version: 66.03
glider: 101
mission: 5
dive: 107
start: 4 26 108 20 21 20
data:
$ID,101
$MISSION,5
$DIVE,107
$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,-692928.38
$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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,201407,4657.948,-12504.421,41,1.5,52,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-64.9
$GPS2,202015,4657.942,-12504.429,17,1.9,17,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.185,-0.050
$KALMAN_X,22286.1,-0.2,-48.5,19500.0,163.4
$KALMAN_Y,91418.0,-448.1,-307.2,-219997.8,3197.1
$MHEAD_RNG_PITCHd_Wd,86.6,8970,-12.5,-6.000
$D_GRID,713
$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,-1.28,-117.3,0.0,0.0,0,69,0.00,0.00,-40.62,0.000,2,0.000,0.000,30,2564,1879
$GC,74,-1.28,-117.3,3.1,-3.7,4,133,11.32,2.00,-42.15,0.000,4,0.125,0.091,2217,3627,2951
$GC,229,-1.11,-117.3,18.8,-14.1,18,233,0.20,1.90,0.00,0.000,6,0.086,0.042,2257,2525,2950
$GC,562,-1.07,-117.3,51.0,-9.3,58,568,0.00,2.45,0.00,0.000,4,0.000,0.053,2257,1156,2950
$GC,609,-1.07,-117.3,55.5,-9.4,66,616,0.00,2.47,0.00,0.000,6,0.000,0.042,2257,2552,2950
$GC,957,-1.07,-117.3,86.3,-8.2,121,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2552,2950
$GC,1275,-1.07,-117.3,112.4,-8.4,151,1279,0.00,2.47,0.00,0.000,4,0.000,0.050,2257,1164,2950
$GC,1338,-1.07,-117.3,117.7,-8.1,156,1343,0.00,2.45,0.00,0.000,6,0.000,0.042,2258,2553,2950
$GC,1664,-1.07,-117.3,142.1,-7.2,186,1668,0.00,2.47,0.00,0.000,4,0.000,0.050,2257,1166,2950
$GC,1784,-1.12,-117.3,150.4,-6.9,196,1788,0.00,2.45,0.00,0.000,6,0.000,0.043,2257,2554,2950
$GC,2101,-1.12,-117.3,169.5,-6.0,211,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2554,2950
$GC,2410,-1.17,-117.3,189.3,-6.7,226,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2554,2950
$GC,2720,-1.22,-117.3,210.2,-6.8,241,2725,0.12,2.50,0.00,0.000,4,0.067,0.050,2227,1157,2950
$GC,2798,-1.22,-117.3,216.5,-7.8,244,2804,0.00,2.47,0.00,0.000,6,0.000,0.044,2228,2557,2950
$GC,3115,-1.22,-117.3,240.0,-6.9,260,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2557,2950
$GC,3424,-1.22,-117.3,259.8,-6.4,275,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2557,2950
$GC,3733,-1.22,-117.3,280.9,-7.1,290,3737,0.00,2.50,0.00,0.000,4,0.000,0.053,2228,1162,2950
$GC,3811,-1.22,-117.3,286.7,-7.4,293,3818,0.00,2.45,0.00,0.000,6,0.000,0.048,2228,2550,2949
$GC,4125,-1.22,-117.3,308.3,-6.9,305,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2550,2949
$GC,4428,-1.22,-117.3,329.8,-7.4,310,4432,0.00,2.50,0.00,0.000,4,0.000,0.056,2228,1159,2949
$GC,4495,-1.22,-117.3,334.5,-7.5,311,4499,0.00,2.47,0.00,0.000,6,0.000,0.050,2227,2558,2949
