version: 66.03
glider: 101
mission: 5
dive: 114
start: 4 27 108 13 15 18
data:
$ID,101
$MISSION,5
$DIVE,114
$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,-693111.44
$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,21
$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
$GPS1,130553,4658.878,-12459.196,10,3.4,30,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.0
$GPS2,131417,4658.906,-12459.189,12,3.3,31,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.120,0.150
$KALMAN_X,18971.5,-148.0,124.8,29260.9,-299.4
$KALMAN_Y,89763.4,-306.9,329.7,-217348.7,-345.4
$MHEAD_RNG_PITCHd_Wd,20.2,2522,-12.4,-6.000
$D_GRID,140
$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,-1.28,-117.3,0.0,0.0,0,71,0.00,0.00,-40.08,0.000,2,0.000,0.000,29,2550,1877
$GC,75,-1.28,-117.3,3.0,-4.7,4,132,11.32,2.08,-38.45,0.000,4,0.126,0.091,2214,3622,2953
$GC,388,-1.13,-117.3,39.3,-11.5,32,393,0.17,1.88,0.00,0.000,6,0.086,0.042,2250,2532,2953
$GC,734,-1.08,-117.3,73.6,-10.3,92,740,0.00,2.05,0.00,0.000,4,0.000,0.073,2250,3631,2953
$GC,871,-1.08,-117.3,89.2,-11.1,109,875,0.00,1.88,0.00,0.000,6,0.000,0.042,2250,2547,2953
$GC,1205,-1.08,-117.3,119.6,-8.0,140,1210,0.00,2.47,0.00,0.000,4,0.000,0.052,2250,1158,2953
$GC,1302,-1.08,-117.3,126.9,-6.8,148,1307,0.00,2.45,0.00,0.000,6,0.000,0.042,2250,2553,2953
$STATE,1529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1529,begin apogee
$GC,1538,-0.45,0.0,140.5,4.9,169,1636,0.68,0.00,94.43,0.845,6,0.074,0.000,2396,2011,2473
$STATE,1637,end apogee,CONTROL_FINISHED_OK
$STATE,1637,begin climb
$GC,1640,1.28,117.3,142.5,0.0,179,1744,1.73,0.00,94.70,0.815,6,0.056,0.000,2775,2011,1994
$GC,2065,1.25,179.5,126.5,3.7,219,2122,0.00,2.65,51.62,0.805,4,0.000,0.063,2775,3408,1741
$GC,2270,1.20,210.7,116.2,4.9,237,2303,0.00,2.50,26.90,0.784,6,0.000,0.040,2775,1997,1613
$GC,2622,1.20,210.7,92.3,6.4,270,2626,0.00,2.60,0.00,0.000,4,0.000,0.068,2775,593,1613
$GC,2707,1.20,210.7,86.3,7.6,277,2712,0.00,2.50,0.00,0.000,6,0.000,0.040,2776,2016,1613
$GC,3047,1.27,268.1,70.2,3.9,327,3102,0.00,0.00,49.45,0.788,6,0.000,0.000,2775,2016,1379
$GC,3442,1.27,268.1,44.1,7.7,397,3449,0.00,2.53,0.00,0.000,4,0.000,0.065,2775,3398,1379
$GC,3614,1.27,268.1,29.8,6.7,416,3618,0.00,2.45,0.00,0.000,6,0.000,0.038,2775,1989,1379
$GC,3943,1.39,319.9,14.0,4.1,446,3990,0.12,0.00,43.83,0.757,6,0.058,0.000,2811,1989,1167
$STATE,4147,end climb,SURFACE_DEPTH_REACHED
$STATE,4147,begin surface coast
$FINISH,0.8,1.012959
$STATE,4183,end surface coast,CONTROL_FINISHED_OK
$STATE,4183,begin surface
$SM_CCo,4209,26.35,0.657,2,0,1046,350.04
$SM_GC,2.31,0.00,0.00,26.35,0.000,0.000,0.657,30,2547,1046,-11.36,-0.08,350.04
$IRIDIUM_FIX,938.56,-12657.44,220797,131329
$TT8_MAMPS,0.026078
$HUMID,1794
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.20
$XPDR_PINGS,0
$24V_AH,23.6,21.789
$10V_AH,10.2,12.511
$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,26.850,29.975,360.925,26.350,0.000,61.750,51.934,193.148,0.250,0.000,0.000,32.057,755.186,2046.000,406.934,1055.923,503.440,33.350,899.987,0.000,1041.778,0.000,2.514
$DEVICE_MAMPS,125.788,90.506,845.234,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.557,351.519,804.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22306,469
$CAP_FILE_SIZE,51083,0
$CFSIZE,260165632,251015168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270408,142725,4658.977,-12458.966,40,1.1,40,18.4