version: 66.03
glider: 101
mission: 5
dive: 273
start: 6 16 108 17 40 54
data:
$ID,101
$MISSION,5
$DIVE,273
$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,-696607.25
$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,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
$GPS1,173438,4654.303,-12509.572,41,1.5,41,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-64.6
$GPS2,173951,4654.257,-12509.607,16,1.9,16,18.4
$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,6193.6,-670.0,-418.1,30263.5,2061.3
$KALMAN_Y,201378.6,-736.7,58.3,-336832.6,804.3
$MHEAD_RNG_PITCHd_Wd,26.9,18113,-12.5,-6.000
$D_GRID,674
$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,25,begin dive
$GC,29,-1.28,-117.3,0.0,0.0,0,68,0.00,0.00,-37.00,0.000,2,0.000,0.000,30,2568,1810
$GC,73,-1.28,-117.3,3.2,-3.5,4,137,11.27,2.60,-42.78,0.000,4,0.123,0.062,2213,1148,2953
$GC,267,-1.14,-117.3,24.4,-12.0,21,274,0.20,2.47,0.00,0.000,6,0.126,0.040,2248,2550,2952
$GC,598,-1.09,-117.3,54.1,-8.9,52,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2550,2952
$GC,923,-1.09,-117.3,84.3,-8.7,81,927,0.00,2.50,0.00,0.000,4,0.000,0.049,2248,1148,2952
$GC,1053,-1.09,-117.3,95.6,-8.7,87,1057,0.00,2.50,0.00,0.000,6,0.000,0.042,2249,2559,2952
$GC,1381,-1.09,-117.3,122.3,-7.9,103,1385,0.00,2.53,0.00,0.000,4,0.000,0.048,2248,1148,2952
$GC,1453,-1.09,-117.3,128.3,-8.1,106,1457,0.00,2.47,0.00,0.000,6,0.000,0.041,2248,2553,2952
$GC,1769,-1.09,-117.3,153.9,-7.7,120,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2553,2952
$GC,2094,-1.09,-117.3,178.2,-7.4,128,2098,0.00,2.53,0.00,0.000,4,0.000,0.050,2248,1146,2952
$GC,2234,-1.09,-117.3,188.3,-7.0,131,2238,0.00,2.50,0.00,0.000,6,0.000,0.043,2248,2558,2952
$GC,2547,-1.09,-117.3,210.2,-7.1,139,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2558,2952
$GC,2872,-1.09,-117.3,235.0,-7.8,147,2877,0.00,2.55,0.00,0.000,4,0.000,0.051,2249,1141,2951
$GC,2991,-1.13,-117.3,244.5,-8.3,149,2995,0.00,2.50,0.00,0.000,6,0.000,0.044,2248,2552,2951
$GC,3323,-1.13,-117.3,270.0,-7.6,157,3327,0.00,2.53,0.00,0.000,4,0.000,0.051,2248,1147,2951
$GC,3391,-1.18,-117.3,275.4,-7.7,158,3396,0.00,2.50,0.00,0.000,6,0.000,0.045,2249,2555,2951
$GC,3732,-1.22,-117.3,301.0,-7.7,167,3736,0.00,2.55,0.00,0.000,4,0.000,0.052,2248,1138,2951
$GC,3794,-1.28,-117.3,306.2,-8.3,167,3799,0.12,2.50,0.00,0.000,6,0.104,0.045,2225,2548,2950
$GC,4135,-1.28,-117.3,334.6,-8.3,172,4139,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,1141,2950
$GC,4207,-1.28,-117.3,340.9,-8.3,172,4212,0.00,2.53,0.00,0.000,6,0.000,0.048,2226,2559,2950
