version: 66.03
glider: 101
mission: 5
dive: 49
start: 4 9 108 8 39 13
data:
$ID,101
$MISSION,5
$DIVE,49
$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,-691631.88
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,083157,4723.225,-12709.489,37,4.9,56,18.7
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,3
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.8
$GPS2,083808,4723.277,-12709.498,13,1.4,18,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.222,-0.085
$KALMAN_X,14485.7,-203.4,-641.4,-126505.2,2810.9
$KALMAN_Y,17483.3,282.3,308.3,-100499.4,335.2
$MHEAD_RNG_PITCHd_Wd,230.3,76988,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.51,-146.6,0.0,0.0,0,87,0.00,0.00,-59.72,0.000,2,0.000,0.000,32,2550,2111
$GC,92,-1.51,-146.6,3.0,-4.0,6,146,11.73,2.10,-36.80,0.000,4,0.153,0.095,2162,3619,3163
$GC,400,-1.51,-146.6,47.7,-15.6,37,407,0.00,1.92,0.00,0.000,6,0.000,0.046,2162,2538,3161
$GC,740,-1.51,-146.6,96.8,-13.6,87,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2538,3161
$GC,1058,-1.51,-146.6,136.6,-11.2,117,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2538,3161
$GC,1373,-1.51,-146.6,171.2,-11.1,138,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2538,3161
$GC,1681,-1.51,-146.6,204.8,-10.7,153,1684,0.00,2.05,0.00,0.000,4,0.000,0.080,2162,3621,3161
$GC,1714,-1.51,-146.6,209.0,-12.0,154,1718,0.00,1.88,0.00,0.000,6,0.000,0.048,2162,2552,3161
$GC,2037,-1.51,-146.6,244.0,-10.8,170,2041,0.00,2.50,0.00,0.000,4,0.000,0.056,2162,1160,3161
$GC,2082,-1.51,-146.6,249.1,-10.8,172,2086,0.00,2.45,0.00,0.000,6,0.000,0.046,2162,2548,3161
$GC,2404,-1.51,-146.6,282.8,-10.5,188,2408,0.00,2.50,0.00,0.000,4,0.000,0.055,2162,1157,3161
$GC,2459,-1.51,-146.6,289.1,-10.5,190,2466,0.00,2.47,0.00,0.000,6,0.000,0.048,2162,2549,3161
$GC,2814,-1.51,-146.6,327.0,-10.8,200,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2549,3161
$GC,3115,-1.51,-146.6,358.2,-10.2,205,3119,0.00,2.55,0.00,0.000,4,0.000,0.062,2162,1154,3161
$GC,3148,-1.51,-146.6,361.8,-10.4,205,3152,0.00,2.53,0.00,0.000,6,0.000,0.055,2162,2549,3160
$GC,3474,-1.51,-146.6,393.7,-9.7,211,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2549,3160
$GC,3777,-1.51,-146.6,422.6,-9.4,216,3782,0.00,2.58,0.00,0.000,4,0.000,0.071,2162,1164,3160
$GC,3828,-1.51,-146.6,427.6,-9.8,216,3832,0.00,2.55,0.00,0.000,6,0.000,0.064,2162,2548,3160
$GC,4139,-1.51,-146.6,458.6,-10.1,221,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2548,3159
$GC,4441,-1.51,-146.6,489.8,-10.3,226,4445,0.00,2.67,0.00,0.000,4,0.000,0.089,2161,1161,3159
$GC,4519,-1.51,-146.6,497.8,-10.4,227,4524,0.00,2.67,0.00,0.000,6,0.000,0.085,2162,2554,3158
$GC,4868,-1.51,-146.6,533.0,-10.1,233,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2554,3158
