version: 66.03
glider: 101
mission: 5
dive: 33
start: 4 5 108 18 25 5
data:
$ID,101
$MISSION,5
$DIVE,33
$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,-691290.62
$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,15
$R_STBD_OVSHOOT,16
$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
$GPS1,181855,4746.629,-12625.791,37,1.3,37,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-59.6
$GPS2,182402,4746.633,-12625.745,9,1.3,15,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.187,-0.179
$KALMAN_X,13472.3,-151.1,-3.4,-72096.8,-170.5
$KALMAN_Y,2863.9,-298.0,-58.9,-41672.9,635.4
$MHEAD_RNG_PITCHd_Wd,207.4,147077,-17.9,-10.000
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.81,-146.6,0.0,0.0,0,90,0.00,0.00,-59.78,0.000,2,0.000,0.000,34,2606,2159
$GC,95,-1.81,-146.6,3.6,-5.4,6,139,11.57,2.55,-25.80,0.000,4,0.161,0.061,2098,1188,3162
$GC,261,-1.81,-146.6,35.4,-18.4,20,267,0.00,2.55,0.00,0.000,6,0.000,0.048,2098,2607,3161
$GC,599,-1.81,-146.6,96.5,-16.4,70,603,0.00,1.92,0.00,0.000,4,0.000,0.084,2099,3630,3161
$GC,661,-1.81,-146.6,107.0,-16.3,75,667,0.00,1.88,0.00,0.000,6,0.000,0.048,2098,2576,3161
$GC,998,-1.81,-146.6,160.1,-14.9,104,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2576,3161
$GC,1305,-1.81,-146.6,203.7,-13.9,119,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2576,3161
$GC,1614,-1.81,-146.6,247.4,-14.5,134,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2576,3161
$GC,1925,-1.81,-146.6,291.0,-13.8,149,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2576,3161
$GC,2249,-1.81,-146.6,335.6,-13.8,157,2254,0.00,2.50,0.00,0.000,4,0.000,0.060,2098,1198,3161
$GC,2290,-1.81,-146.6,341.4,-13.7,157,2295,0.00,2.55,0.00,0.000,6,0.000,0.054,2098,2606,3161
$GC,2611,-1.81,-146.6,384.2,-13.2,163,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3161
$GC,2915,-1.81,-146.6,423.7,-13.0,168,2919,0.00,2.60,0.00,0.000,4,0.000,0.071,2098,1199,3161
$GC,2977,-1.81,-146.6,431.7,-12.6,169,2981,0.00,2.60,0.00,0.000,6,0.000,0.067,2098,2597,3161
$GC,3345,-1.81,-146.6,477.4,-12.4,175,3349,0.00,2.65,0.00,0.000,4,0.000,0.083,2098,1209,3160
$GC,3400,-1.81,-146.6,484.7,-12.7,175,3407,0.00,2.65,0.00,0.000,6,0.000,0.082,2098,2599,3160
$GC,3710,-1.81,-146.6,521.8,-11.9,181,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3160
$GC,4013,-1.81,-146.6,558.3,-12.1,186,4018,0.00,2.70,0.00,0.000,4,0.000,0.091,2098,1209,3160
$GC,4058,-1.81,-146.6,563.7,-11.6,186,4062,0.00,2.70,0.00,0.000,6,0.000,0.088,2098,2602,3159
$GC,4374,-1.81,-146.6,601.4,-12.1,192,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2602,3159
$GC,4677,-1.81,-146.6,637.0,-11.7,197,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2602,3158
$GC,4979,-1.81,-146.6,671.2,-11.2,202,4983,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1203,3158
