version: 66.03
glider: 101
mission: 5
dive: 332
start: 7 2 108 12 4 23
data:
$ID,101
$MISSION,5
$DIVE,332
$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,550
$T_MISSION,570
$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,120
$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,350
$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,-697782.12
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,31
$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,2473
$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
$GPS1,115738,4700.351,-12757.780,38,1.6,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-66.0
$GPS2,120321,4700.341,-12757.764,11,1.8,11,18.6
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.087,0.057
$KALMAN_X,1852.2,-93.0,13.0,-174304.4,-336.8
$KALMAN_Y,189389.1,322.3,249.9,-314870.2,-2226.0
$MHEAD_RNG_PITCHd_Wd,284.8,2894,-26.9,-6.000
$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,-2.48,-29.1,0.0,0.0,0,71,0.00,0.00,-40.05,0.000,2,0.000,0.000,31,2562,1901
$GC,75,-2.49,-39.2,3.3,-4.6,4,120,9.98,2.60,-28.25,0.000,4,0.123,0.059,1954,1147,2634
$GC,373,-2.36,-39.2,64.9,-21.2,30,380,0.15,2.47,0.00,0.000,6,0.148,0.041,1979,2550,2635
$GC,703,-2.29,-39.2,128.5,-18.6,50,708,0.10,2.53,0.00,0.000,4,0.120,0.047,1996,1142,2636
$GC,960,-2.29,-39.2,168.5,-13.5,59,966,0.00,2.50,0.00,0.000,6,0.000,0.041,1996,2555,2635
$GC,1293,-2.29,-39.2,212.3,-13.3,68,1297,0.00,2.53,0.00,0.000,4,0.000,0.049,1995,1146,2636
$GC,1384,-2.29,-39.2,225.0,-13.8,70,1388,0.00,2.50,0.00,0.000,6,0.000,0.043,1996,2555,2636
$GC,1702,-2.29,-39.2,268.9,-13.7,78,1707,0.00,2.53,0.00,0.000,4,0.000,0.050,1995,1146,2635
$GC,1776,-2.29,-39.2,279.4,-14.2,79,1780,0.00,2.50,0.00,0.000,6,0.000,0.045,1995,2555,2635
$GC,2107,-2.29,-39.2,323.9,-13.4,85,2111,0.00,2.55,0.00,0.000,4,0.000,0.056,1995,1147,2635
$GC,2179,-2.29,-39.2,333.9,-13.1,85,2183,0.00,2.50,0.00,0.000,6,0.000,0.048,1995,2551,2634
$GC,2510,-2.29,-39.2,377.5,-13.3,89,2514,0.00,2.58,0.00,0.000,4,0.000,0.062,1995,1146,2635
$GC,2571,-2.29,-39.2,385.9,-13.1,89,2576,0.00,2.55,0.00,0.000,6,0.000,0.054,1995,2555,2634
$GC,2912,-2.29,-39.2,429.2,-12.7,94,2916,0.00,2.62,0.00,0.000,4,0.000,0.070,1995,1146,2634
$GC,3008,-2.29,-39.2,441.5,-12.5,95,3012,0.00,2.60,0.00,0.000,6,0.000,0.064,1995,2553,2634
$GC,3326,-2.29,-39.2,478.9,-11.8,99,3330,0.00,2.67,0.00,0.000,4,0.000,0.081,1996,1149,2633
$GC,3387,-2.29,-39.2,486.7,-12.3,99,3391,0.00,2.65,0.00,0.000,6,0.000,0.076,1995,2550,2633
$GC,3728,-2.29,-39.2,526.1,-11.5,104,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2550,2632
$GC,4049,-2.29,-39.2,563.4,-11.5,108,4054,0.00,2.70,0.00,0.000,4,0.000,0.088,1995,1153,2631
$GC,4128,-2.29,-39.2,573.1,-12.0,108,4134,0.00,2.67,0.00,0.000,6,0.000,0.081,1996,2551,2631
