version: 66.03
glider: 101
mission: 5
dive: 27
start: 4 4 108 11 44 54
data:
$ID,101
$MISSION,5
$DIVE,27
$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,-691185.06
$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,16
$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
$GPS1,113838,4754.163,-12605.097,43,1.6,43,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.5
$GPS2,114351,4754.127,-12605.087,12,1.5,12,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.244,-0.090
$KALMAN_X,15950.2,-807.3,-121.4,-48266.8,2091.4
$KALMAN_Y,480.1,-110.7,13.1,-25674.7,-71.5
$MHEAD_RNG_PITCHd_Wd,231.0,176394,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-54.95,0.000,2,0.000,0.000,35,2606,2089
$GC,90,-1.81,-146.6,3.5,-5.2,6,136,11.52,1.95,-30.15,0.000,4,0.159,0.098,2096,3629,3163
$GC,386,-1.81,-146.6,59.9,-18.5,41,392,0.00,1.88,0.00,0.000,6,0.000,0.047,2096,2581,3162
$GC,723,-1.81,-146.6,115.5,-15.9,82,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2581,3162
$GC,1039,-1.81,-146.6,164.1,-15.4,108,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2581,3162
$GC,1349,-1.81,-146.6,210.4,-14.8,123,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2581,3162
$GC,1658,-1.81,-146.6,255.7,-14.7,138,1662,0.00,2.47,0.00,0.000,4,0.000,0.053,2096,1206,3162
$GC,1697,-1.81,-146.6,261.6,-14.8,139,1703,0.00,2.50,0.00,0.000,6,0.000,0.047,2096,2605,3162
$GC,2032,-1.81,-146.6,309.4,-14.0,154,2037,0.00,2.55,0.00,0.000,4,0.000,0.054,2096,1196,3162
$GC,2077,-1.81,-146.6,315.9,-13.4,154,2082,0.00,2.53,0.00,0.000,6,0.000,0.048,2096,2600,3162
$GC,2394,-1.81,-146.6,358.2,-13.5,160,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3162
$GC,2696,-1.81,-146.6,398.6,-13.3,165,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3162
$GC,2999,-1.81,-146.6,437.8,-13.0,170,3003,0.00,2.62,0.00,0.000,4,0.000,0.075,2096,1208,3161
$GC,3083,-1.81,-146.6,448.5,-12.4,171,3088,0.00,2.62,0.00,0.000,6,0.000,0.073,2096,2602,3161
$GC,3426,-1.81,-146.6,492.4,-12.9,177,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3160
$GC,3730,-1.81,-146.6,530.9,-12.6,182,3735,0.00,2.80,0.00,0.000,4,0.000,0.105,2096,1203,3160
$GC,3803,-1.81,-146.6,540.3,-12.2,183,3808,0.00,2.80,0.00,0.000,6,0.000,0.105,2096,2597,3160
$GC,4158,-1.81,-146.6,583.4,-12.3,189,4162,0.00,2.72,0.00,0.000,4,0.000,0.094,2096,1201,3160
$GC,4213,-1.81,-146.6,590.2,-12.3,189,4220,0.00,2.72,0.00,0.000,6,0.000,0.091,2096,2602,3159
$GC,4524,-1.81,-146.6,626.9,-11.8,195,4529,0.00,2.70,0.00,0.000,4,0.000,0.091,2096,1211,3159
$GC,4563,-1.81,-146.6,631.8,-11.6,195,4567,0.00,2.70,0.00,0.000,6,0.000,0.087,2096,2607,3159
$GC,4883,-1.81,-146.6,669.6,-11.8,201,4888,0.00,2.70,0.00,0.000,4,0.000,0.089,2096,1210,3158
$GC,4917,-1.81,-146.6,673.6,-12.3,201,4921,0.00,2.67,0.00,0.000,6,0.000,0.084,2096,2601,3158
$GC,5243,-1.81,-146.6,712.9,-12.1,207,5247,0.00,2.70,0.00,0.000,4,0.000,0.088,2096,1201,3158
