version: 66.03
glider: 101
mission: 5
dive: 40
start: 4 7 108 5 53 14
data:
$ID,101
$MISSION,5
$DIVE,40
$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,-691420
$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,32
$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
$GPS1,054638,4736.610,-12645.410,33,1.1,33,18.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.2
$GPS2,055208,4736.604,-12645.401,11,1.4,16,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.181,-0.186
$KALMAN_X,13358.2,56.4,-212.0,-96277.1,145.5
$KALMAN_Y,7938.5,125.8,-78.0,-65726.5,1104.1
$MHEAD_RNG_PITCHd_Wd,205.4,116076,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.81,-146.6,0.0,0.0,0,87,0.00,0.00,-59.90,0.000,2,0.000,0.000,33,2608,2120
$GC,92,-1.81,-146.6,3.1,-4.2,6,143,11.45,0.00,-33.53,0.000,6,0.154,0.000,2101,2607,3162
$GC,472,-1.81,-146.6,70.4,-18.0,55,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2608,3160
$GC,809,-1.81,-146.6,125.4,-15.7,91,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2608,3161
$GC,1141,-1.81,-146.6,174.0,-14.7,115,1145,0.00,2.53,0.00,0.000,4,0.000,0.053,2101,1202,3161
$GC,1220,-1.81,-146.6,185.8,-14.3,118,1226,0.00,2.50,0.00,0.000,6,0.000,0.045,2101,2605,3161
$GC,1536,-1.81,-146.6,232.8,-15.0,134,1541,0.00,2.53,0.00,0.000,4,0.000,0.052,2101,1201,3161
$GC,1603,-1.81,-146.6,242.9,-14.9,137,1608,0.00,2.50,0.00,0.000,6,0.000,0.047,2101,2601,3161
$GC,1926,-1.81,-146.6,289.1,-14.1,153,1930,0.00,2.55,0.00,0.000,4,0.000,0.055,2101,1194,3161
$GC,1976,-1.81,-146.6,296.3,-13.9,155,1980,0.00,2.53,0.00,0.000,6,0.000,0.048,2101,2602,3160
$GC,2327,-1.81,-146.6,343.5,-13.3,162,2331,0.00,2.55,0.00,0.000,4,0.000,0.060,2101,1203,3160
$GC,2360,-1.81,-146.6,347.9,-13.3,162,2365,0.00,2.53,0.00,0.000,6,0.000,0.054,2100,2598,3161
$GC,2687,-1.81,-146.6,389.4,-12.7,168,2692,0.00,2.58,0.00,0.000,4,0.000,0.067,2101,1205,3160
$GC,2743,-1.81,-146.6,396.5,-12.7,168,2749,0.00,2.58,0.00,0.000,6,0.000,0.061,2101,2607,3160
$GC,3053,-1.81,-146.6,433.1,-11.7,174,3058,0.00,2.62,0.00,0.000,4,0.000,0.073,2101,1205,3160
$GC,3098,-1.81,-146.6,438.6,-11.9,174,3103,0.00,2.60,0.00,0.000,6,0.000,0.067,2101,2603,3160
$GC,3414,-1.81,-146.6,476.0,-12.0,180,3419,0.00,2.67,0.00,0.000,4,0.000,0.085,2101,1208,3159
$GC,3465,-1.81,-146.6,482.5,-12.1,180,3469,0.00,2.65,0.00,0.000,6,0.000,0.081,2101,2598,3159
$GC,3775,-1.81,-146.6,520.5,-12.3,185,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2598,3159
$GC,4078,-1.81,-146.6,557.6,-12.2,190,4082,0.00,2.72,0.00,0.000,4,0.000,0.093,2101,1199,3159
$GC,4128,-1.81,-146.6,563.7,-12.4,190,4132,0.00,2.70,0.00,0.000,6,0.000,0.087,2101,2599,3159
$GC,4438,-1.81,-146.6,601.2,-12.2,195,4443,0.00,2.70,0.00,0.000,4,0.000,0.089,2101,1199,3159
$GC,4501,-1.81,-146.6,609.0,-12.4,196,4505,0.00,2.70,0.00,0.000,6,0.000,0.085,2101,2599,3158
$GC,4867,-1.81,-146.6,654.5,-12.5,202,4872,0.00,2.67,0.00,0.000,4,0.000,0.087,2101,1207,3158
$GC,4935,-1.81,-146.6,663.4,-12.9,203,4939,0.00,2.67,0.00,0.000,6,0.000,0.084,2101,2599,3158
