version: 66.03
glider: 101
mission: 5
dive: 25
start: 4 4 108 1 28 9
data:
$ID,101
$MISSION,5
$DIVE,25
$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,-691124.56
$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,16
$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
$GPS1,012137,4757.955,-12600.418,35,1.2,35,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.5
$GPS2,012707,4757.944,-12600.405,17,1.1,32,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.135,-0.222
$KALMAN_X,12822.8,1182.1,361.5,-41817.6,-2824.8
$KALMAN_Y,771.6,-28.1,-205.1,-18757.6,279.7
$MHEAD_RNG_PITCHd_Wd,192.5,185294,-17.9,-10.000
$D_GRID,1000
$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,-1.81,-146.6,0.0,0.0,0,80,0.00,0.00,-49.70,0.000,2,0.000,0.000,33,2605,2003
$GC,85,-1.81,-146.6,3.2,-4.1,5,133,11.70,0.00,-33.50,0.000,6,0.163,0.000,2096,2605,3163
$GC,461,-1.81,-146.6,72.4,-17.9,55,467,0.00,2.55,0.00,0.000,4,0.000,0.050,2096,1188,3162
$GC,531,-1.81,-146.6,84.0,-16.6,65,535,0.00,2.55,0.00,0.000,6,0.000,0.046,2096,2605,3162
$GC,861,-1.81,-146.6,134.2,-15.2,95,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2605,3162
$GC,1181,-1.81,-146.6,181.6,-14.8,116,1185,0.00,2.55,0.00,0.000,4,0.000,0.050,2096,1188,3162
$GC,1237,-1.81,-146.6,189.8,-13.8,118,1243,0.00,2.53,0.00,0.000,6,0.000,0.046,2096,2602,3162
$GC,1553,-1.81,-146.6,231.7,-12.7,134,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2603,3163
$GC,1863,-1.81,-146.6,273.0,-13.7,149,1867,0.00,2.55,0.00,0.000,4,0.000,0.052,2096,1188,3162
$GC,1948,-1.81,-146.6,284.5,-13.3,153,1952,0.00,2.55,0.00,0.000,6,0.000,0.049,2096,2603,3162
$GC,2313,-1.81,-146.6,333.5,-13.4,163,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3162
$GC,2614,-1.81,-146.6,372.8,-12.9,168,2618,0.00,2.60,0.00,0.000,4,0.000,0.061,2096,1188,3162
$GC,2659,-1.81,-146.6,378.8,-12.4,168,2664,0.00,2.58,0.00,0.000,6,0.000,0.058,2096,2598,3162
$GC,2975,-1.81,-146.6,420.6,-13.4,174,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2599,3161
$GC,3278,-1.81,-146.6,460.8,-13.3,179,3282,0.00,2.70,0.00,0.000,4,0.000,0.081,2096,1184,3161
$GC,3322,-1.81,-146.6,466.5,-13.3,179,3327,0.00,2.70,0.00,0.000,6,0.000,0.077,2096,2603,3161
$GC,3638,-1.81,-146.6,505.9,-12.5,185,3643,0.00,2.78,0.00,0.000,4,0.000,0.094,2096,1187,3161
$GC,3672,-1.81,-146.6,510.3,-11.8,185,3677,0.00,2.78,0.00,0.000,6,0.000,0.094,2096,2602,3161
$GC,3999,-1.81,-146.6,550.2,-12.4,191,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3160
$GC,4303,-1.81,-146.6,587.5,-12.3,196,4307,0.00,2.75,0.00,0.000,4,0.000,0.092,2096,1193,3159
$GC,4370,-1.81,-146.6,596.1,-12.5,197,4374,0.00,2.75,0.00,0.000,6,0.000,0.091,2096,2602,3159
$GC,4730,-1.81,-146.6,641.5,-12.8,203,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2602,3159
$GC,5034,-1.81,-146.6,680.7,-12.9,208,5038,0.00,2.72,0.00,0.000,4,0.000,0.088,2096,1193,3158
$GC,5107,-1.81,-146.6,690.1,-12.1,209,5111,0.00,2.72,0.00,0.000,6,0.000,0.087,2096,2601,3158
