version: 66.03
glider: 101
mission: 5
dive: 420
start: 7 28 108 9 55 40
data:
$ID,101
$MISSION,5
$DIVE,420
$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,-699829.94
$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,23
$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,0
$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
$GPS1,093308,4701.392,-12757.575,35,1.0,35,18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-66.6
$GPS2,095438,4701.417,-12757.564,10,1.4,15,18.6
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,-0.038
$KALMAN_X,-40442.8,77.0,96.3,-132016.8,-262.0
$KALMAN_Y,255740.1,107.1,113.2,-378878.2,-1525.6
$MHEAD_RNG_PITCHd_Wd,229.7,4044,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-2.48,-29.1,0.0,0.0,0,69,0.00,0.00,-40.22,0.000,2,0.000,0.000,28,2572,1969
$GC,74,-2.49,-35.6,3.4,-5.1,4,110,10.00,2.55,-20.42,0.000,4,0.123,0.057,1954,1147,2619
$GC,237,-2.32,-35.6,37.6,-21.6,18,244,0.22,2.47,0.00,0.000,6,0.133,0.038,1992,2557,2620
$GC,564,-2.24,-35.6,96.6,-18.6,45,566,0.10,0.00,0.00,0.000,6,0.119,0.000,2009,2557,2620
$GC,869,-2.24,-35.6,149.4,-14.5,60,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2557,2621
$GC,1175,-2.24,-35.6,188.7,-12.4,68,1179,0.00,2.53,0.00,0.000,4,0.000,0.049,2009,1143,2621
$GC,1335,-2.24,-35.6,209.3,-13.6,71,1339,0.00,2.47,0.00,0.000,6,0.000,0.041,2009,2550,2620
$GC,1672,-2.24,-35.6,255.8,-13.6,80,1676,0.00,2.50,0.00,0.000,4,0.000,0.050,2009,1146,2619
$GC,1717,-2.24,-35.6,261.9,-12.9,81,1721,0.00,2.47,0.00,0.000,6,0.000,0.043,2009,2550,2619
$GC,2037,-2.24,-35.6,303.2,-12.8,89,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2550,2618
$GC,2358,-2.24,-35.6,341.6,-11.9,93,2363,0.00,2.55,0.00,0.000,4,0.000,0.058,2009,1147,2618
$GC,2433,-2.24,-35.6,350.4,-12.3,93,2437,0.00,2.53,0.00,0.000,6,0.000,0.050,2009,2553,2618
$GC,2762,-2.24,-35.6,386.8,-11.1,97,2767,0.00,2.58,0.00,0.000,4,0.000,0.062,2009,1148,2615
$GC,2875,-2.24,-35.6,399.3,-11.1,98,2879,0.00,2.55,0.00,0.000,6,0.000,0.056,2009,2550,2615
$GC,3255,-2.24,-35.6,440.6,-10.9,103,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2550,2615
$GC,3578,-2.28,-35.6,476.3,-11.1,107,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2550,2613
$GC,3900,-2.33,-35.6,513.7,-11.6,111,3904,0.00,2.70,0.00,0.000,4,0.000,0.092,2009,1155,2612
$GC,3996,-2.38,-35.6,525.3,-12.3,112,4002,0.12,2.72,0.00,0.000,6,0.109,0.091,1986,2548,2612
$GC,4313,-2.38,-35.6,564.8,-12.5,116,4317,0.00,2.67,0.00,0.000,4,0.000,0.084,1986,1152,2610
$GC,4408,-2.38,-35.6,576.7,-12.1,117,4413,0.00,2.67,0.00,0.000,6,0.000,0.081,1986,2553,2611
$GC,4725,-2.38,-35.6,612.6,-11.3,121,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2553,2611