$GC,5171,-1.51,-146.6,563.5,-10.1,238,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2554,3157
$GC,5474,-1.51,-146.6,593.1,-9.7,243,5478,0.00,2.70,0.00,0.000,4,0.000,0.091,2162,1159,3157
$GC,5552,-1.51,-146.6,600.8,-9.6,244,5557,0.00,2.67,0.00,0.000,6,0.000,0.084,2162,2556,3157
$GC,5902,-1.51,-146.6,634.3,-9.6,250,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2556,3156
$GC,6204,-1.51,-146.6,664.3,-10.0,255,6209,0.00,2.67,0.00,0.000,4,0.000,0.089,2162,1166,3156
$GC,6267,-1.51,-146.6,670.3,-9.7,256,6271,0.00,2.65,0.00,0.000,6,0.000,0.082,2161,2551,3156
$GC,6633,-1.51,-146.6,702.3,-8.6,262,6638,0.00,2.67,0.00,0.000,4,0.000,0.088,2162,1162,3156
$GC,6678,-1.51,-146.6,706.2,-8.9,262,6683,0.00,2.65,0.00,0.000,6,0.000,0.081,2161,2553,3156
$GC,6993,-1.51,-146.6,732.2,-8.4,268,6998,0.00,2.67,0.00,0.000,4,0.000,0.088,2162,1164,3156
$GC,7156,-1.51,-146.6,746.3,-8.4,270,7161,0.00,2.65,0.00,0.000,6,0.000,0.082,2162,2553,3155
$GC,7489,-1.51,-146.6,774.7,-8.5,276,7496,0.00,2.67,0.00,0.000,4,0.000,0.087,2162,1156,3155
$GC,7649,-1.51,-146.6,788.6,-8.9,278,7653,0.00,2.67,0.00,0.000,6,0.000,0.082,2162,2556,3155
$GC,7992,-1.51,-146.6,817.6,-8.5,284,7996,0.00,2.67,0.00,0.000,4,0.000,0.087,2162,1158,3155
$GC,8087,-1.51,-146.6,826.0,-9.2,285,8091,0.00,2.65,0.00,0.000,6,0.000,0.083,2162,2551,3155
$GC,8421,-1.51,-146.6,853.6,-8.3,291,8425,0.00,2.67,0.00,0.000,4,0.000,0.087,2162,1156,3155
$GC,8460,-1.51,-146.6,857.3,-8.4,291,8464,0.00,2.65,0.00,0.000,6,0.000,0.081,2162,2551,3155
$GC,8780,-1.51,-146.6,883.5,-8.2,297,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2551,3155
$GC,9084,-1.51,-146.6,908.4,-8.2,302,9088,0.00,2.67,0.00,0.000,4,0.000,0.087,2162,1157,3154
$GC,9139,-1.51,-146.6,913.3,-8.8,302,9145,0.00,2.65,0.00,0.000,6,0.000,0.081,2162,2550,3154
$GC,9449,-1.51,-146.6,940.5,-8.9,308,9454,0.00,2.67,0.00,0.000,4,0.000,0.087,2162,1157,3154
$GC,9494,-1.51,-146.6,944.7,-8.8,308,9499,0.00,2.65,0.00,0.000,6,0.000,0.081,2162,2551,3154
$GC,9809,-1.51,-146.6,972.8,-9.0,314,9814,0.00,2.65,0.00,0.000,4,0.000,0.086,2162,1166,3154
$GC,9854,-1.51,-146.6,977.0,-8.4,314,9859,0.00,2.62,0.00,0.000,6,0.000,0.081,2162,2550,3154
$STATE,10045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10045,begin apogee
$GC,10054,-0.45,0.0,993.6,8.6,318,10184,1.12,0.00,126.35,1.475,6,0.077,0.000,2399,2024,2564
$STATE,10185,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10188,1.51,146.6,998.2,0.0,320,10325,1.95,2.97,127.10,1.427,4,0.052,0.106,2827,590,1966
$GC,10509,1.51,146.6,981.8,9.1,325,10513,0.00,2.67,0.00,0.000,6,0.000,0.067,2827,2009,1966
$GC,10874,1.51,146.6,948.6,9.1,331,10879,0.00,2.83,0.00,0.000,4,0.000,0.099,2827,594,1966
