version: 66.03
glider: 101
mission: 5
dive: 46
start: 4 8 108 13 43 17
data:
$ID,101
$MISSION,5
$DIVE,46
$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,412.5
$T_MISSION,450
$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,-691567.06
$T_RSLEEP,57
$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,2550
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,0
$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
$GPS1,133702,4728.492,-12701.622,44,1.3,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.0
$GPS2,134215,4728.483,-12701.607,14,2.0,14,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.137,-0.194
$KALMAN_X,13989.3,-53.0,124.6,-117167.6,-266.6
$KALMAN_Y,14466.1,-150.7,-286.9,-86811.8,2008.9
$MHEAD_RNG_PITCHd_Wd,196.6,90677,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,88,0.00,0.00,-57.67,0.000,2,0.000,0.000,31,2550,2083
$GC,93,-1.51,-146.6,3.0,-3.6,6,150,11.52,2.60,-37.97,0.000,4,0.145,0.064,2160,1133,3162
$GC,251,-1.51,-146.6,22.4,-14.9,20,255,0.00,2.55,0.00,0.000,6,0.000,0.045,2160,2556,3161
$GC,589,-1.51,-146.6,71.6,-14.1,69,595,0.00,2.53,0.00,0.000,4,0.000,0.051,2160,1146,3161
$GC,642,-1.51,-146.6,79.0,-13.8,78,648,0.00,2.50,0.00,0.000,6,0.000,0.045,2160,2554,3161
$GC,974,-1.51,-146.6,122.9,-13.5,110,978,0.00,2.05,0.00,0.000,4,0.000,0.082,2160,3636,3161
$GC,1089,-1.51,-146.6,137.5,-13.0,120,1092,0.00,1.92,0.00,0.000,6,0.000,0.047,2160,2535,3161
$GC,1425,-1.51,-146.6,175.7,-11.1,141,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2535,3161
$GC,1733,-1.51,-146.6,209.3,-10.9,156,1737,0.00,2.08,0.00,0.000,4,0.000,0.081,2160,3630,3161
$GC,1767,-1.51,-146.6,213.5,-11.2,157,1771,0.00,1.90,0.00,0.000,6,0.000,0.048,2160,2545,3161
$GC,2091,-1.51,-146.6,249.3,-11.3,173,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2545,3161
$GC,2399,-1.51,-146.6,283.6,-10.9,188,2403,0.00,2.50,0.00,0.000,4,0.000,0.058,2160,1158,3161
$GC,2439,-1.51,-146.6,288.1,-10.9,190,2443,0.00,2.47,0.00,0.000,6,0.000,0.049,2160,2551,3161
$GC,2803,-1.51,-146.6,325.7,-10.3,200,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2551,3161
$GC,3107,-1.51,-146.6,357.0,-10.3,205,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2551,3161
$GC,3408,-1.51,-146.6,387.8,-10.2,210,3413,0.00,2.58,0.00,0.000,4,0.000,0.067,2160,1158,3160
$GC,3471,-1.51,-146.6,394.3,-10.2,211,3476,0.00,2.55,0.00,0.000,6,0.000,0.061,2160,2551,3161
$GC,3837,-1.51,-146.6,432.9,-10.6,217,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2551,3160
$GC,4141,-1.51,-146.6,465.6,-10.8,222,4145,0.00,2.65,0.00,0.000,4,0.000,0.083,2160,1160,3160
$GC,4196,-1.51,-146.6,471.8,-10.5,222,4202,0.00,2.62,0.00,0.000,6,0.000,0.076,2160,2553,3160
$GC,4507,-1.51,-146.6,504.2,-10.5,228,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3159
$GC,4809,-1.51,-146.6,532.8,-9.3,233,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3158
$GC,5112,-1.51,-146.6,560.1,-9.0,238,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3158
$GC,5415,-1.51,-146.6,588.0,-9.3,243,5420,0.00,2.70,0.00,0.000,4,0.000,0.093,2160,1160,3158
$GC,5465,-1.51,-146.6,592.9,-9.8,243,5470,0.00,2.67,0.00,0.000,6,0.000,0.084,2160,2556,3157
$GC,5775,-1.51,-146.6,622.2,-9.4,248,5780,0.00,2.67,0.00,0.000,4,0.000,0.090,2160,1167,3157
$GC,5815,-1.51,-146.6,626.0,-9.6,248,5819,0.00,2.65,0.00,0.000,6,0.000,0.083,2161,2552,3157
$GC,6136,-1.51,-146.6,655.1,-9.1,254,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3157
$GC,6438,-1.51,-146.6,682.8,-9.2,259,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3156