$GC,4458,-2.29,-39.2,612.5,-12.0,113,4462,0.00,2.67,0.00,0.000,4,0.000,0.086,1996,1156,2630
$GC,4508,-2.29,-39.2,618.6,-11.4,113,4512,0.00,2.65,0.00,0.000,6,0.000,0.079,1995,2550,2630
$GC,4859,-2.29,-39.2,659.5,-11.7,118,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2551,2630
$GC,5182,-2.29,-39.2,695.2,-11.1,122,5186,0.00,2.67,0.00,0.000,4,0.000,0.084,1996,1151,2630
$GC,5244,-2.29,-39.2,701.8,-10.6,122,5248,0.00,2.65,0.00,0.000,6,0.000,0.077,1995,2549,2630
$GC,5584,-2.29,-39.2,736.1,-10.1,127,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2549,2629
$GC,5906,-2.29,-39.2,768.1,-9.9,131,5911,0.00,2.67,0.00,0.000,4,0.000,0.084,1995,1152,2629
$GC,6030,-2.29,-39.2,780.3,-9.9,132,6034,0.00,2.65,0.00,0.000,6,0.000,0.077,1995,2549,2628
$GC,6398,-2.33,-39.2,816.0,-9.7,137,6403,0.00,2.67,0.00,0.000,4,0.000,0.084,1995,1151,2628
$GC,6543,-2.37,-39.2,830.3,-9.9,138,6547,0.00,2.65,0.00,0.000,6,0.000,0.077,1995,2549,2628
$GC,6894,-2.43,-39.2,866.3,-10.2,143,6896,0.10,0.00,0.00,0.000,6,0.084,0.000,1972,2549,2627
$GC,7217,-2.43,-39.2,900.9,-10.7,147,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2549,2627
$GC,7539,-2.43,-39.2,934.1,-10.3,151,7543,0.00,2.67,0.00,0.000,4,0.000,0.084,1972,1153,2627
$GC,7618,-2.43,-39.2,942.2,-10.0,151,7624,0.00,2.65,0.00,0.000,6,0.000,0.077,1972,2549,2627
$GC,7950,-2.43,-39.2,975.6,-10.1,156,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2550,2627
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8114,-0.45,0.0,991.7,10.0,158,8154,2.10,0.00,35.45,1.437,6,0.095,0.000,2399,2010,2473
$STATE,8154,end apogee,CONTROL_FINISHED_OK
$STATE,8155,begin climb
$GC,8158,2.49,39.2,991.7,0.0,158,8202,2.90,0.00,37.00,1.402,6,0.053,0.000,3047,2010,2313
$GC,8568,2.34,68.9,985.2,1.8,163,8599,0.20,0.00,28.08,1.390,6,0.127,0.000,3013,2010,2192
$GC,8890,2.20,68.9,963.8,6.8,167,8892,0.17,0.00,0.00,0.000,6,0.139,0.000,2983,2010,2192
$GC,9213,2.11,68.9,940.6,7.2,171,9215,0.12,0.00,0.00,0.000,6,0.143,0.000,2963,2010,2192
$GC,9535,2.06,68.9,918.8,6.8,175,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2010,2192
$GC,9859,2.06,68.9,897.6,6.6,179,9863,0.00,2.78,0.00,0.000,4,0.000,0.095,2963,3415,2192
$GC,10067,1.98,68.9,883.9,6.0,181,10072,0.17,2.62,0.00,0.000,6,0.144,0.060,2934,1996,2192
$GC,10441,1.99,73.3,863.4,5.4,186,10449,0.00,0.00,5.65,1.062,6,0.000,0.000,2934,1996,2174
$GC,10764,1.99,78.4,846.3,5.3,190,10777,0.00,2.85,6.43,1.107,4,0.000,0.092,2934,3412,2153
$GC,10917,1.99,78.4,837.1,6.7,191,10922,0.00,2.62,0.00,0.000,6,0.000,0.059,2934,1996,2153
$GC,11264,1.99,79.2,816.3,5.9,196,11268,0.00,2.78,0.00,0.000,4,0.000,0.102,2934,593,2153
$GC,11521,1.99,79.2,799.7,6.8,198,11527,0.00,2.62,0.00,0.000,6,0.000,0.064,2934,2001,2153
