version: 66.03
glider: 101
mission: 5
dive: 52
start: 4 10 108 3 39 43
data:
$ID,101
$MISSION,5
$DIVE,52
$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,412.5
$T_MISSION,450
$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,-691673.94
$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
$PITCH_ADJ_DBAND,0
$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,39
$R_STBD_OVSHOOT,26
$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,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
$GPS1,032837,4718.006,-12715.090,34,1.8,34,18.7
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.5
$GPS2,033838,4718.024,-12715.084,11,1.8,16,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.140
$KALMAN_X,14753.8,-2.7,160.3,-134682.6,-640.8
$KALMAN_Y,19902.4,-247.8,289.8,-112092.3,185.4
$MHEAD_RNG_PITCHd_Wd,215.3,65824,-14.7,-8.000
$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,22,begin dive
$GC,26,-1.51,-146.6,0.0,0.0,0,88,0.00,0.00,-60.15,0.000,2,0.000,0.000,21,2530,2118
$GC,93,-1.51,-146.6,3.2,-4.2,6,147,10.98,2.50,-34.92,0.000,4,0.119,0.067,2164,1152,3164
$GC,194,-1.51,-146.6,14.8,-13.2,15,198,0.00,2.47,0.00,0.000,6,0.000,0.044,2164,2543,3162
$GC,528,-1.51,-146.6,64.3,-13.9,59,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2543,3162
$GC,870,-1.51,-146.6,112.8,-12.8,100,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2543,3162
$GC,1205,-1.51,-146.6,155.8,-12.3,130,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2543,3162
$GC,1516,-1.51,-146.6,191.7,-11.4,145,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2544,3162
$GC,1824,-1.51,-146.6,226.1,-11.0,160,1829,0.00,2.50,0.00,0.000,4,0.000,0.054,2164,1156,3162
$GC,1865,-1.51,-146.6,230.6,-11.4,162,1870,0.00,2.47,0.00,0.000,6,0.000,0.044,2164,2548,3162
$GC,2193,-1.51,-146.6,266.3,-10.9,178,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2548,3162
$GC,2503,-1.51,-146.6,299.5,-10.9,193,2507,0.00,2.53,0.00,0.000,4,0.000,0.056,2164,1154,3162
$GC,2564,-1.51,-146.6,306.5,-10.8,194,2570,0.00,2.50,0.00,0.000,6,0.000,0.049,2164,2553,3162
$GC,2874,-1.51,-146.6,340.9,-11.1,200,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2553,3161
$GC,3177,-1.51,-146.6,374.2,-11.0,205,3181,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1156,3162
$GC,3283,-1.51,-146.6,385.6,-10.9,206,3288,0.00,2.55,0.00,0.000,6,0.000,0.058,2164,2557,3161
$GC,3604,-1.51,-146.6,417.5,-9.9,212,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2557,3161
$GC,3909,-1.51,-146.6,448.0,-10.1,217,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2557,3161
$GC,4211,-1.51,-146.6,479.8,-10.5,222,4216,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1166,3161
$GC,4274,-1.51,-146.6,486.3,-9.7,223,4279,0.00,2.62,0.00,0.000,6,0.000,0.078,2164,2556,3161
$GC,4640,-1.51,-146.6,523.6,-10.2,229,4645,0.00,2.75,0.00,0.000,4,0.000,0.103,2164,1166,3160
$GC,4690,-1.51,-146.6,528.8,-9.8,229,4695,0.00,2.70,0.00,0.000,6,0.000,0.095,2164,2547,3160
$GC,5000,-1.51,-146.6,559.0,-9.7,234,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2547,3160
$GC,5303,-1.51,-146.6,586.5,-9.0,239,5307,0.00,2.67,0.00,0.000,4,0.000,0.090,2164,1164,3160
$GC,5359,-1.51,-146.6,591.8,-9.4,239,5365,0.00,2.65,0.00,0.000,6,0.000,0.084,2164,2552,3159
$GC,5669,-1.51,-146.6,619.9,-9.1,245,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2552,3159
$GC,5972,-1.51,-146.6,648.9,-9.6,250,5976,0.00,2.67,0.00,0.000,4,0.000,0.089,2164,1164,3159
$GC,6028,-1.51,-146.6,654.5,-10.2,250,6034,0.00,2.65,0.00,0.000,6,0.000,0.082,2164,2554,3159