$GC,5295,-1.81,-146.6,708.5,-12.5,209,5299,0.00,2.67,0.00,0.000,4,0.000,0.087,2101,1207,3158
$GC,5357,-1.81,-146.6,716.4,-12.6,210,5362,0.00,2.67,0.00,0.000,6,0.000,0.083,2101,2601,3158
$GC,5724,-1.81,-146.6,760.5,-11.9,216,5728,0.00,2.67,0.00,0.000,4,0.000,0.086,2101,1207,3158
$GC,5802,-1.81,-146.6,769.5,-11.4,217,5806,0.00,2.67,0.00,0.000,6,0.000,0.083,2101,2603,3157
$GC,6151,-1.81,-146.6,806.0,-10.3,223,6156,0.00,2.67,0.00,0.000,4,0.000,0.087,2101,1200,3157
$GC,6218,-1.81,-146.6,812.8,-10.5,224,6223,0.00,2.67,0.00,0.000,6,0.000,0.082,2101,2602,3157
$GC,6579,-1.81,-146.6,847.7,-9.7,230,6583,0.00,2.67,0.00,0.000,4,0.000,0.086,2101,1207,3157
$GC,6624,-1.81,-146.6,852.4,-9.9,230,6628,0.00,2.65,0.00,0.000,6,0.000,0.081,2101,2600,3156
$GC,6939,-1.81,-146.6,883.6,-9.9,236,6943,0.00,2.67,0.00,0.000,4,0.000,0.087,2101,1208,3156
$GC,6983,-1.81,-146.6,888.2,-10.9,236,6988,0.00,2.67,0.00,0.000,6,0.000,0.081,2101,2607,3156
$GC,7299,-1.81,-146.6,920.0,-10.2,242,7303,0.00,2.67,0.00,0.000,4,0.000,0.087,2101,1207,3156
$GC,7366,-1.81,-146.6,927.1,-10.2,243,7371,0.00,2.67,0.00,0.000,6,0.000,0.082,2101,2604,3155
$GC,7727,-1.81,-146.6,964.2,-10.3,249,7731,0.00,2.70,0.00,0.000,4,0.000,0.087,2101,1201,3155
$GC,7800,-1.81,-146.6,971.9,-11.1,250,7804,0.00,2.67,0.00,0.000,6,0.000,0.083,2101,2600,3154
$STATE,8029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8029,begin apogee
$GC,8039,-0.45,0.0,995.9,10.3,254,8168,1.40,0.00,125.93,1.481,6,0.074,0.000,2398,2211,2564
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8169,begin climb
$GC,8172,1.81,146.6,999.8,0.0,256,8308,2.20,2.90,126.90,1.423,4,0.044,0.097,2899,785,1966
$GC,8498,1.81,146.6,978.0,12.8,261,8502,0.00,2.72,0.00,0.000,6,0.000,0.075,2898,2201,1966
$GC,8863,1.81,146.6,938.0,11.0,267,8868,0.00,2.80,0.00,0.000,4,0.000,0.094,2899,783,1966
$GC,9099,1.81,146.6,911.7,10.9,270,9103,0.00,2.72,0.00,0.000,6,0.000,0.075,2899,2208,1965
$GC,9425,1.81,146.6,877.0,10.7,276,9430,0.00,2.80,0.00,0.000,4,0.000,0.093,2899,788,1965
$GC,9607,1.81,146.6,857.2,10.9,278,9611,0.00,2.70,0.00,0.000,6,0.000,0.074,2899,2204,1965
$GC,9922,1.81,146.6,824.4,10.3,284,9926,0.00,2.78,0.00,0.000,4,0.000,0.092,2899,791,1965
$GC,10119,1.81,147.9,804.1,9.9,287,10123,0.00,2.67,0.00,0.000,6,0.000,0.073,2899,2201,1965
$GC,10484,1.81,147.9,767.1,10.2,293,10489,0.00,2.78,0.00,0.000,4,0.000,0.091,2899,782,1965
$GC,10730,1.81,147.9,741.5,10.1,296,10735,0.00,2.70,0.00,0.000,6,0.000,0.073,2899,2209,1965
$GC,11045,1.81,147.9,710.0,10.0,302,11050,0.00,2.78,0.00,0.000,4,0.000,0.091,2899,788,1965
$GC,11291,1.81,147.9,684.7,10.4,305,11296,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2209,1965
$GC,11607,1.82,153.6,654.2,9.7,311,11621,0.00,2.85,7.28,1.071,4,0.000,0.091,2899,787,1937
$GC,11735,1.82,153.6,640.6,10.5,312,11741,0.00,2.67,0.00,0.000,6,0.000,0.071,2899,2208,1937
$GC,12045,1.82,153.6,609.2,10.2,318,12049,0.00,2.75,0.00,0.000,4,0.000,0.090,2899,791,1937
$GC,12230,1.82,156.6,590.0,9.9,320,12241,0.00,2.65,4.57,0.874,6,0.000,0.070,2900,2206,1925
