version: 66.03
glider: 101
mission: 5
dive: 47
start: 4 8 108 19 55 8
data:
$ID,101
$MISSION,5
$DIVE,47
$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,-691595.06
$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,22
$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
$GPS1,194837,4726.734,-12703.803,28,1.8,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.6
$GPS2,195407,4726.771,-12703.783,11,1.5,27,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.160,-0.175
$KALMAN_X,14548.3,131.6,-58.0,-120428.6,425.5
$KALMAN_Y,15642.6,-470.9,225.2,-91349.5,1734.3
$MHEAD_RNG_PITCHd_Wd,203.8,86602,-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,28,-1.51,-146.6,0.0,0.0,0,88,0.00,0.00,-57.85,0.000,2,0.000,0.000,31,2555,2076
$GC,93,-1.51,-146.6,3.1,-3.8,6,151,11.45,2.60,-37.45,0.000,4,0.141,0.065,2164,1146,3163
$GC,187,-1.51,-146.6,13.3,-12.8,15,191,0.00,2.50,0.00,0.000,6,0.000,0.044,2164,2550,3162
$GC,521,-1.51,-146.6,60.4,-13.9,57,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2550,3162
$GC,859,-1.51,-146.6,108.8,-13.9,100,862,0.00,2.05,0.00,0.000,4,0.000,0.084,2164,3631,3162
$GC,962,-1.51,-146.6,123.2,-13.3,109,965,0.00,1.92,0.00,0.000,6,0.000,0.046,2164,2533,3162
$GC,1293,-1.51,-146.6,162.2,-11.4,135,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2533,3162
$GC,1600,-1.51,-146.6,196.1,-11.1,150,1604,0.00,2.47,0.00,0.000,4,0.000,0.054,2164,1154,3162
$GC,1650,-1.51,-146.6,201.8,-11.0,152,1654,0.00,2.47,0.00,0.000,6,0.000,0.044,2165,2552,3162
$GC,1967,-1.51,-146.6,234.9,-10.2,167,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2553,3163
$GC,2276,-1.51,-146.6,266.0,-9.9,182,2280,0.00,2.50,0.00,0.000,4,0.000,0.053,2164,1161,3162
$GC,2316,-1.51,-146.6,270.1,-10.3,184,2321,0.00,2.47,0.00,0.000,6,0.000,0.047,2164,2557,3162
$GC,2684,-1.51,-146.6,306.2,-10.0,200,2688,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1152,3162
$GC,2723,-1.51,-146.6,310.3,-9.8,200,2727,0.00,2.50,0.00,0.000,6,0.000,0.048,2164,2551,3162
$GC,3044,-1.51,-146.6,343.0,-10.2,206,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2551,3162
$GC,3348,-1.51,-146.6,374.3,-10.3,211,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2551,3162
$GC,3651,-1.51,-146.6,404.9,-10.1,216,3655,0.00,2.58,0.00,0.000,4,0.000,0.070,2164,1164,3161
$GC,3740,-1.51,-146.6,414.1,-10.2,217,3744,0.00,2.55,0.00,0.000,6,0.000,0.063,2164,2553,3161
$GC,4078,-1.51,-146.6,447.2,-9.8,223,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2553,3161
$GC,4381,-1.51,-146.6,476.0,-9.4,228,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2553,3160
$GC,4684,-1.51,-146.6,503.3,-9.0,233,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2553,3160
$GC,4987,-1.51,-146.6,530.6,-9.0,238,4992,0.00,2.70,0.00,0.000,4,0.000,0.094,2164,1167,3160
$GC,5050,-1.51,-146.6,536.4,-9.6,239,5055,0.00,2.67,0.00,0.000,6,0.000,0.088,2165,2548,3159
$GC,5416,-1.51,-146.6,571.6,-9.8,245,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2548,3159
$GC,5719,-1.51,-146.6,601.1,-9.7,250,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2549,3159
$GC,6022,-1.51,-146.6,627.9,-8.8,255,6027,0.00,2.67,0.00,0.000,4,0.000,0.089,2165,1160,3158
$GC,6067,-1.51,-146.6,631.9,-8.5,255,6071,0.00,2.67,0.00,0.000,6,0.000,0.083,2164,2558,3158
$GC,6382,-1.51,-146.6,656.9,-7.9,261,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2558,3158
$GC,6687,-1.51,-146.6,682.0,-8.3,266,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2558,3158
$GC,6988,-1.51,-146.6,708.3,-8.7,271,6993,0.00,2.67,0.00,0.000,4,0.000,0.088,2164,1166,3157
