version: 66.03
glider: 101
mission: 5
dive: 71
start: 4 15 108 7 7 53
data:
$ID,101
$MISSION,5
$DIVE,71
$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,-692043.31
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,070131,4705.125,-12735.366,39,1.5,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.7
$GPS2,070651,4705.130,-12735.354,13,1.5,13,18.6
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.199,-0.131
$KALMAN_X,17971.4,254.9,-383.9,-162678.7,1543.6
$KALMAN_Y,25875.1,29.5,-230.1,-141705.9,2767.8
$MHEAD_RNG_PITCHd_Wd,104.7,198975,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.51,-146.6,0.0,0.0,0,91,0.00,0.00,-60.45,0.000,2,0.000,0.000,27,2565,2105
$GC,96,-1.51,-146.6,3.1,-3.7,6,150,11.07,2.03,-37.00,0.000,4,0.125,0.094,2164,3633,3161
$GC,406,-1.38,-146.6,47.3,-15.9,37,413,0.12,1.95,0.00,0.000,6,0.087,0.044,2194,2530,3159
$GC,748,-1.32,-146.6,91.0,-12.5,90,752,0.00,2.08,0.00,0.000,4,0.000,0.077,2194,3631,3159
$GC,828,-1.26,-146.6,100.8,-12.3,97,833,0.15,1.90,0.00,0.000,6,0.089,0.045,2224,2531,3159
$GC,1160,-1.32,-146.6,132.5,-9.2,128,1164,0.00,2.47,0.00,0.000,4,0.000,0.054,2224,1157,3159
$GC,1224,-1.40,-146.6,138.3,-8.8,133,1229,0.15,2.47,0.00,0.000,6,0.100,0.044,2196,2557,3159
$GC,1555,-1.40,-146.6,171.9,-10.3,154,1559,0.00,2.53,0.00,0.000,4,0.000,0.052,2196,1156,3159
$GC,1618,-1.40,-146.6,178.5,-10.5,157,1622,0.00,2.50,0.00,0.000,6,0.000,0.044,2196,2557,3159
$GC,1945,-1.40,-146.6,211.2,-9.6,173,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2557,3159
$GC,2254,-1.40,-146.6,241.2,-9.8,188,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2557,3159
$GC,2564,-1.40,-146.6,271.4,-9.6,203,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2557,3159
$GC,2874,-1.40,-146.6,300.6,-9.4,218,2878,0.00,2.53,0.00,0.000,4,0.000,0.056,2196,1161,3159
$GC,2948,-1.46,-146.6,308.3,-10.1,219,2952,0.00,2.47,0.00,0.000,6,0.000,0.048,2196,2549,3159
$GC,3304,-1.46,-146.6,341.8,-9.4,225,3308,0.00,2.53,0.00,0.000,4,0.000,0.059,2196,1161,3159
$GC,3367,-1.51,-146.6,347.8,-9.4,226,3372,0.12,2.50,0.00,0.000,6,0.110,0.052,2174,2549,3159
$GC,3732,-1.51,-146.6,383.8,-9.8,232,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2549,3158
$GC,4035,-1.51,-146.6,412.1,-9.3,237,4040,0.00,2.58,0.00,0.000,4,0.000,0.069,2173,1158,3158
$GC,4086,-1.51,-146.6,417.0,-9.6,237,4091,0.00,2.55,0.00,0.000,6,0.000,0.061,2173,2552,3158
$GC,4396,-1.51,-146.6,447.0,-9.7,242,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2552,3157
$GC,4700,-1.51,-146.6,475.8,-9.5,247,4704,0.00,2.65,0.00,0.000,4,0.000,0.084,2173,1165,3157
$GC,4763,-1.51,-146.6,481.7,-9.0,248,4767,0.00,2.60,0.00,0.000,6,0.000,0.077,2173,2545,3157
$GC,5129,-1.51,-146.6,513.3,-8.6,254,5133,0.00,2.67,0.00,0.000,4,0.000,0.091,2173,1164,3157
$GC,5184,-1.51,-146.6,518.3,-8.5,254,5190,0.00,2.65,0.00,0.000,6,0.000,0.083,2173,2550,3157
$GC,5494,-1.51,-146.6,545.2,-8.7,260,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2550,3156
$GC,5797,-1.51,-146.6,572.1,-8.9,265,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2550,3156
$GC,6100,-1.51,-146.6,599.1,-8.9,270,6105,0.00,2.67,0.00,0.000,4,0.000,0.088,2173,1164,3155
$GC,6272,-1.51,-146.6,615.9,-9.5,272,6276,0.00,2.65,0.00,0.000,6,0.000,0.083,2173,2550,3155
$GC,6598,-1.51,-146.6,647.4,-9.6,278,6602,0.00,2.65,0.00,0.000,4,0.000,0.087,2173,1169,3154
$GC,6642,-1.51,-146.6,651.9,-10.5,278,6647,0.00,2.62,0.00,0.000,6,0.000,0.081,2173,2550,3154
$GC,6958,-1.51,-146.6,682.0,-9.6,284,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2550,3154
$GC,7262,-1.51,-146.6,711.9,-9.9,289,7267,0.00,2.65,0.00,0.000,4,0.000,0.087,2173,1171,3153
