version: 66.03
glider: 101
mission: 5
dive: 38
start: 4 6 108 19 48 44
data:
$ID,101
$MISSION,5
$DIVE,38
$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,-691386.88
$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,28
$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
$GPS1,193826,4739.710,-12640.142,40,1.5,40,18.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.5
$GPS2,194739,4739.735,-12640.142,13,1.5,13,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.193,-0.173
$KALMAN_X,13290.4,-87.4,-50.9,-89728.9,188.5
$KALMAN_Y,6507.7,-259.4,375.6,-58576.7,692.3
$MHEAD_RNG_PITCHd_Wd,209.3,124857,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.81,-146.6,0.0,0.0,0,88,0.00,0.00,-59.85,0.000,2,0.000,0.000,32,2611,2117
$GC,93,-1.81,-146.6,3.0,-3.8,6,144,11.52,0.00,-34.42,0.000,6,0.158,0.000,2099,2611,3162
$GC,473,-1.81,-146.6,69.1,-17.5,55,479,0.00,1.95,0.00,0.000,4,0.000,0.084,2100,3622,3161
$GC,520,-1.81,-146.6,77.6,-18.1,63,527,0.00,1.85,0.00,0.000,6,0.000,0.048,2099,2584,3161
$GC,855,-1.81,-146.6,128.7,-13.7,95,860,0.00,2.45,0.00,0.000,4,0.000,0.051,2100,1200,3161
$GC,941,-1.81,-146.6,141.3,-14.6,102,946,0.00,2.47,0.00,0.000,6,0.000,0.044,2100,2598,3161
$GC,1270,-1.81,-146.6,189.8,-14.5,120,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2598,3161
$GC,1579,-1.81,-146.6,233.4,-14.2,135,1583,0.00,2.47,0.00,0.000,4,0.000,0.051,2100,1209,3161
$GC,1652,-1.81,-146.6,243.9,-13.8,138,1656,0.00,2.47,0.00,0.000,6,0.000,0.048,2099,2600,3161
$GC,1968,-1.81,-146.6,287.3,-13.7,153,1972,0.00,2.50,0.00,0.000,4,0.000,0.054,2100,1209,3161
$GC,2013,-1.81,-146.6,293.6,-14.0,155,2017,0.00,2.47,0.00,0.000,6,0.000,0.049,2099,2599,3161
$GC,2371,-1.81,-146.6,342.5,-13.7,163,2375,0.00,2.53,0.00,0.000,4,0.000,0.059,2099,1210,3161
$GC,2411,-1.81,-146.6,348.1,-13.5,163,2416,0.00,2.53,0.00,0.000,6,0.000,0.054,2099,2607,3161
$GC,2733,-1.81,-146.6,390.7,-13.2,169,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2606,3161
$GC,3038,-1.81,-146.6,430.4,-13.2,174,3042,0.00,2.60,0.00,0.000,4,0.000,0.073,2099,1214,3161
$GC,3144,-1.81,-146.6,444.9,-12.8,175,3148,0.00,2.58,0.00,0.000,6,0.000,0.071,2099,2598,3160
$GC,3465,-1.81,-146.6,486.5,-13.0,181,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2597,3160
$GC,3768,-1.81,-146.6,524.8,-12.7,186,3773,0.00,2.72,0.00,0.000,4,0.000,0.103,2099,1218,3159
$GC,3840,-1.81,-146.6,534.1,-12.9,187,3845,0.00,2.75,0.00,0.000,6,0.000,0.103,2099,2598,3160
$GC,4203,-1.81,-146.6,579.3,-12.7,193,4207,0.00,2.67,0.00,0.000,4,0.000,0.089,2100,1210,3159
$GC,4247,-1.81,-146.6,585.5,-12.5,193,4252,0.00,2.67,0.00,0.000,6,0.000,0.086,2099,2604,3159
$GC,4562,-1.81,-146.6,624.6,-12.5,199,4567,0.00,2.65,0.00,0.000,4,0.000,0.089,2099,1216,3159
$GC,4612,-1.81,-146.6,630.8,-11.9,199,4616,0.00,2.65,0.00,0.000,6,0.000,0.085,2099,2600,3159
$GC,4927,-1.81,-146.6,668.3,-12.0,205,4931,0.00,2.67,0.00,0.000,4,0.000,0.087,2099,1207,3158