$GC,11851,1.99,79.2,778.5,6.5,203,11855,0.00,2.78,0.00,0.000,4,0.000,0.093,2934,590,2153
$GC,12108,1.99,79.2,760.2,7.2,205,12114,0.00,2.62,0.00,0.000,6,0.000,0.064,2934,2004,2153
$GC,12437,1.99,79.2,738.9,6.5,210,12442,0.00,2.75,0.00,0.000,4,0.000,0.091,2934,588,2153
$GC,12696,2.00,80.9,722.5,5.8,212,12705,0.00,2.62,3.85,0.821,6,0.000,0.064,2934,1999,2143
$GC,13035,2.00,82.0,702.6,5.8,217,13039,0.00,2.75,0.00,0.000,4,0.000,0.090,2934,591,2143
$GC,13108,2.00,84.8,698.4,5.6,217,13119,0.00,2.62,5.35,0.976,6,0.000,0.063,2934,2005,2127
$GC,13443,2.00,86.8,679.2,5.7,222,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2005,2127
$GC,13765,2.01,91.2,661.7,5.4,226,13779,0.00,2.85,7.72,1.078,4,0.000,0.091,2934,593,2101
$GC,14000,2.01,91.2,646.3,6.5,228,14004,0.00,2.62,0.00,0.000,6,0.000,0.062,2934,2006,2101
$GC,14352,2.05,91.2,624.4,6.2,233,14356,0.00,2.70,0.00,0.000,4,0.000,0.093,2933,3410,2101
$GC,14407,2.05,91.2,620.7,6.2,233,14412,0.00,2.58,0.00,0.000,6,0.000,0.056,2934,1997,2101
$GC,14754,2.05,91.2,598.9,6.3,238,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1997,2101
$GC,15076,2.05,93.2,580.4,5.7,242,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1997,2101
$GC,15399,2.09,93.5,561.2,6.0,246,15408,0.00,2.75,3.97,0.784,4,0.000,0.083,2934,3413,2091
$GC,15499,2.09,93.5,554.5,7.0,247,15503,0.00,2.58,0.00,0.000,6,0.000,0.053,2934,1997,2091
$GC,15815,2.14,93.5,534.5,6.3,251,15821,0.15,2.72,0.00,0.000,4,0.059,0.081,2976,3415,2091
$GC,16076,2.06,93.5,516.8,6.7,253,16082,0.15,2.58,0.00,0.000,6,0.146,0.051,2952,1995,2091
$GC,16405,2.07,100.1,499.8,5.1,258,16419,0.00,2.80,7.05,0.979,4,0.000,0.078,2953,3415,2065
$GC,16552,2.07,100.1,491.7,6.3,259,16556,0.00,2.58,0.00,0.000,6,0.000,0.049,2953,1992,2065
$GC,16904,2.08,103.3,472.2,5.5,264,16911,0.00,0.00,5.00,0.853,6,0.000,0.000,2953,1992,2051
$GC,17226,2.08,103.3,452.8,6.0,268,17230,0.00,2.70,0.00,0.000,4,0.000,0.076,2953,3414,2051
$GC,17332,2.08,103.3,445.8,6.5,269,17337,0.00,2.55,0.00,0.000,6,0.000,0.047,2952,1994,2051
$GC,17718,2.08,103.3,422.4,6.1,274,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1994,2051
$GC,18040,2.08,107.7,405.1,5.4,278,18051,0.00,2.70,5.95,0.886,4,0.000,0.071,2953,3415,2032
$GC,18164,2.08,107.7,398.6,6.0,279,18168,0.00,2.55,0.00,0.000,6,0.000,0.045,2952,1989,2032
$GC,18533,2.09,113.3,379.4,5.2,284,18541,0.00,0.00,6.53,0.897,6,0.000,0.000,2952,1989,2011
$GC,18855,2.13,113.3,359.9,6.1,288,18859,0.00,2.67,0.00,0.000,4,0.000,0.070,2953,3415,2011
$GC,19113,2.13,113.3,343.9,6.7,290,19119,0.00,2.53,0.00,0.000,6,0.000,0.043,2953,1991,2011
$GC,19442,2.13,114.8,324.9,5.8,295,19443,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1991,2012
$GC,19765,2.18,116.9,306.6,5.7,299,19775,0.00,2.67,5.32,0.805,4,0.000,0.067,2953,3415,1996
