version: 66.03
glider: 101
mission: 5
dive: 21
start: 4 3 108 4 53 22
data:
$ID,101
$MISSION,5
$DIVE,21
$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,-691034.06
$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,27
$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
$GPS1,044707,4801.664,-12549.396,39,1.7,44,18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.7
$GPS2,045220,4801.591,-12549.375,13,1.6,30,18.9
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.194,-0.173
$KALMAN_X,14530.6,974.9,-88.0,-29259.3,-763.2
$KALMAN_Y,680.8,39.2,54.2,-12248.5,137.1
$MHEAD_RNG_PITCHd_Wd,209.4,200580,-17.9,-10.000
$D_GRID,1000
$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,29,-1.81,-146.6,0.0,0.0,0,89,0.00,0.00,-57.45,0.000,2,0.000,0.000,28,2608,2149
$GC,93,-1.81,-146.6,3.6,-5.6,6,137,10.88,2.03,-27.20,0.000,4,0.130,0.098,2099,3633,3162
$GC,391,-1.81,-146.6,59.4,-18.2,41,397,0.00,1.88,0.00,0.000,6,0.000,0.049,2099,2588,3162
$GC,724,-1.81,-146.6,111.6,-14.9,82,727,0.00,1.98,0.00,0.000,4,0.000,0.081,2099,3628,3162
$GC,848,-1.81,-146.6,130.4,-14.8,93,852,0.00,1.83,0.00,0.000,6,0.000,0.050,2099,2594,3162
$GC,1175,-1.81,-146.6,177.1,-14.2,115,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2594,3162
$GC,1484,-1.81,-146.6,219.5,-13.6,130,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2594,3162
$GC,1793,-1.81,-146.6,262.4,-13.7,145,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2593,3162
$GC,2142,-1.81,-146.6,309.6,-13.5,160,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2594,3162
$GC,2445,-1.81,-146.6,349.2,-13.0,165,2449,0.00,2.55,0.00,0.000,4,0.000,0.063,2099,1199,3162
$GC,2512,-1.81,-146.6,357.9,-13.3,166,2516,0.00,2.55,0.00,0.000,6,0.000,0.056,2099,2598,3162
$GC,2874,-1.81,-146.6,403.0,-12.5,172,2878,0.00,2.60,0.00,0.000,4,0.000,0.069,2099,1201,3161
$GC,2924,-1.81,-146.6,409.7,-11.8,172,2928,0.00,2.60,0.00,0.000,6,0.000,0.066,2099,2601,3162
$GC,3235,-1.81,-146.6,447.4,-12.2,177,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3161
$GC,3537,-1.81,-146.6,483.1,-11.8,182,3541,0.00,2.70,0.00,0.000,4,0.000,0.089,2099,1206,3161
$GC,3599,-1.81,-146.6,490.4,-11.5,183,3604,0.00,2.70,0.00,0.000,6,0.000,0.088,2099,2597,3161
$GC,3965,-1.81,-146.6,535.5,-12.6,189,3970,0.00,2.80,0.00,0.000,4,0.000,0.110,2099,1212,3161
$GC,3999,-1.81,-146.6,539.8,-12.3,189,4003,0.00,2.80,0.00,0.000,6,0.000,0.109,2099,2598,3161
$GC,4326,-1.81,-146.6,579.2,-12.0,195,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2598,3160
$GC,4628,-1.81,-146.6,616.2,-12.2,200,4632,0.00,2.72,0.00,0.000,4,0.000,0.094,2099,1205,3160
$GC,4712,-1.81,-146.6,626.4,-12.3,201,4717,0.00,2.72,0.00,0.000,6,0.000,0.092,2099,2602,3160
$GC,5055,-1.81,-146.6,667.1,-11.9,207,5059,0.00,2.72,0.00,0.000,4,0.000,0.091,2099,1200,3160
$GC,5088,-1.81,-146.6,671.4,-12.0,207,5093,0.00,2.72,0.00,0.000,6,0.000,0.089,2099,2603,3160