$GC,5063,-1.81,-146.6,681.1,-11.6,203,5067,0.00,2.70,0.00,0.000,6,0.000,0.085,2098,2605,3158
$GC,5406,-1.81,-146.6,721.2,-11.9,209,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3157
$GC,5709,-1.81,-146.6,759.5,-12.7,214,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3157
$GC,6012,-1.81,-146.6,798.5,-12.9,219,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3156
$GC,6315,-1.81,-146.6,835.3,-12.1,224,6319,0.00,2.67,0.00,0.000,4,0.000,0.086,2098,1211,3156
$GC,6388,-1.81,-146.6,843.9,-11.7,225,6392,0.00,2.65,0.00,0.000,6,0.000,0.084,2098,2601,3156
$GC,6742,-1.81,-146.6,883.2,-11.2,231,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3155
$GC,7046,-1.81,-146.6,914.9,-10.5,236,7051,0.00,2.67,0.00,0.000,4,0.000,0.086,2098,1208,3155
$GC,7097,-1.81,-146.6,920.7,-10.5,236,7102,0.00,2.67,0.00,0.000,6,0.000,0.083,2098,2603,3155
$GC,7408,-1.81,-146.6,953.5,-10.6,241,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3155
$GC,7710,-1.81,-146.6,985.5,-10.6,246,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3155
$STATE,7768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7768,begin apogee
$GC,7777,-0.45,0.0,991.9,10.6,247,7907,1.42,0.00,126.07,1.464,6,0.080,0.000,2396,2212,2564
$STATE,7907,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7911,1.81,146.6,996.4,0.0,249,8047,2.22,2.90,126.55,1.421,4,0.048,0.098,2901,790,1966
$GC,8263,1.81,146.6,972.8,10.8,254,8268,0.00,2.70,0.00,0.000,6,0.000,0.073,2901,2202,1966
$GC,8601,1.81,146.6,937.7,10.4,260,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2202,1966
$GC,8904,1.81,146.6,907.2,10.0,265,8908,0.00,2.80,0.00,0.000,4,0.000,0.094,2901,787,1966
$GC,9134,1.81,146.6,882.8,10.9,268,9138,0.00,2.70,0.00,0.000,6,0.000,0.073,2901,2206,1965
$GC,9466,1.81,146.6,847.4,10.8,274,9470,0.00,2.78,0.00,0.000,4,0.000,0.092,2901,792,1965
$GC,9684,1.81,146.6,823.5,10.4,277,9688,0.00,2.67,0.00,0.000,6,0.000,0.072,2901,2203,1965
$GC,10027,1.81,146.6,787.9,10.3,283,10032,0.00,2.78,0.00,0.000,4,0.000,0.091,2901,788,1965
$GC,10234,1.81,149.6,766.6,9.9,286,10243,0.00,2.67,4.03,0.867,6,0.000,0.071,2901,2203,1954
$GC,10594,1.82,156.9,731.6,9.7,292,10608,0.00,2.83,7.80,1.130,4,0.000,0.091,2901,796,1924
$GC,10811,1.83,164.0,709.6,9.7,295,10825,0.00,2.67,8.15,1.120,6,0.000,0.071,2901,2204,1894
$GC,11165,1.83,164.0,673.1,10.4,301,11169,0.00,2.78,0.00,0.000,4,0.000,0.091,2901,791,1894
$GC,11330,1.83,164.0,654.9,11.2,303,11335,0.00,2.67,0.00,0.000,6,0.000,0.071,2901,2204,1894
$GC,11662,1.83,164.0,619.6,10.4,309,11666,0.00,2.75,0.00,0.000,4,0.000,0.090,2901,792,1894
$GC,11813,1.83,164.0,603.6,10.6,311,11818,0.00,2.65,0.00,0.000,6,0.000,0.070,2901,2201,1894
$GC,12156,1.83,164.0,568.1,10.5,317,12161,0.00,2.75,0.00,0.000,4,0.000,0.090,2901,789,1894
$GC,12392,1.83,164.0,541.3,11.3,320,12397,0.00,2.65,0.00,0.000,6,0.000,0.069,2901,2202,1894