$GC,7313,-1.55,-146.6,717.2,-10.6,289,7318,0.00,2.62,0.00,0.000,6,0.000,0.081,2173,2551,3153
$GC,7625,-1.55,-146.6,746.3,-9.3,294,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2551,3153
$GC,7926,-1.55,-146.6,772.2,-8.4,299,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2551,3153
$GC,8229,-1.55,-146.6,796.8,-8.1,304,8234,0.00,2.65,0.00,0.000,4,0.000,0.087,2173,1171,3153
$GC,8293,-1.60,-146.6,802.2,-8.8,305,8297,0.00,2.62,0.00,0.000,6,0.000,0.079,2173,2552,3153
$GC,8658,-1.60,-146.6,832.4,-8.2,311,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2551,3152
$GC,8962,-1.60,-146.6,856.4,-7.9,316,8966,0.00,2.65,0.00,0.000,4,0.000,0.086,2173,1170,3152
$GC,9025,-1.65,-146.6,861.5,-7.8,317,9030,0.17,2.62,0.00,0.000,6,0.114,0.080,2142,2554,3152
$GC,9391,-1.65,-146.6,894.7,-9.0,323,9396,0.00,2.67,0.00,0.000,4,0.000,0.087,2142,1160,3152
$GC,9464,-1.65,-146.6,901.5,-8.7,324,9468,0.00,2.65,0.00,0.000,6,0.000,0.080,2142,2553,3152
$GC,9818,-1.65,-146.6,933.4,-9.1,330,9822,0.00,2.67,0.00,0.000,4,0.000,0.087,2142,1164,3151
$GC,9874,-1.65,-146.6,938.7,-9.7,330,9880,0.00,2.62,0.00,0.000,6,0.000,0.080,2142,2548,3152
$GC,10184,-1.65,-146.6,965.6,-8.7,336,10188,0.00,2.65,0.00,0.000,4,0.000,0.087,2142,1169,3152
$GC,10228,-1.65,-146.6,969.8,-9.5,336,10233,0.00,2.62,0.00,0.000,6,0.000,0.080,2142,2551,3152
$STATE,10481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10481,begin apogee
$GC,10490,-0.45,0.0,991.9,8.7,341,10619,1.23,0.00,125.53,1.476,6,0.083,0.000,2397,2026,2564
$STATE,10620,end apogee,CONTROL_FINISHED_OK
$STATE,10620,begin climb
$GC,10624,1.51,146.6,996.0,0.0,343,10760,1.98,2.97,127.47,1.429,4,0.055,0.106,2838,590,1966
$GC,10865,1.25,146.6,985.5,10.3,346,10871,0.35,2.67,0.00,0.000,6,0.139,0.066,2777,2004,1966
$GC,11176,1.12,149.0,960.6,7.9,351,11182,0.17,0.00,3.97,0.857,6,0.113,0.000,2746,2004,1956
$GC,11479,1.09,185.2,940.3,6.6,356,11514,0.00,0.00,33.33,1.376,6,0.000,0.000,2746,2005,1808
$GC,11782,1.07,207.1,918.7,7.2,361,11805,0.00,0.00,20.90,1.336,6,0.000,0.000,2745,2005,1719
$GC,12085,1.07,210.7,895.1,7.9,366,12092,0.00,0.00,5.18,1.014,6,0.000,0.000,2745,2005,1704
$GC,12388,1.07,210.7,869.1,8.6,371,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2006,1704
$GC,12690,1.07,210.7,842.6,8.8,376,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2006,1703
$GC,12994,1.07,210.7,815.8,8.9,381,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2007,1703
$GC,13297,1.07,210.7,790.2,8.5,386,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2007,1703
$GC,13600,1.07,210.7,763.3,8.9,391,13601,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2008,1703
$GC,13903,1.07,210.7,735.3,9.3,396,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2008,1703
$GC,14206,1.07,210.7,708.3,8.8,401,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2009,1703
$GC,14509,1.07,210.7,682.4,8.5,406,14510,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2009,1703
$GC,14812,1.07,210.7,657.7,8.1,411,14817,0.00,2.75,0.00,0.000,4,0.000,0.099,2745,3409,1703
$GC,14880,1.02,210.7,652.0,8.3,412,14885,0.12,2.60,0.00,0.000,6,0.124,0.058,2724,1991,1703
$GC,15240,1.04,227.0,625.5,7.4,418,15261,0.00,2.85,15.35,1.185,4,0.000,0.092,2724,3409,1638
$GC,15312,1.04,227.0,619.6,8.9,419,15316,0.00,2.60,0.00,0.000,6,0.000,0.057,2723,2000,1637
$GC,15667,1.05,231.5,591.7,7.8,425,15677,0.00,2.80,5.32,0.939,4,0.000,0.091,2724,3415,1619
$GC,15729,1.05,231.5,586.6,8.1,426,15734,0.00,2.62,0.00,0.000,6,0.000,0.057,2724,1990,1619
$GC,16096,1.09,234.6,557.9,7.9,432,16102,0.00,0.00,4.53,0.855,6,0.000,0.000,2724,1990,1607
