version: 66.03
glider: 101
mission: 5
dive: 50
start: 4 9 108 14 59 50
data:
$ID,101
$MISSION,5
$DIVE,50
$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,-691644.56
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,145302,4722.723,-12713.214,43,1.3,43,18.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.3
$GPS2,145845,4722.680,-12713.206,12,1.2,12,18.7
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.160,-0.175
$KALMAN_X,13901.9,-99.8,449.8,-131698.8,-1146.3
$KALMAN_Y,18950.6,-65.9,86.1,-102505.0,551.0
$MHEAD_RNG_PITCHd_Wd,203.8,72509,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-64.97,0.000,2,0.000,0.000,23,2530,2211
$GC,97,-1.51,-146.6,3.4,-4.6,7,144,10.98,2.12,-29.48,0.000,4,0.120,0.093,2163,3623,3164
$GC,301,-1.51,-146.6,33.9,-15.4,25,307,0.00,1.90,0.00,0.000,6,0.000,0.046,2163,2553,3162
$GC,647,-1.51,-146.6,84.5,-14.5,80,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2553,3162
$GC,966,-1.51,-146.6,124.3,-10.9,110,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2553,3162
$GC,1283,-1.51,-146.6,160.4,-11.6,136,1288,0.00,2.50,0.00,0.000,4,0.000,0.054,2163,1159,3162
$GC,1373,-1.51,-146.6,171.3,-11.2,140,1378,0.00,2.45,0.00,0.000,6,0.000,0.044,2163,2542,3162
$GC,1696,-1.51,-146.6,208.3,-11.4,156,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2543,3162
$GC,2006,-1.51,-146.6,244.0,-11.6,171,2011,0.00,2.50,0.00,0.000,4,0.000,0.054,2163,1156,3162
$GC,2047,-1.51,-146.6,248.9,-11.6,173,2052,0.00,2.50,0.00,0.000,6,0.000,0.046,2163,2555,3162
$GC,2375,-1.51,-146.6,286.2,-11.6,189,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2555,3162
$GC,2702,-1.51,-146.6,322.0,-10.9,199,2707,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1149,3161
$GC,2765,-1.51,-146.6,329.0,-10.6,200,2770,0.00,2.53,0.00,0.000,6,0.000,0.051,2163,2553,3162
$GC,3131,-1.51,-146.6,367.7,-10.5,206,3136,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1158,3161
$GC,3176,-1.51,-146.6,372.5,-10.4,206,3181,0.00,2.53,0.00,0.000,6,0.000,0.056,2163,2553,3161
$GC,3492,-1.51,-146.6,403.4,-9.7,212,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2553,3160
$GC,3794,-1.51,-146.6,433.5,-10.0,217,3799,0.00,2.60,0.00,0.000,4,0.000,0.074,2163,1164,3160
$GC,3901,-1.51,-146.6,444.7,-10.7,218,3906,0.00,2.58,0.00,0.000,6,0.000,0.070,2163,2545,3160
$GC,4223,-1.51,-146.6,477.9,-10.4,224,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2545,3160
$GC,4525,-1.51,-146.6,509.5,-10.3,229,4530,0.00,2.72,0.00,0.000,4,0.000,0.098,2164,1158,3159
$GC,4598,-1.51,-146.6,517.1,-10.0,230,4602,0.00,2.70,0.00,0.000,6,0.000,0.091,2163,2548,3159
$GC,4953,-1.51,-146.6,552.7,-10.0,236,4957,0.00,2.70,0.00,0.000,4,0.000,0.092,2163,1158,3159
$GC,4997,-1.51,-146.6,557.3,-10.1,236,5002,0.00,2.67,0.00,0.000,6,0.000,0.086,2163,2552,3159
$GC,5312,-1.51,-146.6,587.8,-9.6,242,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2552,3159
$GC,5617,-1.51,-146.6,614.9,-8.9,247,5621,0.00,2.67,0.00,0.000,4,0.000,0.091,2163,1165,3158
$GC,5701,-1.51,-146.6,622.9,-9.9,248,5705,0.00,2.65,0.00,0.000,6,0.000,0.085,2163,2550,3158
$GC,6046,-1.51,-146.6,653.8,-9.1,254,6050,0.00,2.67,0.00,0.000,4,0.000,0.088,2163,1161,3158
$GC,6102,-1.51,-146.6,659.4,-9.7,254,6108,0.00,2.65,0.00,0.000,6,0.000,0.083,2163,2550,3158
$GC,6412,-1.51,-146.6,687.0,-8.9,260,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2550,3158
$GC,6715,-1.51,-146.6,713.4,-8.8,265,6719,0.00,2.67,0.00,0.000,4,0.000,0.088,2163,1161,3158
$GC,6793,-1.51,-146.6,720.4,-9.4,266,6797,0.00,2.65,0.00,0.000,6,0.000,0.082,2163,2552,3157
