version: 66.03
glider: 101
mission: 5
dive: 37
start: 4 6 108 14 44 5
data:
$ID,101
$MISSION,5
$DIVE,37
$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,-691372.94
$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,30
$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
$GPS1,143732,4740.709,-12637.212,41,1.5,41,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.2
$GPS2,144302,4740.702,-12637.175,10,1.8,15,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.183,-0.184
$KALMAN_X,13323.3,-45.9,104.8,-86296.5,-86.3
$KALMAN_Y,5215.7,-17.2,-264.6,-55089.7,875.3
$MHEAD_RNG_PITCHd_Wd,205.9,128942,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-70.00,0.000,2,0.000,0.000,31,2610,2323
$GC,105,-1.81,-146.6,3.7,-5.0,7,142,10.98,0.00,-22.50,0.000,6,0.137,0.000,2098,2610,3163
$GC,471,-1.81,-146.6,73.4,-20.3,56,477,0.00,2.53,0.00,0.000,4,0.000,0.051,2098,1198,3162
$GC,522,-1.81,-146.6,83.1,-18.0,63,529,0.00,2.50,0.00,0.000,6,0.000,0.046,2098,2603,3162
$GC,851,-1.81,-146.6,139.6,-17.5,94,855,0.00,1.95,0.00,0.000,4,0.000,0.082,2098,3633,3161
$GC,966,-1.81,-146.6,159.4,-16.9,102,969,0.00,1.83,0.00,0.000,6,0.000,0.048,2098,2589,3162
$GC,1299,-1.81,-146.6,209.1,-14.7,118,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2589,3162
$GC,1609,-1.81,-146.6,252.8,-14.1,133,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2589,3162
$GC,1918,-1.81,-146.6,295.9,-14.0,148,1922,0.00,2.47,0.00,0.000,4,0.000,0.057,2099,1211,3162
$GC,1982,-1.81,-146.6,304.8,-14.0,151,1986,0.00,2.50,0.00,0.000,6,0.000,0.051,2098,2604,3162
$GC,2350,-1.81,-146.6,356.6,-14.1,157,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2604,3161
$GC,2650,-1.81,-146.6,399.2,-14.1,162,2655,0.00,2.58,0.00,0.000,4,0.000,0.068,2098,1209,3161
$GC,2701,-1.81,-146.6,406.2,-13.3,162,2706,0.00,2.55,0.00,0.000,6,0.000,0.063,2099,2605,3161
$GC,3011,-1.81,-146.6,447.5,-13.3,167,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3161
$GC,3314,-1.81,-146.6,487.3,-13.1,172,3318,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1209,3160
$GC,3398,-1.81,-146.6,498.0,-12.4,173,3403,0.00,2.67,0.00,0.000,6,0.000,0.087,2098,2597,3160
$GC,3741,-1.81,-146.6,540.3,-12.2,179,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2597,3160
$GC,4047,-1.81,-146.6,576.4,-11.9,184,4051,0.00,2.67,0.00,0.000,4,0.000,0.091,2098,1214,3159
$GC,4091,-1.81,-146.6,582.2,-12.3,184,4096,0.00,2.67,0.00,0.000,6,0.000,0.087,2098,2602,3159
$GC,4407,-1.81,-146.6,619.6,-12.0,190,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2603,3159
$GC,4711,-1.81,-146.6,655.8,-12.1,195,4715,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1209,3159
$GC,4761,-1.81,-146.6,662.1,-11.9,195,4765,0.00,2.67,0.00,0.000,6,0.000,0.084,2098,2604,3158
$GC,5071,-1.81,-146.6,698.6,-11.9,200,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2604,3158
