version: 66.03
glider: 101
mission: 5
dive: 41
start: 4 7 108 11 2 54
data:
$ID,101
$MISSION,5
$DIVE,41
$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,-691435.56
$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,28
$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
$GPS1,105638,4735.603,-12647.861,29,1.6,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-58.8
$GPS2,110151,4735.584,-12647.833,13,1.9,14,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.197,-0.169
$KALMAN_X,13498.9,-67.2,168.1,-99686.5,-227.7
$KALMAN_Y,9198.3,82.1,318.4,-69236.9,282.4
$MHEAD_RNG_PITCHd_Wd,210.5,112480,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-59.97,0.000,2,0.000,0.000,29,2605,2129
$GC,95,-1.81,-146.6,3.3,-4.7,6,142,10.85,1.95,-31.20,0.000,4,0.130,0.095,2098,3634,3162
$GC,272,-1.81,-146.6,36.0,-19.7,21,278,0.00,1.85,0.00,0.000,6,0.000,0.044,2098,2588,3161
$GC,615,-1.81,-146.6,99.5,-16.7,71,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2587,3161
$GC,933,-1.81,-146.6,148.7,-14.8,101,937,0.00,2.47,0.00,0.000,4,0.000,0.053,2098,1210,3161
$GC,984,-1.81,-146.6,156.1,-13.4,103,988,0.00,2.47,0.00,0.000,6,0.000,0.045,2098,2603,3161
$GC,1301,-1.81,-146.6,200.6,-14.4,118,1306,0.00,2.50,0.00,0.000,4,0.000,0.051,2098,1209,3161
$GC,1374,-1.81,-146.6,211.4,-14.2,121,1379,0.00,2.47,0.00,0.000,6,0.000,0.045,2098,2600,3161
$GC,1691,-1.81,-146.6,255.4,-13.9,136,1695,0.00,2.50,0.00,0.000,4,0.000,0.051,2098,1209,3161
$GC,1736,-1.81,-146.6,261.6,-13.3,138,1740,0.00,2.50,0.00,0.000,6,0.000,0.048,2098,2606,3161
$GC,2097,-1.81,-146.6,309.2,-12.8,154,2101,0.00,2.53,0.00,0.000,4,0.000,0.055,2098,1210,3161
$GC,2175,-1.81,-146.6,319.2,-12.1,155,2180,0.00,2.50,0.00,0.000,6,0.000,0.051,2098,2605,3161
$GC,2525,-1.81,-146.6,362.0,-12.1,161,2529,0.00,2.55,0.00,0.000,4,0.000,0.061,2098,1209,3161
$GC,2569,-1.81,-146.6,367.6,-12.2,161,2574,0.00,2.53,0.00,0.000,6,0.000,0.057,2098,2601,3160
$GC,2886,-1.81,-146.6,408.0,-13.0,167,2890,0.00,2.58,0.00,0.000,4,0.000,0.067,2098,1209,3160
$GC,2948,-1.81,-146.6,416.1,-12.7,168,2953,0.00,2.55,0.00,0.000,6,0.000,0.062,2098,2598,3160
$GC,3314,-1.81,-146.6,464.9,-13.4,174,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2598,3160
$GC,3620,-1.81,-146.6,505.3,-13.4,179,3624,0.00,2.70,0.00,0.000,4,0.000,0.094,2098,1212,3159
$GC,3687,-1.81,-146.6,514.6,-12.7,180,3691,0.00,2.70,0.00,0.000,6,0.000,0.091,2098,2601,3159
$GC,4047,-1.81,-146.6,561.9,-13.0,186,4051,0.00,2.67,0.00,0.000,4,0.000,0.092,2098,1217,3159
$GC,4148,-1.81,-146.6,574.8,-12.8,187,4152,0.00,2.65,0.00,0.000,6,0.000,0.089,2098,2596,3158
$GC,4479,-1.81,-146.6,616.4,-12.5,193,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2596,3158
$GC,4783,-1.81,-146.6,654.4,-12.5,198,4788,0.00,2.65,0.00,0.000,4,0.000,0.089,2098,1212,3158
$GC,4890,-1.81,-146.6,668.0,-12.6,199,4895,0.00,2.67,0.00,0.000,6,0.000,0.085,2098,2601,3158