$GC,5047,-2.38,-35.6,647.5,-10.8,125,5051,0.00,2.67,0.00,0.000,4,0.000,0.083,1986,1153,2610
$GC,5170,-2.38,-35.6,661.3,-11.0,126,5175,0.00,2.67,0.00,0.000,6,0.000,0.079,1986,2556,2610
$GC,5542,-2.38,-35.6,702.3,-11.2,131,5546,0.00,2.67,0.00,0.000,4,0.000,0.083,1986,1155,2609
$GC,5631,-2.38,-35.6,712.9,-11.8,132,5636,0.00,2.65,0.00,0.000,6,0.000,0.078,1986,2550,2608
$GC,5954,-2.38,-35.6,749.5,-11.5,136,5959,0.00,2.67,0.00,0.000,4,0.000,0.083,1986,1146,2608
$GC,6015,-2.38,-35.6,756.8,-11.6,136,6020,0.00,2.67,0.00,0.000,6,0.000,0.078,1986,2550,2607
$GC,6362,-2.38,-35.6,794.0,-10.8,141,6366,0.00,2.65,0.00,0.000,4,0.000,0.082,1986,1153,2608
$GC,6469,-2.38,-35.6,805.7,-11.0,142,6473,0.00,2.67,0.00,0.000,6,0.000,0.078,1986,2557,2607
$GC,6854,-2.38,-35.6,845.9,-10.4,147,6858,0.00,2.67,0.00,0.000,4,0.000,0.083,1986,1155,2607
$GC,6926,-2.38,-35.6,853.9,-11.5,147,6931,0.00,2.65,0.00,0.000,6,0.000,0.077,1985,2551,2606
$GC,7256,-2.38,-35.6,887.6,-10.3,151,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2551,2606
$GC,7578,-2.38,-35.6,919.3,-9.8,155,7583,0.00,2.67,0.00,0.000,4,0.000,0.081,1986,1148,2606
$GC,7696,-2.38,-35.6,930.8,-9.6,156,7701,0.00,2.67,0.00,0.000,6,0.000,0.077,1985,2556,2605
$GC,8071,-2.38,-35.6,965.9,-9.4,161,8075,0.00,2.67,0.00,0.000,4,0.000,0.082,1985,1155,2604
$GC,8160,-2.38,-35.6,974.6,-9.2,162,8168,0.00,2.65,0.00,0.000,6,0.000,0.077,1985,2560,2604
$STATE,8325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8326,begin apogee
$GC,8335,-0.45,0.0,990.6,9.6,164,8370,2.03,0.00,30.85,1.422,6,0.093,0.000,2399,2010,2473
$STATE,8370,end apogee,CONTROL_FINISHED_OK
$STATE,8371,begin climb
$GC,8375,2.49,35.6,990.6,0.0,164,8415,2.97,0.00,34.62,1.397,6,0.052,0.000,3048,2010,2327
$GC,8732,2.37,80.0,991.9,-0.2,169,8781,0.17,2.88,41.05,1.407,4,0.124,0.096,3017,3416,2147
$GC,8939,2.20,80.0,979.8,9.0,171,8944,0.20,2.65,0.00,0.000,6,0.146,0.061,2984,1992,2146
$GC,9314,2.13,80.0,950.2,7.9,176,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1992,2146
$GC,9638,2.07,80.0,924.8,7.9,180,9643,0.17,2.78,0.00,0.000,4,0.140,0.100,2952,593,2146
$GC,9896,2.02,80.0,905.0,7.7,182,9902,0.00,2.65,0.00,0.000,6,0.000,0.066,2952,2005,2145
$GC,10226,2.02,80.0,880.8,7.3,187,10230,0.00,2.78,0.00,0.000,4,0.000,0.092,2952,592,2145
$GC,10333,1.97,80.0,872.4,7.9,188,10338,0.12,2.62,0.00,0.000,6,0.179,0.064,2934,2009,2145
$GC,10718,1.97,80.0,844.0,7.4,193,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2009,2145
$GC,11041,1.97,80.0,820.4,7.3,197,11045,0.00,2.78,0.00,0.000,4,0.000,0.091,2933,592,2145
$GC,11248,1.97,80.0,805.3,7.4,199,11252,0.00,2.62,0.00,0.000,6,0.000,0.063,2933,2007,2145