$GC,5374,-1.81,-146.6,733.2,-11.3,205,5378,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1209,3158
$GC,5429,-1.81,-146.6,739.4,-10.9,205,5435,0.00,2.67,0.00,0.000,6,0.000,0.084,2098,2605,3158
$GC,5739,-1.81,-146.6,772.8,-10.8,211,5744,0.00,2.67,0.00,0.000,4,0.000,0.086,2098,1209,3157
$GC,5796,-1.81,-146.6,779.1,-10.5,211,5802,0.00,2.65,0.00,0.000,6,0.000,0.082,2098,2601,3157
$GC,6106,-1.81,-146.6,813.3,-11.2,217,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3157
$GC,6409,-1.81,-146.6,848.0,-11.4,222,6413,0.00,2.65,0.00,0.000,4,0.000,0.087,2098,1217,3157
$GC,6449,-1.81,-146.6,852.5,-11.2,222,6453,0.00,2.65,0.00,0.000,6,0.000,0.081,2098,2606,3157
$GC,6771,-1.81,-146.6,887.0,-10.8,228,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2606,3157
$GC,7073,-1.81,-146.6,919.1,-10.6,233,7077,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1211,3157
$GC,7111,-1.81,-146.6,923.5,-11.4,233,7116,0.00,2.65,0.00,0.000,6,0.000,0.082,2098,2602,3156
$GC,7433,-1.81,-146.6,958.5,-11.0,239,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2602,3156
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7733,begin apogee
$GC,7741,-0.45,0.0,992.3,11.2,244,7870,1.42,0.00,125.78,1.479,6,0.077,0.000,2399,2225,2564
$STATE,7871,end apogee,CONTROL_FINISHED_OK
$STATE,7871,begin climb
$GC,7875,1.81,146.6,997.5,0.0,246,8008,2.25,0.00,128.18,1.420,6,0.046,0.000,2898,2225,1965
$GC,8279,1.82,150.6,972.9,9.8,253,8290,0.00,2.85,5.32,1.009,4,0.000,0.095,2898,789,1948
$GC,8543,1.82,150.6,943.8,11.1,257,8548,0.00,2.70,0.00,0.000,6,0.000,0.074,2898,2201,1949
$GC,8910,1.82,150.6,902.7,11.1,263,8914,0.00,2.78,0.00,0.000,4,0.000,0.092,2898,790,1948
$GC,9168,1.82,150.6,872.6,12.0,266,9174,0.00,2.67,0.00,0.000,6,0.000,0.074,2898,2202,1948
$GC,9478,1.82,150.6,838.5,11.0,272,9482,0.00,2.78,0.00,0.000,4,0.000,0.091,2898,784,1947
$GC,9735,1.82,150.6,808.5,11.9,275,9741,0.00,2.67,0.00,0.000,6,0.000,0.073,2898,2202,1947
$GC,10045,1.82,150.6,775.2,10.7,281,10050,0.00,2.75,0.00,0.000,4,0.000,0.091,2898,791,1947
$GC,10259,1.82,150.6,751.9,11.6,284,10263,0.00,2.67,0.00,0.000,6,0.000,0.073,2898,2204,1947
$GC,10607,1.82,150.6,716.3,10.2,290,10612,0.00,2.75,0.00,0.000,4,0.000,0.091,2898,791,1946
$GC,10866,1.82,150.6,688.8,11.0,293,10872,0.00,2.67,0.00,0.000,6,0.000,0.073,2898,2209,1947
$GC,11176,1.82,150.6,657.6,10.2,299,11180,0.00,2.75,0.00,0.000,4,0.000,0.090,2898,784,1947
$GC,11383,1.82,150.6,635.9,10.1,302,11388,0.00,2.67,0.00,0.000,6,0.000,0.072,2898,2204,1946
$GC,11738,1.83,165.6,602.4,9.3,308,11757,0.00,2.80,13.82,1.160,4,0.000,0.090,2898,791,1888
$GC,11988,1.83,165.6,577.7,10.6,311,11992,0.00,2.67,0.00,0.000,6,0.000,0.071,2898,2209,1888
$GC,12303,1.84,170.3,547.0,9.8,317,12316,0.00,2.80,6.12,0.966,4,0.000,0.087,2898,781,1868
