version: 66.03
glider: 101
mission: 5
dive: 23
start: 4 3 108 15 10 37
data:
$ID,101
$MISSION,5
$DIVE,23
$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,-691077.5
$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,38
$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
$GPS1,150338,4800.432,-12554.930,37,1.6,37,18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.8
$GPS2,150935,4800.418,-12554.879,9,2.1,28,18.9
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.215,-0.145
$KALMAN_X,21646.5,-3740.9,-2004.5,-36497.2,15509.7
$KALMAN_Y,1910.5,-511.0,-461.6,-14570.8,2522.9
$MHEAD_RNG_PITCHd_Wd,217.2,193637,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-49.75,0.000,2,0.000,0.000,33,2597,1991
$GC,85,-1.81,-146.6,3.2,-4.6,5,139,11.70,2.00,-34.90,0.000,4,0.163,0.100,2099,3621,3164
$GC,292,-1.81,-146.6,42.3,-18.6,24,298,0.00,1.83,0.00,0.000,6,0.000,0.049,2099,2607,3164
$GC,637,-1.81,-146.6,98.0,-14.5,75,640,0.00,1.95,0.00,0.000,4,0.000,0.081,2099,3630,3163
$GC,694,-1.81,-146.6,106.8,-15.4,80,698,0.00,1.85,0.00,0.000,6,0.000,0.049,2099,2601,3163
$GC,1028,-1.81,-146.6,153.1,-14.4,110,1032,0.00,2.53,0.00,0.000,4,0.000,0.052,2099,1196,3163
$GC,1078,-1.81,-146.6,160.8,-14.5,112,1082,0.00,2.53,0.00,0.000,6,0.000,0.047,2099,2602,3163
$GC,1394,-1.81,-146.6,203.4,-13.4,127,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2603,3163
$GC,1704,-1.81,-146.6,245.0,-13.4,142,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2603,3163
$GC,2013,-1.81,-146.6,286.7,-13.2,157,2017,0.00,2.55,0.00,0.000,4,0.000,0.053,2099,1196,3163
$GC,2076,-1.81,-146.6,294.9,-12.6,160,2080,0.00,2.55,0.00,0.000,6,0.000,0.050,2099,2603,3163
$GC,2438,-1.81,-146.6,340.5,-12.5,168,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2603,3163
$GC,2743,-1.81,-146.6,378.9,-12.7,173,2747,0.00,2.58,0.00,0.000,4,0.000,0.062,2099,1203,3163
$GC,2810,-1.81,-146.6,387.8,-12.8,174,2814,0.00,2.58,0.00,0.000,6,0.000,0.061,2099,2602,3163
$GC,3171,-1.81,-146.6,432.4,-12.5,180,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3163
$GC,3473,-1.81,-146.6,473.4,-13.6,185,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3162
$GC,3776,-1.81,-146.6,515.6,-13.9,190,3780,0.00,2.75,0.00,0.000,4,0.000,0.098,2099,1208,3162
$GC,3820,-1.81,-146.6,521.7,-13.0,190,3825,0.00,2.75,0.00,0.000,6,0.000,0.095,2099,2602,3161
$GC,4135,-1.81,-146.6,561.6,-12.6,196,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3161
$GC,4440,-1.81,-146.6,598.6,-12.1,201,4444,0.00,2.72,0.00,0.000,4,0.000,0.091,2099,1201,3161
$GC,4495,-1.81,-146.6,605.7,-11.8,201,4501,0.00,2.75,0.00,0.000,6,0.000,0.092,2099,2606,3160
$GC,4805,-1.81,-146.6,643.0,-12.0,207,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2607,3160
$GC,5109,-1.81,-146.6,678.4,-11.5,212,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2607,3159
