version: 66.03
glider: 101
mission: 5
dive: 22
start: 4 3 108 10 3 6
data:
$ID,101
$MISSION,5
$DIVE,22
$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,-691047.31
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,095655,4800.330,-12551.831,40,1.3,40,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.8
$GPS2,100203,4800.319,-12551.857,12,1.7,12,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.258,0.028
$KALMAN_X,21542.9,-6319.9,816.0,-32933.7,8561.5
$KALMAN_Y,2511.5,-1000.9,178.5,-15516.2,2091.0
$MHEAD_RNG_PITCHd_Wd,257.4,196661,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.81,-146.6,0.0,0.0,0,81,0.00,0.00,-50.45,0.000,2,0.000,0.000,33,2604,2008
$GC,86,-1.81,-146.6,3.3,-4.9,5,136,11.77,2.03,-32.50,0.000,4,0.165,0.100,2098,3630,3163
$GC,253,-1.81,-146.6,36.5,-20.4,20,259,0.00,1.90,0.00,0.000,6,0.000,0.048,2098,2570,3163
$GC,597,-1.81,-146.6,94.8,-15.7,72,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2570,3163
$GC,916,-1.81,-146.6,143.6,-15.1,102,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2570,3163
$GC,1228,-1.81,-146.6,190.2,-15.1,119,1232,0.00,2.45,0.00,0.000,4,0.000,0.054,2098,1209,3163
$GC,1278,-1.81,-146.6,198.1,-14.6,121,1282,0.00,2.50,0.00,0.000,6,0.000,0.046,2098,2603,3163
$GC,1594,-1.81,-146.6,244.8,-14.8,136,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3163
$GC,1904,-1.81,-146.6,289.9,-14.4,151,1908,0.00,2.53,0.00,0.000,4,0.000,0.054,2098,1209,3163
$GC,1954,-1.81,-146.6,297.2,-14.4,153,1958,0.00,2.50,0.00,0.000,6,0.000,0.050,2098,2600,3163
$GC,2284,-1.81,-146.6,342.6,-13.7,159,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2600,3163
$GC,2588,-1.81,-146.6,382.3,-13.0,164,2593,0.00,2.58,0.00,0.000,4,0.000,0.064,2098,1207,3163
$GC,2651,-1.81,-146.6,390.4,-12.3,165,2656,0.00,2.58,0.00,0.000,6,0.000,0.063,2098,2598,3163
$GC,3017,-1.81,-146.6,437.2,-13.0,171,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2598,3163
$GC,3322,-1.81,-146.6,476.3,-12.9,176,3327,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1212,3163
$GC,3379,-1.81,-146.6,483.7,-12.3,176,3385,0.00,2.67,0.00,0.000,6,0.000,0.085,2098,2598,3163
$GC,3689,-1.81,-146.6,521.0,-12.0,182,3693,0.00,2.72,0.00,0.000,4,0.000,0.099,2098,1217,3163
$GC,3727,-1.81,-146.6,526.0,-12.3,182,3732,0.00,2.72,0.00,0.000,6,0.000,0.094,2098,2602,3162
$GC,4048,-1.81,-146.6,565.5,-12.5,188,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2602,3162
$GC,4353,-1.81,-146.6,603.0,-12.4,193,4358,0.00,2.72,0.00,0.000,4,0.000,0.094,2098,1208,3162
$GC,4398,-1.81,-146.6,608.9,-12.5,193,4403,0.00,2.72,0.00,0.000,6,0.000,0.091,2098,2605,3162
$GC,4714,-1.81,-146.6,645.6,-11.6,199,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3161
$GC,5018,-1.81,-146.6,678.6,-10.9,204,5022,0.00,2.70,0.00,0.000,4,0.000,0.091,2098,1214,3161
$GC,5091,-1.81,-146.6,686.7,-11.4,205,5095,0.00,2.70,0.00,0.000,6,0.000,0.088,2098,2605,3160