$GC,7061,-1.51,-146.6,715.0,-9.1,272,7066,0.00,2.65,0.00,0.000,6,0.000,0.082,2164,2555,3157
$GC,7415,-1.51,-146.6,747.4,-9.2,278,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2555,3157
$GC,7718,-1.51,-146.6,774.5,-8.9,283,7723,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1161,3157
$GC,7782,-1.51,-146.6,780.0,-8.6,284,7786,0.00,2.65,0.00,0.000,6,0.000,0.081,2165,2552,3157
$GC,8147,-1.51,-146.6,812.1,-8.8,290,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2552,3156
$GC,8450,-1.51,-146.6,838.9,-8.9,295,8454,0.00,2.65,0.00,0.000,4,0.000,0.086,2164,1167,3157
$GC,8489,-1.51,-146.6,842.5,-9.1,295,8493,0.00,2.62,0.00,0.000,6,0.000,0.081,2164,2550,3156
$GC,8810,-1.51,-146.6,870.6,-8.8,301,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2550,3156
$GC,9113,-1.51,-146.6,896.1,-8.4,306,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2550,3156
$GC,9416,-1.51,-146.6,921.1,-8.3,311,9420,0.00,2.65,0.00,0.000,4,0.000,0.085,2165,1166,3155
$GC,9455,-1.51,-146.6,924.6,-8.9,311,9459,0.00,2.62,0.00,0.000,6,0.000,0.080,2164,2550,3155
$GC,9776,-1.51,-146.6,952.2,-8.7,317,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2550,3155
$GC,10079,-1.51,-146.6,979.8,-9.1,322,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2550,3155
$STATE,10196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10196,begin apogee
$GC,10205,-0.45,0.0,991.0,9.2,324,10335,1.10,0.00,126.35,1.470,6,0.077,0.000,2398,2024,2564
$STATE,10336,end apogee,CONTROL_FINISHED_OK
$STATE,10336,begin climb
$GC,10340,1.51,146.6,996.9,0.0,326,10475,1.95,2.95,127.05,1.424,4,0.053,0.104,2826,594,1966
$GC,10723,1.51,146.6,978.7,8.5,331,10729,0.00,2.65,0.00,0.000,6,0.000,0.067,2826,2000,1966
$GC,11033,1.51,146.6,952.4,8.5,337,11037,0.00,2.80,0.00,0.000,4,0.000,0.104,2826,3410,1966
$GC,11089,1.51,146.6,947.2,9.3,337,11095,0.00,2.62,0.00,0.000,6,0.000,0.061,2826,1996,1965
$GC,11399,1.51,146.6,919.1,9.1,343,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1996,1965
$GC,11702,1.51,146.6,892.2,8.9,348,11706,0.00,2.80,0.00,0.000,4,0.000,0.097,2827,3410,1965
$GC,11757,1.51,146.6,887.0,8.5,348,11763,0.00,2.62,0.00,0.000,6,0.000,0.061,2827,1990,1965
$GC,12067,1.51,146.6,860.2,8.5,354,12072,0.00,2.80,0.00,0.000,4,0.000,0.096,2826,3410,1965
$GC,12123,1.51,146.6,855.0,9.5,354,12129,0.00,2.60,0.00,0.000,6,0.000,0.060,2826,2001,1965
$GC,12433,1.51,146.6,829.1,8.3,360,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1965
$GC,12736,1.53,156.6,805.9,7.6,365,12748,0.00,0.00,9.90,1.220,6,0.000,0.000,2826,2000,1925
$GC,13039,1.55,176.2,784.0,7.3,370,13060,0.00,0.00,18.75,1.287,6,0.000,0.000,2826,2000,1845
$GC,13342,1.55,176.2,759.4,8.2,375,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2000,1845
$GC,13645,1.55,176.2,732.4,9.0,380,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2000,1845
$GC,13948,1.55,176.2,702.5,9.9,385,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2000,1845
$GC,14251,1.55,176.2,672.5,9.9,390,14253,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2000,1845
$GC,14554,1.55,176.2,643.5,9.5,395,14559,0.00,2.78,0.00,0.000,4,0.000,0.094,2826,3417,1845
$GC,14610,1.55,176.2,638.1,9.0,395,14616,0.00,2.60,0.00,0.000,6,0.000,0.058,2826,1998,1845
$GC,14920,1.55,176.2,610.3,8.9,401,14921,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1998,1845
$GC,15223,1.55,176.2,584.1,8.6,406,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1998,1845
$GC,15526,1.55,176.2,557.1,8.9,411,15531,0.00,2.75,0.00,0.000,4,0.000,0.091,2826,3411,1845
