version: 66.03
glider: 101
mission: 5
dive: 237
start: 6 4 108 10 13 5
data:
$ID,101
$MISSION,5
$DIVE,237
$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,-695836.56
$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,0.039999999
$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,31
$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
$GPS1,100631,4701.095,-12759.475,38,1.2,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-63.4
$GPS2,101203,4701.079,-12759.488,15,1.3,15,18.6
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.103,0.014
$KALMAN_X,-22436.8,-235.8,-308.0,-151672.7,1093.9
$KALMAN_Y,134547.5,255.8,236.6,-258585.4,-2234.1
$MHEAD_RNG_PITCHd_Wd,259.4,2100,-26.9,-6.000
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-2.48,-29.1,0.0,0.0,0,71,0.00,0.00,-40.30,0.000,2,0.000,0.000,31,2567,1861
$GC,75,-2.50,-43.3,3.1,-4.0,4,122,10.00,0.00,-30.75,0.000,6,0.124,0.000,1950,2568,2650
$GC,442,-2.37,-43.3,77.5,-21.8,39,447,0.15,2.55,0.00,0.000,4,0.104,0.050,1981,1147,2651
$GC,511,-2.31,-43.3,91.7,-19.7,42,516,0.00,2.47,0.00,0.000,6,0.000,0.041,1981,2548,2651
$GC,834,-2.27,-43.3,150.2,-15.9,58,836,0.12,0.00,0.00,0.000,6,0.123,0.000,2003,2549,2651
$GC,1158,-2.27,-43.3,196.2,-13.8,66,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2549,2651
$GC,1482,-2.27,-43.3,241.4,-13.8,74,1486,0.00,2.53,0.00,0.000,4,0.000,0.051,2003,1147,2651
$GC,1569,-2.27,-43.3,253.1,-13.6,76,1573,0.00,2.50,0.00,0.000,6,0.000,0.044,2003,2556,2651
$GC,1893,-2.27,-43.3,296.2,-12.9,84,1898,0.00,2.55,0.00,0.000,4,0.000,0.054,2003,1145,2651
$GC,1985,-2.27,-43.3,308.4,-13.9,86,1989,0.00,2.50,0.00,0.000,6,0.000,0.046,2003,2550,2651
$GC,2307,-2.27,-43.3,351.1,-13.2,90,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2550,2651
$GC,2629,-2.27,-43.3,393.8,-13.3,94,2633,0.00,2.60,0.00,0.000,4,0.000,0.066,2003,1146,2650
$GC,2758,-2.27,-43.3,410.8,-12.7,95,2762,0.00,2.58,0.00,0.000,6,0.000,0.058,2003,2556,2650
$GC,3123,-2.27,-43.3,455.7,-12.3,100,3127,0.00,2.65,0.00,0.000,4,0.000,0.076,2003,1152,2649
$GC,3257,-2.27,-43.3,472.8,-11.9,101,3261,0.00,2.62,0.00,0.000,6,0.000,0.071,2003,2553,2649
$GC,3615,-2.31,-43.3,516.1,-12.1,106,3619,0.00,2.67,0.00,0.000,4,0.000,0.090,2003,1158,2648
$GC,3682,-2.36,-43.3,524.3,-11.8,106,3687,0.00,2.67,0.00,0.000,6,0.000,0.082,2003,2555,2648
$GC,4017,-2.40,-43.3,561.3,-11.1,111,4019,0.12,0.00,0.00,0.000,6,0.074,0.000,1975,2555,2648
$GC,4339,-2.40,-43.3,598.1,-11.4,115,4344,0.00,2.70,0.00,0.000,4,0.000,0.089,1975,1150,2647
$GC,4407,-2.40,-43.3,606.0,-11.7,115,4411,0.00,2.67,0.00,0.000,6,0.000,0.079,1975,2555,2646