$GC,6742,-1.51,-146.6,708.8,-8.5,264,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2553,3157
$GC,7045,-1.51,-146.6,733.7,-8.2,269,7049,0.00,2.67,0.00,0.000,4,0.000,0.088,2160,1161,3156
$GC,7100,-1.51,-146.6,738.5,-8.6,269,7107,0.00,2.65,0.00,0.000,6,0.000,0.082,2160,2554,3156
$GC,7410,-1.51,-146.6,764.8,-8.5,275,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2554,3156
$GC,7713,-1.51,-146.6,792.0,-9.0,280,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2554,3156
$GC,8018,-1.51,-146.6,821.2,-9.7,285,8022,0.00,2.67,0.00,0.000,4,0.000,0.087,2160,1158,3155
$GC,8080,-1.51,-146.6,827.5,-10.3,286,8085,0.00,2.65,0.00,0.000,6,0.000,0.082,2161,2550,3155
$GC,8447,-1.51,-146.6,863.9,-10.1,292,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2549,3155
$GC,8750,-1.51,-146.6,893.0,-9.6,297,8754,0.00,2.65,0.00,0.000,4,0.000,0.087,2160,1165,3155
$GC,8805,-1.51,-146.6,898.5,-9.8,297,8811,0.00,2.65,0.00,0.000,6,0.000,0.082,2160,2556,3155
$GC,9116,-1.51,-146.6,927.2,-9.2,303,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2556,3154
$GC,9419,-1.51,-146.6,953.9,-8.8,308,9423,0.00,2.67,0.00,0.000,4,0.000,0.087,2160,1160,3154
$GC,9458,-1.51,-146.6,957.6,-9.5,308,9462,0.00,2.65,0.00,0.000,6,0.000,0.081,2160,2553,3154
$GC,9779,-1.51,-146.6,986.3,-9.1,314,9783,0.00,2.67,0.00,0.000,4,0.000,0.086,2160,1157,3154
$STATE,9814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9814,begin apogee
$GC,9823,-0.45,0.0,990.1,10.2,314,9953,1.10,0.00,126.07,1.464,6,0.074,0.000,2396,2009,2564
$STATE,9954,end apogee,CONTROL_FINISHED_OK
$STATE,9954,begin climb
$GC,9958,1.51,146.6,994.2,0.0,316,10093,1.95,2.90,126.75,1.425,4,0.051,0.104,2829,615,1966
$GC,10353,1.51,146.6,975.9,8.1,322,10358,0.00,2.62,0.00,0.000,6,0.000,0.067,2830,2002,1966
$GC,10719,1.51,146.6,943.5,8.9,328,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2004,1965
$GC,11022,1.51,146.6,916.1,9.0,333,11027,0.00,2.75,0.00,0.000,4,0.000,0.097,2830,614,1965
$GC,11095,1.51,146.6,909.2,8.9,334,11099,0.00,2.60,0.00,0.000,6,0.000,0.067,2830,2001,1965
$GC,11449,1.51,146.6,877.4,9.0,340,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2001,1964
$GC,11752,1.51,146.6,851.3,8.5,345,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2002,1964
$GC,12056,1.52,148.2,826.9,7.9,350,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2002,1964
$GC,12359,1.53,158.7,803.8,7.6,355,12377,0.00,2.85,11.50,1.240,4,0.000,0.097,2830,618,1917
$GC,12447,1.53,159.3,796.6,8.0,356,12452,0.00,2.60,0.00,0.000,6,0.000,0.065,2829,2005,1917
$GC,12791,1.53,160.7,769.3,7.9,362,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2005,1917
$GC,13094,1.53,160.7,744.9,8.0,367,13098,0.00,2.75,0.00,0.000,4,0.000,0.097,2830,612,1917
$GC,13161,1.53,160.7,738.8,8.8,368,13165,0.00,2.60,0.00,0.000,6,0.000,0.064,2830,2009,1917
$GC,13521,1.53,160.7,707.5,8.8,374,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2009,1917
$GC,13824,1.53,160.7,680.2,9.1,379,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2010,1917
$GC,14127,1.53,160.7,653.4,8.8,384,14132,0.00,2.72,0.00,0.000,4,0.000,0.096,2830,617,1917
$GC,14195,1.53,160.7,647.4,8.8,385,14199,0.00,2.58,0.00,0.000,6,0.000,0.064,2830,2006,1917
$GC,14555,1.53,160.7,617.2,8.4,391,14559,0.00,2.75,0.00,0.000,4,0.000,0.100,2830,3412,1917
$GC,14605,1.53,160.7,612.6,9.4,391,14610,0.00,2.55,0.00,0.000,6,0.000,0.057,2830,2017,1917
$GC,14915,1.53,160.7,586.3,8.5,396,14916,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2017,1917
