version: 66.03
glider: 101
mission: 5
dive: 42
start: 4 7 108 16 5 6
data:
$ID,101
$MISSION,5
$DIVE,42
$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,-691449.06
$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,14
$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,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
$GPS1,155838,4733.600,-12650.475,30,1.1,30,18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-58.0
$GPS2,160403,4733.568,-12650.437,12,1.4,12,18.8
$SPEED_LIMITS,0.165,0.247
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.152,-0.211
$KALMAN_X,14021.3,17.8,55.8,-103402.5,223.8
$KALMAN_Y,9792.5,-172.3,-580.3,-72403.4,2061.9
$MHEAD_RNG_PITCHd_Wd,196.9,107633,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-60.00,0.000,2,0.000,0.000,33,2609,2125
$GC,95,-1.81,-146.6,3.1,-3.6,6,149,11.43,2.00,-34.70,0.000,4,0.155,0.102,2098,3627,3162
$GC,319,-1.81,-146.6,42.7,-20.3,27,326,0.00,1.88,0.00,0.000,6,0.000,0.045,2098,2571,3162
$GC,656,-1.81,-146.6,103.2,-16.3,75,661,0.00,2.45,0.00,0.000,4,0.000,0.051,2098,1202,3162
$GC,690,-1.81,-146.6,109.4,-17.5,77,697,0.00,2.50,0.00,0.000,6,0.000,0.044,2098,2605,3162
$GC,1017,-1.81,-146.6,159.5,-14.9,105,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3162
$GC,1324,-1.81,-146.6,205.2,-14.5,120,1328,0.00,2.50,0.00,0.000,4,0.000,0.051,2098,1207,3162
$GC,1403,-1.81,-146.6,216.5,-14.4,123,1407,0.00,2.50,0.00,0.000,6,0.000,0.046,2098,2605,3162
$GC,1719,-1.81,-146.6,258.3,-13.1,138,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2605,3161
$GC,2029,-1.81,-146.6,298.8,-13.2,153,2033,0.00,2.53,0.00,0.000,4,0.000,0.054,2098,1209,3162
$GC,2079,-1.81,-146.6,305.6,-12.8,154,2083,0.00,2.50,0.00,0.000,6,0.000,0.050,2098,2600,3162
$GC,2389,-1.81,-146.6,343.7,-12.3,159,2393,0.00,2.53,0.00,0.000,4,0.000,0.058,2098,1211,3162
$GC,2433,-1.81,-146.6,349.4,-12.3,159,2438,0.00,2.50,0.00,0.000,6,0.000,0.053,2098,2599,3162
$GC,2749,-1.81,-146.6,389.3,-12.8,165,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2599,3161
$GC,3054,-1.81,-146.6,429.1,-13.2,170,3059,0.00,2.60,0.00,0.000,4,0.000,0.072,2098,1207,3161
$GC,3122,-1.81,-146.6,438.9,-13.6,171,3126,0.00,2.60,0.00,0.000,6,0.000,0.068,2098,2601,3161
$GC,3482,-1.81,-146.6,487.6,-13.5,177,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3161
$GC,3787,-1.81,-146.6,527.9,-13.2,182,3791,0.00,2.70,0.00,0.000,4,0.000,0.094,2098,1217,3160
$GC,3850,-1.81,-146.6,536.5,-14.1,183,3854,0.00,2.70,0.00,0.000,6,0.000,0.089,2098,2604,3160
$GC,4215,-1.81,-146.6,583.8,-12.9,189,4220,0.00,2.70,0.00,0.000,4,0.000,0.091,2098,1211,3160
$GC,4260,-1.81,-146.6,589.7,-13.2,189,4264,0.00,2.67,0.00,0.000,6,0.000,0.085,2098,2601,3159
$GC,4575,-1.81,-146.6,629.7,-12.7,195,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3159
$GC,4879,-1.81,-146.6,666.1,-12.1,200,4883,0.00,2.67,0.00,0.000,4,0.000,0.088,2098,1216,3158
$GC,4929,-1.81,-146.6,672.5,-11.7,200,4933,0.00,2.65,0.00,0.000,6,0.000,0.084,2098,2601,3158
