version: 66.03
glider: 101
mission: 5
dive: 44
start: 4 8 108 2 22 21
data:
$ID,101
$MISSION,5
$DIVE,44
$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,556.83099
$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,-691514.69
$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,33
$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,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
$GPS1,020531,4731.359,-12655.856,38,1.8,38,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-59.6
$GPS2,022117,4731.342,-12655.788,12,2.6,31,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.139,-0.219
$KALMAN_X,14009.2,-42.9,304.9,-110189.4,-545.2
$KALMAN_Y,11934.9,88.8,-277.3,-79241.7,1815.8
$MHEAD_RNG_PITCHd_Wd,193.5,99734,-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,27,-1.81,-146.6,0.0,0.0,0,94,0.00,0.00,-65.05,0.000,2,0.000,0.000,23,2575,2240
$GC,98,-1.81,-146.6,3.3,-4.1,7,142,10.73,1.98,-26.60,0.000,4,0.123,0.093,2102,3617,3162
$GC,227,-1.81,-146.6,26.9,-17.5,18,233,0.00,1.83,0.00,0.000,6,0.000,0.048,2102,2595,3161
$GC,571,-1.81,-146.6,86.1,-16.6,70,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2595,3161
$GC,890,-1.81,-146.6,136.3,-14.6,100,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2595,3161
$GC,1212,-1.81,-146.6,184.0,-14.7,120,1216,0.00,2.50,0.00,0.000,4,0.000,0.054,2102,1201,3161
$GC,1290,-1.81,-146.6,195.9,-13.9,123,1297,0.00,2.50,0.00,0.000,6,0.000,0.047,2102,2600,3161
$GC,1607,-1.81,-146.6,241.1,-14.1,139,1611,0.00,2.50,0.00,0.000,4,0.000,0.053,2102,1202,3161
$GC,1651,-1.81,-146.6,247.6,-13.2,141,1656,0.00,2.50,0.00,0.000,6,0.000,0.048,2102,2600,3161
$GC,1974,-1.81,-146.6,292.2,-13.8,157,1978,0.00,2.53,0.00,0.000,4,0.000,0.054,2102,1203,3161
$GC,2037,-1.81,-146.6,300.9,-14.2,160,2041,0.00,2.53,0.00,0.000,6,0.000,0.051,2102,2606,3161
$GC,2405,-1.81,-146.6,350.3,-13.4,166,2409,0.00,2.58,0.00,0.000,4,0.000,0.061,2102,1198,3161
$GC,2489,-1.81,-146.6,362.1,-13.1,167,2493,0.00,2.55,0.00,0.000,6,0.000,0.057,2102,2598,3160
$GC,2834,-1.81,-146.6,405.8,-12.7,173,2838,0.00,2.58,0.00,0.000,4,0.000,0.068,2102,1201,3160
$GC,2873,-1.81,-146.6,411.2,-12.8,173,2877,0.00,2.60,0.00,0.000,6,0.000,0.065,2102,2605,3160
$GC,3196,-1.81,-146.6,451.5,-12.6,179,3200,0.00,2.65,0.00,0.000,4,0.000,0.079,2102,1207,3159
$GC,3240,-1.81,-146.6,457.4,-12.7,179,3245,0.00,2.62,0.00,0.000,6,0.000,0.076,2102,2598,3159
$GC,3557,-1.81,-146.6,495.4,-12.1,185,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2598,3159
$GC,3860,-1.81,-146.6,531.7,-11.9,190,3864,0.00,2.70,0.00,0.000,4,0.000,0.095,2102,1214,3159
$GC,3922,-1.81,-146.6,539.1,-11.2,191,3927,0.00,2.67,0.00,0.000,6,0.000,0.090,2102,2599,3158
$GC,4288,-1.81,-146.6,581.5,-11.7,197,4293,0.00,2.70,0.00,0.000,4,0.000,0.092,2102,1205,3158
$GC,4412,-1.81,-146.6,596.5,-12.6,198,4418,0.00,2.70,0.00,0.000,6,0.000,0.087,2102,2605,3158
$GC,4723,-1.81,-146.6,634.0,-12.0,204,4727,0.00,2.70,0.00,0.000,4,0.000,0.089,2102,1205,3157