$GC,4741,-2.40,-43.3,644.6,-11.6,120,4746,0.00,2.70,0.00,0.000,4,0.000,0.087,1975,1153,2646
$GC,4837,-2.40,-43.3,656.0,-11.9,121,4841,0.00,2.65,0.00,0.000,6,0.000,0.077,1975,2552,2646
$GC,5152,-2.40,-43.3,692.6,-11.6,125,5157,0.00,2.67,0.00,0.000,4,0.000,0.085,1974,1157,2646
$GC,5371,-2.40,-43.3,718.1,-11.3,127,5376,0.00,2.65,0.00,0.000,6,0.000,0.077,1975,2550,2646
$GC,5737,-2.40,-43.3,757.2,-10.8,132,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2550,2645
$GC,6057,-2.40,-43.3,791.5,-10.6,136,6061,0.00,2.67,0.00,0.000,4,0.000,0.084,1975,1153,2645
$GC,6142,-2.40,-43.3,800.6,-11.3,137,6146,0.00,2.65,0.00,0.000,6,0.000,0.076,1975,2552,2645
$GC,6469,-2.40,-43.3,835.7,-10.8,141,6473,0.00,2.67,0.00,0.000,4,0.000,0.084,1975,1153,2644
$GC,6558,-2.40,-43.3,845.5,-10.3,142,6563,0.00,2.62,0.00,0.000,6,0.000,0.076,1975,2551,2644
$GC,6881,-2.40,-43.3,879.9,-10.8,146,6886,0.00,2.65,0.00,0.000,4,0.000,0.084,1975,1156,2644
$GC,7069,-2.40,-43.3,899.9,-10.6,148,7074,0.00,2.62,0.00,0.000,6,0.000,0.076,1974,2551,2643
$GC,7392,-2.40,-43.3,932.8,-10.1,152,7396,0.00,2.67,0.00,0.000,4,0.000,0.084,1975,1154,2643
$GC,7498,-2.40,-43.3,943.9,-10.4,153,7503,0.00,2.65,0.00,0.000,6,0.000,0.076,1975,2555,2643
$GC,7885,-2.40,-43.3,981.0,-9.6,158,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2555,2643
$STATE,8042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8042,begin apogee
$GC,8051,-0.45,0.0,996.0,9.4,160,8094,2.08,0.00,38.70,1.440,6,0.095,0.000,2398,2017,2473
$STATE,8095,end apogee,CONTROL_FINISHED_OK
$STATE,8095,begin climb
$GC,8098,2.50,43.3,996.0,0.0,160,8144,2.90,0.00,40.10,1.411,6,0.052,0.000,3047,2018,2297
$GC,8503,2.33,53.6,980.0,4.6,165,8516,0.20,0.00,10.93,1.285,6,0.127,0.000,3012,2017,2254
$GC,8825,2.18,54.7,961.2,5.9,169,8827,0.20,0.00,0.00,0.000,6,0.139,0.000,2979,2017,2254
$GC,9147,2.09,59.9,944.3,5.3,173,9157,0.12,0.00,7.03,1.163,6,0.146,0.000,2959,2017,2228
$GC,9470,2.05,65.4,927.4,5.2,177,9483,0.00,2.80,6.62,1.143,4,0.000,0.092,2959,3412,2206
$GC,9624,1.97,65.4,918.6,6.5,178,9629,0.17,2.62,0.00,0.000,6,0.145,0.061,2930,1999,2207
$GC,9970,1.97,70.0,899.9,5.4,183,9983,0.00,2.90,6.43,1.127,4,0.000,0.103,2930,589,2187
$GC,10164,1.97,70.0,888.0,6.1,185,10169,0.00,2.65,0.00,0.000,6,0.000,0.065,2930,2010,2186
$GC,10555,1.98,71.0,865.0,5.9,190,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2010,2186
$GC,10878,1.98,72.9,846.4,5.7,194,10888,0.00,2.83,4.20,0.913,4,0.000,0.095,2930,592,2175
$GC,11143,1.98,72.9,829.1,7.2,196,11149,0.00,2.62,0.00,0.000,6,0.000,0.064,2930,2000,2175
$GC,11473,1.98,72.9,808.1,6.4,201,11477,0.00,2.78,0.00,0.000,4,0.000,0.094,2930,593,2175
$GC,11731,1.98,72.9,791.3,6.3,203,11737,0.00,2.62,0.00,0.000,6,0.000,0.064,2930,2002,2175
