version: 66.03
glider: 101
mission: 5
dive: 20
start: 4 3 108 1 6 10
data:
$ID,101
$MISSION,5
$DIVE,20
$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,-691002.62
$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,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
$GPS1,010007,4803.301,-12549.114,40,1.6,40,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.6
$GPS2,010508,4803.287,-12549.032,32,1.5,32,18.9
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.045,-0.256
$KALMAN_X,7124.7,8653.9,-212.6,-28965.5,-5672.1
$KALMAN_Y,-986.9,1517.6,-64.8,-8798.7,-1029.2
$MHEAD_RNG_PITCHd_Wd,171.1,202734,-17.9,-10.000
$D_GRID,727
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-55.15,0.000,2,0.000,0.000,29,2598,2089
$GC,88,-1.81,-146.6,3.3,-4.8,6,135,11.00,1.95,-31.40,0.000,4,0.135,0.097,2098,3630,3163
$GC,390,-1.81,-146.6,57.6,-17.8,40,397,0.00,1.85,0.00,0.000,6,0.000,0.048,2099,2599,3163
$GC,730,-1.81,-146.6,111.8,-14.9,83,734,0.00,1.98,0.00,0.000,4,0.000,0.081,2099,3633,3163
$GC,810,-1.81,-146.6,124.2,-15.2,90,815,0.00,1.85,0.00,0.000,6,0.000,0.050,2099,2605,3163
$GC,1137,-1.81,-146.6,170.6,-13.8,114,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2604,3163
$GC,1448,-1.81,-146.6,213.8,-13.6,129,1452,0.00,2.53,0.00,0.000,4,0.000,0.054,2099,1202,3163
$GC,1488,-1.81,-146.6,219.3,-13.6,131,1492,0.00,2.53,0.00,0.000,6,0.000,0.048,2099,2605,3162
$GC,1815,-1.81,-146.6,260.3,-12.3,147,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2606,3163
$GC,2126,-1.81,-146.6,298.9,-12.7,162,2130,0.00,2.55,0.00,0.000,4,0.000,0.056,2099,1202,3163
$GC,2165,-1.81,-146.6,304.1,-12.6,163,2169,0.00,2.53,0.00,0.000,6,0.000,0.051,2099,2600,3163
$GC,2486,-1.81,-146.6,345.0,-12.8,169,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3163
$GC,2789,-1.81,-146.6,383.8,-13.0,174,2793,0.00,2.60,0.00,0.000,4,0.000,0.066,2099,1196,3162
$GC,2828,-1.81,-146.6,389.2,-14.4,174,2832,0.00,2.60,0.00,0.000,6,0.000,0.063,2099,2602,3162
$GC,3149,-1.81,-146.6,431.7,-13.2,180,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3162
$GC,3451,-1.81,-146.6,473.1,-13.8,185,3456,0.00,2.70,0.00,0.000,4,0.000,0.087,2099,1201,3162
$GC,3516,-1.81,-146.6,481.8,-13.6,186,3520,0.00,2.70,0.00,0.000,6,0.000,0.086,2099,2598,3162
$GC,3884,-1.81,-146.6,531.4,-13.5,192,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2598,3161
$GC,4184,-1.81,-146.6,572.2,-13.4,197,4189,0.00,2.72,0.00,0.000,4,0.000,0.096,2099,1209,3161
$GC,4263,-1.81,-146.6,582.5,-12.8,198,4268,0.00,2.72,0.00,0.000,6,0.000,0.094,2099,2598,3160
$GC,4613,-1.81,-146.6,624.2,-11.7,204,4618,0.00,2.72,0.00,0.000,4,0.000,0.093,2099,1199,3160
$GC,4652,-1.81,-146.6,629.1,-12.6,204,4657,0.00,2.75,0.00,0.000,6,0.000,0.092,2099,2607,3159
$GC,4978,-1.81,-146.6,668.9,-12.3,210,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2607,3159
$GC,5282,-1.81,-146.6,705.6,-12.1,215,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2607,3159
$STATE,5461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5470,-0.45,0.0,727.4,12.0,218,5597,1.42,0.00,123.75,1.280,6,0.080,0.000,2397,2219,2564
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5598,begin climb
$GC,5601,1.81,146.6,732.9,0.0,220,5733,2.28,2.92,123.20,1.240,4,0.051,0.103,2896,791,1966
$GC,5987,1.83,161.9,708.8,9.3,226,6006,0.00,2.75,14.68,1.125,6,0.000,0.080,2895,2206,1904
$GC,6328,1.83,161.9,673.0,10.9,232,6332,0.00,2.83,0.00,0.000,4,0.000,0.097,2895,791,1903