$GC,5446,-1.81,-146.6,727.4,-11.7,211,5450,0.00,2.70,0.00,0.000,4,0.000,0.088,2098,1209,3160
$GC,5479,-1.81,-146.6,731.7,-12.5,211,5483,0.00,2.70,0.00,0.000,6,0.000,0.087,2098,2606,3160
$GC,5805,-1.81,-146.6,770.7,-11.9,217,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3159
$GC,6109,-1.81,-146.6,805.0,-11.2,222,6113,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1215,3159
$GC,6159,-1.81,-146.6,811.0,-11.1,222,6163,0.00,2.67,0.00,0.000,6,0.000,0.087,2098,2601,3159
$GC,6469,-1.81,-146.6,843.9,-10.6,227,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3158
$GC,6773,-1.81,-146.6,876.8,-10.9,232,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3158
$GC,7075,-1.81,-146.6,910.6,-11.2,237,7079,0.00,2.67,0.00,0.000,4,0.000,0.088,2098,1216,3157
$GC,7142,-1.81,-146.6,918.5,-11.8,238,7146,0.00,2.67,0.00,0.000,6,0.000,0.087,2098,2605,3157
$GC,7502,-1.81,-146.6,958.6,-11.2,244,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3157
$GC,7806,-1.81,-146.6,989.9,-10.2,249,7810,0.00,2.15,0.00,0.000,3,0.000,0.083,2098,1473,3157
$STATE,7811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7811,begin apogee
$GC,7820,-0.45,0.0,990.7,10.3,249,7951,1.40,0.00,126.10,1.467,6,0.080,0.000,2394,2209,2564
$STATE,7951,end apogee,CONTROL_FINISHED_OK
$STATE,7951,begin climb
$GC,7955,1.81,146.6,995.2,0.0,251,8091,2.22,2.85,126.38,1.429,4,0.050,0.097,2895,818,1966
$GC,8217,1.81,146.6,980.4,12.2,255,8222,0.00,2.67,0.00,0.000,6,0.000,0.077,2895,2202,1966
$GC,8578,1.81,146.6,940.2,11.2,261,8583,0.00,2.78,0.00,0.000,4,0.000,0.094,2895,810,1966
$GC,8701,1.81,146.6,926.8,10.7,262,8707,0.00,2.67,0.00,0.000,6,0.000,0.077,2895,2201,1965
$GC,9011,1.81,148.2,896.3,9.9,268,9016,0.00,2.75,0.00,0.000,4,0.000,0.094,2895,814,1966
$GC,9152,1.81,149.2,882.0,10.0,270,9162,0.00,2.67,4.05,0.884,6,0.000,0.077,2895,2205,1954
$GC,9512,1.81,149.2,844.1,10.7,276,9517,0.00,2.75,0.00,0.000,4,0.000,0.093,2895,811,1954
$GC,9694,1.81,149.2,824.6,11.0,278,9699,0.00,2.67,0.00,0.000,6,0.000,0.077,2895,2204,1954
$GC,10009,1.81,149.2,792.4,10.1,284,10014,0.00,2.75,0.00,0.000,4,0.000,0.093,2895,809,1954
$GC,10127,1.81,149.2,780.3,10.7,285,10131,0.00,2.67,0.00,0.000,6,0.000,0.077,2895,2208,1954
$GC,10437,1.82,156.3,750.2,9.7,290,10446,0.00,0.00,7.72,1.136,6,0.000,0.000,2895,2208,1926
$GC,10802,1.83,163.8,714.7,9.6,296,10816,0.00,2.80,8.05,1.125,4,0.000,0.093,2895,821,1896
$GC,11070,1.83,163.8,687.0,10.8,300,11075,0.00,2.65,0.00,0.000,6,0.000,0.077,2895,2202,1896
$GC,11436,1.83,163.8,649.2,10.5,306,11441,0.00,2.72,0.00,0.000,4,0.000,0.092,2896,812,1896
$GC,11693,1.83,163.8,622.0,10.2,309,11699,0.00,2.65,0.00,0.000,6,0.000,0.075,2895,2203,1896
$GC,12004,1.84,166.9,591.5,9.9,315,12014,0.00,2.75,4.70,0.890,4,0.000,0.091,2895,809,1883
$GC,12227,1.84,166.9,567.5,10.3,318,12232,0.00,2.65,0.00,0.000,6,0.000,0.074,2895,2202,1883
$GC,12566,1.84,170.6,533.8,9.8,324,12576,0.00,2.72,5.22,0.907,4,0.000,0.087,2896,814,1867
