version: 66.03
glider: 101
mission: 5
dive: 108
start: 4 27 108 2 23 21
data:
$ID,101
$MISSION,5
$DIVE,108
$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,-692961.25
$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,28
$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
$GPS1,021558,4657.867,-12501.319,33,2.1,52,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.7
$GPS2,022217,4657.823,-12501.299,12,3.2,31,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.183,0.058
$KALMAN_X,22076.0,-81.6,-71.1,23684.9,-56.3
$KALMAN_Y,91884.0,-60.4,-254.5,-221115.1,1172.3
$MHEAD_RNG_PITCHd_Wd,54.1,5798,-12.5,-6.000
$D_GRID,317
$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,26,-1.28,-117.3,0.0,0.0,0,78,0.00,0.00,-50.28,0.000,2,0.000,0.000,31,2553,2066
$GC,83,-1.28,-117.3,3.2,-3.6,5,130,11.40,2.05,-30.15,0.000,4,0.130,0.091,2214,3617,2952
$GC,384,-1.12,-117.3,39.3,-11.5,32,389,0.20,1.88,0.00,0.000,6,0.087,0.041,2255,2527,2952
$GC,729,-1.12,-117.3,74.2,-9.1,92,736,0.00,2.05,0.00,0.000,4,0.000,0.073,2255,3620,2952
$GC,805,-1.07,-117.3,81.1,-9.6,104,812,0.00,1.88,0.00,0.000,6,0.000,0.043,2255,2555,2952
$GC,1131,-1.07,-117.3,105.0,-6.7,135,1135,0.00,2.50,0.00,0.000,4,0.000,0.053,2255,1157,2952
$GC,1217,-1.07,-117.3,110.6,-6.3,142,1221,0.00,2.45,0.00,0.000,6,0.000,0.041,2255,2553,2952
$GC,1543,-1.07,-117.3,133.4,-7.2,172,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2552,2952
$GC,1859,-1.07,-117.3,156.2,-7.1,198,1864,0.00,2.50,0.00,0.000,4,0.000,0.051,2255,1149,2952
$GC,1905,-1.13,-117.3,159.5,-7.3,200,1909,0.00,2.47,0.00,0.000,6,0.000,0.042,2255,2555,2952
$GC,2227,-1.17,-117.3,180.7,-6.9,216,2231,0.00,2.50,0.00,0.000,4,0.000,0.051,2255,1152,2952
$GC,2322,-1.22,-117.3,187.5,-7.2,220,2327,0.00,2.47,0.00,0.000,6,0.000,0.043,2255,2555,2952
$GC,2640,-1.26,-117.3,206.7,-5.9,235,2642,0.15,0.00,0.00,0.000,6,0.067,0.000,2221,2556,2952
$GC,2949,-1.26,-117.3,228.0,-7.5,250,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2555,2952
$GC,3262,-1.26,-117.3,251.3,-7.1,265,3266,0.00,2.50,0.00,0.000,4,0.000,0.053,2220,1159,2952
$GC,3357,-1.26,-117.3,258.5,-7.0,269,3361,0.00,2.45,0.00,0.000,6,0.000,0.045,2220,2551,2952
$GC,3675,-1.26,-117.3,281.9,-7.7,284,3679,0.00,2.50,0.00,0.000,4,0.000,0.053,2221,1152,2952
$GC,3749,-1.26,-117.3,288.1,-8.2,287,3753,0.00,2.47,0.00,0.000,6,0.000,0.046,2220,2554,2952
$STATE,3814,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3815,begin apogee
$GC,3824,-0.45,0.0,294.0,8.8,290,3923,0.85,0.00,95.70,0.973,6,0.074,0.000,2401,2006,2473
$STATE,3923,end apogee,CONTROL_FINISHED_OK
$STATE,3923,begin climb
$GC,3927,1.28,117.3,298.9,0.0,295,4031,1.67,2.67,96.12,0.939,4,0.049,0.066,2776,3410,1993
$GC,4156,1.21,189.4,295.0,3.4,305,4222,0.00,2.50,60.65,0.911,6,0.000,0.041,2777,2002,1700