$GC,4855,-1.22,-117.3,357.7,-6.1,317,4859,0.00,2.53,0.00,0.000,4,0.000,0.058,2227,1161,2948
$GC,4905,-1.22,-117.3,360.8,-5.8,317,4910,0.00,2.47,0.00,0.000,6,0.000,0.051,2227,2551,2948
$GC,5216,-1.22,-117.3,379.5,-6.0,322,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2550,2948
$GC,5518,-1.22,-117.3,399.3,-6.6,327,5522,0.00,2.53,0.00,0.000,4,0.000,0.064,2227,1168,2947
$GC,5592,-1.22,-117.3,404.2,-6.6,328,5596,0.00,2.50,0.00,0.000,6,0.000,0.057,2227,2553,2947
$GC,5947,-1.22,-117.3,428.1,-6.9,334,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2554,2947
$GC,6249,-1.22,-117.3,448.2,-6.6,339,6253,0.00,2.55,0.00,0.000,4,0.000,0.073,2228,1171,2947
$GC,6322,-1.22,-117.3,452.7,-6.0,340,6326,0.00,2.55,0.00,0.000,6,0.000,0.067,2227,2555,2947
$GC,6677,-1.22,-117.3,473.7,-5.9,346,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2555,2947
$GC,6979,-1.22,-117.3,493.5,-6.5,351,6984,0.00,2.65,0.00,0.000,4,0.000,0.087,2227,1168,2946
$GC,7058,-1.22,-117.3,499.0,-7.3,352,7063,0.00,2.62,0.00,0.000,6,0.000,0.081,2227,2554,2946
$GC,7408,-1.22,-117.3,524.9,-7.6,358,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2554,2946
$GC,7711,-1.22,-117.3,548.8,-7.8,363,7715,0.00,2.65,0.00,0.000,4,0.000,0.088,2227,1168,2945
$GC,7795,-1.22,-117.3,555.5,-7.8,364,7799,0.00,2.62,0.00,0.000,6,0.000,0.083,2227,2550,2945
$GC,8138,-1.22,-117.3,580.2,-7.2,370,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2549,2945
$GC,8443,-1.22,-117.3,600.9,-6.8,375,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2550,2944
$GC,8744,-1.22,-117.3,620.8,-6.5,380,8748,0.00,2.62,0.00,0.000,4,0.000,0.086,2227,1173,2945
$GC,8833,-1.22,-117.3,626.8,-6.7,381,8837,0.00,2.62,0.00,0.000,6,0.000,0.081,2227,2556,2944
$GC,9170,-1.22,-117.3,647.6,-6.2,387,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2556,2945
$GC,9473,-1.22,-117.3,667.1,-6.5,392,9478,0.00,2.65,0.00,0.000,4,0.000,0.085,2227,1166,2944
$GC,9525,-1.26,-117.3,670.6,-6.5,392,9529,0.00,2.62,0.00,0.000,6,0.000,0.078,2227,2557,2944
$GC,9835,-1.26,-117.3,689.2,-5.9,397,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2558,2944
$GC,10138,-1.26,-117.3,708.4,-6.4,402,10142,0.00,2.65,0.00,0.000,4,0.000,0.085,2227,1166,2944
$STATE,10207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10207,begin apogee
$GC,10217,-0.45,0.0,713.2,6.9,403,10319,0.77,0.00,98.97,1.267,6,0.074,0.000,2395,2002,2473
$STATE,10320,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10324,1.28,117.3,715.0,0.0,404,10434,1.73,2.85,100.72,1.230,4,0.054,0.100,2781,626,1994
$GC,10474,1.03,117.3,711.9,6.8,407,10480,0.30,2.58,0.00,0.000,6,0.129,0.064,2728,2001,1994