$GC,12661,1.84,170.6,524.3,10.8,325,12665,0.00,2.62,0.00,0.000,6,0.000,0.071,2895,2201,1867
$GC,12993,1.85,178.7,492.2,9.6,331,13007,0.00,2.78,8.10,1.015,4,0.000,0.085,2895,812,1835
$GC,13238,1.85,178.7,466.2,10.6,334,13243,0.00,2.60,0.00,0.000,6,0.000,0.063,2895,2209,1835
$GC,13560,1.85,179.0,434.0,10.0,340,13564,0.00,2.67,0.00,0.000,4,0.000,0.077,2895,806,1835
$GC,13725,1.86,183.2,417.5,9.8,342,13736,0.00,2.58,5.75,0.890,6,0.000,0.056,2895,2208,1817
$GC,14058,1.86,186.0,384.4,9.9,348,14067,0.00,2.65,4.05,0.734,4,0.000,0.069,2895,812,1804
$GC,14242,1.86,186.0,365.7,10.0,350,14246,0.00,2.53,0.00,0.000,6,0.000,0.051,2895,2208,1805
$GC,14557,1.87,196.7,335.8,9.5,356,14573,0.00,2.65,10.75,0.968,4,0.000,0.066,2895,810,1762
$GC,14658,1.88,204.3,325.5,9.6,357,14672,0.00,2.53,8.05,0.910,6,0.000,0.049,2895,2203,1731
$GC,14991,1.88,204.3,289.0,11.2,365,14995,0.00,2.60,0.00,0.000,4,0.000,0.064,2895,808,1730
$GC,15136,1.88,204.3,271.7,11.6,371,15143,0.00,2.50,0.00,0.000,6,0.000,0.047,2895,2202,1731
$GC,15453,1.88,204.3,235.4,11.5,387,15457,0.00,2.58,0.00,0.000,4,0.000,0.064,2895,812,1731
$GC,15631,1.88,204.3,215.0,11.7,395,15635,0.00,2.50,0.00,0.000,6,0.000,0.047,2895,2203,1731
$GC,15958,1.88,204.3,179.0,10.8,411,15962,0.00,2.58,0.00,0.000,4,0.000,0.063,2895,810,1731
$GC,16140,1.88,204.3,159.2,11.0,419,16144,0.00,2.47,0.00,0.000,6,0.000,0.045,2895,2201,1731
$GC,16471,1.88,204.3,125.0,10.4,446,16475,0.00,2.55,0.00,0.000,4,0.000,0.061,2895,812,1731
$GC,16703,1.88,204.3,100.1,11.0,466,16707,0.00,2.50,0.00,0.000,6,0.000,0.045,2895,2208,1732
$GC,17036,1.91,227.4,68.8,8.9,507,17059,0.00,0.00,20.27,0.833,6,0.000,0.000,2895,2209,1636
$GC,17399,2.00,298.2,41.3,6.7,571,17466,0.15,2.67,57.05,0.811,4,0.066,0.060,2934,814,1348
$GC,17614,2.00,299.1,19.4,10.0,592,17618,0.00,2.50,0.00,0.000,6,0.000,0.044,2934,2209,1349
$STATE,17820,end climb,SURFACE_DEPTH_REACHED
$STATE,17820,begin surface coast
$FINISH,0.7,1.021982
$STATE,17845,end surface coast,CONTROL_FINISHED_OK
$STATE,17845,begin surface
$SM_CCo,17872,80.78,0.770,0,0,933,400.08
$SM_GC,1.73,0.00,0.00,80.78,0.000,0.000,0.770,33,2597,933,-11.35,-0.08,400.08
$IRIDIUM_FIX,4745.30,-12551.71,280697,040447
$TT8_MAMPS,0.026078
$HUMID,1813
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,23.2,6.451
$10V_AH,10.1,2.824
$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,29.875,156.350,396.250,80.775,0.000,27.744,31.554,124.322,9.500,0.000,0.000,12.620,1354.785,13602.216,577.047,2165.925,572.564,33.339,1642.185,0.000,2114.143,0.000,58.241
$DEVICE_MAMPS,164.905,100.477,1467.271,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.384,497.628,697.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31717,613
$CAP_FILE_SIZE,131046,0
$CFSIZE,260165632,257224704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,030408,150338,4800.432,-12554.930,37,1.6,37,18.9