version: 66.03
glider: 101
mission: 5
dive: 203
start: 5 23 108 19 22 46
data:
$ID,101
$MISSION,5
$DIVE,203
$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,550
$T_MISSION,570
$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,120
$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,350
$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,-695106.25
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2473
$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
$GPS1,191556,4804.844,-12548.704,43,1.6,43,18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.2
$GPS2,192144,4804.832,-12548.678,16,1.6,33,18.9
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.177,-0.074
$KALMAN_X,-29266.9,-0.5,39.4,16266.9,109.8
$KALMAN_Y,146738.3,190.7,-3.5,-152396.8,-1202.3
$MHEAD_RNG_PITCHd_Wd,228.4,204765,-12.5,-6.000
$D_GRID,714
$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,29,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-47.53,0.000,2,0.000,0.000,33,2554,2002
$GC,83,-1.28,-117.3,3.0,-3.6,5,137,11.80,2.05,-33.00,0.000,4,0.146,0.090,2212,3616,2953
$GC,274,-1.09,-117.3,27.3,-14.5,22,278,0.22,1.88,0.00,0.000,6,0.086,0.040,2258,2528,2953
$GC,600,-1.09,-117.3,62.1,-9.5,52,604,0.00,2.45,0.00,0.000,4,0.000,0.051,2258,1159,2953
$GC,663,-1.09,-117.3,68.0,-9.2,57,667,0.00,2.45,0.00,0.000,6,0.000,0.041,2258,2546,2953
$GC,983,-1.09,-117.3,97.2,-8.6,78,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2546,2953
$GC,1292,-1.09,-117.3,118.5,-6.3,93,1297,0.00,2.47,0.00,0.000,4,0.000,0.048,2258,1160,2953
$GC,1335,-1.09,-117.3,121.0,-6.2,95,1339,0.00,2.45,0.00,0.000,6,0.000,0.041,2258,2550,2953
$GC,1662,-1.09,-117.3,143.2,-6.4,111,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2550,2953
$GC,1990,-1.14,-117.3,162.3,-6.0,122,1994,0.00,2.47,0.00,0.000,4,0.000,0.049,2258,1165,2953
$GC,2076,-1.19,-117.3,167.4,-5.8,124,2080,0.00,2.45,0.00,0.000,6,0.000,0.042,2259,2549,2953
$GC,2401,-1.23,-117.3,186.7,-6.3,132,2406,0.12,2.47,0.00,0.000,4,0.069,0.048,2228,1165,2953
$GC,2446,-1.23,-117.3,190.1,-7.9,133,2450,0.00,2.45,0.00,0.000,6,0.000,0.041,2228,2553,2953
$GC,2766,-1.23,-117.3,214.0,-7.6,141,2770,0.00,2.47,0.00,0.000,4,0.000,0.050,2228,1166,2953
$GC,2838,-1.23,-117.3,220.3,-8.5,142,2842,0.00,2.45,0.00,0.000,6,0.000,0.043,2228,2552,2953
$GC,3170,-1.23,-117.3,248.1,-8.3,150,3175,0.00,2.47,0.00,0.000,4,0.000,0.051,2228,1167,2952
$GC,3215,-1.23,-117.3,251.9,-8.2,151,3220,0.00,2.45,0.00,0.000,6,0.000,0.044,2228,2553,2952
$GC,3535,-1.23,-117.3,276.9,-7.7,159,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2553,2953
$GC,3862,-1.23,-117.3,301.1,-7.4,167,3866,0.00,2.50,0.00,0.000,4,0.000,0.052,2228,1157,2952
$GC,3991,-1.23,-117.3,310.7,-7.1,168,3995,0.00,2.47,0.00,0.000,6,0.000,0.047,2228,2549,2952