$GC,4795,-1.81,-146.6,643.1,-12.3,205,4800,0.00,2.70,0.00,0.000,6,0.000,0.086,2102,2607,3158
$GC,5150,-1.81,-146.6,686.3,-12.2,211,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2608,3158
$GC,5453,-1.81,-146.6,722.2,-11.8,216,5457,0.00,2.67,0.00,0.000,4,0.000,0.088,2102,1211,3157
$GC,5497,-1.81,-146.6,727.5,-11.1,216,5502,0.00,2.67,0.00,0.000,6,0.000,0.085,2102,2603,3157
$GC,5814,-1.81,-146.6,763.7,-11.4,222,5818,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1211,3157
$GC,5864,-1.81,-146.6,769.7,-12.0,222,5868,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2603,3157
$GC,6175,-1.81,-146.6,804.5,-11.2,227,6179,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1210,3156
$GC,6225,-1.81,-146.6,810.3,-11.1,227,6229,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2605,3156
$GC,6535,-1.81,-146.6,843.6,-10.7,232,6539,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1211,3156
$GC,6573,-1.81,-146.6,847.9,-11.5,232,6578,0.00,2.67,0.00,0.000,6,0.000,0.085,2102,2602,3156
$GC,6894,-1.81,-146.6,881.8,-10.5,238,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2602,3156
$GC,7197,-1.81,-146.6,914.8,-10.9,243,7201,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1210,3155
$GC,7236,-1.81,-146.6,919.4,-11.8,243,7240,0.00,2.67,0.00,0.000,6,0.000,0.084,2102,2603,3155
$GC,7557,-1.81,-146.6,955.3,-11.2,249,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2603,3154
$GC,7859,-1.81,-146.6,988.6,-11.0,254,7864,0.00,2.67,0.00,0.000,4,0.000,0.087,2102,1210,3153
$STATE,7873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7873,begin apogee
$GC,7883,-0.45,0.0,990.6,10.8,254,8012,1.40,0.00,125.40,1.470,6,0.086,0.000,2395,2203,2564
$STATE,8013,end apogee,CONTROL_FINISHED_OK
$STATE,8013,begin climb
$GC,8016,1.81,146.6,995.2,0.0,256,8153,2.30,2.90,126.03,1.440,4,0.055,0.099,2893,809,1966
$GC,8182,1.85,176.0,993.5,8.6,259,8216,0.00,2.67,26.90,1.362,6,0.000,0.073,2894,2201,1846
$GC,8533,1.85,176.0,951.6,12.2,265,8537,0.00,2.75,0.00,0.000,4,0.000,0.095,2893,814,1846
$GC,8701,1.85,176.0,930.1,13.3,267,8705,0.00,2.67,0.00,0.000,6,0.000,0.075,2893,2208,1846
$GC,9027,1.85,176.0,888.0,13.0,273,9032,0.00,2.75,0.00,0.000,4,0.000,0.094,2893,814,1846
$GC,9215,1.85,176.0,863.4,12.9,275,9219,0.00,2.65,0.00,0.000,6,0.000,0.075,2893,2201,1846
$GC,9524,1.85,176.0,824.0,12.6,280,9529,0.00,2.75,0.00,0.000,4,0.000,0.094,2893,806,1845
$GC,9743,1.85,176.0,796.0,12.5,283,9748,0.00,2.65,0.00,0.000,6,0.000,0.074,2894,2202,1846
$GC,10086,1.85,176.0,754.9,12.0,289,10091,0.00,2.72,0.00,0.000,4,0.000,0.091,2893,812,1845
$GC,10327,1.85,176.0,726.0,12.6,292,10331,0.00,2.62,0.00,0.000,6,0.000,0.073,2893,2201,1845
$GC,10647,1.85,176.0,688.4,11.7,298,10652,0.00,2.72,0.00,0.000,4,0.000,0.091,2894,808,1845
$GC,10765,1.85,176.0,674.2,12.5,299,10769,0.00,2.62,0.00,0.000,6,0.000,0.072,2893,2201,1845
$GC,11075,1.85,176.0,639.0,11.3,304,11079,0.00,2.70,0.00,0.000,4,0.000,0.091,2893,813,1845
$GC,11287,1.85,176.0,614.8,11.3,307,11292,0.00,2.62,0.00,0.000,6,0.000,0.071,2894,2207,1844
