version: 66.03
glider: 101
mission: 5
dive: 39
start: 4 7 108 0 50 18
data:
$ID,101
$MISSION,5
$DIVE,39
$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,-691403.38
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,004407,4738.215,-12642.552,43,1.5,54,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-59.3
$GPS2,004915,4738.223,-12642.513,15,1.4,15,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.155,-0.208
$KALMAN_X,13653.2,79.7,129.5,-93374.0,75.4
$KALMAN_Y,7428.0,-76.4,-266.3,-61832.1,1812.1
$MHEAD_RNG_PITCHd_Wd,197.9,120789,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.81,-146.6,0.0,0.0,0,100,0.00,0.00,-69.93,0.000,2,0.000,0.000,32,2606,2333
$GC,105,-1.81,-146.6,3.4,-3.8,7,141,10.93,0.00,-23.08,0.000,6,0.133,0.000,2100,2606,3164
$GC,471,-1.81,-146.6,71.3,-18.4,55,477,0.00,1.95,0.00,0.000,4,0.000,0.081,2100,3620,3163
$GC,513,-1.81,-146.6,79.2,-18.5,62,519,0.00,1.85,0.00,0.000,6,0.000,0.048,2100,2584,3163
$GC,841,-1.81,-146.6,132.1,-14.8,93,846,0.00,2.47,0.00,0.000,4,0.000,0.053,2100,1202,3163
$GC,875,-1.81,-146.6,137.7,-14.4,95,882,0.00,2.47,0.00,0.000,6,0.000,0.044,2100,2593,3164
$GC,1194,-1.81,-146.6,184.4,-14.7,115,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2593,3163
$GC,1504,-1.81,-146.6,229.9,-14.5,130,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2593,3163
$GC,1813,-1.81,-146.6,273.4,-13.8,145,1817,0.00,2.50,0.00,0.000,4,0.000,0.054,2099,1210,3164
$GC,1876,-1.81,-146.6,281.9,-12.8,148,1880,0.00,2.50,0.00,0.000,6,0.000,0.048,2100,2603,3163
$GC,2199,-1.81,-146.6,324.7,-13.3,158,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2602,3163
$GC,2504,-1.81,-146.6,364.8,-13.2,163,2508,0.00,2.55,0.00,0.000,4,0.000,0.064,2100,1213,3163
$GC,2587,-1.81,-146.6,375.9,-12.6,164,2592,0.00,2.53,0.00,0.000,6,0.000,0.058,2100,2601,3163
$GC,2931,-1.81,-146.6,419.3,-12.6,170,2935,0.00,2.58,0.00,0.000,4,0.000,0.070,2100,1216,3163
$GC,2970,-1.81,-146.6,424.5,-12.5,170,2975,0.00,2.58,0.00,0.000,6,0.000,0.066,2100,2605,3162
$GC,3296,-1.81,-146.6,465.4,-12.6,176,3301,0.00,2.65,0.00,0.000,4,0.000,0.081,2100,1212,3162
$GC,3341,-1.81,-146.6,471.3,-12.9,176,3346,0.00,2.62,0.00,0.000,6,0.000,0.076,2100,2602,3162
$GC,3657,-1.81,-146.6,511.1,-12.6,182,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3161
$GC,3960,-1.81,-146.6,549.9,-12.8,187,3965,0.00,2.67,0.00,0.000,4,0.000,0.091,2100,1211,3161
$GC,4039,-1.81,-146.6,560.1,-12.9,188,4043,0.00,2.67,0.00,0.000,6,0.000,0.087,2100,2598,3161
$GC,4395,-1.81,-146.6,605.2,-12.8,194,4399,0.00,2.67,0.00,0.000,4,0.000,0.089,2100,1213,3161
$GC,4468,-1.81,-146.6,615.1,-12.7,195,4472,0.00,2.67,0.00,0.000,6,0.000,0.086,2100,2602,3160
$GC,4822,-1.81,-146.6,659.3,-12.4,201,4826,0.00,2.67,0.00,0.000,4,0.000,0.088,2100,1215,3160
$GC,4855,-1.81,-146.6,663.3,-12.0,201,4860,0.00,2.65,0.00,0.000,6,0.000,0.084,2100,2601,3160
$GC,5183,-1.81,-146.6,700.7,-11.3,207,5187,0.00,2.67,0.00,0.000,4,0.000,0.087,2100,1211,3160