$GC,10819,0.94,132.9,692.0,5.4,413,10840,0.12,2.83,15.12,1.136,4,0.110,0.098,2706,3409,1930
$GC,10875,0.89,160.2,689.1,5.0,413,10905,0.00,2.55,24.95,1.169,6,0.000,0.058,2706,2031,1819
$GC,11244,0.89,160.2,666.5,6.1,420,11248,0.00,2.72,0.00,0.000,4,0.000,0.094,2706,3412,1819
$GC,11322,0.83,160.2,661.4,6.8,421,11327,0.12,2.60,0.00,0.000,6,0.123,0.058,2684,1999,1818
$GC,11671,0.83,160.2,639.9,6.2,427,11676,0.00,2.78,0.00,0.000,4,0.000,0.091,2684,3415,1818
$GC,11772,0.83,160.2,633.6,6.0,428,11776,0.00,2.60,0.00,0.000,6,0.000,0.058,2684,2000,1818
$GC,12098,0.83,160.2,613.9,6.0,434,12103,0.00,2.75,0.00,0.000,4,0.000,0.091,2684,3409,1818
$GC,12217,0.84,168.0,606.6,5.7,435,12231,0.00,2.60,8.50,1.048,6,0.000,0.058,2684,1992,1786
$GC,12599,0.84,168.0,580.8,6.9,442,12604,0.00,2.78,0.00,0.000,4,0.000,0.091,2684,3415,1786
$GC,12677,0.84,168.0,575.2,6.5,443,12682,0.00,2.60,0.00,0.000,6,0.000,0.056,2684,1992,1786
$GC,13026,0.85,174.7,555.0,5.8,449,13040,0.00,2.85,7.05,0.989,4,0.000,0.088,2684,3411,1760
$GC,13094,0.86,181.5,551.1,5.8,450,13108,0.00,2.60,8.02,1.009,6,0.000,0.054,2683,1995,1732
$GC,13464,0.86,181.5,528.4,6.4,456,13469,0.00,2.72,0.00,0.000,4,0.000,0.087,2684,3409,1732
$GC,13583,0.86,181.5,520.1,7.3,457,13587,0.00,2.58,0.00,0.000,6,0.000,0.054,2684,1996,1732
$GC,13893,0.86,181.5,500.8,6.5,462,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1995,1732
$GC,14196,0.86,181.5,480.8,6.5,467,14200,0.00,2.70,0.00,0.000,4,0.000,0.082,2684,3410,1733
$GC,14353,0.86,181.5,469.9,7.1,469,14357,0.00,2.55,0.00,0.000,6,0.000,0.050,2684,1996,1732
$GC,14690,0.86,181.5,447.1,6.7,475,14694,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3410,1732
$GC,14786,0.89,206.8,441.4,5.1,476,14817,0.00,2.55,23.90,1.080,6,0.000,0.048,2684,1987,1628
$GC,15121,0.96,222.9,422.8,5.4,482,15143,0.10,2.75,15.90,1.027,4,0.066,0.074,2712,3411,1563
$GC,15263,0.96,229.6,413.7,5.8,484,15277,0.00,2.55,7.40,0.917,6,0.000,0.048,2712,1995,1537
$GC,15623,0.96,229.6,391.9,6.3,490,15627,0.00,2.67,0.00,0.000,4,0.000,0.071,2712,3419,1537
$GC,15685,0.96,229.6,387.5,6.8,491,15690,0.00,2.55,0.00,0.000,6,0.000,0.045,2712,1996,1537
$GC,16051,0.96,229.6,361.5,7.0,497,16055,0.00,2.65,0.00,0.000,4,0.000,0.069,2712,3415,1537
$GC,16146,0.96,229.6,354.5,7.4,498,16150,0.00,2.53,0.00,0.000,6,0.000,0.044,2712,1996,1537
$GC,16478,0.96,229.6,332.9,6.5,504,16482,0.00,2.65,0.00,0.000,4,0.000,0.068,2712,3419,1537
$GC,16550,0.96,229.6,328.0,6.2,505,16555,0.00,2.53,0.00,0.000,6,0.000,0.044,2712,1989,1537
$GC,16905,0.96,229.6,304.5,6.8,511,16909,0.00,2.65,0.00,0.000,4,0.000,0.068,2712,3415,1537
$GC,16988,0.96,229.6,298.5,7.3,512,16993,0.00,2.50,0.00,0.000,6,0.000,0.043,2712,1999,1537