$GC,12545,1.83,162.2,559.3,9.7,326,12558,0.00,2.85,6.50,0.992,4,0.000,0.088,2899,784,1902
$GC,12656,1.83,162.2,548.3,10.3,327,12660,0.00,2.65,0.00,0.000,6,0.000,0.067,2899,2201,1902
$GC,12977,1.86,183.7,519.0,9.0,333,13002,0.00,2.83,19.58,1.129,4,0.000,0.087,2899,781,1815
$GC,13136,1.87,192.0,502.9,9.6,335,13150,0.00,2.65,8.77,1.017,6,0.000,0.065,2899,2202,1781
$GC,13473,1.87,192.0,468.0,10.5,341,13478,0.00,2.72,0.00,0.000,4,0.000,0.081,2899,780,1781
$GC,13732,1.87,192.0,439.8,10.8,344,13738,0.00,2.60,0.00,0.000,6,0.000,0.057,2899,2203,1781
$GC,14042,1.87,192.0,407.8,10.4,350,14046,0.00,2.65,0.00,0.000,4,0.000,0.071,2899,789,1781
$GC,14199,1.87,192.0,390.7,10.9,352,14203,0.00,2.55,0.00,0.000,6,0.000,0.051,2899,2204,1781
$GC,14536,1.87,192.0,354.8,10.7,358,14541,0.00,2.62,0.00,0.000,4,0.000,0.067,2899,789,1781
$GC,14793,1.87,192.0,325.9,10.8,361,14799,0.00,2.53,0.00,0.000,6,0.000,0.047,2899,2203,1781
$GC,15103,1.87,192.0,294.2,10.2,367,15108,0.00,2.62,0.00,0.000,4,0.000,0.066,2899,788,1781
$GC,15294,1.87,192.0,273.8,10.1,375,15300,0.00,2.53,0.00,0.000,6,0.000,0.046,2899,2205,1780
$GC,15611,1.87,192.0,241.2,10.3,391,15615,0.00,2.65,0.00,0.000,4,0.000,0.083,2899,3608,1781
$GC,15661,1.87,192.0,235.6,11.6,393,15665,0.00,2.53,0.00,0.000,6,0.000,0.045,2899,2180,1781
$GC,15977,1.87,192.0,203.0,10.0,408,15979,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2180,1781
$GC,16287,1.87,192.0,171.7,10.4,423,16291,0.00,2.70,0.00,0.000,4,0.000,0.075,2899,3609,1781
$GC,16376,1.87,197.1,162.3,9.8,427,16387,0.00,2.50,5.97,0.774,6,0.000,0.044,2900,2191,1759
$GC,16708,1.89,207.1,130.4,9.5,451,16724,0.00,0.00,10.23,0.838,6,0.000,0.000,2899,2191,1718
$GC,17048,1.94,250.2,100.1,8.0,483,17091,0.10,0.00,36.05,0.863,6,0.067,0.000,2927,2189,1542
$GC,17420,1.94,250.2,63.5,10.6,532,17426,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2189,1542
$GC,17760,2.01,307.2,32.5,7.3,584,17812,0.00,0.00,46.28,0.811,6,0.000,0.000,2927,2186,1310
$STATE,18025,end climb,SURFACE_DEPTH_REACHED
$STATE,18025,begin surface coast
$FINISH,0.7,1.020099
$STATE,18035,end surface coast,CONTROL_FINISHED_OK
$STATE,18035,begin surface
$SM_CCo,18062,70.97,0.775,0,0,932,400.08
$SM_GC,1.63,0.00,0.00,70.97,0.000,0.000,0.775,29,2605,932,-11.36,0.14,400.08
$IRIDIUM_FIX,4722.92,-12645.80,020797,000054
$TT8_MAMPS,0.025311
$HUMID,1807
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,23.2,9.509
$10V_AH,10.1,4.436
$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,28.425,177.175,398.050,70.975,0.000,23.958,27.057,146.647,9.500,0.000,0.000,16.019,1371.276,13628.878,627.490,2259.948,588.863,33.369,1737.247,0.000,2195.507,0.000,58.242
$DEVICE_MAMPS,154.167,97.409,1481.077,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.241,482.315,688.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31691,610
$CAP_FILE_SIZE,136638,0
$CFSIZE,260165632,256114688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,105638,4735.603,-12647.861,29,1.6,29,18.8