$GC,5415,-1.81,-146.6,711.1,-12.1,213,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2603,3160
$GC,5718,-1.81,-146.6,747.4,-12.0,218,5722,0.00,2.70,0.00,0.000,4,0.000,0.089,2099,1209,3159
$GC,5785,-1.81,-146.6,755.7,-11.9,219,5789,0.00,2.70,0.00,0.000,6,0.000,0.088,2099,2601,3159
$GC,6147,-1.81,-146.6,800.1,-12.3,225,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3159
$GC,6448,-1.81,-146.6,835.4,-11.5,230,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3159
$GC,6753,-1.81,-146.6,870.0,-11.4,235,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3158
$GC,7055,-1.81,-146.6,904.2,-11.1,240,7059,0.00,2.70,0.00,0.000,4,0.000,0.087,2099,1201,3158
$GC,7105,-1.81,-146.6,909.6,-10.4,240,7109,0.00,2.70,0.00,0.000,6,0.000,0.086,2098,2602,3158
$GC,7415,-1.81,-146.6,942.1,-10.5,245,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3157
$GC,7718,-1.81,-146.6,974.5,-10.6,250,7725,0.00,2.67,0.00,0.000,4,0.000,0.087,2099,1204,3156
$GC,7765,-1.81,-146.6,979.9,-10.7,250,7770,0.00,2.67,0.00,0.000,6,0.000,0.084,2099,2604,3157
$STATE,7902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7902,begin apogee
$GC,7911,-0.45,0.0,994.5,10.7,253,8041,1.42,0.00,126.40,1.471,6,0.078,0.000,2398,2212,2564
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8045,1.81,146.6,999.3,0.0,255,8181,2.20,2.90,126.47,1.429,4,0.047,0.100,2895,791,1966
$GC,8441,1.81,146.6,970.8,12.8,261,8446,0.00,2.75,0.00,0.000,6,0.000,0.079,2895,2205,1966
$GC,8807,1.81,146.6,929.5,11.0,267,8811,0.00,2.83,0.00,0.000,4,0.000,0.096,2895,784,1965
$GC,8988,1.81,146.6,909.5,11.1,269,8993,0.00,2.75,0.00,0.000,6,0.000,0.079,2895,2205,1965
$GC,9303,1.81,146.6,876.5,10.2,275,9308,0.00,2.83,0.00,0.000,4,0.000,0.096,2895,786,1965
$GC,9491,1.81,146.6,858.0,10.0,277,9496,0.00,2.72,0.00,0.000,6,0.000,0.078,2895,2202,1965
$GC,9801,1.82,154.6,828.1,9.6,282,9815,0.00,2.88,8.40,1.180,4,0.000,0.096,2895,789,1933
$GC,9896,1.82,154.6,818.2,10.7,283,9900,0.00,2.72,0.00,0.000,6,0.000,0.078,2895,2202,1933
$GC,10233,1.82,154.6,783.1,10.7,289,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2202,1933
$GC,10536,1.82,154.6,750.7,10.8,294,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2203,1933
$GC,10839,1.82,154.6,718.7,10.5,299,10844,0.00,2.80,0.00,0.000,4,0.000,0.096,2895,789,1933
$GC,11029,1.83,160.8,698.7,9.7,301,11044,0.00,2.70,7.22,1.091,6,0.000,0.078,2895,2201,1908
$GC,11406,1.83,160.8,659.2,10.7,308,11410,0.00,2.78,0.00,0.000,4,0.000,0.094,2895,791,1908
$GC,11652,1.83,160.8,634.3,10.3,311,11657,0.00,2.70,0.00,0.000,6,0.000,0.078,2895,2200,1908
$GC,11968,1.83,165.5,603.5,9.8,317,11979,0.00,2.80,5.78,0.979,4,0.000,0.093,2895,791,1888
$GC,12092,1.84,171.4,591.1,9.7,318,12106,0.00,2.70,6.62,1.013,6,0.000,0.077,2895,2202,1865
$GC,12468,1.84,171.4,552.7,10.3,325,12472,0.00,2.78,0.00,0.000,4,0.000,0.092,2895,791,1865
$GC,12692,1.84,171.4,529.3,10.5,328,12696,0.00,2.67,0.00,0.000,6,0.000,0.074,2895,2201,1865