$GC,4966,-1.81,-146.6,673.3,-12.0,205,4970,0.00,2.65,0.00,0.000,6,0.000,0.082,2100,2600,3158
$GC,5286,-1.81,-146.6,710.8,-11.7,211,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2600,3158
$GC,5590,-1.81,-146.6,746.7,-11.9,216,5594,0.00,2.67,0.00,0.000,4,0.000,0.087,2100,1208,3158
$GC,5662,-1.81,-146.6,755.6,-11.7,217,5667,0.00,2.67,0.00,0.000,6,0.000,0.083,2100,2608,3158
$GC,6018,-1.81,-146.6,797.7,-11.9,223,6022,0.00,2.67,0.00,0.000,4,0.000,0.087,2099,1215,3157
$GC,6062,-1.81,-146.6,803.4,-12.6,223,6066,0.00,2.65,0.00,0.000,6,0.000,0.083,2100,2602,3157
$GC,6377,-1.81,-146.6,839.8,-11.5,229,6381,0.00,2.65,0.00,0.000,4,0.000,0.087,2099,1209,3157
$GC,6439,-1.81,-146.6,847.2,-11.9,230,6444,0.00,2.65,0.00,0.000,6,0.000,0.084,2100,2601,3157
$GC,6805,-1.81,-146.6,890.0,-11.7,236,6809,0.00,2.67,0.00,0.000,4,0.000,0.087,2100,1206,3157
$GC,6844,-1.81,-146.6,894.7,-11.5,236,6848,0.00,2.67,0.00,0.000,6,0.000,0.084,2100,2606,3157
$GC,7165,-1.81,-146.6,930.7,-11.2,242,7169,0.00,2.67,0.00,0.000,4,0.000,0.085,2100,1209,3156
$GC,7209,-1.81,-146.6,935.9,-11.8,242,7214,0.00,2.65,0.00,0.000,6,0.000,0.082,2100,2601,3156
$GC,7525,-1.81,-146.6,969.7,-10.7,248,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3156
$STATE,7764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7764,begin apogee
$GC,7773,-0.45,0.0,995.0,10.4,252,7903,1.40,0.00,126.45,1.463,6,0.074,0.000,2398,2224,2563
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7904,begin climb
$GC,7907,1.81,146.6,999.5,0.0,254,8040,2.25,0.00,127.28,1.427,6,0.046,0.000,2896,2224,1965
$GC,8374,1.81,146.6,963.5,11.0,262,8379,0.00,2.83,0.00,0.000,4,0.000,0.097,2896,784,1965
$GC,8504,1.81,146.6,948.6,11.7,264,8508,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2201,1965
$GC,8870,1.81,146.6,909.5,10.6,270,8874,0.00,2.78,0.00,0.000,4,0.000,0.094,2897,791,1964
$GC,9094,1.81,146.6,885.5,10.6,273,9098,0.00,2.67,0.00,0.000,6,0.000,0.073,2896,2202,1964
$GC,9431,1.82,153.5,852.6,9.7,279,9446,0.00,2.85,7.07,1.135,4,0.000,0.092,2896,781,1938
$GC,9602,1.82,153.5,835.0,10.6,281,9606,0.00,2.67,0.00,0.000,6,0.000,0.072,2896,2201,1938
$GC,9933,1.82,153.5,800.9,10.2,287,9938,0.00,2.78,0.00,0.000,4,0.000,0.092,2896,783,1939
$GC,10125,1.82,153.5,780.5,11.3,289,10131,0.00,2.67,0.00,0.000,6,0.000,0.073,2896,2201,1938
$GC,10435,1.82,153.5,747.9,10.5,295,10440,0.00,2.75,0.00,0.000,4,0.000,0.091,2896,784,1938
$GC,10619,1.82,153.5,728.5,10.4,297,10624,0.00,2.67,0.00,0.000,6,0.000,0.072,2896,2202,1938
$GC,10930,1.82,155.4,697.7,9.9,302,10934,0.00,2.75,0.00,0.000,4,0.000,0.091,2896,790,1938
$GC,11036,1.82,155.4,686.7,10.4,303,11040,0.00,2.65,0.00,0.000,6,0.000,0.071,2896,2201,1937
$GC,11357,1.83,161.8,655.8,9.7,309,11371,0.00,2.83,8.90,1.115,4,0.000,0.091,2896,782,1904
$GC,11585,1.83,161.8,632.3,10.3,312,11590,0.00,2.67,0.00,0.000,6,0.000,0.071,2896,2202,1904
$GC,11924,1.83,166.0,598.9,9.8,318,11934,0.00,2.78,5.45,0.953,4,0.000,0.088,2896,786,1887