$GC,5239,-1.81,-146.6,708.4,-11.7,205,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3158
$GC,5542,-1.81,-146.6,743.6,-11.6,210,5547,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1210,3157
$GC,5576,-1.81,-146.6,747.6,-12.0,210,5580,0.00,2.67,0.00,0.000,6,0.000,0.082,2098,2607,3157
$GC,5902,-1.81,-146.6,784.9,-11.5,216,5907,0.00,2.67,0.00,0.000,4,0.000,0.087,2098,1217,3157
$GC,5941,-1.81,-146.6,789.8,-12.1,216,5945,0.00,2.65,0.00,0.000,6,0.000,0.083,2098,2601,3157
$GC,6262,-1.81,-146.6,827.8,-11.9,222,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2601,3157
$GC,6564,-1.81,-146.6,862.7,-11.5,227,6569,0.00,2.65,0.00,0.000,4,0.000,0.086,2098,1217,3156
$GC,6620,-1.81,-146.6,869.1,-10.9,227,6626,0.00,2.65,0.00,0.000,6,0.000,0.083,2098,2603,3156
$GC,6931,-1.81,-146.6,903.1,-10.9,233,6935,0.00,2.65,0.00,0.000,4,0.000,0.086,2098,1210,3156
$GC,6970,-1.81,-146.6,907.5,-11.1,233,6974,0.00,2.65,0.00,0.000,6,0.000,0.081,2098,2602,3156
$GC,7290,-1.81,-146.6,941.5,-10.6,239,7295,0.00,2.65,0.00,0.000,4,0.000,0.085,2098,1217,3156
$GC,7335,-1.81,-146.6,946.4,-11.5,239,7340,0.00,2.65,0.00,0.000,6,0.000,0.081,2098,2607,3156
$GC,7652,-1.81,-146.6,978.5,-10.2,245,7656,0.00,2.67,0.00,0.000,4,0.000,0.085,2098,1210,3156
$GC,7708,-1.81,-146.6,984.5,-10.6,245,7713,0.00,2.65,0.00,0.000,6,0.000,0.081,2098,2602,3155
$STATE,7772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7772,begin apogee
$GC,7780,-0.45,0.0,991.7,10.9,247,7911,1.42,0.00,126.68,1.463,6,0.074,0.000,2400,2222,2564
$STATE,7912,end apogee,CONTROL_FINISHED_OK
$STATE,7912,begin climb
$GC,7915,1.81,146.6,996.1,0.0,249,8051,2.20,2.90,126.50,1.426,4,0.046,0.098,2901,792,1966
$GC,8301,1.81,146.6,968.2,11.3,254,8307,0.00,2.70,0.00,0.000,6,0.000,0.074,2901,2203,1966
$GC,8611,1.81,146.6,934.1,11.0,260,8616,0.00,2.80,0.00,0.000,4,0.000,0.095,2901,791,1965
$GC,8870,1.81,146.6,904.8,11.4,263,8876,0.00,2.70,0.00,0.000,6,0.000,0.074,2902,2209,1965
$GC,9180,1.81,146.6,872.0,10.5,269,9184,0.00,2.78,0.00,0.000,4,0.000,0.094,2901,791,1965
$GC,9361,1.81,146.6,853.2,10.2,271,9366,0.00,2.67,0.00,0.000,6,0.000,0.074,2901,2201,1965
$GC,9677,1.81,146.6,819.7,10.7,277,9682,0.00,2.78,0.00,0.000,4,0.000,0.094,2901,791,1965
$GC,9828,1.81,146.6,803.1,11.0,279,9833,0.00,2.67,0.00,0.000,6,0.000,0.074,2901,2206,1964
$GC,10172,1.81,149.5,769.0,9.9,285,10181,0.00,2.80,4.18,0.888,4,0.000,0.093,2901,789,1954
$GC,10284,1.81,149.5,757.7,10.0,286,10289,0.00,2.67,0.00,0.000,6,0.000,0.071,2901,2200,1954
$GC,10606,1.82,157.4,726.6,9.6,292,10620,0.00,2.85,8.32,1.137,4,0.000,0.093,2901,791,1922
$GC,10772,1.82,157.4,709.4,10.5,294,10777,0.00,2.67,0.00,0.000,6,0.000,0.072,2901,2202,1922
$GC,11105,1.83,165.3,677.5,9.6,300,11119,0.00,2.83,8.65,1.123,4,0.000,0.091,2901,792,1889
$GC,11323,1.83,165.3,654.2,10.9,303,11327,0.00,2.65,0.00,0.000,6,0.000,0.071,2901,2201,1890
$GC,11671,1.83,165.3,616.4,10.9,309,11676,0.00,2.75,0.00,0.000,4,0.000,0.091,2901,791,1890
