version: 66.03
glider: 101
mission: 5
dive: 72
start: 4 15 108 13 35 27
data:
$ID,101
$MISSION,5
$DIVE,72
$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,412.5
$T_MISSION,450
$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,150
$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,400
$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,-692079
$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,26
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,294
$VBD_MAX,3583
$C_VBD,2564
$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
$GPS1,132828,4703.787,-12730.979,27,2.3,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.3
$GPS2,133423,4703.789,-12730.986,15,2.1,34,18.6
$SPEED_LIMITS,0.132,0.226
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.220,-0.089
$KALMAN_X,17986.9,127.1,460.1,-157998.9,-1283.0
$KALMAN_Y,26579.1,-18.6,-322.6,-144750.8,1958.5
$MHEAD_RNG_PITCHd_Wd,93.5,193358,-14.7,-8.000
$D_GRID,1001
$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,-1.52,-146.6,0.0,0.0,0,87,0.00,0.00,-59.75,0.000,2,0.000,0.000,29,2566,2099
$GC,92,-1.52,-146.6,3.3,-4.0,6,146,11.10,2.00,-35.45,0.000,4,0.127,0.092,2163,3631,3161
$GC,400,-1.37,-146.6,49.1,-15.4,38,407,0.12,1.95,0.00,0.000,6,0.078,0.044,2199,2523,3159
$GC,746,-1.37,-146.6,93.6,-12.7,90,749,0.00,2.08,0.00,0.000,4,0.000,0.075,2199,3627,3159
$GC,882,-1.37,-146.6,110.6,-13.0,102,886,0.00,1.88,0.00,0.000,6,0.000,0.045,2199,2550,3159
$GC,1216,-1.37,-146.6,145.8,-9.9,133,1221,0.00,2.50,0.00,0.000,4,0.000,0.054,2199,1161,3159
$GC,1263,-1.42,-146.6,150.5,-9.2,136,1269,0.00,2.45,0.00,0.000,6,0.000,0.043,2199,2556,3159
$GC,1580,-1.42,-146.6,178.2,-9.0,152,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2556,3159
$GC,1888,-1.42,-146.6,207.5,-9.7,167,1893,0.00,2.50,0.00,0.000,4,0.000,0.051,2199,1164,3159
$GC,1945,-1.47,-146.6,212.8,-9.7,169,1951,0.00,2.45,0.00,0.000,6,0.000,0.045,2199,2550,3159
$GC,2264,-1.51,-146.6,241.2,-8.7,185,2266,0.15,0.00,0.00,0.000,6,0.070,0.000,2166,2550,3159
$GC,2571,-1.51,-146.6,273.0,-10.5,200,2575,0.00,2.50,0.00,0.000,4,0.000,0.054,2165,1162,3159
$GC,2621,-1.51,-146.6,278.5,-10.8,202,2625,0.00,2.47,0.00,0.000,6,0.000,0.048,2166,2548,3159
$GC,2955,-1.51,-146.6,313.4,-10.6,214,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2548,3159
$GC,3260,-1.51,-146.6,344.8,-10.3,219,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2548,3158
$GC,3562,-1.51,-146.6,375.3,-10.0,224,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2548,3158
$GC,3865,-1.51,-146.6,404.6,-9.6,229,3870,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1157,3157
$GC,3938,-1.51,-146.6,412.0,-10.1,230,3943,0.00,2.55,0.00,0.000,6,0.000,0.062,2166,2546,3157
$GC,4294,-1.51,-146.6,446.3,-9.7,236,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2546,3157
$GC,4596,-1.51,-146.6,474.9,-9.4,241,4603,0.00,2.62,0.00,0.000,4,0.000,0.081,2166,1167,3157