$GC,15594,1.55,176.2,550.7,9.9,412,15598,0.00,2.58,0.00,0.000,6,0.000,0.056,2826,1997,1845
$GC,15954,1.55,176.2,519.0,8.9,418,15958,0.00,2.75,0.00,0.000,4,0.000,0.098,2826,588,1845
$GC,16043,1.55,176.2,510.7,8.3,419,16048,0.00,2.60,0.00,0.000,6,0.000,0.059,2826,2005,1845
$GC,16382,1.55,176.2,480.5,9.0,425,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2005,1845
$GC,16684,1.55,176.2,454.2,8.7,430,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2007,1845
$GC,16987,1.55,176.2,427.6,8.7,435,16992,0.00,2.65,0.00,0.000,4,0.000,0.084,2826,3409,1845
$GC,17043,1.55,176.2,422.4,9.0,435,17050,0.00,2.55,0.00,0.000,6,0.000,0.050,2826,1986,1845
$GC,17354,1.55,176.2,395.1,8.8,441,17355,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1986,1845
$GC,17656,1.55,176.2,369.7,8.3,446,17658,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1986,1845
$GC,17960,1.56,181.6,345.9,7.8,451,17973,0.00,2.70,6.43,0.887,4,0.000,0.078,2826,594,1823
$GC,18036,1.56,181.6,339.4,8.2,452,18040,0.00,2.53,0.00,0.000,6,0.000,0.044,2826,2018,1823
$GC,18390,1.56,181.6,310.6,8.2,458,18392,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2018,1823
$GC,18698,1.57,190.5,286.8,7.7,467,18709,0.00,0.00,8.95,0.917,6,0.000,0.000,2826,2018,1787
$GC,19007,1.57,192.2,262.8,7.9,482,19008,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2018,1787
$GC,19314,1.57,192.2,237.7,8.2,497,19315,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2018,1787
$GC,19624,1.59,206.7,214.2,7.4,512,19642,0.00,0.00,14.85,0.917,6,0.000,0.000,2826,2018,1720
$GC,19954,1.59,206.7,186.5,8.8,528,19959,0.00,2.67,0.00,0.000,4,0.000,0.071,2826,590,1720
$GC,20089,1.59,206.7,173.1,10.7,534,20093,0.00,2.50,0.00,0.000,6,0.000,0.042,2826,2010,1720
$GC,20412,1.60,212.5,145.7,7.8,552,20425,0.00,2.65,6.85,0.784,4,0.000,0.066,2826,597,1696
$GC,20539,1.60,212.5,135.6,8.3,563,20544,0.00,2.50,0.00,0.000,6,0.000,0.043,2826,2010,1696
$GC,20865,1.62,228.2,111.6,7.4,593,20885,0.12,0.00,14.15,0.839,6,0.061,0.000,2859,2010,1632
$GC,21204,1.67,273.5,86.5,6.3,625,21248,0.00,2.67,37.25,0.840,4,0.000,0.070,2859,3398,1448
$GC,21312,1.67,273.5,77.9,9.4,637,21319,0.00,2.50,0.00,0.000,6,0.000,0.041,2859,1993,1447
$GC,21659,1.67,273.5,48.1,8.8,698,21665,0.00,2.60,0.00,0.000,4,0.000,0.072,2859,598,1448
$GC,21712,1.67,273.5,43.5,8.8,707,21718,0.00,2.47,0.00,0.000,6,0.000,0.041,2859,2002,1448
$GC,22041,1.67,273.5,14.6,8.4,741,22042,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2002,1448
$STATE,22186,end climb,SURFACE_DEPTH_REACHED
$STATE,22186,begin surface coast
$FINISH,0.7,1.003840
$STATE,22209,end surface coast,CONTROL_FINISHED_OK
$STATE,22209,begin surface
$SM_CCo,22236,88.78,0.753,2,0,933,400.08
$SM_GC,1.67,0.00,0.00,88.78,0.000,0.000,0.753,33,2550,933,-11.35,0.00,400.08
$IRIDIUM_FIX,4710.21,-12703.65,030797,131352
$TT8_MAMPS,0.026078
$HUMID,1796
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.2,10.730
$10V_AH,10.1,5.080
$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,28.350,131.975,370.525,88.775,0.000,29.006,26.875,132.619,8.750,0.000,0.000,27.352,1473.302,18064.652,631.851,1899.242,604.027,33.354,1558.958,0.000,1855.829,0.000,56.607
$DEVICE_MAMPS,141.128,104.312,1469.572,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.654,600.866,851.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37976,757
$CAP_FILE_SIZE,129565,0
$CFSIZE,260165632,255684608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090408,020838,4724.946,-12706.826,33,1.7,33,18.7