$GC,12067,1.85,176.0,584.5,9.5,320,12083,0.00,2.67,10.07,1.096,6,0.000,0.070,2896,2207,1846
$GC,12421,1.85,176.0,547.1,10.6,326,12425,0.00,2.75,0.00,0.000,4,0.000,0.087,2896,788,1846
$GC,12662,1.85,176.0,519.2,11.5,329,12666,0.00,2.65,0.00,0.000,6,0.000,0.067,2896,2205,1846
$GC,12983,1.85,176.0,483.4,11.2,335,12987,0.00,2.72,0.00,0.000,4,0.000,0.082,2896,784,1846
$GC,13212,1.85,176.0,457.2,11.3,338,13217,0.00,2.60,0.00,0.000,6,0.000,0.058,2896,2205,1846
$GC,13544,1.85,176.0,421.9,10.6,344,13549,0.00,2.67,0.00,0.000,4,0.000,0.073,2896,781,1846
$GC,13803,1.85,178.1,395.5,9.9,347,13809,0.00,2.55,0.00,0.000,6,0.000,0.051,2896,2203,1846
$GC,14113,1.86,184.1,365.5,9.7,353,14127,0.00,2.70,8.70,0.957,4,0.000,0.067,2896,777,1812
$GC,14157,1.87,192.9,361.1,9.6,353,14171,0.00,2.58,8.93,0.944,6,0.000,0.048,2896,2202,1777
$GC,14482,1.87,192.9,328.4,10.2,359,14483,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2202,1777
$GC,14786,1.87,192.9,296.3,10.7,364,14790,0.00,2.62,0.00,0.000,4,0.000,0.065,2896,788,1777
$GC,14939,1.87,192.9,280.3,10.0,371,14943,0.00,2.53,0.00,0.000,6,0.000,0.046,2896,2203,1777
$GC,15266,1.87,192.9,243.8,11.6,387,15270,0.00,2.62,0.00,0.000,4,0.000,0.067,2896,788,1777
$GC,15523,1.87,192.9,213.3,11.0,398,15530,0.00,2.53,0.00,0.000,6,0.000,0.046,2896,2209,1777
$GC,15841,1.88,200.2,178.9,9.7,414,15855,0.00,2.70,7.95,0.841,4,0.000,0.079,2897,3598,1747
$GC,16111,1.88,200.2,150.5,11.0,426,16115,0.00,2.53,0.00,0.000,6,0.000,0.044,2896,2177,1747
$GC,16437,1.93,240.9,118.5,8.1,456,16481,0.10,2.62,34.22,0.880,4,0.068,0.065,2925,802,1581
$GC,16734,1.97,279.9,88.9,8.2,482,16772,0.00,2.47,32.35,0.865,6,0.000,0.043,2925,2203,1422
$GC,17106,1.97,279.9,49.1,10.6,540,17113,0.00,2.65,0.00,0.000,4,0.000,0.077,2925,3611,1422
$GC,17255,1.97,279.9,31.2,11.9,560,17260,0.00,2.50,0.00,0.000,6,0.000,0.041,2925,2195,1421
$STATE,17506,end climb,SURFACE_DEPTH_REACHED
$STATE,17506,begin surface coast
$FINISH,0.7,1.025327
$STATE,17516,end surface coast,CONTROL_FINISHED_OK
$STATE,17516,begin surface
$SM_CCo,17542,84.82,0.785,0,0,932,400.08
$SM_GC,1.48,0.00,0.00,84.82,0.000,0.000,0.785,32,2606,932,-11.35,0.17,400.08
$IRIDIUM_FIX,4722.92,-12638.77,010797,191911
$TT8_MAMPS,0.026078
$HUMID,1804
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,23.2,9.174
$10V_AH,10.1,4.255
$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,28.525,169.175,377.375,84.825,0.000,52.458,60.052,248.425,9.500,0.000,0.000,13.297,1330.276,13367.327,630.423,2114.837,751.354,33.362,1659.770,0.000,2060.633,0.000,58.262
$DEVICE_MAMPS,158.002,102.778,1463.436,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.518,462.373,650.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28566,584
$CAP_FILE_SIZE,133085,0
$CFSIZE,260165632,256245760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070408,004407,4738.215,-12642.552,43,1.5,54,18.8