$GC,11636,1.85,176.0,576.6,10.9,313,11640,0.00,2.72,0.00,0.000,4,0.000,0.090,2894,806,1844
$GC,11894,1.85,176.0,548.5,11.0,316,11900,0.00,2.62,0.00,0.000,6,0.000,0.070,2893,2208,1844
$GC,12204,1.85,176.0,516.4,10.4,322,12208,0.00,2.70,0.00,0.000,4,0.000,0.086,2894,809,1844
$GC,12456,1.86,189.0,491.0,9.4,325,12475,0.00,2.60,12.15,1.087,6,0.000,0.065,2894,2207,1793
$GC,12837,1.87,194.0,453.6,9.8,332,12848,0.00,2.70,5.93,0.913,4,0.000,0.079,2894,810,1773
$GC,13016,1.87,194.0,434.3,10.6,334,13021,0.00,2.55,0.00,0.000,6,0.000,0.057,2894,2203,1773
$GC,13331,1.87,194.0,399.5,11.1,340,13336,0.00,2.62,0.00,0.000,4,0.000,0.071,2894,806,1773
$GC,13489,1.87,194.0,381.2,11.5,342,13493,0.00,2.53,0.00,0.000,6,0.000,0.050,2894,2209,1773
$GC,13826,1.87,194.0,342.9,11.3,348,13831,0.00,2.60,0.00,0.000,4,0.000,0.067,2894,810,1773
$GC,14085,1.87,194.0,313.1,11.7,351,14091,0.00,2.50,0.00,0.000,6,0.000,0.048,2894,2211,1773
$GC,14399,1.87,194.0,280.0,10.4,363,14403,0.00,2.60,0.00,0.000,4,0.000,0.066,2894,806,1773
$GC,14511,1.87,194.0,268.1,10.1,368,14516,0.00,2.50,0.00,0.000,6,0.000,0.046,2894,2211,1773
$GC,14834,1.87,195.3,236.2,9.9,384,14838,0.00,2.60,0.00,0.000,4,0.000,0.065,2894,804,1773
$GC,15092,1.87,195.3,209.3,10.2,395,15098,0.00,2.47,0.00,0.000,6,0.000,0.045,2893,2204,1773
$GC,15410,1.88,201.5,177.8,9.7,411,15424,0.00,2.62,8.12,0.844,4,0.000,0.063,2893,817,1742
$GC,15557,1.91,223.5,163.8,9.0,417,15582,0.00,2.47,19.08,0.898,6,0.000,0.044,2894,2209,1652
$GC,15906,1.96,267.7,131.3,7.9,443,15950,0.15,2.65,36.42,0.881,4,0.068,0.061,2928,808,1472
$GC,16202,1.96,267.7,98.9,10.4,469,16209,0.00,2.50,0.00,0.000,6,0.000,0.043,2928,2211,1472
$GC,16537,1.97,274.0,63.7,9.7,513,16550,0.00,2.60,7.25,0.732,4,0.000,0.060,2928,810,1446
$GC,16653,1.97,274.0,50.8,11.1,533,16659,0.00,2.47,0.00,0.000,6,0.000,0.043,2928,2198,1446
$GC,16990,1.97,274.0,13.1,11.5,573,16995,0.00,2.55,0.00,0.000,4,0.000,0.061,2927,810,1446
$STATE,17088,end climb,SURFACE_DEPTH_REACHED
$STATE,17088,begin surface coast
$FINISH,0.9,1.025303
$STATE,17101,end surface coast,CONTROL_FINISHED_OK
$STATE,17101,begin surface
$SM_CCo,17131,173.98,0.756,1,0,294,556.83
$SM_GC,1.45,0.00,0.00,173.98,0.000,0.000,0.756,34,2601,294,-11.34,0.03,556.83
$IRIDIUM_FIX,4713.38,-12654.11,030797,020254
$TT8_MAMPS,0.026078
$HUMID,1781
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.8
$24V_AH,23.2,10.212
$10V_AH,10.1,4.793
$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,28.750,177.225,367.275,173.975,0.000,149.866,141.980,236.398,9.000,0.000,0.000,32.304,1326.652,13108.519,690.776,2210.129,932.243,33.369,1763.803,0.000,2127.145,0.000,58.240
$DEVICE_MAMPS,122.720,98.943,1470.339,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.228,455.254,667.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28572,582
$CAP_FILE_SIZE,137531,0
$CFSIZE,260165632,255856640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,080408,071208,4729.996,-12658.074,35,1.7,35,18.7