1631.761,493.189,33.363,1371.116,0.000,1577.445,0.000,27.968
$DEVICE_MAMPS,128.856,102.778,1142.063,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.237,381.297,463.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25340,490
$CAP_FILE_SIZE,111119,0
$CFSIZE,260165632,244547584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230508,191556,4804.844,-12548.704,43,1.6,43,18.9