$GC,11843,1.83,165.3,597.0,11.2,311,11847,0.00,2.65,0.00,0.000,6,0.000,0.070,2901,2201,1889
$GC,12169,1.83,165.3,560.8,11.1,317,12173,0.00,2.75,0.00,0.000,4,0.000,0.091,2901,789,1890
$GC,12320,1.83,165.3,544.5,10.0,319,12325,0.00,2.65,0.00,0.000,6,0.000,0.069,2901,2203,1889
$GC,12664,1.84,173.7,511.2,9.6,325,12678,0.00,2.78,8.80,1.042,4,0.000,0.087,2901,790,1855
$GC,12786,1.85,176.0,499.1,9.9,326,12798,0.00,2.62,3.85,0.747,6,0.000,0.064,2902,2202,1846
$GC,13102,1.86,184.7,469.0,9.6,332,13116,0.00,2.75,8.82,1.019,4,0.000,0.081,2901,791,1811
$GC,13324,1.86,184.7,445.4,10.8,335,13329,0.00,2.60,0.00,0.000,6,0.000,0.056,2901,2211,1811
$GC,13667,1.86,184.7,410.1,10.4,341,13672,0.00,2.67,0.00,0.000,4,0.000,0.073,2901,789,1811
$GC,13880,1.86,184.7,387.6,10.6,344,13884,0.00,2.55,0.00,0.000,6,0.000,0.050,2901,2206,1811
$GC,14229,1.86,187.5,353.0,9.9,350,14238,0.00,2.67,4.40,0.764,4,0.000,0.067,2901,786,1799
$GC,14388,1.87,194.0,336.8,9.7,352,14402,0.00,2.53,6.97,0.897,6,0.000,0.045,2901,2203,1773
$GC,14730,1.87,194.0,300.1,10.8,358,14734,0.00,2.62,0.00,0.000,4,0.000,0.066,2901,789,1773
$GC,14942,1.87,194.0,276.8,10.8,365,14949,0.00,2.50,0.00,0.000,6,0.000,0.045,2902,2203,1773
$GC,15259,1.87,198.2,245.6,9.8,381,15267,0.00,0.00,5.50,0.792,6,0.000,0.000,2901,2203,1756
$GC,15570,1.88,201.4,214.8,9.8,396,15580,0.00,2.65,4.95,0.740,4,0.000,0.065,2901,785,1741
$GC,15834,1.88,201.4,187.3,10.1,408,15839,0.00,2.53,0.00,0.000,6,0.000,0.044,2901,2208,1741
$GC,16162,1.88,203.8,154.6,9.9,424,16164,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2208,1741
$GC,16479,1.90,221.0,123.6,9.2,451,16502,0.00,2.72,17.33,0.864,4,0.000,0.062,2901,789,1662
$GC,16755,1.90,222.7,95.1,9.9,475,16762,0.00,2.47,0.00,0.000,6,0.000,0.042,2901,2201,1662
$GC,17089,1.98,282.2,70.2,7.2,518,17146,0.12,2.65,50.17,0.835,4,0.067,0.061,2932,789,1413
$GC,17400,1.98,282.2,36.4,12.6,570,17406,0.00,2.50,0.00,0.000,6,0.000,0.042,2932,2204,1413
$STATE,17694,end climb,SURFACE_DEPTH_REACHED
$STATE,17694,begin surface coast
$FINISH,0.8,1.014704
$STATE,17702,end surface coast,CONTROL_FINISHED_OK
$STATE,17702,begin surface
$SM_CCo,17730,82.70,0.762,1,0,932,400.08
$SM_GC,1.73,0.00,0.00,82.70,0.000,0.000,0.762,30,2601,932,-11.36,0.03,400.08
$IRIDIUM_FIX,4719.74,-12646.45,020797,111128
$TT8_MAMPS,0.026078
$HUMID,1827
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,18.5
$24V_AH,23.2,9.846
$10V_AH,10.1,4.612
$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,29.450,169.625,385.125,82.700,0.000,23.492,29.757,145.026,9.500,0.000,0.000,12.859,1342.343,13442.302,615.388,2168.239,584.711,33.367,1680.949,0.000,2111.959,0.000,58.237
$DEVICE_MAMPS,154.934,102.011,1462.669,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.546,475.396,677.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28432,599
$CAP_FILE_SIZE,132405,0
$CFSIZE,260165632,256004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,070408,210326,4732.430,-12653.046,41,1.3,41,18.8