$GC,4537,-1.28,-117.3,368.6,-8.5,176,4541,0.00,2.58,0.00,0.000,4,0.000,0.059,2226,1147,2950
$GC,4576,-1.28,-117.3,372.0,-8.6,176,4580,0.00,2.53,0.00,0.000,6,0.000,0.051,2226,2554,2950
$GC,4939,-1.28,-117.3,403.4,-8.7,181,4944,0.00,2.60,0.00,0.000,4,0.000,0.064,2225,1142,2950
$GC,5046,-1.28,-117.3,412.1,-8.1,182,5051,0.00,2.55,0.00,0.000,6,0.000,0.056,2225,2548,2949
$GC,5432,-1.28,-117.3,438.9,-6.9,187,5436,0.00,2.60,0.00,0.000,4,0.000,0.070,2226,1148,2949
$GC,5476,-1.28,-117.3,441.9,-6.6,187,5480,0.00,2.58,0.00,0.000,6,0.000,0.061,2225,2552,2949
$GC,5833,-1.28,-117.3,462.8,-5.8,192,5838,0.00,2.65,0.00,0.000,4,0.000,0.075,2225,1146,2948
$GC,5901,-1.28,-117.3,466.8,-6.6,192,5906,0.00,2.60,0.00,0.000,6,0.000,0.069,2225,2552,2948
$GC,6237,-1.28,-117.3,485.5,-5.6,197,6241,0.00,2.65,0.00,0.000,4,0.000,0.081,2225,1154,2948
$GC,6292,-1.28,-117.3,488.9,-6.1,197,6297,0.00,2.62,0.00,0.000,6,0.000,0.074,2225,2548,2947
$GC,6639,-1.28,-117.3,509.5,-6.0,202,6643,0.00,2.70,0.00,0.000,4,0.000,0.089,2225,1152,2948
$GC,6724,-1.28,-117.3,514.6,-5.9,203,6729,0.00,2.70,0.00,0.000,6,0.000,0.084,2225,2554,2948
$GC,7051,-1.28,-117.3,533.7,-5.9,207,7056,0.00,2.67,0.00,0.000,4,0.000,0.087,2225,1152,2948
$GC,7131,-1.28,-117.3,538.4,-5.8,207,7137,0.00,2.67,0.00,0.000,6,0.000,0.081,2225,2554,2947
$GC,7461,-1.28,-117.3,557.4,-5.8,212,7465,0.00,2.70,0.00,0.000,4,0.000,0.086,2225,1147,2947
$GC,7522,-1.28,-117.3,561.1,-5.7,212,7527,0.00,2.67,0.00,0.000,6,0.000,0.080,2225,2555,2947
$GC,7863,-1.28,-117.3,582.4,-6.3,217,7868,0.00,2.70,0.00,0.000,4,0.000,0.086,2225,1147,2947
$GC,7953,-1.28,-117.3,588.7,-7.6,218,7957,0.00,2.67,0.00,0.000,6,0.000,0.080,2225,2554,2947
$GC,8274,-1.28,-117.3,611.1,-7.0,222,8278,0.00,2.67,0.00,0.000,4,0.000,0.085,2225,1153,2947
$GC,8319,-1.28,-117.3,614.3,-7.1,222,8323,0.00,2.65,0.00,0.000,6,0.000,0.077,2225,2558,2947
$GC,8676,-1.28,-117.3,637.9,-6.6,227,8680,0.00,2.70,0.00,0.000,4,0.000,0.084,2225,1151,2946
$GC,8777,-1.28,-117.3,645.3,-7.4,228,8781,0.00,2.67,0.00,0.000,6,0.000,0.079,2225,2558,2946
$GC,9168,-1.28,-117.3,673.6,-7.3,233,9172,0.00,2.67,0.00,0.000,4,0.000,0.085,2225,1151,2946
$STATE,9175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9175,begin apogee
$GC,9185,-0.45,0.0,674.5,7.4,233,9288,0.77,0.00,99.72,1.234,6,0.074,0.000,2392,2004,2473
$STATE,9289,end apogee,CONTROL_FINISHED_OK
$STATE,9289,begin climb
$GC,9292,1.28,117.3,677.4,0.0,234,9402,1.77,2.88,101.78,1.198,4,0.054,0.100,2779,605,1994
$GC,9440,1.05,129.9,677.5,5.5,236,9460,0.28,2.65,12.57,1.073,6,0.124,0.065,2730,2007,1942
$GC,9825,0.96,138.3,656.0,5.7,241,9839,0.00,2.83,8.93,1.034,4,0.000,0.098,2730,3411,1909