$GC,11622,1.97,80.0,781.4,6.4,204,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2007,2144
$GC,11945,1.97,80.0,762.0,6.0,208,11949,0.00,2.78,0.00,0.000,4,0.000,0.090,2933,587,2144
$GC,12175,1.97,81.4,748.2,5.8,210,12179,0.00,2.62,0.00,0.000,6,0.000,0.061,2933,2007,2144
$GC,12527,1.98,87.8,730.3,5.1,215,12537,0.00,0.00,8.32,1.131,6,0.000,0.000,2933,2007,2115
$GC,12850,2.02,87.8,710.3,6.2,219,12854,0.00,2.78,0.00,0.000,4,0.000,0.090,2933,590,2115
$GC,13074,2.02,87.8,694.6,7.2,221,13078,0.00,2.62,0.00,0.000,6,0.000,0.060,2933,2008,2115
$GC,13432,2.06,87.8,670.5,6.8,226,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2008,2115
$GC,13753,2.10,87.8,648.7,6.8,230,13755,0.10,0.00,0.00,0.000,6,0.068,0.000,2958,2009,2115
$GC,14076,2.10,87.8,628.6,6.2,234,14080,0.00,2.75,0.00,0.000,4,0.000,0.088,2958,592,2115
$GC,14301,2.06,87.8,614.3,6.5,236,14306,0.00,2.60,0.00,0.000,6,0.000,0.058,2957,2007,2115
$GC,14659,2.06,89.6,593.8,5.7,241,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2007,2115
$GC,14982,2.07,93.3,576.0,5.5,245,14990,0.00,0.00,6.60,0.992,6,0.000,0.000,2958,2008,2092
$GC,15304,2.07,93.3,554.5,6.7,249,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2008,2092
$GC,15626,2.07,93.3,532.3,6.9,253,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2009,2092
$GC,15949,2.07,93.3,510.7,6.7,257,15953,0.00,2.72,0.00,0.000,4,0.000,0.083,2958,590,2092
$GC,16207,2.07,93.3,493.0,6.6,259,16213,0.00,2.58,0.00,0.000,6,0.000,0.051,2958,2009,2092
$GC,16536,2.07,93.3,473.1,6.1,264,16540,0.00,2.70,0.00,0.000,4,0.000,0.079,2958,591,2092
$GC,16794,2.07,93.3,457.3,6.0,266,16800,0.00,2.55,0.00,0.000,6,0.000,0.049,2958,2007,2092
$GC,17124,2.08,100.9,440.9,4.9,271,17134,0.00,0.00,8.30,0.976,6,0.000,0.000,2958,2007,2062
$GC,17446,2.08,105.0,423.4,5.4,275,17454,0.00,0.00,5.60,0.864,6,0.000,0.000,2957,2007,2044
$GC,17769,2.08,106.4,404.8,5.8,279,17773,0.00,2.67,0.00,0.000,4,0.000,0.072,2958,591,2044
$GC,17921,2.09,114.9,395.9,4.8,280,17937,0.00,2.53,10.52,0.987,6,0.000,0.043,2958,2005,2004
$GC,18260,2.09,114.9,372.4,7.0,284,18265,0.00,2.67,0.00,0.000,4,0.000,0.069,2958,582,2004
$GC,18413,2.09,114.9,361.8,6.8,285,18417,0.00,2.55,0.00,0.000,6,0.000,0.043,2958,2010,2004
$GC,18753,2.09,115.0,341.2,6.0,290,18754,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2010,2004
$GC,19075,2.09,115.0,321.3,6.1,294,19080,0.00,2.65,0.00,0.000,4,0.000,0.067,2958,590,2004
$GC,19172,2.09,115.0,314.8,6.6,295,19176,0.00,2.53,0.00,0.000,6,0.000,0.042,2958,2012,2005
$GC,19488,2.14,115.0,294.8,6.3,300,19489,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2013,2005
