version: 66.03
glider: 101
mission: 5
dive: 19
start: 4 2 108 21 26 20
data:
$ID,101
$MISSION,5
$DIVE,19
$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,-690969.06
$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,27
$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
$GPS1,212102,4804.170,-12547.497,8,1.5,13,18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.4
$GPS2,212515,4804.184,-12547.507,16,1.7,16,18.9
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.213,-0.148
$KALMAN_X,6781.5,7271.0,547.6,-26103.2,3065.4
$KALMAN_Y,-2140.3,2205.1,9.9,-6735.2,-2857.7
$MHEAD_RNG_PITCHd_Wd,216.3,205268,-17.9,-10.000
$D_GRID,715
$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,-1.81,-146.6,0.0,0.0,0,88,0.00,0.00,-60.50,0.000,2,0.000,0.000,31,2607,2215
$GC,93,-1.81,-146.6,3.3,-5.0,6,136,11.70,1.95,-25.52,0.000,4,0.165,0.099,2094,3627,3162
$GC,391,-1.81,-146.6,57.5,-16.0,41,398,0.00,1.85,0.00,0.000,6,0.000,0.050,2095,2599,3162
$GC,726,-1.81,-146.6,105.6,-14.1,85,730,0.00,2.53,0.00,0.000,4,0.000,0.053,2095,1196,3162
$GC,755,-1.81,-146.6,109.7,-14.1,87,759,0.00,2.53,0.00,0.000,6,0.000,0.046,2095,2601,3162
$GC,1090,-1.81,-146.6,157.0,-13.7,116,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2601,3161
$GC,1400,-1.81,-146.6,198.4,-13.8,131,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2601,3162
$GC,1710,-1.81,-146.6,242.0,-14.2,146,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2601,3162
$GC,2018,-1.81,-146.6,285.2,-13.6,161,2022,0.00,2.55,0.00,0.000,4,0.000,0.055,2095,1195,3161
$GC,2104,-1.81,-146.6,296.5,-13.6,165,2108,0.00,2.55,0.00,0.000,6,0.000,0.053,2095,2599,3161
$GC,2445,-1.81,-146.6,340.5,-12.6,172,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2599,3161
$GC,2749,-1.81,-146.6,377.5,-12.2,177,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2599,3160
$GC,3051,-1.81,-146.6,417.2,-13.2,182,3055,0.00,2.60,0.00,0.000,4,0.000,0.071,2095,1198,3160
$GC,3118,-1.81,-146.6,426.6,-13.4,183,3123,0.00,2.62,0.00,0.000,6,0.000,0.071,2095,2598,3159
$GC,3481,-1.81,-146.6,475.4,-13.6,189,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2598,3159
$GC,3781,-1.81,-146.6,515.1,-13.1,194,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2598,3159
$GC,4087,-1.81,-146.6,553.9,-12.9,199,4091,0.00,2.75,0.00,0.000,4,0.000,0.097,2095,1199,3159
$GC,4142,-1.81,-146.6,561.6,-12.2,199,4149,0.00,2.75,0.00,0.000,6,0.000,0.095,2095,2598,3158
$GC,4452,-1.81,-146.6,599.8,-12.3,205,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2598,3158
$GC,4756,-1.81,-146.6,636.0,-11.9,210,4760,0.00,2.72,0.00,0.000,4,0.000,0.092,2095,1201,3158
$GC,4800,-1.81,-146.6,641.5,-11.8,210,4804,0.00,2.72,0.00,0.000,6,0.000,0.089,2095,2603,3158
$GC,5116,-1.81,-146.6,678.7,-11.9,216,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2604,3158
$STATE,5415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5424,-0.45,0.0,715.4,12.1,221,5550,1.45,0.00,122.68,1.276,6,0.081,0.000,2397,2217,2564
$STATE,5551,end apogee,CONTROL_FINISHED_OK
$STATE,5551,begin climb
$GC,5555,1.81,146.6,720.7,0.0,223,5687,2.28,2.95,122.88,1.233,4,0.048,0.102,2899,792,1966
$GC,5745,1.83,162.3,718.1,9.3,226,5765,0.00,2.75,15.02,1.114,6,0.000,0.078,2899,2208,1902
$GC,6087,1.83,162.3,682.7,10.5,232,6092,0.00,2.83,0.00,0.000,4,0.000,0.097,2899,791,1901