$GC,15218,1.53,160.7,560.4,8.6,401,15223,0.00,2.78,0.00,0.000,4,0.000,0.100,2830,592,1917
$GC,15296,1.53,160.7,553.4,8.4,402,15301,0.00,2.60,0.00,0.000,6,0.000,0.061,2829,2004,1917
$GC,15646,1.53,160.7,523.9,8.4,408,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2005,1917
$GC,15949,1.54,163.1,499.7,7.9,413,15956,0.00,0.00,5.62,0.923,6,0.000,0.000,2830,2006,1899
$GC,16252,1.54,165.9,475.9,7.9,418,16262,0.00,2.78,4.40,0.811,4,0.000,0.088,2830,591,1886
$GC,16318,1.54,165.9,470.2,8.8,419,16323,0.00,2.58,0.00,0.000,6,0.000,0.055,2830,2001,1887
$GC,16679,1.54,165.9,440.5,8.3,425,16683,0.00,2.67,0.00,0.000,4,0.000,0.085,2830,3410,1887
$GC,16741,1.54,165.9,434.8,9.1,426,16746,0.00,2.55,0.00,0.000,6,0.000,0.049,2829,1996,1887
$GC,17108,1.54,165.9,405.1,8.0,432,17109,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1996,1887
$GC,17411,1.56,185.8,382.8,7.2,437,17431,0.00,0.00,18.20,1.038,6,0.000,0.000,2829,1996,1806
$GC,17714,1.57,190.7,359.2,7.8,442,17721,0.00,0.00,5.78,0.849,6,0.000,0.000,2830,1996,1786
$GC,18017,1.57,190.7,334.0,8.4,447,18018,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1996,1786
$GC,18320,1.57,190.7,305.5,9.5,452,18321,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1995,1786
$GC,18628,1.57,190.7,276.4,9.2,465,18633,0.00,2.65,0.00,0.000,4,0.000,0.078,2829,587,1786
$GC,18701,1.57,190.7,269.7,8.5,468,18706,0.00,2.55,0.00,0.000,6,0.000,0.044,2830,2019,1786
$GC,19020,1.58,200.4,244.6,7.6,483,19036,0.00,0.00,10.05,0.895,6,0.000,0.000,2829,2020,1747
$GC,19348,1.58,200.4,216.6,8.7,499,19349,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2020,1747
$GC,19656,1.59,206.6,191.4,7.8,514,19665,0.00,0.00,7.12,0.811,6,0.000,0.000,2830,2020,1720
$GC,19967,1.60,216.8,168.1,7.6,529,19982,0.00,2.62,9.65,0.839,4,0.000,0.071,2829,3407,1680
$GC,20121,1.60,216.8,153.5,9.4,535,20126,0.00,2.53,0.00,0.000,6,0.000,0.042,2830,1981,1680
$GC,20447,1.60,216.8,124.2,8.8,564,20451,0.00,2.65,0.00,0.000,4,0.000,0.067,2829,3408,1680
$GC,20705,1.70,297.8,103.7,4.9,586,20778,0.17,2.47,65.97,0.858,6,0.075,0.041,2868,1996,1349
$GC,21105,1.70,297.8,68.7,9.7,633,21111,0.00,2.60,0.00,0.000,4,0.000,0.073,2868,600,1349
$GC,21237,1.70,297.8,54.5,11.1,656,21243,0.00,2.47,0.00,0.000,6,0.000,0.041,2868,2004,1349
$GC,21577,1.70,297.8,18.2,10.6,699,21581,0.00,2.60,0.00,0.000,4,0.000,0.071,2868,3404,1349
$GC,21632,1.70,297.8,12.0,11.8,703,21639,0.00,2.47,0.00,0.000,6,0.000,0.041,2868,1996,1349
$STATE,21732,end climb,SURFACE_DEPTH_REACHED
$STATE,21732,begin surface coast
$FINISH,0.7,1.023679
$STATE,21744,end surface coast,CONTROL_FINISHED_OK
$STATE,21744,begin surface
$SM_CCo,21771,73.15,0.764,1,0,932,400.08
$SM_GC,1.48,0.00,0.00,73.15,0.000,0.000,0.764,31,2555,932,-11.35,0.14,400.08
$IRIDIUM_FIX,4713.38,-12656.65,030797,070705
$TT8_MAMPS,0.026078
$HUMID,1807
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.2,10.564
$10V_AH,10.1,4.985
$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,28.050,144.650,391.125,73.150,0.000,31.375,24.446,129.039,8.750,0.000,0.000,14.707,1435.912,17603.797,607.611,1932.529,592.523,33.362,1575.848,0.000,1891.990,0.000,56.607
$DEVICE_MAMPS,144.963,104.312,1464.203,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.222,573.625,786.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34803,714
$CAP_FILE_SIZE,131730,0
$CFSIZE,260165632,255746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080408,194837,4726.734,-12703.803,28,1.8,28,18.7