$GC,5411,-1.81,-146.6,712.3,-11.2,217,5416,0.00,2.70,0.00,0.000,4,0.000,0.087,2099,1209,3159
$GC,5501,-1.81,-146.6,722.7,-11.2,218,5506,0.00,2.70,0.00,0.000,6,0.000,0.088,2099,2602,3159
$GC,5840,-1.81,-146.6,760.6,-11.2,224,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2601,3159
$GC,6144,-1.81,-146.6,794.3,-11.1,229,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3159
$GC,6446,-1.81,-146.6,826.6,-10.7,234,6451,0.00,2.67,0.00,0.000,4,0.000,0.086,2099,1210,3158
$GC,6525,-1.81,-146.6,835.4,-11.1,235,6530,0.00,2.70,0.00,0.000,6,0.000,0.088,2099,2603,3157
$GC,6874,-1.81,-146.6,870.0,-9.9,241,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2603,3158
$GC,7178,-1.81,-146.6,900.1,-9.9,246,7183,0.00,2.70,0.00,0.000,4,0.000,0.087,2099,1200,3158
$GC,7223,-1.81,-146.6,904.9,-10.9,246,7228,0.00,2.70,0.00,0.000,6,0.000,0.086,2099,2601,3158
$GC,7539,-1.81,-146.6,937.3,-10.4,252,7543,0.00,2.67,0.00,0.000,4,0.000,0.086,2099,1209,3157
$GC,7572,-1.81,-146.6,941.1,-11.2,252,7577,0.00,2.67,0.00,0.000,6,0.000,0.085,2099,2600,3158
$GC,7900,-1.81,-146.6,975.6,-10.6,258,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2599,3157
$STATE,8077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8078,begin apogee
$GC,8087,-0.45,0.0,994.5,10.5,261,8217,1.42,0.00,126.72,1.471,6,0.081,0.000,2397,2209,2564
$STATE,8218,end apogee,CONTROL_FINISHED_OK
$STATE,8218,begin climb
$GC,8221,1.81,146.6,998.9,0.0,263,8357,2.22,2.90,126.80,1.424,4,0.049,0.098,2900,788,1966
$GC,8617,1.81,146.6,968.7,11.6,269,8622,0.00,2.75,0.00,0.000,6,0.000,0.077,2900,2207,1966
$GC,8983,1.81,146.6,926.4,11.5,275,8987,0.00,2.80,0.00,0.000,4,0.000,0.093,2900,789,1965
$GC,9170,1.81,146.6,905.3,11.2,277,9175,0.00,2.72,0.00,0.000,6,0.000,0.077,2900,2205,1965
$GC,9480,1.81,146.6,872.7,10.3,282,9484,0.00,2.80,0.00,0.000,4,0.000,0.093,2900,790,1965
$GC,9737,1.81,146.6,845.0,11.6,285,9743,0.00,2.70,0.00,0.000,6,0.000,0.076,2900,2201,1965
$GC,10048,1.81,147.6,814.1,10.0,291,10052,0.00,2.78,0.00,0.000,4,0.000,0.092,2900,791,1964
$GC,10305,1.81,147.6,786.9,10.8,294,10311,0.00,2.70,0.00,0.000,6,0.000,0.076,2900,2203,1964
$GC,10615,1.81,147.6,754.2,10.6,300,10619,0.00,2.78,0.00,0.000,4,0.000,0.091,2900,791,1964
$GC,10755,1.81,147.6,739.0,11.3,302,10759,0.00,2.70,0.00,0.000,6,0.000,0.075,2900,2207,1964
$GC,11109,1.82,150.4,703.9,9.9,308,11119,0.00,2.80,4.65,0.927,4,0.000,0.092,2900,788,1951
$GC,11373,1.82,150.4,677.1,10.0,312,11378,0.00,2.70,0.00,0.000,6,0.000,0.076,2900,2201,1951
$GC,11740,1.83,163.5,642.6,9.4,318,11759,0.00,2.85,13.02,1.170,4,0.000,0.092,2900,792,1897
$GC,11945,1.83,163.5,619.8,10.4,321,11950,0.00,2.70,0.00,0.000,6,0.000,0.075,2900,2204,1897
$GC,12305,1.83,163.5,580.8,10.9,327,12310,0.00,2.78,0.00,0.000,4,0.000,0.091,2900,791,1897
$GC,12563,1.83,163.5,552.5,10.7,330,12569,0.00,2.67,0.00,0.000,6,0.000,0.074,2901,2201,1897