$GC,6338,-1.51,-146.6,684.3,-9.6,256,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2554,3158
$GC,6641,-1.51,-146.6,712.3,-9.2,261,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2554,3158
$GC,6944,-1.51,-146.6,739.9,-9.1,266,6948,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1162,3157
$GC,7006,-1.51,-146.6,745.7,-9.0,267,7011,0.00,2.65,0.00,0.000,6,0.000,0.081,2164,2558,3157
$GC,7373,-1.51,-146.6,778.9,-9.0,273,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2558,3156
$GC,7676,-1.51,-146.6,805.8,-8.8,278,7681,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1167,3156
$GC,7727,-1.51,-146.6,810.6,-8.7,278,7731,0.00,2.62,0.00,0.000,6,0.000,0.080,2164,2552,3156
$GC,8039,-1.51,-146.6,837.9,-8.9,283,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2552,3156
$GC,8340,-1.51,-146.6,865.0,-9.0,288,8344,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1157,3156
$GC,8390,-1.51,-146.6,869.9,-9.2,288,8394,0.00,2.65,0.00,0.000,6,0.000,0.079,2164,2555,3155
$GC,8700,-1.51,-146.6,897.5,-8.9,293,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2556,3155
$GC,9003,-1.51,-146.6,924.2,-8.8,298,9007,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1161,3155
$GC,9053,-1.51,-146.6,928.9,-8.8,298,9057,0.00,2.62,0.00,0.000,6,0.000,0.081,2164,2550,3155
$GC,9363,-1.51,-146.6,956.4,-8.9,303,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2550,3155
$GC,9666,-1.51,-146.6,982.3,-8.6,308,9670,0.00,2.65,0.00,0.000,4,0.000,0.086,2164,1166,3155
$GC,9728,-1.51,-146.6,987.7,-8.9,309,9733,0.00,2.65,0.00,0.000,6,0.000,0.081,2164,2555,3154
$STATE,9753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9753,begin apogee
$GC,9762,-0.45,0.0,990.0,8.9,309,9892,1.08,0.00,126.47,1.472,6,0.075,0.000,2395,2023,2563
$STATE,9893,end apogee,CONTROL_FINISHED_OK
$STATE,9893,begin climb
$GC,9897,1.51,146.6,993.9,0.0,311,10033,1.98,2.95,126.88,1.424,4,0.051,0.103,2837,590,1966
$GC,10244,1.51,146.6,975.6,10.2,316,10248,0.00,2.67,0.00,0.000,6,0.000,0.067,2837,2008,1966
$GC,10587,1.51,146.6,945.2,8.8,322,10591,0.00,2.83,0.00,0.000,4,0.000,0.097,2837,590,1965
$GC,10763,1.51,146.6,928.8,9.3,324,10768,0.00,2.65,0.00,0.000,6,0.000,0.066,2837,2002,1966
$GC,11084,1.51,146.6,900.5,8.7,330,11088,0.00,2.80,0.00,0.000,4,0.000,0.097,2837,593,1965
$GC,11229,1.51,146.6,887.4,9.4,332,11234,0.00,2.65,0.00,0.000,6,0.000,0.066,2837,2008,1965
$GC,11578,1.52,153.6,859.8,7.7,338,11592,0.00,2.88,7.75,1.176,4,0.000,0.095,2837,597,1938
$GC,11678,1.52,153.6,851.5,8.6,339,11683,0.00,2.62,0.00,0.000,6,0.000,0.064,2837,2000,1937
$GC,12011,1.54,164.1,826.0,7.6,345,12027,0.00,2.85,10.77,1.236,4,0.000,0.095,2837,591,1895
$GC,12208,1.54,164.1,809.4,8.5,348,12213,0.00,2.65,0.00,0.000,6,0.000,0.065,2837,2003,1895
$GC,12574,1.54,164.1,778.9,8.5,354,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2004,1895
$GC,12878,1.54,164.1,751.3,9.2,359,12882,0.00,2.78,0.00,0.000,4,0.000,0.095,2837,593,1894
$GC,13074,1.54,164.1,732.2,10.1,362,13078,0.00,2.62,0.00,0.000,6,0.000,0.064,2837,2000,1895
$GC,13440,1.54,164.1,697.0,9.7,368,13444,0.00,2.78,0.00,0.000,4,0.000,0.094,2837,590,1894
$GC,13502,1.54,164.1,690.7,10.7,369,13507,0.00,2.62,0.00,0.000,6,0.000,0.064,2836,2000,1895
$GC,13868,1.54,164.1,653.7,10.0,375,13873,0.00,2.78,0.00,0.000,4,0.000,0.094,2837,591,1894
$GC,13952,1.54,164.1,644.9,10.1,376,13956,0.00,2.62,0.00,0.000,6,0.000,0.063,2837,2009,1895
$GC,14295,1.54,164.1,612.1,9.4,382,14299,0.00,2.78,0.00,0.000,4,0.000,0.094,2837,592,1894
$GC,14396,1.54,164.1,602.4,9.2,383,14400,0.00,2.60,0.00,0.000,6,0.000,0.063,2837,2000,1894