$GC,4353,-1.23,-117.3,334.3,-6.5,173,4358,0.00,2.50,0.00,0.000,4,0.000,0.055,2228,1164,2951
$GC,4421,-1.23,-117.3,339.3,-7.7,173,4426,0.00,2.47,0.00,0.000,6,0.000,0.048,2228,2553,2951
$GC,4756,-1.23,-117.3,364.1,-7.4,178,4761,0.00,2.53,0.00,0.000,4,0.000,0.058,2228,1162,2951
$GC,4818,-1.23,-117.3,369.0,-7.6,178,4823,0.00,2.50,0.00,0.000,6,0.000,0.051,2228,2556,2950
$GC,5158,-1.23,-117.3,394.3,-7.5,183,5162,0.00,2.55,0.00,0.000,4,0.000,0.063,2228,1164,2950
$GC,5243,-1.23,-117.3,401.0,-7.7,184,5248,0.00,2.53,0.00,0.000,6,0.000,0.055,2228,2555,2950
$GC,5571,-1.23,-117.3,424.4,-7.0,188,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2555,2950
$GC,5893,-1.23,-117.3,446.2,-6.8,192,5897,0.00,2.58,0.00,0.000,4,0.000,0.071,2228,1169,2950
$GC,5988,-1.23,-117.3,452.8,-6.7,193,5993,0.00,2.55,0.00,0.000,6,0.000,0.064,2228,2554,2949
$GC,6304,-1.23,-117.3,471.6,-6.0,197,6308,0.00,2.60,0.00,0.000,4,0.000,0.076,2228,1169,2949
$GC,6348,-1.23,-117.3,474.5,-6.2,197,6353,0.00,2.58,0.00,0.000,6,0.000,0.069,2228,2555,2949
$GC,6707,-1.23,-117.3,494.4,-5.5,202,6711,0.00,2.65,0.00,0.000,4,0.000,0.084,2228,1168,2949
$GC,6791,-1.23,-117.3,499.8,-6.6,203,6796,0.00,2.62,0.00,0.000,6,0.000,0.079,2228,2550,2949
$GC,7124,-1.23,-117.3,521.0,-6.4,207,7129,0.00,2.65,0.00,0.000,4,0.000,0.088,2229,1172,2948
$GC,7203,-1.23,-117.3,526.1,-6.2,207,7209,0.00,2.62,0.00,0.000,6,0.000,0.082,2228,2549,2948
$GC,7533,-1.23,-117.3,545.2,-5.8,212,7537,0.00,2.65,0.00,0.000,4,0.000,0.086,2228,1168,2948
$GC,7634,-1.23,-117.3,551.6,-6.6,213,7638,0.00,2.62,0.00,0.000,6,0.000,0.082,2228,2553,2948
$GC,8025,-1.23,-117.3,578.5,-6.9,218,8029,0.00,2.65,0.00,0.000,4,0.000,0.087,2228,1172,2947
$GC,8142,-1.23,-117.3,587.5,-8.0,219,8147,0.00,2.62,0.00,0.000,6,0.000,0.081,2228,2553,2947
$GC,8517,-1.23,-117.3,614.4,-7.1,224,8521,0.00,2.65,0.00,0.000,4,0.000,0.085,2228,1163,2947
$GC,8606,-1.23,-117.3,620.0,-6.1,225,8611,0.00,2.62,0.00,0.000,6,0.000,0.078,2228,2551,2948
$GC,8929,-1.23,-117.3,638.0,-5.5,229,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2551,2947
$GC,9251,-1.23,-117.3,655.1,-5.3,233,9256,0.00,2.65,0.00,0.000,4,0.000,0.084,2228,1164,2947
$GC,9369,-1.23,-117.3,662.7,-7.0,234,9374,0.00,2.62,0.00,0.000,6,0.000,0.077,2228,2552,2947
$GC,9743,-1.23,-117.3,690.5,-7.5,239,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2551,2947
$STATE,10062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10062,begin apogee
$GC,10072,-0.45,0.0,714.2,7.3,243,10174,0.80,0.00,98.90,1.285,6,0.074,0.000,2397,2026,2473
$STATE,10175,end apogee,CONTROL_FINISHED_OK
$STATE,10175,begin climb
$GC,10178,1.28,117.3,716.9,0.0,244,10289,1.75,2.85,100.80,1.238,4,0.052,0.094,2780,3410,1994
$GC,10359,1.11,158.7,712.9,4.5,246,10404,0.20,2.65,37.65,1.183,6,0.107,0.061,2744,1991,1825