$GC,12719,1.83,164.0,505.9,10.8,326,12724,0.00,2.72,0.00,0.000,4,0.000,0.086,2901,791,1894
$GC,12902,1.83,164.0,486.5,10.3,328,12906,0.00,2.62,0.00,0.000,6,0.000,0.064,2902,2204,1894
$GC,13217,1.84,168.4,455.0,9.8,334,13228,0.00,2.72,5.60,0.902,4,0.000,0.078,2901,791,1876
$GC,13403,1.84,173.4,436.7,9.8,336,13414,0.00,2.58,5.78,0.897,6,0.000,0.057,2901,2202,1857
$GC,13718,1.84,173.7,405.6,10.0,342,13722,0.00,2.65,0.00,0.000,4,0.000,0.071,2901,791,1857
$GC,13948,1.84,173.7,381.9,10.1,345,13952,0.00,2.55,0.00,0.000,6,0.000,0.051,2901,2203,1857
$GC,14280,1.86,184.7,350.1,9.5,351,14298,0.00,2.67,11.18,0.984,4,0.000,0.066,2901,791,1810
$GC,14431,1.87,194.1,335.1,9.6,353,14446,0.00,2.55,9.32,0.943,6,0.000,0.048,2901,2203,1772
$GC,14785,1.87,194.1,298.5,10.3,359,14789,0.00,2.65,0.00,0.000,4,0.000,0.065,2901,782,1772
$GC,14920,1.87,194.1,284.0,10.2,365,14925,0.00,2.55,0.00,0.000,6,0.000,0.046,2901,2207,1772
$GC,15243,1.87,197.4,252.0,9.8,381,15252,0.00,2.67,4.45,0.723,4,0.000,0.065,2902,782,1759
$GC,15444,1.87,197.4,231.1,10.7,390,15449,0.00,2.53,0.00,0.000,6,0.000,0.045,2901,2201,1759
$GC,15767,1.88,199.1,198.7,9.9,406,15768,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2200,1759
$GC,16078,1.88,199.1,167.7,10.2,421,16082,0.00,2.60,0.00,0.000,4,0.000,0.061,2901,786,1759
$GC,16291,1.89,213.7,146.2,9.3,431,16311,0.00,2.50,15.35,0.876,6,0.000,0.043,2901,2201,1692
$GC,16638,1.90,221.9,111.0,9.6,464,16653,0.00,2.65,8.00,0.783,4,0.000,0.060,2901,794,1659
$GC,16721,1.90,221.9,102.6,10.1,471,16727,0.00,2.50,0.00,0.000,6,0.000,0.042,2901,2201,1659
$GC,17051,1.94,250.7,74.9,8.7,507,17079,0.00,0.00,24.52,0.833,6,0.000,0.000,2901,2201,1541
$GC,17419,1.99,288.5,44.3,8.2,572,17454,0.12,0.00,31.23,0.809,6,0.065,0.000,2932,2201,1387
$GC,17781,2.05,343.6,9.3,7.4,610,17834,0.00,2.70,45.05,0.777,4,0.000,0.061,2932,789,1163
$STATE,17859,end climb,SURFACE_DEPTH_REACHED
$STATE,17859,begin surface coast
$FINISH,0.6,1.024740
$STATE,17872,end surface coast,CONTROL_FINISHED_OK
$STATE,17872,begin surface
$SM_CCo,17902,47.55,0.716,2,0,932,400.08
$SM_GC,1.36,0.00,0.00,47.55,0.000,0.000,0.716,33,2607,932,-11.35,0.20,400.08
$IRIDIUM_FIX,4729.30,-12621.43,300697,131301
$TT8_MAMPS,0.026078
$HUMID,1787
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.2,8.330
$10V_AH,10.1,3.816
$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,29.750,138.175,433.075,47.550,0.000,25.994,26.694,126.062,9.000,0.000,0.000,15.981,1343.318,13643.730,586.964,2148.445,555.657,33.362,1633.993,0.000,2087.567,0.000,60.839
$DEVICE_MAMPS,161.070,98.176,1464.203,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.609,496.985,708.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31727,618
$CAP_FILE_SIZE,127219,0
$CFSIZE,260165632,256548864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,050408,232538,4745.059,-12628.821,32,1.7,32,18.8