$GC,12873,1.83,163.6,521.5,10.0,336,12877,0.00,2.75,0.00,0.000,4,0.000,0.089,2900,786,1897
$GC,13099,1.84,168.2,498.4,9.8,339,13110,0.00,2.67,5.65,0.918,6,0.000,0.068,2900,2210,1878
$GC,13437,1.84,168.2,464.2,10.1,345,13441,0.00,2.72,0.00,0.000,4,0.000,0.082,2900,791,1878
$GC,13520,1.84,168.2,455.2,10.6,346,13525,0.00,2.62,0.00,0.000,6,0.000,0.061,2900,2211,1878
$GC,13864,1.84,168.2,419.9,10.4,352,13868,0.00,2.70,0.00,0.000,4,0.000,0.076,2900,788,1878
$GC,14099,1.85,176.2,396.3,9.6,355,14113,0.00,2.58,8.70,0.972,6,0.000,0.054,2900,2203,1845
$GC,14430,1.85,176.2,363.3,10.0,361,14434,0.00,2.65,0.00,0.000,4,0.000,0.067,2900,785,1844
$GC,14654,1.86,183.6,339.8,9.7,364,14668,0.00,2.55,7.93,0.921,6,0.000,0.048,2900,2203,1814
$GC,14997,1.86,183.6,304.5,10.3,370,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2203,1814
$GC,15307,1.88,205.8,275.8,9.0,383,15332,0.00,2.72,19.45,0.972,4,0.000,0.064,2900,791,1725
$GC,15569,1.88,205.8,249.0,10.1,394,15575,0.00,2.55,0.00,0.000,6,0.000,0.046,2900,2211,1724
$GC,15886,1.88,205.8,216.4,10.3,410,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2211,1725
$GC,16195,1.88,205.8,183.5,10.6,425,16199,0.00,2.62,0.00,0.000,4,0.000,0.063,2900,791,1725
$GC,16453,1.88,205.8,154.4,10.8,436,16459,0.00,2.53,0.00,0.000,6,0.000,0.045,2900,2203,1725
$GC,16780,1.88,205.8,122.1,10.1,465,16786,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2203,1725
$GC,17106,1.89,209.4,90.7,9.8,496,17118,0.00,2.62,4.88,0.676,4,0.000,0.061,2900,788,1710
$GC,17276,1.95,257.7,75.9,7.7,514,17322,0.10,2.53,39.85,0.842,6,0.107,0.044,2918,2204,1513
$GC,17665,1.95,257.7,37.5,10.2,580,17670,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2204,1513
$GC,17993,2.08,361.7,13.6,5.1,611,18085,0.15,2.72,83.75,0.787,4,0.063,0.078,2957,3607,1088
$STATE,18131,end climb,SURFACE_DEPTH_REACHED
$STATE,18131,begin surface coast
$FINISH,0.7,1.018078
$STATE,18153,end surface coast,CONTROL_FINISHED_OK
$STATE,18153,begin surface
$SM_CCo,18181,30.58,0.749,0,0,933,400.08
$SM_GC,1.49,0.00,0.00,30.58,0.000,0.000,0.749,28,2565,933,-11.37,-0.99,400.08
$IRIDIUM_FIX,4745.30,-12551.71,280697,101040
$TT8_MAMPS,0.026078
$HUMID,1823
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,23.2,6.620
$10V_AH,10.1,2.915
$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,28.500,141.725,441.400,30.575,0.000,32.986,44.498,137.898,9.000,0.000,0.000,29.581,1361.969,13785.299,572.573,2258.542,599.991,33.344,1661.730,0.000,2182.592,0.000,58.233
$DEVICE_MAMPS,163.371,99.710,1471.106,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.173,505.906,719.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31734,626
$CAP_FILE_SIZE,129799,0
$CFSIZE,260165632,257163264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030408,201532,4759.345,-12557.662,42,1.9,42,18.9