$GC,12474,1.84,170.3,529.0,10.8,319,12479,0.00,2.67,0.00,0.000,6,0.000,0.068,2898,2209,1868
$GC,12801,1.84,170.3,496.2,10.1,325,12806,0.00,2.72,0.00,0.000,4,0.000,0.084,2898,790,1869
$GC,13026,1.84,170.3,471.8,11.1,328,13031,0.00,2.60,0.00,0.000,6,0.000,0.061,2898,2202,1869
$GC,13363,1.84,170.3,437.2,10.2,334,13368,0.00,2.67,0.00,0.000,4,0.000,0.075,2897,784,1869
$GC,13621,1.84,170.3,411.5,10.1,337,13628,0.00,2.58,0.00,0.000,6,0.000,0.054,2898,2209,1869
$GC,13932,1.86,188.9,383.2,9.1,343,13955,0.00,2.78,16.48,1.037,4,0.000,0.068,2898,782,1794
$GC,14142,1.88,199.5,362.2,9.5,346,14158,0.00,2.55,10.70,0.973,6,0.000,0.049,2898,2202,1751
$GC,14496,1.88,199.5,323.7,11.2,352,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2202,1750
$GC,14801,1.88,199.5,285.9,12.4,359,14805,0.00,2.62,0.00,0.000,4,0.000,0.067,2898,787,1750
$GC,15025,1.88,199.5,258.8,10.5,369,15029,0.00,2.53,0.00,0.000,6,0.000,0.045,2898,2208,1750
$GC,15346,1.88,199.5,225.2,10.3,385,15351,0.00,2.62,0.00,0.000,4,0.000,0.065,2898,786,1750
$GC,15493,1.88,199.5,209.9,10.8,391,15499,0.00,2.53,0.00,0.000,6,0.000,0.045,2898,2210,1750
$GC,15811,1.88,200.6,178.5,9.9,407,15815,0.00,2.62,0.00,0.000,4,0.000,0.064,2898,780,1750
$GC,15912,1.89,210.3,168.6,9.5,411,15927,0.00,2.53,10.57,0.866,6,0.000,0.044,2898,2208,1706
$GC,16251,1.89,212.4,135.2,9.9,434,16255,0.00,2.62,0.00,0.000,4,0.000,0.079,2898,3600,1706
$GC,16291,1.89,212.4,130.9,10.3,437,16296,0.00,2.53,0.00,0.000,6,0.000,0.045,2898,2177,1706
$GC,16617,1.99,288.8,101.1,6.4,467,16689,0.15,2.58,64.32,0.867,4,0.057,0.064,2938,803,1385
$GC,16729,1.99,288.8,89.0,14.3,477,16736,0.00,2.50,0.00,0.000,6,0.000,0.044,2938,2202,1385
$GC,17070,1.99,288.8,48.3,12.0,531,17076,0.00,2.58,0.00,0.000,4,0.000,0.061,2938,796,1386
$GC,17212,1.99,288.8,31.2,11.4,549,17218,0.00,2.47,0.00,0.000,6,0.000,0.043,2938,2200,1385
$STATE,17460,end climb,SURFACE_DEPTH_REACHED
$STATE,17460,begin surface coast
$FINISH,0.7,1.020124
$STATE,17472,end surface coast,CONTROL_FINISHED_OK
$STATE,17472,begin surface
$SM_CCo,17500,78.53,0.776,0,0,932,400.08
$SM_GC,1.34,0.00,0.00,78.53,0.000,0.000,0.776,33,2610,932,-11.35,0.28,400.08
$IRIDIUM_FIX,4726.11,-12636.20,010797,090952
$TT8_MAMPS,0.026078
$HUMID,1807
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,23.2,8.996
$10V_AH,10.1,4.166
$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,29.075,148.025,381.300,78.525,0.000,27.991,37.381,135.314,9.000,0.000,0.000,15.713,1286.817,13380.748,634.624,2046.430,571.167,33.367,1612.351,0.000,1990.181,0.000,58.236
$DEVICE_MAMPS,136.526,95.108,1478.776,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.539,454.103,633.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28578,574
$CAP_FILE_SIZE,124112,0
$CFSIZE,260165632,256311296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,060408,193826,4739.710,-12640.142,40,1.5,40,18.8