$GC,5282,-1.81,-146.6,717.6,-11.7,207,5286,0.00,2.70,0.00,0.000,6,0.000,0.084,2096,2606,3158
$GC,5603,-1.81,-146.6,754.2,-11.4,213,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2606,3157
$GC,5905,-1.81,-146.6,789.3,-11.5,218,5910,0.00,2.70,0.00,0.000,4,0.000,0.087,2096,1206,3158
$GC,5950,-1.81,-146.6,794.4,-10.9,218,5955,0.00,2.67,0.00,0.000,6,0.000,0.083,2096,2601,3157
$GC,6267,-1.81,-146.6,830.4,-11.4,224,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3157
$GC,6569,-1.81,-146.6,864.3,-11.1,229,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3157
$GC,6872,-1.81,-146.6,899.1,-11.6,234,6876,0.00,2.70,0.00,0.000,4,0.000,0.087,2096,1200,3157
$GC,6934,-1.81,-146.6,906.7,-11.4,235,6939,0.00,2.70,0.00,0.000,6,0.000,0.082,2096,2607,3157
$GC,7300,-1.81,-146.6,948.9,-11.3,241,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2608,3157
$GC,7604,-1.81,-146.6,981.9,-10.8,246,7609,0.00,2.70,0.00,0.000,4,0.000,0.086,2096,1202,3156
$GC,7649,-1.81,-146.6,987.2,-11.3,246,7654,0.00,2.67,0.00,0.000,6,0.000,0.081,2096,2601,3156
$STATE,7718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7718,begin apogee
$GC,7727,-0.45,0.0,995.2,11.3,248,7858,1.45,0.00,126.68,1.468,6,0.078,0.000,2401,2220,2564
$STATE,7858,end apogee,CONTROL_FINISHED_OK
$STATE,7858,begin climb
$GC,7862,1.81,146.6,1000.9,0.0,250,7998,2.17,2.92,126.88,1.419,4,0.044,0.097,2897,783,1966
$GC,8257,1.82,150.5,976.7,9.8,256,8267,0.00,2.72,5.18,0.994,6,0.000,0.074,2897,2202,1950
$GC,8617,1.82,150.5,940.0,10.2,262,8622,0.00,2.80,0.00,0.000,4,0.000,0.093,2897,781,1950
$GC,8874,1.82,150.5,910.0,12.5,265,8880,0.00,2.72,0.00,0.000,6,0.000,0.076,2897,2204,1950
$GC,9184,1.82,150.5,874.1,11.5,271,9189,0.00,2.80,0.00,0.000,4,0.000,0.092,2897,786,1949
$GC,9430,1.82,150.5,844.5,11.4,274,9435,0.00,2.72,0.00,0.000,6,0.000,0.076,2897,2208,1949
$GC,9745,1.82,150.5,811.1,10.4,280,9750,0.00,2.80,0.00,0.000,4,0.000,0.091,2897,781,1949
$GC,9927,1.82,150.5,791.9,11.3,282,9931,0.00,2.70,0.00,0.000,6,0.000,0.075,2897,2201,1949
$GC,10242,1.82,150.5,759.3,10.3,288,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2202,1949
$GC,10545,1.82,150.5,728.7,10.1,293,10549,0.00,2.78,0.00,0.000,4,0.000,0.091,2897,783,1949
$GC,10803,1.82,150.5,701.4,10.2,296,10809,0.00,2.70,0.00,0.000,6,0.000,0.075,2897,2203,1948
$GC,11113,1.82,158.1,671.3,9.6,302,11127,0.00,2.83,8.05,1.105,4,0.000,0.090,2897,791,1919
$GC,11281,1.82,158.1,654.6,10.7,304,11285,0.00,2.67,0.00,0.000,6,0.000,0.074,2897,2201,1919
$GC,11613,1.85,177.1,623.9,9.1,310,11632,0.00,0.00,17.65,1.189,6,0.000,0.000,2897,2201,1842
$GC,11915,1.85,177.1,592.4,10.7,315,11920,0.00,2.78,0.00,0.000,4,0.000,0.090,2897,784,1842
$GC,12173,1.85,177.1,563.1,12.5,318,12179,0.00,2.67,0.00,0.000,6,0.000,0.071,2897,2202,1842
$GC,12483,1.85,177.1,529.9,10.7,324,12487,0.00,2.75,0.00,0.000,4,0.000,0.086,2897,781,1842