$GC,9979,0.85,138.3,646.8,6.1,242,9984,0.22,2.58,0.00,0.000,6,0.105,0.058,2687,2013,1909
$GC,10325,0.90,185.5,631.6,4.3,247,10370,0.00,0.00,43.20,1.177,6,0.000,0.000,2687,2013,1716
$GC,10648,0.92,198.8,613.8,5.5,251,10667,0.00,2.83,13.23,1.091,4,0.000,0.093,2687,3406,1662
$GC,10776,0.92,198.8,605.0,7.2,252,10780,0.00,2.60,0.00,0.000,6,0.000,0.055,2687,1993,1662
$GC,11144,0.92,198.8,581.9,6.3,257,11148,0.00,2.78,0.00,0.000,4,0.000,0.091,2687,3410,1662
$GC,11279,0.92,198.8,573.4,6.7,258,11283,0.00,2.58,0.00,0.000,6,0.000,0.056,2687,1997,1662
$GC,11636,0.98,210.7,553.4,5.6,263,11656,0.12,2.83,12.23,1.073,4,0.059,0.088,2721,3406,1614
$GC,11761,0.93,210.7,545.2,6.6,264,11766,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1998,1614
$GC,12135,0.93,210.7,520.8,6.5,269,12140,0.00,2.75,0.00,0.000,4,0.000,0.086,2721,3412,1614
$GC,12211,0.89,210.7,515.4,7.1,269,12216,0.15,2.58,0.00,0.000,6,0.125,0.051,2695,1992,1614
$GC,12540,0.89,210.7,493.1,6.7,273,12545,0.00,2.75,0.00,0.000,4,0.000,0.084,2695,3416,1614
$GC,12642,0.89,210.7,485.5,7.3,274,12646,0.00,2.58,0.00,0.000,6,0.000,0.049,2695,1992,1614
$GC,13033,0.89,210.7,458.0,7.0,279,13037,0.00,2.70,0.00,0.000,4,0.000,0.078,2695,3414,1613
$GC,13133,0.89,210.7,450.5,7.2,280,13138,0.00,2.55,0.00,0.000,6,0.000,0.048,2695,1998,1614
$GC,13525,0.93,210.7,422.0,7.3,285,13529,0.00,2.67,0.00,0.000,4,0.000,0.074,2695,3418,1614
$GC,13637,0.93,210.7,413.9,7.3,286,13642,0.00,2.53,0.00,0.000,6,0.000,0.046,2696,1999,1613
$GC,14018,0.97,210.7,388.7,6.6,291,14022,0.00,2.65,0.00,0.000,4,0.000,0.072,2696,3418,1614
$GC,14107,0.97,210.7,382.7,6.7,292,14112,0.00,2.53,0.00,0.000,6,0.000,0.044,2696,1998,1614
$GC,14429,0.99,223.8,364.6,5.5,296,14449,0.00,2.75,12.50,0.984,4,0.000,0.070,2695,3414,1561
$GC,14506,0.99,223.8,360.1,6.0,296,14511,0.00,2.53,0.00,0.000,6,0.000,0.043,2695,1987,1560
$GC,14837,1.04,224.7,340.5,6.0,300,14842,0.15,2.67,0.00,0.000,4,0.055,0.069,2735,3414,1560
$GC,14916,0.99,224.7,334.3,7.3,300,14922,0.00,2.50,0.00,0.000,6,0.000,0.041,2735,1999,1560
$GC,15246,0.99,224.7,307.0,8.3,305,15250,0.00,2.65,0.00,0.000,4,0.000,0.069,2735,3415,1560
$GC,15308,0.94,224.7,301.5,9.1,305,15313,0.15,2.53,0.00,0.000,6,0.120,0.041,2709,1988,1560
$GC,15650,0.94,224.7,276.6,7.1,313,15655,0.00,2.65,0.00,0.000,4,0.000,0.067,2709,3415,1560
$GC,15718,0.94,224.7,271.7,6.9,314,15722,0.00,2.50,0.00,0.000,6,0.000,0.041,2709,2001,1560
$GC,16056,0.98,224.7,248.7,6.9,323,16060,0.00,2.62,0.00,0.000,4,0.000,0.067,2709,3414,1560
$GC,16147,0.98,224.7,242.1,6.8,325,16151,0.00,2.50,0.00,0.000,6,0.000,0.041,2709,1998,1560