$GC,5212,-1.81,-146.6,706.2,-11.8,205,5217,0.00,2.67,0.00,0.000,4,0.000,0.088,2098,1210,3157
$GC,5290,-1.81,-146.6,715.4,-11.4,206,5295,0.00,2.67,0.00,0.000,6,0.000,0.085,2098,2606,3157
$GC,5641,-1.81,-146.6,755.4,-11.5,212,5645,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1214,3157
$GC,5713,-1.81,-146.6,764.3,-11.9,213,5718,0.00,2.65,0.00,0.000,6,0.000,0.084,2098,2601,3157
$GC,6069,-1.81,-146.6,805.0,-11.6,219,6073,0.00,2.65,0.00,0.000,4,0.000,0.087,2098,1217,3157
$GC,6125,-1.81,-146.6,811.8,-12.0,219,6131,0.00,2.65,0.00,0.000,6,0.000,0.084,2098,2601,3157
$GC,6435,-1.81,-146.6,848.4,-11.8,225,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3157
$GC,6738,-1.81,-146.6,882.6,-11.3,230,6742,0.00,2.65,0.00,0.000,4,0.000,0.087,2098,1217,3156
$GC,6833,-1.81,-146.6,893.4,-11.6,231,6837,0.00,2.65,0.00,0.000,6,0.000,0.084,2098,2601,3156
$GC,7166,-1.81,-146.6,930.7,-11.4,237,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3156
$GC,7468,-1.81,-146.6,964.3,-11.0,242,7472,0.00,2.65,0.00,0.000,4,0.000,0.086,2098,1215,3155
$GC,7564,-1.81,-146.6,975.4,-11.7,243,7568,0.00,2.65,0.00,0.000,6,0.000,0.083,2098,2601,3155
$STATE,7710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7710,begin apogee
$GC,7719,-0.45,0.0,992.1,11.2,246,7849,1.42,0.00,126.25,1.466,6,0.074,0.000,2401,2224,2564
$STATE,7850,end apogee,CONTROL_FINISHED_OK
$STATE,7850,begin climb
$GC,7854,1.81,146.6,997.0,0.0,248,7989,2.17,2.90,126.82,1.420,4,0.044,0.097,2898,791,1967
$GC,8066,1.81,146.6,989.8,10.6,251,8070,0.00,2.70,0.00,0.000,6,0.000,0.072,2898,2203,1966
$GC,8409,1.81,146.6,953.3,10.7,257,8413,0.00,2.80,0.00,0.000,4,0.000,0.093,2898,785,1965
$GC,8591,1.81,146.6,933.1,11.8,259,8595,0.00,2.70,0.00,0.000,6,0.000,0.074,2898,2202,1966
$GC,8906,1.81,146.6,898.1,11.0,265,8910,0.00,2.80,0.00,0.000,4,0.000,0.094,2898,781,1965
$GC,9017,1.81,146.6,885.6,11.0,266,9022,0.00,2.70,0.00,0.000,6,0.000,0.073,2898,2204,1965
$GC,9333,1.81,146.6,850.9,11.0,272,9337,0.00,2.78,0.00,0.000,4,0.000,0.092,2898,791,1965
$GC,9557,1.81,146.6,825.0,12.0,275,9561,0.00,2.67,0.00,0.000,6,0.000,0.073,2898,2202,1965
$GC,9894,1.81,146.6,789.8,10.3,281,9899,0.00,2.78,0.00,0.000,4,0.000,0.092,2898,788,1965
$GC,9995,1.81,147.0,779.6,10.0,282,10000,0.00,2.67,0.00,0.000,6,0.000,0.072,2898,2203,1965
$GC,10322,1.82,155.3,748.2,9.6,288,10336,0.00,2.83,8.68,1.157,4,0.000,0.091,2897,781,1931
$GC,10545,1.82,155.3,725.6,10.8,291,10549,0.00,2.67,0.00,0.000,6,0.000,0.072,2898,2201,1931
$GC,10888,1.82,155.3,690.6,10.2,297,10892,0.00,2.75,0.00,0.000,4,0.000,0.091,2898,791,1931
$GC,11059,1.82,155.6,673.0,10.0,299,11063,0.00,2.67,0.00,0.000,6,0.000,0.071,2898,2208,1931
$GC,11385,1.82,155.6,639.6,10.2,305,11389,0.00,2.78,0.00,0.000,4,0.000,0.091,2898,785,1931
$GC,11643,1.82,155.6,612.2,10.4,308,11649,0.00,2.67,0.00,0.000,6,0.000,0.071,2898,2208,1931
$GC,11953,1.82,156.3,581.2,10.0,314,11957,0.00,2.75,0.00,0.000,4,0.000,0.089,2898,789,1931