$GC,12740,1.85,177.1,501.6,11.2,327,12746,0.00,2.65,0.00,0.000,6,0.000,0.065,2897,2203,1842
$GC,13050,1.85,177.1,470.2,10.1,333,13055,0.00,2.72,0.00,0.000,4,0.000,0.081,2897,780,1842
$GC,13185,1.85,177.1,456.2,10.3,335,13190,0.00,2.62,0.00,0.000,6,0.000,0.058,2897,2207,1842
$GC,13546,1.85,177.1,419.8,10.1,341,13550,0.00,2.67,0.00,0.000,4,0.000,0.073,2897,788,1842
$GC,13747,1.85,177.1,399.0,10.8,344,13751,0.00,2.58,0.00,0.000,6,0.000,0.051,2897,2213,1842
$GC,14107,1.86,190.5,364.5,9.4,350,14126,0.00,2.75,12.50,1.004,4,0.000,0.067,2898,788,1787
$GC,14302,1.88,207.1,345.3,9.2,352,14322,0.00,2.55,15.52,0.998,6,0.000,0.048,2897,2203,1719
$GC,14672,1.88,207.1,307.2,10.5,359,14676,0.00,2.65,0.00,0.000,4,0.000,0.065,2897,783,1719
$GC,14806,1.88,207.1,292.3,10.6,361,14811,0.00,2.55,0.00,0.000,6,0.000,0.046,2897,2203,1719
$GC,15129,1.88,207.1,256.4,11.5,377,15133,0.00,2.62,0.00,0.000,4,0.000,0.064,2897,788,1719
$GC,15342,1.88,207.1,231.2,12.0,386,15348,0.00,2.55,0.00,0.000,6,0.000,0.046,2897,2213,1719
$GC,15658,1.88,207.1,196.4,10.7,402,15663,0.00,2.65,0.00,0.000,4,0.000,0.063,2897,778,1719
$GC,15709,1.88,207.1,190.6,11.7,404,15713,0.00,2.55,0.00,0.000,6,0.000,0.044,2896,2208,1719
$GC,16026,1.89,207.5,158.7,10.0,419,16030,0.00,2.62,0.00,0.000,4,0.000,0.062,2897,782,1719
$GC,16284,1.89,213.9,132.6,9.7,437,16301,0.00,2.53,7.68,0.796,6,0.000,0.044,2897,2203,1691
$GC,16622,1.89,213.9,97.3,10.1,469,16626,0.00,2.60,0.00,0.000,4,0.000,0.060,2897,787,1691
$GC,16730,1.89,213.9,86.5,10.0,478,16734,0.00,2.53,0.00,0.000,6,0.000,0.044,2897,2202,1691
$GC,17070,1.95,263.3,58.7,7.7,531,17117,0.12,2.72,40.05,0.831,4,0.070,0.060,2926,788,1490
$GC,17292,1.99,288.7,37.8,8.8,568,17320,0.00,2.53,21.92,0.788,6,0.000,0.044,2926,2201,1386
$GC,17640,2.07,360.9,9.1,6.6,601,17704,0.10,0.00,58.90,0.775,6,0.072,0.000,2950,2201,1093
$STATE,17712,end climb,SURFACE_DEPTH_REACHED
$STATE,17712,begin surface coast
$FINISH,0.7,1.013928
$STATE,17734,end surface coast,CONTROL_FINISHED_OK
$STATE,17734,begin surface
$SM_CCo,17762,30.90,0.746,0,0,933,400.08
$SM_GC,1.61,0.00,0.00,30.90,0.000,0.000,0.746,34,2599,933,-11.34,-0.03,400.08
$IRIDIUM_FIX,4738.89,-12557.63,290697,060647
$TT8_MAMPS,0.026078
$HUMID,1811
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,20.0
$24V_AH,23.2,7.298
$10V_AH,10.1,3.276
$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,29.825,155.000,441.000,30.900,0.000,26.258,33.690,127.706,9.500,0.000,0.000,12.079,1327.480,13462.538,583.153,2182.604,561.402,33.354,1653.313,0.000,2125.620,0.000,58.239
$DEVICE_MAMPS,158.769,105.079,1468.038,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.453,492.928,691.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31696,610
$CAP_FILE_SIZE,129772,0
$CFSIZE,260165632,256917504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040408,164238,4753.542,-12608.463,29,1.4,29,18.8