$GC,16398,1.14,239.3,534.0,7.8,437,16412,0.12,2.80,6.18,0.967,4,0.062,0.088,2756,3415,1587
$GC,16512,1.10,239.3,523.6,10.0,438,16516,0.00,2.60,0.00,0.000,6,0.000,0.054,2756,1993,1587
$GC,16832,1.10,239.3,493.5,9.3,444,16837,0.00,2.75,0.00,0.000,4,0.000,0.086,2756,3415,1587
$GC,16896,1.06,239.3,487.3,9.4,445,16901,0.15,2.58,0.00,0.000,6,0.127,0.052,2730,2000,1587
$GC,17262,1.10,239.3,455.5,8.5,451,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2000,1587
$GC,17565,1.14,239.3,430.8,8.2,456,17569,0.00,2.70,0.00,0.000,4,0.000,0.078,2730,3417,1587
$GC,17632,1.14,239.3,425.2,8.2,457,17636,0.00,2.55,0.00,0.000,6,0.000,0.048,2730,1987,1587
$GC,17993,1.21,253.2,398.3,7.5,463,18012,0.15,2.78,12.98,1.033,4,0.060,0.074,2771,3405,1531
$GC,18070,1.15,253.2,391.1,9.1,464,18074,0.00,2.53,0.00,0.000,6,0.000,0.047,2771,2000,1531
$GC,18424,1.15,253.2,359.6,8.8,470,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2000,1531
$GC,18728,1.15,253.2,333.2,8.8,475,18732,0.00,2.65,0.00,0.000,4,0.000,0.072,2771,3412,1531
$GC,18772,1.10,253.2,328.9,9.7,475,18778,0.17,2.53,0.00,0.000,6,0.123,0.045,2741,1994,1531
$GC,19088,1.14,253.2,303.7,8.0,481,19090,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1994,1531
$GC,19397,1.21,267.9,279.9,7.4,494,19419,0.00,2.75,13.70,0.961,4,0.000,0.070,2741,3413,1471
$GC,19466,1.21,267.9,274.2,8.9,497,19471,0.00,2.55,0.00,0.000,6,0.000,0.044,2741,1994,1471
$GC,19796,1.28,280.5,249.0,7.5,513,19819,0.15,2.75,12.57,0.928,4,0.061,0.069,2782,3413,1419
$GC,19859,1.23,280.5,243.1,10.5,515,19866,0.00,2.53,0.00,0.000,6,0.000,0.044,2782,1995,1419
$GC,20176,1.23,280.5,213.4,9.4,531,20177,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1995,1419
$GC,20485,1.23,280.5,185.0,9.3,546,20490,0.00,2.65,0.00,0.000,4,0.000,0.067,2782,3416,1419
$GC,20519,1.23,280.5,181.5,10.4,547,20526,0.00,2.53,0.00,0.000,6,0.000,0.043,2782,1991,1419
$GC,20836,1.23,280.5,152.3,9.2,563,20837,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1991,1419
$GC,21153,1.23,280.5,123.8,9.0,591,21154,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1991,1419
$GC,21474,1.24,292.9,96.1,7.5,621,21496,0.00,2.72,11.77,0.821,4,0.000,0.064,2782,3413,1369
$GC,21554,1.24,292.9,89.5,8.2,628,21558,0.00,2.50,0.00,0.000,6,0.000,0.041,2782,1998,1369
$GC,21892,1.34,326.7,65.6,6.7,676,21932,0.00,2.72,30.58,0.827,4,0.000,0.064,2782,3416,1232
$GC,21968,1.42,337.0,60.4,7.6,689,21987,0.12,2.53,10.88,0.759,6,0.080,0.041,2808,1998,1190
$GC,22320,1.42,337.0,29.5,8.3,741,22321,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1998,1190
$STATE,22624,end climb,SURFACE_DEPTH_REACHED
$STATE,22624,begin surface coast
$FINISH,0.9,1.016242
$STATE,22650,end surface coast,CONTROL_FINISHED_OK
$STATE,22650,begin surface
$SM_CCo,22676,55.15,0.728,3,0,933,400.08
$SM_GC,1.65,0.00,0.00,55.15,0.000,0.000,0.728,29,2566,933,-11.37,0.45,400.08
$IRIDIUM_FIX,4651.23,-12740.29,100797,000034
$TT8_MAMPS,0.026078
$HUMID,1822
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,1
$24V_AH,23.2,15.150
$10V_AH,10.1,7.561
$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,29.300,162.575,440.225,55.150,0.000,28.278,27.120,133.369,9.000,0.000,0.000,13.591,1566.614,18124.367,664.986,2099.444,617.546,33.360,1709.302,0.000,2053.916,0.000,56.608
$DEVICE_MAMPS,138.827,105.846,1475.708,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.400,606.229,867.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37975,772
$CAP_FILE_SIZE,147986,0
$CFSIZE,260165632,254050304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,150408,132828,4703.787,-12730.979,27,2.3,46,18.6