$GC,13029,1.84,171.4,494.5,10.4,334,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2201,1865
$GC,13333,1.85,176.6,464.7,9.8,339,13344,0.00,2.75,6.05,0.931,4,0.000,0.084,2895,790,1844
$GC,13501,1.86,186.6,448.0,9.5,341,13517,0.00,2.62,10.12,1.023,6,0.000,0.061,2895,2209,1803
$GC,13827,1.86,186.6,415.0,10.2,347,13828,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2209,1803
$GC,14130,1.86,186.6,384.4,10.1,352,14134,0.00,2.67,0.00,0.000,4,0.000,0.071,2895,789,1804
$GC,14388,1.86,186.6,356.7,10.6,355,14394,0.00,2.58,0.00,0.000,6,0.000,0.051,2895,2211,1803
$GC,14698,1.86,186.6,323.7,10.7,361,14702,0.00,2.65,0.00,0.000,4,0.000,0.067,2895,789,1803
$GC,14880,1.86,186.6,303.9,10.1,363,14884,0.00,2.55,0.00,0.000,6,0.000,0.049,2895,2203,1804
$GC,15201,1.88,199.3,272.1,9.4,377,15222,0.00,2.75,12.18,0.943,4,0.000,0.065,2895,779,1751
$GC,15337,1.88,199.3,258.2,10.1,383,15341,0.00,2.55,0.00,0.000,6,0.000,0.047,2895,2202,1751
$GC,15664,1.90,216.5,227.0,9.2,399,15686,0.00,2.70,16.00,0.931,4,0.000,0.064,2895,779,1681
$GC,15766,1.90,217.4,216.6,10.0,403,15770,0.00,2.55,0.00,0.000,6,0.000,0.045,2896,2203,1681
$GC,16083,1.90,219.6,185.4,9.9,418,16092,0.00,2.65,4.32,0.676,4,0.000,0.064,2895,789,1668
$GC,16151,1.90,219.6,178.5,10.1,421,16156,0.00,2.55,0.00,0.000,6,0.000,0.044,2895,2208,1668
$GC,16469,1.90,219.6,144.5,11.1,438,16473,0.00,2.65,0.00,0.000,4,0.000,0.063,2896,779,1668
$GC,16636,1.91,227.8,125.8,9.6,452,16650,0.00,2.55,8.52,0.808,6,0.000,0.044,2895,2203,1634
$GC,16978,1.92,234.4,89.2,9.7,484,16991,0.10,2.70,6.90,0.749,4,0.077,0.061,2918,788,1608
$GC,17064,1.92,234.4,80.1,12.2,491,17071,0.00,2.53,0.00,0.000,6,0.000,0.044,2918,2205,1608
$GC,17411,1.95,257.6,48.1,8.9,552,17439,0.00,2.72,20.05,0.813,4,0.000,0.061,2917,782,1513
$GC,17642,1.98,284.3,26.6,8.7,580,17670,0.00,2.53,22.77,0.789,6,0.000,0.043,2918,2203,1404
$STATE,17986,end climb,SURFACE_DEPTH_REACHED
$STATE,17986,begin surface coast
$FINISH,0.6,1.024353
$STATE,18008,end surface coast,CONTROL_FINISHED_OK
$STATE,18008,begin surface
$SM_CCo,18036,85.28,0.752,2,0,933,400.08
$SM_GC,1.79,0.00,0.00,85.28,0.000,0.000,0.752,33,2602,933,-11.35,0.06,400.08
$IRIDIUM_FIX,4748.51,-12550.98,280697,010142
$TT8_MAMPS,0.026078
$HUMID,1821
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.7
$24V_AH,23.2,6.281
$10V_AH,10.1,2.734
$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,28.975,149.100,387.825,85.275,0.000,31.128,23.701,123.671,9.000,0.000,0.000,30.834,1334.716,13852.876,603.776,2123.947,542.053,33.346,1630.895,0.000,2049.615,0.000,58.251
$DEVICE_MAMPS,130.390,110.448,1471.106,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.076,499.688,704.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31753,615
$CAP_FILE_SIZE,128092,0
$CFSIZE,260165632,257286144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,030408,095655,4800.330,-12551.831,40,1.3,40,18.8