$GC,5245,-1.81,-146.6,707.5,-10.7,208,5250,0.00,2.67,0.00,0.000,6,0.000,0.083,2100,2606,3159
$GC,5611,-1.81,-146.6,747.4,-10.9,214,5616,0.00,2.65,0.00,0.000,4,0.000,0.087,2100,1218,3159
$GC,5662,-1.81,-146.6,753.0,-10.4,214,5666,0.00,2.65,0.00,0.000,6,0.000,0.084,2100,2601,3159
$GC,5972,-1.81,-146.6,786.2,-10.7,219,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2601,3159
$GC,6275,-1.81,-146.6,818.5,-10.6,224,6279,0.00,2.65,0.00,0.000,4,0.000,0.087,2100,1217,3158
$GC,6331,-1.81,-146.6,824.5,-10.2,224,6338,0.00,2.65,0.00,0.000,6,0.000,0.083,2100,2601,3158
$GC,6640,-1.81,-146.6,857.5,-10.7,230,6645,0.00,2.65,0.00,0.000,4,0.000,0.087,2100,1218,3158
$GC,6691,-1.81,-146.6,863.2,-10.9,230,6696,0.00,2.65,0.00,0.000,6,0.000,0.082,2100,2603,3158
$GC,7001,-1.81,-146.6,897.0,-11.0,235,7005,0.00,2.65,0.00,0.000,4,0.000,0.086,2100,1217,3158
$GC,7063,-1.81,-146.6,904.0,-11.5,236,7068,0.00,2.65,0.00,0.000,6,0.000,0.082,2100,2601,3158
$GC,7430,-1.81,-146.6,944.5,-11.1,242,7434,0.00,2.65,0.00,0.000,4,0.000,0.086,2100,1217,3158
$GC,7480,-1.81,-146.6,950.3,-11.5,242,7485,0.00,2.65,0.00,0.000,6,0.000,0.082,2100,2602,3158
$GC,7790,-1.81,-146.6,984.5,-11.0,247,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2602,3157
$STATE,7847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7848,begin apogee
$GC,7857,-0.45,0.0,991.3,11.1,248,7987,1.40,0.00,126.25,1.474,6,0.075,0.000,2398,2225,2564
$STATE,7987,end apogee,CONTROL_FINISHED_OK
$STATE,7987,begin climb
$GC,7991,1.81,146.6,996.4,0.0,250,8126,2.20,2.90,126.35,1.434,4,0.047,0.097,2899,792,1966
$GC,8349,1.81,146.6,973.0,11.9,255,8353,0.00,2.70,0.00,0.000,6,0.000,0.075,2899,2202,1967
$GC,8681,1.81,146.6,937.7,10.7,261,8685,0.00,2.78,0.00,0.000,4,0.000,0.092,2899,792,1965
$GC,8843,1.81,146.6,919.7,10.6,263,8848,0.00,2.70,0.00,0.000,6,0.000,0.075,2899,2203,1965
$GC,9175,1.81,146.6,884.7,10.5,269,9179,0.00,2.78,0.00,0.000,4,0.000,0.092,2899,792,1965
$GC,9433,1.81,146.6,856.1,11.5,272,9439,0.00,2.67,0.00,0.000,6,0.000,0.074,2899,2201,1964
$GC,9742,1.81,146.6,822.4,11.0,278,9747,0.00,2.78,0.00,0.000,4,0.000,0.092,2899,788,1964
$GC,10000,1.81,146.6,792.0,11.3,281,10006,0.00,2.70,0.00,0.000,6,0.000,0.074,2899,2209,1964
$GC,10310,1.81,146.6,758.6,10.7,287,10315,0.00,2.78,0.00,0.000,4,0.000,0.091,2899,791,1964
$GC,10528,1.81,146.6,735.9,10.4,290,10533,0.00,2.67,0.00,0.000,6,0.000,0.072,2899,2203,1964
$GC,10872,1.83,163.1,703.9,9.2,296,10893,0.00,2.83,15.23,1.231,4,0.000,0.089,2899,791,1897
$GC,11146,1.83,163.1,674.4,11.0,300,11151,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2205,1897
$GC,11501,1.83,163.1,636.2,10.8,306,11506,0.00,2.75,0.00,0.000,4,0.000,0.089,2899,790,1897
$GC,11760,1.83,163.1,606.0,12.4,309,11766,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2213,1898
$GC,12070,1.83,163.1,570.3,11.6,315,12075,0.00,2.75,0.00,0.000,4,0.000,0.087,2899,792,1897