$GC,12061,1.98,73.1,771.6,6.0,208,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2003,2175
$GC,12384,1.98,77.4,754.2,5.4,212,12391,0.00,0.00,5.78,1.038,6,0.000,0.000,2930,2003,2157
$GC,12706,1.99,81.0,736.5,5.5,216,12716,0.00,2.78,4.90,0.956,4,0.000,0.094,2930,3412,2142
$GC,12897,1.99,82.1,724.8,5.8,218,12902,0.00,2.60,0.00,0.000,6,0.000,0.058,2930,1996,2142
$GC,13289,1.99,84.2,702.4,5.7,223,13295,0.00,0.00,4.80,0.933,6,0.000,0.000,2930,1996,2129
$GC,13611,1.99,84.7,683.2,5.9,227,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1996,2129
$GC,13933,1.99,84.7,662.5,6.4,231,13938,0.00,2.72,0.00,0.000,4,0.000,0.098,2930,592,2129
$GC,14191,1.99,84.7,644.1,7.3,233,14197,0.00,2.60,0.00,0.000,6,0.000,0.061,2930,2001,2129
$GC,14523,1.99,84.7,622.3,6.7,238,14527,0.00,2.75,0.00,0.000,4,0.000,0.091,2930,592,2129
$GC,14718,1.99,84.7,609.1,6.0,240,14723,0.00,2.62,0.00,0.000,6,0.000,0.061,2930,2010,2129
$GC,15105,2.04,88.0,587.6,5.5,245,15111,0.00,0.00,4.93,0.905,6,0.000,0.000,2930,2011,2114
$GC,15427,2.09,90.8,569.5,5.6,249,15438,0.10,2.72,4.68,0.873,4,0.070,0.089,2956,3410,2103
$GC,15554,2.05,90.8,561.4,6.8,250,15558,0.00,2.58,0.00,0.000,6,0.000,0.054,2956,1998,2103
$GC,15922,2.05,90.8,538.5,6.2,255,15926,0.00,2.70,0.00,0.000,4,0.000,0.082,2956,3415,2103
$GC,16074,2.05,93.3,529.5,5.6,256,16083,0.00,2.58,4.12,0.792,6,0.000,0.053,2956,1997,2092
$GC,16419,2.06,96.4,510.3,5.6,261,16425,0.00,0.00,4.40,0.820,6,0.000,0.000,2956,1997,2079
$GC,16742,2.06,99.4,492.3,5.6,265,16752,0.00,2.72,4.40,0.812,4,0.000,0.078,2956,3412,2067
$GC,16859,2.06,99.4,484.8,6.0,266,16863,0.00,2.58,0.00,0.000,6,0.000,0.050,2956,1990,2067
$GC,17233,2.06,99.4,460.6,6.5,271,17234,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1991,2067
$GC,17555,2.06,99.4,438.2,7.0,275,17560,0.00,2.65,0.00,0.000,4,0.000,0.085,2956,596,2067
$GC,17762,2.06,99.4,422.9,7.7,277,17767,0.00,2.53,0.00,0.000,6,0.000,0.047,2955,2007,2067
$GC,18137,2.06,99.4,398.0,6.6,282,18141,0.00,2.67,0.00,0.000,4,0.000,0.074,2955,591,2067
$GC,18377,2.06,99.9,383.8,5.9,284,18382,0.00,2.53,0.00,0.000,6,0.000,0.044,2956,2005,2067
$GC,18718,2.07,109.3,367.9,4.7,289,18734,0.00,2.70,10.20,0.974,4,0.000,0.071,2956,591,2027
$GC,18987,2.07,109.3,350.4,6.8,292,18991,0.00,2.53,0.00,0.000,6,0.000,0.043,2956,2010,2027
$GC,19308,2.07,109.3,327.1,7.3,296,19309,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2010,2026
$GC,19630,2.07,109.3,304.0,7.1,300,19631,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2011,2027
$GC,19955,2.07,109.3,281.8,6.5,307,19956,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2010,2027