$GC,19813,2.14,115.0,273.5,6.7,308,19814,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2013,2004
$GC,20139,2.18,115.0,252.9,6.2,316,20140,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2013,2005
$GC,20463,2.23,121.0,235.7,5.2,324,20473,0.12,0.00,7.30,0.843,6,0.061,0.000,2989,2013,1979
$GC,20788,2.23,121.6,216.2,5.9,332,20792,0.00,2.65,0.00,0.000,4,0.000,0.067,2989,591,1979
$GC,20896,2.18,124.6,210.1,5.6,334,20905,0.00,2.50,4.75,0.718,6,0.000,0.040,2989,2008,1965
$GC,21238,2.18,124.6,188.6,6.8,343,21239,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2009,1965
$GC,21563,2.18,124.6,166.9,6.4,351,21567,0.00,2.58,0.00,0.000,4,0.000,0.067,2989,3406,1965
$GC,21821,2.19,135.4,154.6,4.5,356,21837,0.00,2.50,10.93,0.844,6,0.000,0.041,2989,1978,1920
$GC,22154,2.20,145.4,137.4,4.6,370,22170,0.00,2.67,10.35,0.822,4,0.000,0.061,2989,3404,1879
$GC,22323,2.22,160.7,130.2,3.9,376,22343,0.00,2.47,14.73,0.838,6,0.000,0.040,2989,1999,1816
$GC,22662,2.29,170.9,117.1,4.6,393,22678,0.00,2.62,10.60,0.801,4,0.000,0.067,2989,603,1775
$GC,22908,2.29,170.9,100.7,6.2,403,22912,0.00,2.47,0.00,0.000,6,0.000,0.039,2989,2006,1775
$GC,23231,2.37,178.6,84.0,4.9,419,23242,0.12,0.00,7.97,0.752,6,0.060,0.000,3021,2006,1745
$GC,23549,2.38,183.0,64.6,5.4,445,23561,0.00,2.60,5.88,0.690,4,0.000,0.061,3021,606,1726
$GC,23814,2.39,195.1,49.5,4.3,468,23832,0.00,2.47,12.12,0.770,6,0.000,0.039,3021,2014,1676
$GC,24152,2.45,197.6,30.8,5.7,500,24164,0.00,2.65,4.10,0.571,4,0.000,0.061,3021,609,1667
$GC,24319,2.47,219.5,22.7,2.9,514,24347,0.00,2.42,19.80,0.770,6,0.000,0.038,3021,2004,1577
$GC,24667,2.58,231.4,11.9,4.3,547,24689,0.15,2.65,11.88,0.725,4,0.057,0.061,3063,3399,1529
$STATE,24823,end climb,SURFACE_DEPTH_REACHED
$STATE,24823,begin surface coast
$FINISH,1.3,1.024009
$STATE,24828,end surface coast,CONTROL_FINISHED_OK
$STATE,24828,begin surface
$SM_CCo,24857,101.62,0.705,4,0,1046,350.04
$SM_GC,2.44,0.00,0.00,101.62,0.000,0.000,0.705,27,2538,1046,-11.38,-0.34,350.04
$IRIDIUM_FIX,4641.78,-12757.20,221097,090916
$TT8_MAMPS,0.025311
$HUMID,1896
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,22.8,69.360
$10V_AH,10.2,42.687
$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,30.150,173.225,266.275,101.625,0.000,135.078,340.432,414.847,9.000,0.000,0.000,15.973,1437.859,20498.900,544.466,2393.583,1395.767,33.381,1729.894,0.000,2322.065,0.000,56.646
$DEVICE_MAMPS,179.478,99.710,1422.018,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.268,451.729,407.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28537,561
$CAP_FILE_SIZE,166199,0
$CFSIZE,260165632,229261312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,280708,165325,4700.884,-12759.860,24,1.2,42,18.6