$GC,4539,1.14,189.4,267.1,8.2,323,4544,0.15,2.62,0.00,0.000,4,0.097,0.073,2744,602,1700
$GC,4612,1.05,189.4,260.2,9.7,326,4616,0.00,2.50,0.00,0.000,6,0.000,0.041,2744,2009,1700
$GC,4929,0.99,189.4,236.7,6.8,341,4934,0.15,2.60,0.00,0.000,4,0.103,0.069,2712,3408,1700
$GC,4974,0.99,189.4,233.9,6.2,343,4978,0.00,2.50,0.00,0.000,6,0.000,0.042,2712,1995,1699
$GC,5296,0.99,189.4,213.6,6.6,359,5300,0.00,2.62,0.00,0.000,4,0.000,0.065,2712,3409,1699
$GC,5381,0.99,189.4,208.1,7.2,363,5386,0.00,2.50,0.00,0.000,6,0.000,0.042,2712,1998,1699
$GC,5711,1.06,240.7,191.8,4.1,379,5761,0.00,2.67,44.95,0.890,4,0.000,0.064,2712,3404,1491
$GC,5825,1.09,266.0,186.1,5.1,384,5855,0.12,2.50,23.20,0.857,6,0.076,0.041,2739,1997,1387
$GC,6175,1.09,266.0,164.5,6.5,401,6180,0.00,2.62,0.00,0.000,4,0.000,0.065,2739,3409,1386
$GC,6263,1.09,266.0,158.0,7.4,405,6267,0.00,2.50,0.00,0.000,6,0.000,0.041,2739,1999,1385
$GC,6586,1.09,266.0,133.7,7.2,430,6590,0.00,2.60,0.00,0.000,4,0.000,0.064,2739,3402,1385
$GC,6650,1.09,266.0,128.7,7.5,435,6654,0.00,2.50,0.00,0.000,6,0.000,0.041,2739,1987,1385
$GC,6979,1.09,266.0,105.8,6.6,465,6983,0.00,2.62,0.00,0.000,4,0.000,0.063,2739,3411,1386
$GC,7025,1.09,266.0,102.6,6.7,468,7031,0.00,2.47,0.00,0.000,6,0.000,0.040,2739,2001,1385
$GC,7353,1.13,266.0,81.9,6.3,499,7358,0.00,2.58,0.00,0.000,4,0.000,0.062,2739,3402,1386
$GC,7417,1.13,266.0,77.9,6.1,506,7423,0.00,2.47,0.00,0.000,6,0.000,0.040,2739,1994,1385
$GC,7763,1.20,266.0,56.8,6.2,567,7770,0.10,2.60,0.00,0.000,4,0.069,0.061,2766,3409,1385
$GC,7890,1.20,266.0,46.8,8.0,589,7897,0.00,2.47,0.00,0.000,6,0.000,0.040,2766,1998,1385
$GC,8222,1.20,266.0,24.3,6.3,628,8227,0.00,2.58,0.00,0.000,4,0.000,0.062,2766,3404,1385
$GC,8274,1.20,266.0,20.9,6.7,632,8279,0.00,2.47,0.00,0.000,6,0.000,0.039,2766,1990,1385
$STATE,8600,end climb,SURFACE_DEPTH_REACHED
$STATE,8600,begin surface coast
$FINISH,0.8,1.012383
$STATE,8630,end surface coast,CONTROL_FINISHED_OK
$STATE,8630,begin surface
$SM_CCo,8656,69.32,0.749,1,0,1046,350.04
$SM_GC,2.04,0.00,0.00,69.32,0.000,0.000,0.749,27,2551,1046,-11.38,0.03,350.04
$IRIDIUM_FIX,4641.78,-12501.85,210797,202014
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,251.3,50.9
$24V_AH,23.5,21.180
$10V_AH,10.2,12.114
$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,27.250,90.850,320.625,69.325,0.000,33.200,42.954,144.812,2.000,0.000,0.000,32.265,1180.563,5352.285,470.413,1603.455,510.410,33.407,1180.961,0.000,1579.250,0.000,16.365
$DEVICE_MAMPS,129.623,91.273,973.323,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,465.389,518.862,1139.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31666,665
$CAP_FILE_SIZE,83546,0
$CFSIZE,260165632,251203584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270408,045025,4657.931,-12500.192,34,1.3,51,18.4