version: 66.03
glider: 101
mission: 5
dive: 287
start: 6 18 108 10 42 29
data:
$ID,101
$MISSION,5
$DIVE,287
$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,-696899.88
$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,43
$R_STBD_OVSHOOT,26
$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
$GPS1,103317,4659.069,-12500.359,8,5.7,28,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-66.7
$GPS2,104125,4659.009,-12500.402,27,1.4,45,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.181,0.064
$KALMAN_X,-3847.7,-22.5,105.0,50475.7,-1031.2
$KALMAN_Y,194758.5,-150.6,-378.1,-321603.3,-317.7
$MHEAD_RNG_PITCHd_Wd,52.0,3546,-12.5,-6.000
$D_GRID,213
$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,23,begin dive
$GC,27,-1.28,-117.3,0.0,0.0,0,74,0.00,0.00,-45.05,0.000,2,0.000,0.000,22,2534,2005
$GC,78,-1.28,-117.3,3.5,-4.3,5,125,11.23,2.05,-30.92,0.000,4,0.118,0.087,2213,3630,2952
$GC,380,-1.13,-117.3,42.9,-12.6,31,386,0.12,1.90,0.00,0.000,6,0.078,0.041,2251,2548,2952
$GC,708,-1.13,-117.3,71.0,-9.7,62,712,0.00,2.03,0.00,0.000,4,0.000,0.071,2251,3630,2952
$GC,770,-1.13,-117.3,77.8,-9.8,67,777,0.00,1.90,0.00,0.000,6,0.000,0.043,2251,2553,2952
$GC,1087,-1.13,-117.3,103.4,-7.3,84,1091,0.00,2.50,0.00,0.000,4,0.000,0.051,2251,1155,2952
$GC,1177,-1.13,-117.3,110.7,-8.7,88,1181,0.00,2.45,0.00,0.000,6,0.000,0.041,2251,2545,2952
$GC,1498,-1.13,-117.3,135.5,-7.4,104,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2545,2952
$GC,1826,-1.13,-117.3,159.3,-7.3,117,1830,0.00,2.47,0.00,0.000,4,0.000,0.048,2251,1160,2952
$GC,1933,-1.13,-117.3,167.1,-7.0,119,1937,0.00,2.45,0.00,0.000,6,0.000,0.041,2251,2551,2951
$GC,2276,-1.13,-117.3,191.1,-7.3,128,2280,0.00,2.50,0.00,0.000,4,0.000,0.049,2251,1152,2951
$GC,2321,-1.17,-117.3,194.4,-7.6,129,2326,0.00,2.47,0.00,0.000,6,0.000,0.042,2251,2556,2951
$STATE,2597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2597,begin apogee
$GC,2606,-0.45,0.0,213.7,6.8,136,2705,0.70,0.00,95.60,0.895,6,0.072,0.000,2399,2009,2473
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2706,begin climb
$GC,2709,1.28,117.3,216.1,0.0,138,2814,1.73,2.70,96.07,0.860,4,0.052,0.068,2778,607,1994
$GC,2872,1.09,117.3,213.7,6.1,142,2878,0.22,2.50,0.00,0.000,6,0.125,0.039,2739,2016,1994
$GC,3211,1.02,127.8,194.3,5.6,151,3226,0.00,2.60,10.15,0.778,4,0.000,0.065,2739,3405,1951
$GC,3323,0.94,147.1,188.4,5.3,153,3348,0.17,2.47,17.60,0.820,6,0.105,0.041,2706,2006,1872
$GC,3668,0.98,179.5,172.5,4.8,162,3702,0.00,2.67,28.27,0.840,4,0.000,0.063,2706,3397,1741
$GC,3778,0.98,185.0,166.5,5.8,164,3791,0.00,2.50,6.65,0.707,6,0.000,0.041,2706,1990,1718
$GC,4125,1.01,209.9,148.1,5.1,173,4154,0.00,2.72,22.27,0.825,4,0.000,0.061,2706,3402,1616
$GC,4263,1.02,214.1,140.1,5.8,179,4272,0.00,2.50,5.00,0.639,6,0.000,0.041,2706,1992,1600
$GC,4585,1.09,220.5,121.6,5.8,194,4594,0.12,0.00,7.12,0.723,6,0.060,0.000,2740,1992,1573
$GC,4894,1.09,220.5,101.3,6.6,209,4898,0.00,2.60,0.00,0.000,4,0.000,0.062,2740,3401,1573
$GC,5114,1.09,220.5,84.8,8.0,219,5118,0.00,2.47,0.00,0.000,6,0.000,0.040,2740,1996,1573
$GC,5439,1.09,220.5,63.3,6.5,246,5443,0.00,2.58,0.00,0.000,4,0.000,0.060,2740,3402,1573
$GC,5513,1.09,220.5,58.4,6.6,252,5517,0.00,2.47,0.00,0.000,6,0.000,0.039,2740,1997,1573
$GC,5843,1.17,252.9,42.0,4.8,282,5877,0.00,2.70,28.15,0.785,4,0.000,0.061,2740,3401,1442
$GC,5974,1.27,292.9,35.9,4.5,293,6015,0.17,2.47,34.20,0.771,6,0.074,0.039,2776,2000,1277
$GC,6342,1.32,296.9,14.9,5.9,328,6350,0.00,0.00,4.95,0.599,6,0.000,0.000,2776,2000,1262
$STATE,6582,end climb,SURFACE_DEPTH_REACHED
$STATE,6582,begin surface coast
$FINISH,1.0,1.005906
$STATE,6618,end surface coast,CONTROL_FINISHED_OK
$STATE,6618,begin surface
$SM_CCo,6644,44.28,0.708,2,0,1046,350.04
$SM_GC,2.27,0.00,0.00,44.28,0.000,0.000,0.708,30,2552,1046,-11.36,0.06,350.04
$IRIDIUM_FIX,4641.78,-12503.66,120997,101048
$TT8_MAMPS,0.025311
$HUMID,1876
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.30
$XPDR_PINGS,1
$24V_AH,23.5,48.416
$10V_AH,10.2,30.294
$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,27.000,60.675,356.050,44.275,0.000,52.548,55.079,171.269,1.250,0.000,0.000,45.982,702.366,4540.569,455.728,1017.961,491.947,33.357,965.697,0.000,971.802,0.000,7.286
$DEVICE_MAMPS,125.021,87.438,895.089,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,249.228,270.762,445.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19095,354
$CAP_FILE_SIZE,62012,0
$CFSIZE,260165632,238596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180608,123523,4658.690,-12459.929,13,2.3,33,18.4