$GC,10729,1.00,158.7,686.4,7.5,251,10734,0.12,2.80,0.00,0.000,4,0.104,0.091,2721,3411,1825
$GC,10862,0.92,158.7,675.7,8.0,252,10866,0.00,2.60,0.00,0.000,6,0.000,0.058,2721,1999,1824
$GC,11225,0.86,158.7,645.8,8.3,257,11230,0.15,2.78,0.00,0.000,4,0.100,0.090,2688,3415,1824
$GC,11293,0.87,167.0,642.1,5.7,257,11309,0.00,2.60,8.52,1.053,6,0.000,0.056,2688,1998,1791
$GC,11633,0.88,176.5,622.7,5.7,262,11644,0.00,0.00,10.02,1.086,6,0.000,0.000,2688,1998,1753
$GC,11955,0.88,176.5,600.6,6.8,266,11959,0.00,2.75,0.00,0.000,4,0.000,0.088,2688,3410,1753
$GC,12101,0.88,176.5,590.9,7.7,267,12105,0.00,2.60,0.00,0.000,6,0.000,0.056,2688,1993,1753
$GC,12446,0.88,176.5,568.2,6.6,272,12451,0.00,2.75,0.00,0.000,4,0.000,0.087,2688,3411,1753
$GC,12503,0.88,176.5,564.1,6.8,272,12507,0.00,2.58,0.00,0.000,6,0.000,0.054,2687,1997,1753
$GC,12848,0.88,176.5,543.2,6.0,277,12853,0.00,2.75,0.00,0.000,4,0.000,0.086,2688,3415,1752
$GC,12944,0.90,189.6,537.7,5.5,278,12963,0.00,2.58,13.60,1.094,6,0.000,0.053,2688,1999,1699
$GC,13345,0.95,198.3,515.2,5.7,283,13360,0.00,2.78,10.10,1.042,4,0.000,0.084,2688,3411,1663
$GC,13462,0.95,198.3,508.1,6.2,284,13466,0.00,2.58,0.00,0.000,6,0.000,0.051,2688,1998,1664
$GC,13836,0.99,198.3,485.4,6.1,289,13841,0.12,2.72,0.00,0.000,4,0.060,0.080,2722,3417,1664
$GC,13932,0.95,198.3,477.6,8.5,290,13937,0.00,2.58,0.00,0.000,6,0.000,0.049,2722,1991,1664
$GC,14248,0.95,198.3,454.9,7.1,294,14253,0.00,2.70,0.00,0.000,4,0.000,0.077,2722,3413,1664
$GC,14311,0.90,198.3,450.5,7.4,294,14316,0.12,2.53,0.00,0.000,6,0.125,0.048,2699,2000,1663
$GC,14651,0.90,198.3,429.6,6.2,299,14656,0.00,2.67,0.00,0.000,4,0.000,0.074,2700,3415,1663
$GC,14719,0.90,198.3,425.3,6.0,299,14723,0.00,2.53,0.00,0.000,6,0.000,0.046,2699,1995,1663
$GC,15053,0.91,202.0,405.6,5.9,304,15064,0.00,2.67,5.07,0.827,4,0.000,0.071,2699,3417,1649
$GC,15139,0.91,202.0,400.1,6.3,305,15143,0.00,2.55,0.00,0.000,6,0.000,0.045,2700,1996,1649
$GC,15465,0.91,202.0,379.7,6.1,309,15470,0.00,2.65,0.00,0.000,4,0.000,0.069,2699,3413,1649
$GC,15527,0.91,202.0,375.4,6.7,309,15531,0.00,2.50,0.00,0.000,6,0.000,0.044,2700,2000,1649
$GC,15869,0.95,202.0,352.5,6.8,314,15873,0.00,2.65,0.00,0.000,4,0.000,0.067,2700,3421,1649
$GC,15924,0.95,202.0,348.7,6.0,314,15929,0.00,2.53,0.00,0.000,6,0.000,0.042,2699,1996,1649
$GC,16270,0.95,202.0,325.9,6.6,319,16275,0.00,2.62,0.00,0.000,4,0.000,0.066,2700,3415,1649
$GC,16371,0.95,202.0,318.3,7.1,320,16376,0.00,2.50,0.00,0.000,6,0.000,0.041,2699,1997,1649
$GC,16723,0.99,202.0,295.5,6.4,325,16727,0.00,2.62,0.00,0.000,4,0.000,0.067,2699,3420,1649
$GC,16790,0.99,202.0,290.9,6.4,326,16794,0.00,2.53,0.00,0.000,6,0.000,0.041,2699,1989,1649
$GC,17128,1.03,202.0,270.3,6.1,335,17133,0.10,2.65,0.00,0.000,4,0.067,0.065,2729,3419,1649