$GC,10976,1.51,146.6,938.8,9.5,332,10980,0.00,2.65,0.00,0.000,6,0.000,0.067,2827,2004,1966
$GC,11302,1.51,146.6,910.4,8.6,338,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2004,1965
$GC,11605,1.51,146.6,884.2,8.6,343,11609,0.00,2.80,0.00,0.000,4,0.000,0.098,2827,594,1965
$GC,11688,1.51,146.6,876.5,8.5,344,11693,0.00,2.62,0.00,0.000,6,0.000,0.065,2827,2000,1965
$GC,12032,1.51,146.6,848.5,8.1,350,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2001,1965
$GC,12335,1.51,146.6,823.7,8.2,355,12340,0.00,2.80,0.00,0.000,4,0.000,0.097,2827,588,1965
$GC,12385,1.51,146.6,819.3,8.7,355,12390,0.00,2.65,0.00,0.000,6,0.000,0.065,2827,2007,1965
$GC,12695,1.51,146.6,794.0,8.2,360,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2007,1965
$GC,12998,1.51,146.6,768.8,8.4,365,13003,0.00,2.80,0.00,0.000,4,0.000,0.097,2827,591,1965
$GC,13088,1.51,146.6,761.0,9.4,366,13092,0.00,2.62,0.00,0.000,6,0.000,0.065,2827,2000,1965
$GC,13425,1.51,146.6,732.2,8.6,372,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2001,1965
$GC,13728,1.51,146.6,706.0,8.6,377,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2001,1965
$GC,14031,1.51,146.6,680.5,8.4,382,14036,0.00,2.78,0.00,0.000,4,0.000,0.096,2827,591,1964
$GC,14115,1.52,147.1,673.2,8.0,383,14120,0.00,2.60,0.00,0.000,6,0.000,0.064,2827,2001,1965
$GC,14459,1.52,153.0,646.2,7.8,389,14468,0.00,0.00,6.88,1.060,6,0.000,0.000,2827,2002,1940
$GC,14762,1.54,163.1,623.1,7.6,394,14775,0.00,0.00,10.38,1.134,6,0.000,0.000,2827,2002,1899
$GC,15065,1.54,163.1,597.9,8.3,399,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2004,1899
$GC,15368,1.54,163.1,572.4,8.4,404,15369,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2004,1899
$GC,15671,1.54,163.1,546.2,8.6,409,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2005,1899
$GC,15974,1.54,163.1,521.1,8.3,414,15976,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2006,1899
$GC,16278,1.54,170.7,497.7,7.7,419,16292,0.00,2.83,8.07,1.022,4,0.000,0.091,2827,594,1868
$GC,16420,1.55,176.0,486.5,7.8,421,16433,0.00,2.58,6.38,0.952,6,0.000,0.058,2827,2004,1846
$GC,16784,1.57,187.4,458.7,7.6,427,16797,0.00,0.00,11.12,1.047,6,0.000,0.000,2827,2004,1800
$GC,17087,1.58,195.5,435.4,7.7,432,17101,0.00,2.80,8.38,0.985,4,0.000,0.083,2827,591,1767
$GC,17147,1.58,197.0,430.4,7.9,432,17154,0.00,2.55,0.00,0.000,6,0.000,0.051,2827,1999,1767
$GC,17457,1.58,197.0,403.2,8.9,438,17458,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1999,1767
$GC,17760,1.58,197.0,374.0,9.6,443,17765,0.00,2.67,0.00,0.000,4,0.000,0.076,2827,590,1768
$GC,17872,1.58,197.0,362.6,10.3,444,17877,0.00,2.55,0.00,0.000,6,0.000,0.047,2827,2011,1768
$GC,18188,1.58,197.0,335.3,8.5,450,18192,0.00,2.67,0.00,0.000,4,0.000,0.073,2827,590,1767