$GC,5461,-1.81,-146.6,734.9,-12.7,215,5465,0.00,2.72,0.00,0.000,4,0.000,0.087,2096,1189,3158
$GC,5516,-1.81,-146.6,742.1,-13.2,215,5523,0.00,2.72,0.00,0.000,6,0.000,0.086,2096,2602,3158
$GC,5827,-1.81,-146.6,778.9,-11.8,221,5832,0.00,2.72,0.00,0.000,4,0.000,0.087,2096,1188,3157
$GC,5872,-1.81,-146.6,784.3,-11.7,221,5877,0.00,2.72,0.00,0.000,6,0.000,0.084,2096,2601,3157
$GC,6188,-1.81,-146.6,819.5,-11.1,227,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3157
$GC,6493,-1.81,-146.6,851.9,-10.7,232,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2601,3157
$GC,6794,-1.81,-146.6,884.6,-10.8,237,6798,0.00,2.72,0.00,0.000,4,0.000,0.087,2096,1186,3157
$GC,6838,-1.81,-146.6,889.6,-11.4,237,6843,0.00,2.72,0.00,0.000,6,0.000,0.083,2096,2605,3156
$GC,7153,-1.81,-146.6,924.5,-11.1,243,7158,0.00,2.70,0.00,0.000,4,0.000,0.085,2096,1196,3156
$GC,7187,-1.81,-146.6,928.3,-11.4,243,7191,0.00,2.72,0.00,0.000,6,0.000,0.084,2096,2607,3156
$GC,7519,-1.81,-146.6,964.9,-11.0,249,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2607,3156
$STATE,7758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7758,begin apogee
$GC,7767,-0.45,0.0,991.9,11.1,253,7897,1.45,0.00,126.55,1.467,6,0.081,0.000,2399,2192,2564
$STATE,7898,end apogee,CONTROL_FINISHED_OK
$STATE,7898,begin climb
$GC,7901,1.81,146.6,997.3,0.0,255,8039,2.25,2.85,126.78,1.427,4,0.047,0.100,2896,791,1966
$GC,8146,1.81,146.6,987.6,10.3,259,8150,0.00,2.72,0.00,0.000,6,0.000,0.076,2896,2202,1966
$GC,8495,1.81,146.6,952.4,10.1,265,8499,0.00,2.80,0.00,0.000,4,0.000,0.096,2896,789,1965
$GC,8671,1.83,159.1,934.9,9.4,267,8693,0.00,2.72,12.18,1.265,6,0.000,0.075,2896,2209,1915
$GC,8996,1.83,159.1,902.0,10.1,273,9001,0.00,2.80,0.00,0.000,4,0.000,0.093,2896,791,1915
$GC,9114,1.83,159.1,889.3,10.8,274,9118,0.00,2.70,0.00,0.000,6,0.000,0.075,2896,2201,1915
$GC,9424,1.83,159.1,857.4,10.2,279,9428,0.00,2.80,0.00,0.000,4,0.000,0.094,2896,785,1915
$GC,9530,1.83,159.1,846.0,10.3,280,9534,0.00,2.72,0.00,0.000,6,0.000,0.076,2896,2208,1914
$GC,9851,1.83,159.1,811.3,10.9,286,9855,0.00,2.80,0.00,0.000,4,0.000,0.094,2896,789,1915
$GC,9934,1.83,159.1,801.8,11.1,287,9939,0.00,2.70,0.00,0.000,6,0.000,0.075,2896,2202,1914
$GC,10278,1.83,159.1,763.8,11.1,293,10282,0.00,2.78,0.00,0.000,4,0.000,0.093,2896,791,1914
$GC,10487,1.83,159.1,740.1,10.6,296,10491,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2208,1914
$GC,10841,1.83,159.1,702.7,10.5,302,10845,0.00,2.78,0.00,0.000,4,0.000,0.092,2896,791,1914
$GC,11099,1.83,159.1,675.6,10.9,305,11105,0.00,2.67,0.00,0.000,6,0.000,0.075,2896,2198,1914
$GC,11409,1.83,159.1,644.5,10.1,311,11413,0.00,2.78,0.00,0.000,4,0.000,0.091,2896,783,1914
$GC,11639,1.83,159.1,620.4,10.5,314,11643,0.00,2.70,0.00,0.000,6,0.000,0.074,2896,2208,1913
$GC,11971,1.83,159.1,585.2,10.6,320,11975,0.00,2.78,0.00,0.000,4,0.000,0.090,2896,787,1914