$GC,17207,0.98,202.0,264.7,6.8,336,17212,0.00,2.50,0.00,0.000,6,0.000,0.041,2729,2000,1649
$GC,17538,0.98,202.0,243.0,6.6,345,17543,0.00,2.62,0.00,0.000,4,0.000,0.065,2729,3418,1649
$GC,17617,0.98,202.0,237.1,7.8,346,17623,0.00,2.50,0.00,0.000,6,0.000,0.042,2729,2000,1648
$GC,17949,0.98,202.0,212.7,7.3,355,17953,0.00,2.62,0.00,0.000,4,0.000,0.065,2729,3419,1649
$GC,18061,0.98,202.0,204.4,7.5,357,18065,0.00,2.50,0.00,0.000,6,0.000,0.041,2729,2002,1649
$GC,18399,1.00,213.5,183.7,5.6,366,18418,0.00,2.72,12.00,0.874,4,0.000,0.064,2729,3418,1602
$GC,18481,1.00,214.3,178.7,6.0,367,18487,0.00,2.53,0.00,0.000,6,0.000,0.041,2729,1998,1602
$GC,18814,1.00,214.3,155.4,7.6,376,18818,0.00,2.62,0.00,0.000,4,0.000,0.064,2729,3418,1602
$GC,18943,1.00,214.3,145.1,8.0,380,18948,0.00,2.53,0.00,0.000,6,0.000,0.041,2729,1987,1602
$GC,19270,1.00,214.3,121.5,7.4,396,19271,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1987,1602
$GC,19580,1.00,214.3,100.2,6.7,411,19585,0.00,2.62,0.00,0.000,4,0.000,0.062,2730,3416,1602
$GC,19670,1.00,214.3,93.7,6.9,415,19675,0.00,2.47,0.00,0.000,6,0.000,0.039,2729,1998,1602
$GC,19995,1.05,255.1,77.1,4.5,434,20038,0.00,2.70,35.80,0.834,4,0.000,0.061,2729,3419,1432
$GC,20089,1.05,255.1,71.8,6.9,442,20096,0.00,2.53,0.00,0.000,6,0.000,0.038,2729,1993,1432
$GC,20420,1.14,255.1,52.0,6.6,473,20424,0.00,2.62,0.00,0.000,4,0.000,0.061,2729,3415,1432
$GC,20510,1.22,255.1,45.7,6.2,480,20517,0.17,2.50,0.00,0.000,6,0.073,0.038,2766,1991,1432
$GC,20836,1.23,262.3,26.6,5.7,511,20846,0.00,0.00,7.78,0.716,6,0.000,0.000,2766,1991,1402
$GC,21170,1.33,297.1,10.0,4.7,542,21207,0.10,0.00,29.62,0.775,6,0.064,0.000,2793,1991,1261
$STATE,21299,end climb,SURFACE_DEPTH_REACHED
$STATE,21299,begin surface coast
$FINISH,0.8,1.024393
$STATE,21332,end surface coast,CONTROL_FINISHED_OK
$STATE,21332,begin surface
$SM_CCo,21359,44.12,0.716,2,0,1045,350.04
$SM_GC,1.79,0.00,0.00,44.12,0.000,0.000,0.716,26,2563,1045,-11.38,0.37,350.04
$IRIDIUM_FIX,4748.51,-12548.37,170897,141441
$TT8_MAMPS,0.026845
$HUMID,1843
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.10
$XPDR_PINGS,1
$24V_AH,23.3,35.404
$10V_AH,10.2,22.351
$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,28.525,217.925,369.875,44.125,0.000,33.010,41.183,125.697,6.500,0.000,0.000,33.786,1367.543,16989.473,597.272,2191.519,628.756,33.364,1722.938,0.000,2107.855,0.000,42.009
$DEVICE_MAMPS,145.730,94.341,1284.725,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.573,441.801,461.944,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28526,558
$CAP_FILE_SIZE,153632,0
$CFSIZE,260165632,244449280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,240508,012101,4804.408,-12551.004,39,2.0,39,18.9