$GC,14722,1.54,164.1,573.9,8.7,389,14726,0.00,2.75,0.00,0.000,4,0.000,0.094,2836,593,1894
$GC,14907,1.54,164.1,557.8,8.8,391,14911,0.00,2.60,0.00,0.000,6,0.000,0.061,2837,2006,1894
$GC,15217,1.54,166.8,533.0,7.9,396,15226,0.00,2.78,3.90,0.779,4,0.000,0.091,2837,592,1884
$GC,15406,1.54,169.2,516.7,7.9,398,15417,0.00,2.60,3.83,0.758,6,0.000,0.060,2837,2007,1874
$GC,15721,1.54,169.2,490.7,8.2,404,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2008,1874
$GC,16024,1.54,169.2,464.0,8.9,409,16029,0.00,2.72,0.00,0.000,4,0.000,0.085,2837,591,1874
$GC,16226,1.54,169.2,444.8,9.7,412,16230,0.00,2.55,0.00,0.000,6,0.000,0.052,2837,2004,1874
$GC,16586,1.54,169.2,413.8,8.6,418,16587,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2004,1874
$GC,16889,1.55,173.3,389.8,7.8,423,16897,0.00,0.00,5.68,0.877,6,0.000,0.000,2837,2004,1857
$GC,17192,1.55,173.3,365.2,8.2,428,17196,0.00,2.67,0.00,0.000,4,0.000,0.074,2837,586,1857
$GC,17343,1.55,173.3,351.9,8.2,430,17348,0.00,2.55,0.00,0.000,6,0.000,0.047,2837,2014,1857
$GC,17686,1.55,173.3,323.1,8.5,436,17691,0.00,2.67,0.00,0.000,4,0.000,0.072,2837,586,1856
$GC,17838,1.55,173.3,309.5,8.8,438,17842,0.00,2.53,0.00,0.000,6,0.000,0.046,2837,2005,1856
$GC,18165,1.56,181.5,283.8,7.7,449,18175,0.00,0.00,8.43,0.913,6,0.000,0.000,2837,2005,1824
$GC,18476,1.57,188.9,259.4,7.7,464,18490,0.00,2.70,8.00,0.887,4,0.000,0.076,2837,3408,1792
$GC,18531,1.57,188.9,254.7,8.1,466,18535,0.00,2.53,0.00,0.000,6,0.000,0.044,2837,1988,1792
$GC,18848,1.57,188.9,229.5,8.1,481,18852,0.00,2.60,0.00,0.000,4,0.000,0.076,2837,600,1792
$GC,18898,1.57,189.7,225.2,8.0,483,18903,0.00,2.50,0.00,0.000,6,0.000,0.044,2836,2009,1792
$GC,19215,1.57,189.7,198.4,8.4,498,19216,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2009,1792
$GC,19525,1.57,195.1,173.3,7.8,513,19538,0.00,2.70,6.78,0.808,4,0.000,0.068,2837,602,1768
$GC,19698,1.59,210.8,159.0,7.4,520,19718,0.00,2.50,14.62,0.881,6,0.000,0.044,2837,2011,1704
$GC,20042,1.63,237.0,133.8,7.0,547,20074,0.00,2.75,22.55,0.877,4,0.000,0.067,2837,599,1597
$GC,20181,1.63,237.0,122.5,8.6,559,20188,0.00,2.50,0.00,0.000,6,0.000,0.043,2837,2005,1597
$GC,20512,1.64,252.1,97.9,7.4,590,20534,0.00,2.67,13.48,0.821,4,0.000,0.071,2837,3398,1535
$GC,20704,1.64,252.1,82.9,8.1,607,20708,0.00,2.47,0.00,0.000,6,0.000,0.041,2837,1997,1535
$GC,21046,1.69,288.5,59.5,6.6,663,21087,0.12,2.70,30.52,0.823,4,0.061,0.070,2873,602,1387
$GC,21157,1.69,288.5,49.8,10.0,682,21163,0.00,2.50,0.00,0.000,6,0.000,0.041,2873,2011,1387
$GC,21489,1.69,288.5,20.3,9.8,722,21490,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2011,1387
$STATE,21677,end climb,SURFACE_DEPTH_REACHED
$STATE,21677,begin surface coast
$FINISH,0.9,1.014578
$STATE,21689,end surface coast,CONTROL_FINISHED_OK
$STATE,21689,begin surface
$SM_CCo,21716,81.07,0.752,2,0,933,400.08
$SM_GC,1.78,0.00,0.00,81.07,0.000,0.000,0.752,34,2548,933,-11.34,-0.06,400.08
$IRIDIUM_FIX,4700.70,-12716.31,050797,030324
$TT8_MAMPS,0.026078
$HUMID,1796
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,23.2,11.589
$10V_AH,10.1,5.573
$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,27.975,176.700,389.650,81.075,0.000,59.213,73.984,261.750,9.000,0.000,0.000,16.006,1563.803,17002.652,631.725,2385.045,837.127,33.359,1797.534,0.000,2321.769,0.000,56.621
$DEVICE_MAMPS,118.885,102.778,1471.873,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.586,576.549,849.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38060,741
$CAP_FILE_SIZE,151161,0
$CFSIZE,260165632,255361024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100408,094448,4716.807,-12717.960,40,1.7,56,18.7