version: 66.03
glider: 101
mission: 5
dive: 109
start: 4 27 108 4 56 36
data:
$ID,101
$MISSION,5
$DIVE,109
$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,-692976.62
$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,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,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
$GPS1,045025,4657.931,-12500.192,34,1.3,51,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.4
$GPS2,045533,4657.901,-12500.226,14,1.5,14,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.136,0.135
$KALMAN_X,21831.2,-152.5,-239.6,25495.4,-33.9
$KALMAN_Y,91720.0,-39.9,-459.2,-220627.5,289.2
$MHEAD_RNG_PITCHd_Wd,26.9,4797,-12.5,-6.000
$D_GRID,186
$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,-50.45,0.000,2,0.000,0.000,27,2554,2077
$GC,83,-1.28,-117.3,3.4,-4.4,5,127,11.25,2.08,-27.98,0.000,4,0.123,0.091,2213,3620,2954
$GC,383,-1.12,-117.3,41.4,-12.1,32,390,0.15,1.92,0.00,0.000,6,0.078,0.042,2256,2526,2953
$GC,730,-1.12,-117.3,76.2,-9.1,93,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2527,2953
$GC,1058,-1.12,-117.3,104.2,-7.7,127,1061,0.00,2.05,0.00,0.000,4,0.000,0.074,2256,3618,2953
$GC,1127,-1.12,-117.3,109.4,-7.9,133,1131,0.00,1.88,0.00,0.000,6,0.000,0.043,2256,2560,2953
$GC,1458,-1.12,-117.3,132.0,-6.3,164,1462,0.00,2.50,0.00,0.000,4,0.000,0.053,2256,1158,2953
$GC,1625,-1.17,-117.3,143.3,-7.2,178,1630,0.00,2.45,0.00,0.000,6,0.000,0.043,2256,2550,2953
$GC,1955,-1.21,-117.3,164.7,-6.2,198,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2550,2953
$GC,2265,-1.25,-117.3,184.2,-6.3,213,2270,0.15,2.50,0.00,0.000,4,0.065,0.051,2216,1152,2953
$STATE,2284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2285,begin apogee
$GC,2294,-0.45,0.0,186.0,7.4,214,2393,0.82,0.00,95.30,0.878,6,0.074,0.000,2394,2015,2473
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2397,1.28,117.3,189.9,0.0,219,2497,1.77,0.00,95.35,0.851,6,0.056,0.000,2780,2016,1993
$GC,2807,1.17,132.0,176.0,5.5,239,2830,0.12,2.62,13.68,0.793,4,0.098,0.066,2757,3395,1935
$GC,2922,1.03,132.0,168.3,6.8,244,2928,0.17,2.45,0.00,0.000,6,0.114,0.041,2726,2009,1935
$GC,3251,1.03,169.1,151.3,4.6,260,3288,0.00,2.62,31.65,0.832,4,0.000,0.062,2726,3399,1782
$GC,3347,1.02,196.8,146.5,5.0,266,3379,0.00,2.47,24.67,0.812,6,0.000,0.041,2726,1999,1669
$GC,3699,1.02,196.8,127.1,6.0,299,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1999,1669
$GC,4017,1.02,196.8,106.9,6.8,329,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1999,1669
$GC,4336,1.06,228.4,89.1,4.8,359,4370,0.00,2.70,28.15,0.809,4,0.000,0.062,2726,3403,1541
$GC,4564,1.09,253.9,78.4,5.1,381,4593,0.00,2.47,23.30,0.789,6,0.000,0.039,2726,1998,1436
$GC,4934,1.22,276.6,57.8,5.2,446,4964,0.17,2.65,19.65,0.771,4,0.056,0.061,2772,3391,1345
$GC,5045,1.22,276.6,50.6,6.7,465,5051,0.00,2.45,0.00,0.000,6,0.000,0.038,2772,1999,1345
$GC,5385,1.22,276.6,27.2,6.8,510,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1999,1345
$GC,5707,1.28,293.2,7.9,5.4,540,5729,0.00,2.62,15.68,0.740,4,0.000,0.061,2773,3403,1276
$STATE,5799,end climb,SURFACE_DEPTH_REACHED
$STATE,5799,begin surface coast
$FINISH,0.9,1.005252
$STATE,5837,end surface coast,CONTROL_FINISHED_OK
$STATE,5837,begin surface
$SM_CCo,5864,48.95,0.694,3,0,1046,350.04
$SM_GC,1.61,0.00,0.00,48.95,0.000,0.000,0.694,24,2527,1046,-11.39,-0.65,350.04
$IRIDIUM_FIX,4641.78,-12459.26,220797,020219
$TT8_MAMPS,0.026078
$HUMID,1785
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.6,21.282
$10V_AH,10.2,12.184
$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,26.775,41.500,347.425,48.950,0.000,25.825,29.124,128.581,0.750,0.000,0.000,14.744,928.786,3228.333,457.024,1232.881,402.890,33.361,1011.789,0.000,1239.203,0.000,5.698
$DEVICE_MAMPS,122.720,91.273,878.215,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.067,414.928,944.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25471,551
$CAP_FILE_SIZE,59679,0
$CFSIZE,260165632,251191296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,270408,063635,4658.058,-12500.047,10,5.5,30,18.4