$GC,6580,1.83,161.9,646.1,10.4,235,6584,0.00,2.72,0.00,0.000,6,0.000,0.079,2895,2205,1903
$GC,6890,1.83,161.9,614.0,10.4,240,6894,0.00,2.83,0.00,0.000,4,0.000,0.096,2895,787,1903
$GC,7052,1.83,161.9,597.4,10.1,242,7056,0.00,2.72,0.00,0.000,6,0.000,0.077,2895,2204,1903
$GC,7384,1.83,161.9,564.5,10.1,248,7388,0.00,2.80,0.00,0.000,4,0.000,0.094,2896,789,1902
$GC,7496,1.83,161.9,553.0,10.9,249,7500,0.00,2.70,0.00,0.000,6,0.000,0.075,2895,2203,1902
$GC,7811,1.85,174.6,523.1,9.4,255,7830,0.00,2.85,11.68,1.072,4,0.000,0.093,2895,789,1852
$GC,7980,1.85,177.7,506.3,9.9,257,7989,0.00,2.67,4.47,0.807,6,0.000,0.070,2895,2202,1839
$GC,8311,1.85,177.7,472.8,10.0,263,8316,0.00,2.75,0.00,0.000,4,0.000,0.085,2895,785,1839
$GC,8512,1.85,177.7,452.6,10.3,266,8517,0.00,2.62,0.00,0.000,6,0.000,0.061,2895,2203,1839
$GC,8872,1.85,178.8,417.4,10.0,272,8877,0.00,2.70,0.00,0.000,4,0.000,0.075,2895,781,1839
$GC,9041,1.85,178.8,399.3,10.3,274,9046,0.00,2.60,0.00,0.000,6,0.000,0.052,2895,2211,1839
$GC,9367,1.85,178.8,365.8,10.2,280,9372,0.00,2.67,0.00,0.000,4,0.000,0.068,2895,780,1839
$GC,9502,1.86,189.7,352.1,9.5,282,9521,0.00,2.55,11.55,0.980,6,0.000,0.048,2895,2204,1790
$GC,9866,1.86,189.7,315.4,10.0,288,9871,0.00,2.65,0.00,0.000,4,0.000,0.067,2895,781,1789
$GC,10096,1.86,189.7,291.5,10.6,292,10100,0.00,2.55,0.00,0.000,6,0.000,0.048,2895,2202,1790
$GC,10413,1.88,200.8,260.4,9.5,307,10425,0.00,0.00,10.65,0.917,6,0.000,0.000,2895,2202,1745
$GC,10723,1.88,204.2,230.7,9.8,322,10733,0.00,2.65,5.10,0.752,4,0.000,0.064,2895,787,1730
$GC,10966,1.88,204.2,204.1,11.1,333,10970,0.00,2.55,0.00,0.000,6,0.000,0.047,2895,2204,1730
$GC,11295,1.88,204.2,167.3,11.0,349,11299,0.00,2.62,0.00,0.000,4,0.000,0.064,2895,787,1730
$GC,11474,1.88,204.2,147.7,10.9,357,11479,0.00,2.53,0.00,0.000,6,0.000,0.046,2895,2202,1730
$GC,11800,1.90,218.5,115.3,9.3,387,11823,0.00,2.72,12.88,0.839,4,0.000,0.061,2895,779,1673
$GC,11896,1.91,227.5,105.7,9.6,395,11914,0.00,2.55,9.32,0.796,6,0.000,0.044,2895,2209,1635
$GC,12238,1.93,240.7,70.8,9.4,434,12257,0.10,2.67,12.55,0.797,4,0.076,0.079,2918,3598,1580
$GC,12293,1.93,240.7,65.2,10.5,443,12299,0.00,2.53,0.00,0.000,6,0.000,0.044,2918,2182,1581
$GC,12641,1.98,284.1,34.8,8.0,499,12684,0.00,2.78,35.05,0.802,4,0.000,0.073,2918,3615,1404
$GC,12724,1.98,284.1,26.8,11.5,506,12730,0.00,2.53,0.00,0.000,6,0.000,0.044,2918,2200,1405
$STATE,13019,end climb,SURFACE_DEPTH_REACHED
$STATE,13019,begin surface coast
$FINISH,0.7,1.024520
$STATE,13049,end surface coast,CONTROL_FINISHED_OK
$STATE,13049,begin surface
$SM_CCo,13076,84.93,0.754,2,0,933,400.08
$SM_GC,1.65,0.00,0.00,84.93,0.000,0.000,0.754,28,2607,933,-11.37,0.20,400.08
$IRIDIUM_FIX,4748.51,-12548.37,270697,212118
$TT8_MAMPS,0.026845
$HUMID,1826
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.6
$24V_AH,23.3,6.113
$10V_AH,10.1,2.645
$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,28.100,115.825,374.875,84.925,0.000,28.025,25.000,110.689,6.750,0.000,0.000,32.928,1138.957,9527.086,581.106,1769.306,470.268,33.334,1421.077,0.000,1712.316,0.000,42.347
$DEVICE_MAMPS,134.992,102.778,1280.123,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.032,429.642,703.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25419,537
$CAP_FILE_SIZE,101834,0
$CFSIZE,260165632,257368064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,030408,044707,4801.664,-12549.396,39,1.7,44,18.9