$GC,6345,1.83,162.3,654.9,10.6,235,6351,0.00,2.72,0.00,0.000,6,0.000,0.079,2899,2203,1901
$GC,6655,1.85,176.4,625.4,9.3,241,6674,0.00,2.88,12.90,1.114,4,0.000,0.095,2899,792,1845
$GC,6928,1.85,176.4,597.1,10.2,245,6932,0.00,2.70,0.00,0.000,6,0.000,0.077,2899,2200,1845
$GC,7288,1.85,181.9,561.9,9.7,251,7302,0.00,2.88,6.80,0.976,4,0.000,0.094,2899,791,1822
$GC,7422,1.85,181.9,546.0,12.6,253,7427,0.00,2.70,0.00,0.000,6,0.000,0.074,2899,2203,1821
$GC,7789,1.85,181.9,503.1,11.6,259,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2203,1821
$GC,8091,1.85,181.9,469.4,11.2,264,8096,0.00,2.75,0.00,0.000,4,0.000,0.084,2899,781,1821
$GC,8237,1.85,181.9,452.6,10.8,266,8242,0.00,2.62,0.00,0.000,6,0.000,0.061,2899,2203,1821
$GC,8586,1.85,181.9,414.6,11.0,272,8590,0.00,2.67,0.00,0.000,4,0.000,0.074,2899,789,1820
$GC,8675,1.85,181.9,404.1,11.4,273,8680,0.00,2.58,0.00,0.000,6,0.000,0.054,2899,2202,1820
$GC,9012,1.85,181.9,366.2,11.3,279,9017,0.00,2.65,0.00,0.000,4,0.000,0.068,2899,787,1820
$GC,9130,1.85,181.9,352.9,11.2,280,9135,0.00,2.55,0.00,0.000,6,0.000,0.051,2899,2203,1820
$GC,9440,1.85,181.9,320.5,10.5,285,9444,0.00,2.65,0.00,0.000,4,0.000,0.067,2899,779,1820
$GC,9563,1.85,181.9,307.5,10.2,286,9569,0.00,2.58,0.00,0.000,6,0.000,0.050,2899,2209,1820
$GC,9877,1.85,181.9,275.9,10.0,298,9882,0.00,2.65,0.00,0.000,4,0.000,0.066,2900,781,1820
$GC,9964,1.86,187.3,267.6,9.7,302,9975,0.00,2.55,5.88,0.818,6,0.000,0.048,2899,2202,1800
$GC,10292,1.86,187.3,233.8,10.5,318,10296,0.00,2.62,0.00,0.000,4,0.000,0.065,2899,789,1800
$GC,10432,1.86,187.3,218.7,10.8,324,10436,0.00,2.53,0.00,0.000,6,0.000,0.047,2899,2201,1800
$GC,10749,1.86,187.3,185.7,10.3,339,10753,0.00,2.62,0.00,0.000,4,0.000,0.064,2899,781,1800
$GC,10861,1.86,187.3,174.2,10.2,344,10865,0.00,2.53,0.00,0.000,6,0.000,0.046,2899,2199,1800
$GC,11185,1.88,202.9,143.1,9.3,363,11207,0.00,2.67,14.20,0.871,4,0.000,0.062,2899,791,1736
$GC,11346,1.88,202.9,127.1,10.1,377,11351,0.00,2.53,0.00,0.000,6,0.000,0.046,2899,2201,1736
$GC,11675,1.94,248.7,96.3,7.9,407,11720,0.10,2.72,37.80,0.861,4,0.077,0.061,2922,789,1549
$GC,11974,1.94,248.7,61.8,11.3,447,11980,0.00,2.53,0.00,0.000,6,0.000,0.045,2921,2201,1550
$GC,12315,1.98,282.6,31.2,8.4,499,12348,0.00,2.78,28.08,0.800,4,0.000,0.078,2921,3602,1411
$GC,12603,2.02,312.9,3.1,8.6,524,12613,0.00,2.50,4.90,0.609,2,0.000,0.042,2922,2181,1391
$STATE,12614,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,0.6,1.024656
$STATE,12634,end surface coast,CONTROL_FINISHED_OK
$STATE,12634,begin surface
$SM_CCo,12661,78.68,0.758,1,0,933,400.08
$SM_GC,1.65,0.00,0.00,78.68,0.000,0.000,0.758,29,2598,933,-11.37,-0.06,400.08
$IRIDIUM_FIX,4745.30,-12544.61,270697,202049
$TT8_MAMPS,0.026078
$HUMID,1825
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,700.9,58.0
$24V_AH,23.3,5.965
$10V_AH,10.1,2.568
$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,28.850,106.350,371.125,78.675,0.000,22.881,25.700,100.360,6.500,0.000,0.000,19.014,1077.579,9325.584,560.924,1623.741,435.857,33.321,1336.828,0.000,1587.944,0.000,46.333
$DEVICE_MAMPS,164.905,102.011,1276.288,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.288,422.907,696.926,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25429,527
$CAP_FILE_SIZE,94622,0
$CFSIZE,260165632,257421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,030408,010007,4803.301,-12549.114,40,1.6,40,18.9