$GC,17319,0.96,229.6,274.1,8.1,527,17323,0.00,2.62,0.00,0.000,4,0.000,0.067,2712,3415,1537
$GC,17386,0.96,229.6,267.9,9.8,530,17390,0.00,2.50,0.00,0.000,6,0.000,0.043,2712,1999,1537
$GC,17709,0.96,229.6,240.0,8.5,546,17714,0.00,2.62,0.00,0.000,4,0.000,0.067,2712,3416,1537
$GC,17799,0.96,229.6,231.2,9.0,550,17804,0.00,2.50,0.00,0.000,6,0.000,0.042,2712,1998,1537
$GC,18122,0.96,229.6,203.9,8.1,566,18126,0.00,2.62,0.00,0.000,4,0.000,0.066,2712,3417,1537
$GC,18166,0.96,229.6,200.0,7.5,568,18170,0.00,2.50,0.00,0.000,6,0.000,0.042,2712,1997,1537
$GC,18488,0.96,229.6,175.7,7.8,584,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1997,1537
$GC,18797,1.01,229.6,150.8,8.0,599,18802,0.00,2.60,0.00,0.000,4,0.000,0.064,2712,3413,1538
$GC,18854,1.01,229.6,145.8,8.3,603,18860,0.00,2.47,0.00,0.000,6,0.000,0.041,2712,1998,1537
$GC,19184,1.06,229.6,122.7,6.7,634,19189,0.00,2.60,0.00,0.000,4,0.000,0.064,2712,3414,1537
$GC,19259,1.06,229.6,117.2,7.5,640,19263,0.00,2.47,0.00,0.000,6,0.000,0.041,2712,1997,1537
$GC,19589,1.20,286.6,99.4,3.9,670,19649,0.17,2.72,49.22,0.848,4,0.053,0.071,2761,598,1304
$GC,19673,1.20,286.6,94.6,6.5,678,19678,0.00,2.53,0.00,0.000,6,0.000,0.040,2762,2022,1304
$GC,20004,1.20,286.6,73.8,6.6,716,20011,0.00,2.53,0.00,0.000,4,0.000,0.067,2761,3399,1304
$GC,20075,1.20,286.6,68.8,7.2,728,20081,0.00,2.47,0.00,0.000,6,0.000,0.040,2761,1996,1304
$GC,20421,1.20,286.6,43.2,7.3,789,20427,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1996,1304
$GC,20758,1.27,287.3,21.2,6.0,824,20763,0.00,2.60,0.00,0.000,4,0.000,0.063,2761,3408,1303
$GC,20871,1.32,287.3,13.5,6.1,833,20878,0.12,2.47,0.00,0.000,6,0.077,0.040,2789,1988,1304
$STATE,21056,end climb,SURFACE_DEPTH_REACHED
$STATE,21056,begin surface coast
$FINISH,1.0,1.001467
$STATE,21092,end surface coast,CONTROL_FINISHED_OK
$STATE,21092,begin surface
$SM_CCo,21118,54.55,0.737,2,0,1045,350.04
$SM_GC,1.75,0.00,0.00,54.55,0.000,0.000,0.737,31,2550,1045,-11.36,0.00,350.04
$IRIDIUM_FIX,4641.78,-12510.63,210797,111115
$TT8_MAMPS,0.025311
$HUMID,1792
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.3,21.069
$10V_AH,10.2,12.028
$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,27.700,195.350,359.775,54.550,0.000,24.805,34.318,157.360,6.000,0.000,0.000,17.756,1722.691,16107.067,562.427,2494.171,664.120,33.373,1767.297,0.000,2443.763,0.000,39.119
$DEVICE_MAMPS,128.856,99.710,1267.084,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.929,684.785,1103.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41121,854
$CAP_FILE_SIZE,154986,0
$CFSIZE,260165632,251187200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270408,021558,4657.867,-12501.319,33,2.1,52,18.4