$GC,20279,2.07,109.3,262.1,6.0,315,20281,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2010,2027
$GC,20605,2.08,111.7,244.1,5.7,323,20614,0.00,2.65,4.43,0.718,4,0.000,0.067,2956,593,2017
$GC,20867,2.08,111.7,227.5,6.6,328,20873,0.00,2.50,0.00,0.000,6,0.000,0.041,2956,2009,2017
$GC,21200,2.13,116.1,209.2,5.4,337,21211,0.00,2.65,5.75,0.780,4,0.000,0.066,2956,587,1998
$GC,21385,2.13,116.1,197.9,6.3,341,21389,0.00,2.50,0.00,0.000,6,0.000,0.040,2956,2004,1999
$GC,21699,2.18,116.1,178.4,6.2,349,21700,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2004,1999
$GC,22024,2.23,116.1,156.9,6.8,357,22029,0.12,2.55,0.00,0.000,4,0.060,0.066,2987,3402,1999
$GC,22142,2.19,116.1,148.3,7.2,359,22146,0.00,2.47,0.00,0.000,6,0.000,0.041,2987,1991,1998
$GC,22459,2.21,134.9,134.6,3.4,374,22481,0.00,2.67,16.88,0.863,4,0.000,0.069,2987,605,1922
$GC,22735,2.22,138.7,122.0,5.5,386,22745,0.00,2.47,5.28,0.702,6,0.000,0.041,2987,2004,1907
$GC,23057,2.24,153.6,108.0,3.9,401,23078,0.00,2.65,14.10,0.827,4,0.000,0.064,2987,604,1846
$GC,23332,2.25,166.3,95.2,4.2,413,23350,0.00,2.47,12.23,0.801,6,0.000,0.040,2987,2002,1795
$GC,23661,2.33,176.1,78.8,4.6,430,23675,0.00,2.65,9.77,0.770,4,0.000,0.063,2987,601,1755
$GC,23933,2.37,176.1,61.1,6.9,454,23938,0.12,2.50,0.00,0.000,6,0.089,0.041,3011,2008,1755
$GC,24260,2.42,179.5,40.1,5.5,484,24272,0.00,2.62,4.95,0.639,4,0.000,0.062,3011,598,1741
$GC,24296,2.42,179.5,37.8,6.4,487,24301,0.00,2.50,0.00,0.000,6,0.000,0.039,3011,2009,1741
$GC,24623,2.50,193.3,20.3,4.1,517,24642,0.15,0.00,14.75,0.766,6,0.060,0.000,3047,2009,1684
$STATE,24946,end climb,SURFACE_DEPTH_REACHED
$STATE,24947,begin surface coast
$FINISH,1.2,1.024591
$STATE,24980,end surface coast,CONTROL_FINISHED_OK
$STATE,24980,begin surface
$SM_CCo,25008,133.98,0.717,6,0,1046,350.04
$SM_GC,2.16,0.00,0.00,133.98,0.000,0.000,0.717,34,2548,1046,-11.34,-0.06,350.04
$IRIDIUM_FIX,4648.08,-12756.66,290897,010107
$TT8_MAMPS,0.025311
$HUMID,1833
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,2
$24V_AH,23.1,40.928
$10V_AH,10.2,25.827
$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,31.250,175.425,250.325,133.975,0.000,22.351,28.764,138.717,9.250,0.000,0.000,15.567,1477.514,20249.480,577.906,2533.408,668.001,33.377,1820.749,0.000,2457.438,0.000,56.630
$DEVICE_MAMPS,145.730,102.778,1439.659,717.145,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,389.031,442.092,382.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28586,551
$CAP_FILE_SIZE,165013,0
$CFSIZE,260165632,241827840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,6,0
$GPS,040608,171401,4700.667,-12801.222,39,1.1,40,18.6