$GC,12094,1.83,163.1,572.4,9.8,321,12104,0.00,2.67,4.88,0.897,6,0.000,0.072,2896,2202,1899
$GC,12465,1.84,172.4,536.8,9.6,328,12480,0.00,2.80,9.45,1.066,4,0.000,0.089,2896,787,1861
$GC,12642,1.84,172.4,518.7,10.0,330,12647,0.00,2.67,0.00,0.000,6,0.000,0.067,2896,2208,1861
$GC,12958,1.84,173.2,487.2,10.0,336,12962,0.00,2.75,0.00,0.000,4,0.000,0.084,2896,781,1861
$GC,13193,1.84,173.2,462.8,10.1,339,13197,0.00,2.62,0.00,0.000,6,0.000,0.062,2896,2201,1861
$GC,13520,1.84,174.3,430.7,9.9,345,13524,0.00,2.67,0.00,0.000,4,0.000,0.075,2896,788,1861
$GC,13637,1.84,174.3,418.4,10.5,346,13648,0.00,2.58,3.97,0.741,6,0.000,0.054,2896,2202,1853
$GC,13952,1.85,180.5,388.0,9.7,352,13966,0.00,2.75,6.82,0.922,4,0.000,0.069,2896,781,1828
$GC,14040,1.86,190.4,378.9,9.5,353,14055,0.00,2.58,9.80,0.973,6,0.000,0.049,2896,2203,1787
$GC,14382,1.86,190.4,342.7,10.6,359,14387,0.00,2.65,0.00,0.000,4,0.000,0.066,2897,784,1787
$GC,14559,1.86,190.4,323.1,12.0,361,14564,0.00,2.58,0.00,0.000,6,0.000,0.048,2896,2213,1787
$GC,14882,1.86,190.4,287.4,10.9,369,14887,0.00,2.65,0.00,0.000,4,0.000,0.064,2896,784,1787
$GC,15129,1.86,190.4,260.7,10.1,380,15133,0.00,2.55,0.00,0.000,6,0.000,0.045,2896,2211,1787
$GC,15451,1.86,190.4,226.3,10.5,396,15455,0.00,2.65,0.00,0.000,4,0.000,0.064,2896,779,1787
$GC,15708,1.87,194.4,199.1,9.8,407,15718,0.00,2.53,5.47,0.766,6,0.000,0.044,2896,2199,1770
$GC,16041,1.87,194.4,165.8,10.2,424,16045,0.00,2.60,0.00,0.000,4,0.000,0.061,2896,787,1770
$GC,16197,1.88,200.4,150.5,9.7,431,16210,0.00,2.53,6.60,0.782,6,0.000,0.044,2896,2202,1747
$GC,16537,1.91,224.7,117.6,8.9,462,16563,0.00,2.67,21.20,0.864,4,0.000,0.060,2896,781,1646
$GC,16783,1.91,224.7,91.5,10.7,483,16790,0.00,2.53,0.00,0.000,6,0.000,0.044,2896,2201,1647
$GC,17122,1.96,264.6,59.1,8.1,534,17163,0.12,2.65,32.72,0.824,4,0.071,0.059,2925,781,1485
$GC,17419,1.97,274.0,29.8,9.6,577,17433,0.00,2.53,9.50,0.739,6,0.000,0.042,2925,2203,1445
$STATE,17747,end climb,SURFACE_DEPTH_REACHED
$STATE,17747,begin surface coast
$FINISH,0.6,1.006030
$STATE,17769,end surface coast,CONTROL_FINISHED_OK
$STATE,17769,begin surface
$SM_CCo,17797,100.12,0.772,0,0,932,400.08
$SM_GC,1.81,0.00,0.00,100.12,0.000,0.000,0.772,34,2607,932,-11.34,0.20,400.08
$IRIDIUM_FIX,4742.09,-12556.92,280697,202018
$TT8_MAMPS,0.026078
$HUMID,1809
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.5
$24V_AH,23.2,6.960
$10V_AH,10.1,3.097
$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,29.900,167.675,375.925,100.125,0.000,28.268,30.177,126.396,9.500,0.000,0.000,32.875,1342.402,13547.197,623.121,2160.358,563.727,33.348,1662.435,0.000,2084.866,0.000,58.251
$DEVICE_MAMPS,163.371,99.710,1466.504,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.872,493.881,693.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31708,610
$CAP_FILE_SIZE,130796,0
$CFSIZE,260165632,257040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040408,062758,4755.682,-12602.063,30,2.1,49,18.8