$GC,18277,1.58,197.0,327.3,8.4,451,18282,0.00,2.53,0.00,0.000,6,0.000,0.046,2827,2003,1767
$GC,18616,1.58,199.4,300.6,7.9,457,18626,0.00,2.65,5.47,0.820,4,0.000,0.077,2827,3403,1751
$GC,18678,1.58,199.4,295.1,8.7,458,18683,0.00,2.53,0.00,0.000,6,0.000,0.046,2827,1986,1750
$GC,19006,1.58,199.4,266.9,8.8,474,19010,0.00,2.60,0.00,0.000,4,0.000,0.076,2827,598,1750
$GC,19084,1.58,199.4,259.6,9.4,477,19091,0.00,2.47,0.00,0.000,6,0.000,0.044,2827,2005,1750
$GC,19401,1.58,199.4,231.6,8.5,493,19405,0.00,2.62,0.00,0.000,4,0.000,0.071,2827,601,1750
$GC,19490,1.58,199.4,223.7,9.4,497,19494,0.00,2.47,0.00,0.000,6,0.000,0.044,2827,2002,1750
$GC,19812,1.58,199.4,197.6,8.3,513,19814,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2002,1750
$GC,20122,1.59,205.1,172.8,7.8,528,20131,0.00,0.00,6.78,0.809,6,0.000,0.000,2827,2002,1727
$GC,20433,1.60,216.4,148.9,7.6,543,20448,0.00,2.65,10.50,0.852,4,0.000,0.067,2827,601,1682
$GC,20507,1.60,216.4,143.0,9.5,549,20511,0.00,2.50,0.00,0.000,6,0.000,0.043,2827,2011,1681
$GC,20836,1.62,231.7,116.5,7.4,579,20858,0.10,2.67,14.45,0.849,4,0.068,0.067,2855,602,1618
$GC,20932,1.62,231.7,108.0,8.2,587,20938,0.00,2.47,0.00,0.000,6,0.000,0.041,2855,2002,1618
$GC,21262,1.69,287.0,88.0,5.9,618,21316,0.00,2.70,45.33,0.848,4,0.000,0.071,2855,3399,1392
$GC,21398,1.69,287.0,77.0,9.0,632,21404,0.00,2.50,0.00,0.000,6,0.000,0.042,2855,1989,1392
$GC,21744,1.69,287.0,45.8,9.1,693,21750,0.00,2.62,0.00,0.000,4,0.000,0.067,2855,3408,1392
$GC,21837,1.69,287.0,37.1,9.0,707,21841,0.00,2.50,0.00,0.000,6,0.000,0.041,2855,1992,1392
$GC,22163,1.69,287.0,7.3,9.0,737,22168,0.00,2.62,0.00,0.000,4,0.000,0.066,2855,3408,1392
$STATE,22216,end climb,SURFACE_DEPTH_REACHED
$STATE,22216,begin surface coast
$FINISH,0.9,1.025387
$STATE,22228,end surface coast,CONTROL_FINISHED_OK
$STATE,22228,begin surface
$SM_CCo,22255,89.00,0.779,0,0,933,400.08
$SM_GC,1.61,0.00,0.00,89.00,0.000,0.000,0.779,23,2532,933,-11.39,-0.51,400.08
$IRIDIUM_FIX,4707.04,-12704.27,040797,020222
$TT8_MAMPS,0.026078
$HUMID,1801
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,23.2,11.072
$10V_AH,10.1,5.276
$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,27.350,181.825,387.175,89.000,0.000,29.072,27.207,181.693,9.000,0.000,0.000,18.793,1541.371,17709.291,641.418,2174.714,660.467,33.375,1719.881,0.000,2117.433,0.000,56.611
$DEVICE_MAMPS,153.400,105.846,1474.941,778.505,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.392,581.139,825.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37919,742
$CAP_FILE_SIZE,146097,0
$CFSIZE,260165632,255549440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,145302,4722.723,-12713.214,43,1.3,43,18.7