$GC,7142,-1.51,-146.6,750.3,-8.6,272,7147,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1158,3157
$GC,7187,-1.51,-146.6,754.5,-8.8,272,7192,0.00,2.65,0.00,0.000,6,0.000,0.082,2163,2550,3157
$GC,7503,-1.51,-146.6,781.6,-8.6,278,7507,0.00,2.67,0.00,0.000,4,0.000,0.087,2163,1156,3157
$GC,7565,-1.51,-146.6,787.3,-9.7,279,7570,0.00,2.65,0.00,0.000,6,0.000,0.081,2163,2551,3157
$GC,7931,-1.51,-146.6,819.9,-9.0,285,7935,0.00,2.67,0.00,0.000,4,0.000,0.086,2163,1156,3156
$GC,7988,-1.51,-146.6,825.2,-9.4,285,7994,0.00,2.65,0.00,0.000,6,0.000,0.081,2164,2550,3157
$GC,8298,-1.51,-146.6,852.0,-8.6,291,8303,0.00,2.67,0.00,0.000,4,0.000,0.087,2163,1157,3156
$GC,8362,-1.51,-146.6,857.2,-7.9,292,8366,0.00,2.65,0.00,0.000,6,0.000,0.081,2163,2551,3156
$GC,8727,-1.51,-146.6,888.6,-8.5,298,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2551,3156
$GC,9032,-1.51,-146.6,914.5,-8.6,303,9036,0.00,2.67,0.00,0.000,4,0.000,0.087,2164,1157,3155
$GC,9115,-1.51,-146.6,922.1,-8.7,304,9120,0.00,2.65,0.00,0.000,6,0.000,0.081,2163,2550,3155
$GC,9462,-1.51,-146.6,951.6,-8.6,310,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2550,3155
$GC,9763,-1.51,-146.6,978.7,-9.0,315,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2551,3154
$STATE,9941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9941,begin apogee
$GC,9950,-0.45,0.0,995.4,9.2,318,10079,1.10,0.00,126.30,1.473,6,0.077,0.000,2397,2023,2564
$STATE,10080,end apogee,CONTROL_FINISHED_OK
$STATE,10080,begin climb
$GC,10084,1.51,146.6,1001.4,0.0,320,10223,1.95,2.95,127.18,1.428,4,0.052,0.105,2825,592,1966
$GC,10302,1.52,151.5,997.3,7.8,323,10313,0.00,2.67,6.10,1.060,6,0.000,0.067,2825,2004,1947
$GC,10635,1.52,151.9,971.0,8.0,329,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2004,1946
$GC,10938,1.52,151.9,946.6,8.1,334,10943,0.00,2.80,0.00,0.000,4,0.000,0.104,2825,3409,1946
$GC,11011,1.52,151.9,940.2,9.0,335,11015,0.00,2.62,0.00,0.000,6,0.000,0.062,2825,1998,1946
$GC,11365,1.52,151.9,910.1,8.6,341,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1998,1946
$GC,11668,1.52,151.9,882.1,9.2,346,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1998,1946
$GC,11971,1.52,151.9,853.8,9.2,351,11976,0.00,2.78,0.00,0.000,4,0.000,0.096,2825,3409,1945
$GC,12084,1.52,151.9,842.8,9.7,352,12088,0.00,2.60,0.00,0.000,6,0.000,0.061,2825,2000,1945
$GC,12399,1.52,151.9,814.2,9.0,358,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1945
$GC,12702,1.52,151.9,787.1,8.9,363,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1945
$GC,13005,1.52,151.9,760.9,8.6,368,13006,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1945
$GC,13309,1.52,151.9,735.7,8.3,373,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1999,1945
$GC,13612,1.54,163.3,712.5,7.6,378,13625,0.00,0.00,11.62,1.200,6,0.000,0.000,2825,2000,1898
$GC,13915,1.54,165.4,688.6,7.9,383,13924,0.00,2.80,3.62,0.777,4,0.000,0.094,2825,3409,1889
$GC,13970,1.54,165.4,683.9,8.3,383,13974,0.00,2.60,0.00,0.000,6,0.000,0.058,2825,2000,1889
$GC,14280,1.54,165.4,658.8,8.2,388,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1889
$GC,14583,1.54,165.4,632.6,8.8,393,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1889
$GC,14886,1.54,165.4,605.7,8.9,398,14891,0.00,2.75,0.00,0.000,4,0.000,0.092,2825,3409,1889
$GC,14953,1.54,165.4,599.4,9.2,399,14957,0.00,2.58,0.00,0.000,6,0.000,0.057,2825,1996,1889
$GC,15313,1.54,165.4,567.4,8.8,405,15317,0.00,2.75,0.00,0.000,4,0.000,0.091,2825,3410,1889
$GC,15369,1.54,165.4,562.3,9.2,405,15375,0.00,2.58,0.00,0.000,6,0.000,0.057,2824,1999,1889