$GC,12327,1.83,163.1,539.4,12.1,318,12333,0.00,2.62,0.00,0.000,6,0.000,0.068,2899,2200,1897
$GC,12637,1.83,163.1,505.7,10.7,324,12642,0.00,2.72,0.00,0.000,4,0.000,0.084,2899,783,1897
$GC,12895,1.83,163.1,477.9,10.4,327,12901,0.00,2.60,0.00,0.000,6,0.000,0.061,2899,2202,1898
$GC,13205,1.84,167.6,447.4,9.8,333,13216,0.00,2.70,5.55,0.898,4,0.000,0.077,2899,791,1880
$GC,13470,1.84,167.6,420.4,10.9,337,13474,0.00,2.58,0.00,0.000,6,0.000,0.054,2899,2202,1879
$GC,13836,1.85,176.7,385.1,9.6,343,13850,0.00,2.70,9.32,0.986,4,0.000,0.069,2899,785,1843
$GC,14031,1.85,176.7,365.2,10.1,346,14036,0.00,2.55,0.00,0.000,6,0.000,0.048,2899,2209,1843
$GC,14397,1.85,176.7,326.5,10.7,352,14401,0.00,2.65,0.00,0.000,4,0.000,0.067,2899,781,1844
$GC,14520,1.87,198.4,313.7,9.0,353,14544,0.00,2.55,19.17,1.006,6,0.000,0.046,2899,2211,1755
$GC,14860,1.87,198.4,276.6,11.4,366,14864,0.00,2.65,0.00,0.000,4,0.000,0.066,2899,787,1755
$GC,14991,1.87,198.4,262.1,11.0,372,14996,0.00,2.53,0.00,0.000,6,0.000,0.044,2899,2202,1755
$GC,15318,1.87,198.4,227.5,10.7,388,15323,0.00,2.62,0.00,0.000,4,0.000,0.065,2899,783,1755
$GC,15489,1.87,198.4,209.9,10.7,395,15495,0.00,2.53,0.00,0.000,6,0.000,0.044,2899,2204,1755
$GC,15807,1.87,198.4,177.3,10.0,411,15811,0.00,2.60,0.00,0.000,4,0.000,0.063,2899,789,1755
$GC,15941,1.87,198.4,163.6,10.0,417,15946,0.00,2.50,0.00,0.000,6,0.000,0.044,2899,2202,1755
$GC,16269,1.91,226.1,134.2,8.7,441,16301,0.00,2.70,24.00,0.886,4,0.000,0.061,2899,791,1642
$GC,16360,1.91,226.1,125.2,10.1,449,16364,0.00,2.53,0.00,0.000,6,0.000,0.043,2899,2202,1641
$GC,16686,1.91,226.1,90.4,10.3,479,16690,0.00,2.65,0.00,0.000,4,0.000,0.077,2899,3606,1642
$GC,16787,1.96,267.7,81.0,8.1,487,16827,0.12,2.50,34.22,0.848,6,0.071,0.042,2930,2181,1472
$GC,17171,1.96,267.7,44.7,10.9,553,17178,0.00,2.53,0.00,0.000,4,0.000,0.065,2930,804,1471
$GC,17432,1.96,267.7,16.2,12.3,580,17436,0.00,2.47,0.00,0.000,6,0.000,0.043,2930,2198,1472
$STATE,17574,end climb,SURFACE_DEPTH_REACHED
$STATE,17574,begin surface coast
$FINISH,0.8,1.025346
$STATE,17586,end surface coast,CONTROL_FINISHED_OK
$STATE,17586,begin surface
$SM_CCo,17613,92.40,0.781,0,0,932,400.08
$SM_GC,1.63,0.00,0.00,92.40,0.000,0.000,0.781,33,2607,932,-11.34,0.20,400.08
$IRIDIUM_FIX,4719.74,-12639.43,010797,191926
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,23.2,9.339
$10V_AH,10.1,4.345
$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,28.925,174.200,360.100,92.400,0.000,28.947,27.389,123.000,9.250,0.000,0.000,15.850,1359.967,13206.344,604.185,2296.376,557.421,33.364,1716.050,0.000,2229.978,0.000,58.278
$DEVICE_MAMPS,133.458,97.409,1474.174,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.074,463.953,676.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28552,594
$CAP_FILE_SIZE,135159,0
$CFSIZE,260165632,256184320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,054638,4736.610,-12645.410,33,1.1,33,18.8