$GC,20029,2.18,116.9,288.8,6.1,303,20034,0.00,2.53,0.00,0.000,6,0.000,0.042,2953,1994,1996
$GC,20355,2.24,119.9,269.4,5.6,311,20364,0.15,0.00,4.35,0.716,6,0.061,0.000,2994,1994,1984
$GC,20686,2.24,119.9,248.4,6.4,319,20690,0.00,2.60,0.00,0.000,4,0.000,0.074,2994,601,1984
$GC,20899,2.18,119.9,234.1,7.3,323,20905,0.00,2.50,0.00,0.000,6,0.000,0.041,2994,2019,1984
$GC,21231,2.18,119.9,213.3,6.6,332,21236,0.00,2.65,0.00,0.000,4,0.000,0.067,2994,595,1985
$GC,21272,2.12,119.9,210.6,6.5,333,21277,0.20,2.50,0.00,0.000,6,0.163,0.041,2963,2012,1985
$GC,21598,2.16,119.9,189.7,6.8,341,21602,0.00,2.58,0.00,0.000,4,0.000,0.070,2963,3408,1985
$GC,21810,2.16,119.9,174.9,6.6,345,21816,0.00,2.47,0.00,0.000,6,0.000,0.041,2962,1996,1985
$GC,22143,2.21,132.6,158.9,4.2,354,22162,0.00,2.70,12.23,0.858,4,0.000,0.064,2962,3401,1931
$GC,22416,2.22,137.3,144.6,5.3,362,22427,0.00,2.47,6.10,0.745,6,0.000,0.040,2962,1994,1913
$GC,22739,2.30,147.0,128.1,4.6,377,22755,0.15,2.62,10.05,0.815,4,0.060,0.070,3005,602,1872
$GC,23008,2.33,168.7,114.1,3.0,388,23033,0.00,2.47,19.70,0.842,6,0.000,0.038,3005,2011,1785
$GC,23358,2.33,172.1,95.5,5.5,405,23368,0.00,2.65,4.82,0.657,4,0.000,0.063,3005,602,1771
$GC,23622,2.34,178.0,79.7,5.2,417,23635,0.00,2.47,6.55,0.717,6,0.000,0.038,3005,2009,1747
$GC,23956,2.41,197.2,65.2,3.3,448,23976,0.00,0.00,18.17,0.801,6,0.000,0.000,3005,2008,1669
$GC,24292,2.50,197.2,44.3,6.5,480,24297,0.15,2.58,0.00,0.000,4,0.053,0.065,3047,3400,1669
$GC,24551,2.50,197.2,26.8,6.8,502,24557,0.00,2.45,0.00,0.000,6,0.000,0.038,3047,1996,1669
$GC,24881,2.53,218.6,10.2,3.0,533,24906,0.00,2.65,19.30,0.757,4,0.000,0.059,3047,3390,1581
$STATE,25006,end climb,SURFACE_DEPTH_REACHED
$STATE,25006,begin surface coast
$FINISH,1.3,1.024322
$STATE,25042,end surface coast,CONTROL_FINISHED_OK
$STATE,25042,begin surface
$SM_CCo,25070,115.93,0.683,8,0,1046,350.04
$SM_GC,2.24,0.00,0.00,115.93,0.000,0.000,0.683,25,2524,1046,-11.39,-0.74,350.04
$IRIDIUM_FIX,4641.78,-12752.78,260997,030323
$TT8_MAMPS,0.025311
$HUMID,1830
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,19.80
$XPDR_PINGS,2
$24V_AH,22.9,55.483
$10V_AH,10.2,34.583
$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,30.475,193.875,264.625,115.925,0.000,29.155,24.715,148.318,9.250,0.000,0.000,11.494,1467.103,20285.160,590.891,2526.594,700.963,33.374,1851.704,0.000,2455.754,0.000,56.615
$DEVICE_MAMPS,163.371,102.011,1436.591,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.733,442.469,385.381,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28441,547
$CAP_FILE_SIZE,167830,0
$CFSIZE,260165632,235278336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,8,0
$GPS,020708,190607,4700.683,-12800.339,35,1.1,36,18.6