$GC,15679,1.54,165.4,536.5,8.3,411,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1889
$GC,15982,1.54,165.4,511.8,8.1,416,15983,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1889
$GC,16285,1.54,165.4,487.4,8.0,421,16289,0.00,2.72,0.00,0.000,4,0.000,0.085,2825,3415,1889
$GC,16385,1.54,165.4,478.7,8.5,422,16390,0.00,2.58,0.00,0.000,6,0.000,0.052,2825,1990,1889
$GC,16712,1.54,169.9,452.9,7.8,428,16720,0.00,0.00,5.80,0.917,6,0.000,0.000,2825,1990,1871
$GC,17016,1.54,169.9,428.4,8.1,433,17017,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1989,1871
$GC,17318,1.54,169.9,403.3,8.3,438,17319,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1989,1871
$GC,17622,1.56,185.3,380.5,7.4,443,17641,0.00,2.75,14.25,1.032,4,0.000,0.074,2825,3412,1808
$GC,17721,1.56,185.3,372.5,9.3,444,17725,0.00,2.55,0.00,0.000,6,0.000,0.047,2825,1990,1807
$GC,18053,1.57,192.0,347.0,7.7,450,18067,0.00,2.75,7.15,0.910,4,0.000,0.071,2825,3412,1781
$GC,18113,1.59,207.4,342.1,7.4,450,18132,0.00,2.53,14.48,0.988,6,0.000,0.046,2825,2000,1718
$GC,18489,1.59,207.4,309.8,8.6,457,18490,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2000,1718
$GC,18796,1.59,207.4,281.7,9.1,468,18801,0.00,2.65,0.00,0.000,4,0.000,0.071,2825,3416,1718
$GC,18864,1.59,207.4,275.1,9.4,471,18868,0.00,2.53,0.00,0.000,6,0.000,0.044,2825,1997,1718
$GC,19185,1.59,207.4,245.2,9.2,487,19190,0.00,2.65,0.00,0.000,4,0.000,0.069,2825,3416,1718
$GC,19236,1.59,207.4,240.3,9.0,489,19240,0.00,2.50,0.00,0.000,6,0.000,0.044,2825,1999,1718
$GC,19553,1.59,207.4,211.9,8.9,504,19554,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1999,1718
$GC,19862,1.60,217.8,186.9,7.6,519,19875,0.10,0.00,10.20,0.871,6,0.077,0.000,2850,1999,1676
$GC,20173,1.60,217.8,159.4,9.4,534,20177,0.00,2.62,0.00,0.000,4,0.000,0.067,2850,3414,1675
$GC,20292,1.60,217.8,147.5,10.6,540,20296,0.00,2.53,0.00,0.000,6,0.000,0.043,2850,1991,1675
$GC,20618,1.61,224.5,119.3,7.7,570,20631,0.00,2.67,7.60,0.787,4,0.000,0.073,2850,602,1648
$GC,20667,1.61,224.5,115.9,8.6,574,20671,0.00,2.53,0.00,0.000,6,0.000,0.042,2850,2025,1647
$GC,20993,1.70,297.2,95.7,5.2,604,21058,0.00,2.72,59.55,0.856,4,0.000,0.067,2850,602,1351
$GC,21117,1.70,297.2,85.5,10.6,615,21121,0.00,2.50,0.00,0.000,6,0.000,0.042,2849,2007,1351
$GC,21458,1.70,297.2,53.7,9.3,670,21464,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2007,1351
$GC,21793,1.70,297.2,23.9,9.2,714,21794,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2007,1351
$STATE,22033,end climb,SURFACE_DEPTH_REACHED
$STATE,22033,begin surface coast
$FINISH,0.8,1.025391
$STATE,22046,end surface coast,CONTROL_FINISHED_OK
$STATE,22046,begin surface
$SM_CCo,22073,76.18,0.766,1,0,933,400.08
$SM_GC,1.50,0.00,0.00,76.18,0.000,0.000,0.766,34,2553,933,-11.34,0.08,400.08
$IRIDIUM_FIX,4707.04,-12708.72,040797,080845
$TT8_MAMPS,0.026078
$HUMID,1804
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.2,11.243
$10V_AH,10.1,5.373
$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,27.750,158.950,393.850,76.175,0.000,31.597,27.054,156.762,8.750,0.000,0.000,12.059,1502.658,17725.104,615.467,2033.760,631.443,33.364,1626.445,0.000,1993.908,0.000,56.611
$DEVICE_MAMPS,119.652,105.079,1472.640,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.831,577.870,817.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37913,738
$CAP_FILE_SIZE,138235,0
$CFSIZE,260165632,255496192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090408,211026,4720.354,-12715.752,39,1.9,39,18.7