$GC,12143,1.82,156.3,562.1,10.0,316,12149,0.00,2.65,0.00,0.000,6,0.000,0.069,2898,2204,1931
$GC,12453,1.84,172.8,533.4,9.2,322,12477,0.00,2.85,16.48,1.134,4,0.000,0.087,2898,790,1858
$GC,12731,1.84,172.8,504.3,10.9,326,12736,0.00,2.62,0.00,0.000,6,0.000,0.065,2898,2202,1858
$GC,13086,1.84,172.8,467.0,10.6,332,13090,0.00,2.70,0.00,0.000,4,0.000,0.081,2898,789,1858
$GC,13270,1.84,172.8,447.5,10.2,334,13275,0.00,2.58,0.00,0.000,6,0.000,0.058,2898,2203,1858
$GC,13581,1.85,182.1,417.6,9.6,339,13595,0.00,2.72,9.55,1.002,4,0.000,0.074,2898,788,1820
$GC,13686,1.85,182.1,406.8,10.4,340,13690,0.00,2.58,0.00,0.000,6,0.000,0.051,2898,2205,1820
$GC,14006,1.85,182.1,374.4,10.1,346,14011,0.00,2.65,0.00,0.000,4,0.000,0.068,2898,786,1820
$GC,14091,1.85,182.1,365.7,10.3,347,14095,0.00,2.55,0.00,0.000,6,0.000,0.048,2898,2204,1820
$GC,14434,1.86,187.6,332.0,9.7,353,14442,0.00,0.00,6.20,0.863,6,0.000,0.000,2898,2205,1799
$GC,14737,1.88,199.9,303.6,9.4,358,14756,0.00,2.75,11.75,0.953,4,0.000,0.066,2898,784,1749
$GC,15009,1.88,199.9,273.9,10.5,368,15014,0.00,2.55,0.00,0.000,6,0.000,0.046,2898,2213,1749
$GC,15332,1.88,199.9,238.5,11.0,384,15336,0.00,2.65,0.00,0.000,4,0.000,0.064,2898,780,1749
$GC,15488,1.88,199.9,220.7,11.2,391,15493,0.00,2.53,0.00,0.000,6,0.000,0.044,2898,2202,1749
$GC,15811,1.90,215.2,187.5,9.3,407,15831,0.00,2.72,14.25,0.896,4,0.000,0.062,2898,783,1686
$GC,16000,1.90,220.2,167.8,9.8,415,16012,0.00,2.53,6.05,0.759,6,0.000,0.043,2898,2202,1665
$GC,16329,1.92,235.8,134.4,9.3,438,16352,0.00,2.70,14.02,0.852,4,0.000,0.061,2898,784,1602
$GC,16605,1.92,237.6,106.2,9.9,462,16611,0.00,2.53,0.00,0.000,6,0.000,0.042,2898,2209,1602
$GC,16934,1.99,292.2,78.9,7.4,494,16991,0.15,2.72,46.75,0.838,4,0.064,0.060,2934,788,1372
$GC,17196,1.99,292.2,47.7,12.2,540,17202,0.00,2.53,0.00,0.000,6,0.000,0.042,2934,2202,1372
$GC,17526,1.99,292.2,5.4,13.4,576,17530,0.00,2.60,0.00,0.000,4,0.000,0.059,2934,787,1372
$STATE,17552,end climb,SURFACE_DEPTH_REACHED
$STATE,17552,begin surface coast
$FINISH,0.8,1.003960
$STATE,17564,end surface coast,CONTROL_FINISHED_OK
$STATE,17564,begin surface
$SM_CCo,17594,78.15,0.775,0,0,933,400.08
$SM_GC,1.42,0.00,0.00,78.15,0.000,0.000,0.775,33,2608,933,-11.35,0.23,400.08
$IRIDIUM_FIX,4719.74,-12648.36,020797,050521
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.7,18.4
$24V_AH,23.2,9.677
$10V_AH,10.1,4.524
$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,28.775,179.950,386.800,78.150,0.000,30.387,30.272,125.082,9.500,0.000,0.000,14.945,1327.041,13264.659,609.907,2215.898,578.591,33.370,1698.291,0.000,2156.020,0.000,58.258
$DEVICE_MAMPS,130.390,97.409,1465.737,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.542,460.360,641.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,579
$CAP_FILE_SIZE,134141,0
$CFSIZE,260165632,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070408,155838,4733.600,-12650.475,30,1.1,30,18.8