$GC,16465,0.98,224.7,221.4,6.4,333,16470,0.00,2.62,0.00,0.000,4,0.000,0.066,2709,3415,1560
$GC,16567,0.98,224.7,214.6,6.1,335,16571,0.00,2.50,0.00,0.000,6,0.000,0.041,2709,1998,1560
$GC,16916,1.03,224.7,192.4,6.4,344,16920,0.00,2.65,0.00,0.000,4,0.000,0.066,2709,3421,1560
$GC,17005,1.03,225.9,186.3,6.0,346,17010,0.00,2.53,0.00,0.000,6,0.000,0.041,2709,1989,1560
$GC,17325,1.07,225.9,166.5,6.1,354,17335,0.10,2.67,3.78,0.607,4,0.067,0.065,2738,3420,1552
$GC,17381,1.03,225.9,162.5,7.0,355,17386,0.00,2.53,0.00,0.000,6,0.000,0.040,2738,1992,1552
$GC,17697,1.03,225.9,137.9,8.4,366,17702,0.00,2.62,0.00,0.000,4,0.000,0.064,2738,3415,1552
$GC,17743,1.03,225.9,133.9,9.0,368,17747,0.00,2.47,0.00,0.000,6,0.000,0.039,2738,1996,1551
$GC,18064,1.03,225.9,108.6,7.4,384,18069,0.00,2.62,0.00,0.000,4,0.000,0.064,2738,3416,1552
$GC,18143,1.03,225.9,102.9,6.6,387,18149,0.00,2.50,0.00,0.000,6,0.000,0.039,2738,1991,1552
$GC,18460,1.06,252.4,84.8,5.0,403,18490,0.00,2.70,23.75,0.830,4,0.000,0.063,2738,3414,1444
$GC,18565,1.07,263.7,78.5,5.6,408,18582,0.00,2.50,12.50,0.782,6,0.000,0.039,2738,1997,1397
$GC,18902,1.15,263.7,56.0,7.1,440,18903,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1996,1396
$GC,19223,1.24,276.6,34.8,5.5,470,19246,0.15,2.72,12.48,0.759,4,0.053,0.063,2783,3415,1345
$GC,19275,1.24,276.6,31.2,6.5,474,19281,0.00,2.50,0.00,0.000,6,0.000,0.039,2783,1999,1345
$GC,19605,1.33,304.6,14.1,5.0,505,19638,0.00,2.70,24.67,0.771,4,0.000,0.064,2783,3408,1230
$GC,19711,1.33,304.6,7.9,6.1,514,19717,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,1999,1230
$STATE,19811,end climb,SURFACE_DEPTH_REACHED
$STATE,19811,begin surface coast
$FINISH,1.1,1.024471
$STATE,19844,end surface coast,CONTROL_FINISHED_OK
$STATE,19844,begin surface
$SM_CCo,19870,38.20,0.709,2,0,1046,350.04
$SM_GC,2.51,0.00,0.00,38.20,0.000,0.000,0.709,26,2570,1046,-11.38,0.59,350.04
$IRIDIUM_FIX,4638.64,-12515.78,100997,111136
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.30
$XPDR_PINGS,1
$24V_AH,22.5,46.837
$10V_AH,10.2,29.542
$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,28.075,224.375,381.325,38.200,0.000,28.886,26.336,121.059,5.750,0.000,0.000,16.224,1305.809,15644.998,583.486,2096.507,610.238,33.389,1690.609,0.000,2035.790,0.000,35.925
$DEVICE_MAMPS,125.788,99.710,1234.103,709.475,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.871,420.129,452.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28650,527
$CAP_FILE_SIZE,148583,0
$CFSIZE,260165632,239054848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,160608,231407,4655.793,-12508.451,31,1.6,31,18.4