$GC,4643,-1.51,-146.6,479.5,-9.1,241,4648,0.00,2.60,0.00,0.000,6,0.000,0.075,2166,2547,3156
$GC,4964,-1.51,-146.6,509.9,-9.5,247,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2547,3156
$GC,5268,-1.51,-146.6,539.1,-9.7,252,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2547,3156
$GC,5571,-1.51,-146.6,568.6,-9.7,257,5575,0.00,2.65,0.00,0.000,4,0.000,0.087,2166,1169,3155
$GC,5615,-1.51,-146.6,573.0,-9.2,257,5620,0.00,2.65,0.00,0.000,6,0.000,0.083,2166,2555,3156
$GC,5932,-1.51,-146.6,604.8,-10.2,263,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2555,3155
$GC,6235,-1.51,-146.6,634.9,-9.9,268,6240,0.00,2.67,0.00,0.000,4,0.000,0.087,2166,1161,3155
$GC,6309,-1.51,-146.6,642.4,-10.3,269,6313,0.00,2.65,0.00,0.000,6,0.000,0.081,2165,2553,3155
$GC,6663,-1.51,-146.6,674.0,-8.8,275,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2553,3154
$GC,6967,-1.51,-146.6,700.5,-8.8,280,6971,0.00,2.65,0.00,0.000,4,0.000,0.085,2166,1169,3154
$GC,7029,-1.51,-146.6,706.2,-9.1,281,7034,0.00,2.62,0.00,0.000,6,0.000,0.080,2166,2556,3154
$GC,7395,-1.51,-146.6,739.3,-9.2,287,7399,0.00,2.67,0.00,0.000,4,0.000,0.085,2166,1161,3154
$GC,7468,-1.51,-146.6,746.3,-9.5,288,7472,0.00,2.65,0.00,0.000,6,0.000,0.080,2166,2556,3154
$GC,7823,-1.51,-146.6,779.2,-9.3,294,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2556,3153
$GC,8125,-1.51,-146.6,806.8,-9.1,299,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2556,3153
$GC,8428,-1.51,-146.6,832.3,-8.3,304,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2556,3153
$GC,8732,-1.51,-146.6,856.5,-8.0,309,8736,0.00,2.65,0.00,0.000,4,0.000,0.085,2166,1170,3153
$GC,8771,-1.56,-146.6,859.8,-8.4,309,8776,0.00,2.62,0.00,0.000,6,0.000,0.079,2166,2554,3152
$GC,9092,-1.56,-146.6,886.5,-8.5,315,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2554,3152
$GC,9396,-1.56,-146.6,913.8,-9.0,320,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2554,3152
$GC,9698,-1.56,-146.6,940.8,-8.9,325,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2554,3152
$GC,10003,-1.56,-146.6,968.1,-9.0,330,10007,0.00,2.65,0.00,0.000,4,0.000,0.086,2166,1169,3151
$GC,10076,-1.61,-146.6,974.9,-9.2,331,10083,0.00,2.62,0.00,0.000,6,0.000,0.080,2166,2550,3151
$STATE,10253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10253,begin apogee
$GC,10262,-0.45,0.0,990.7,8.7,334,10391,1.10,0.00,125.80,1.473,6,0.078,0.000,2397,2024,2564
$STATE,10392,end apogee,CONTROL_FINISHED_OK
$STATE,10392,begin climb
$GC,10396,1.52,146.6,995.7,0.0,336,10532,1.95,2.95,127.53,1.422,4,0.054,0.104,2825,594,1966
$GC,10659,1.28,146.6,984.8,9.3,340,10664,0.25,2.65,0.00,0.000,6,0.140,0.066,2782,2000,1966
$GC,11015,1.14,147.2,956.2,8.0,346,11017,0.17,0.00,0.00,0.000,6,0.112,0.000,2750,2000,1965
$GC,11318,1.08,172.7,934.7,7.0,351,11344,0.00,0.00,24.62,1.360,6,0.000,0.000,2750,2001,1859
$GC,11621,1.03,182.1,911.9,7.6,356,11633,0.12,0.00,9.75,1.230,6,0.114,0.000,2727,2001,1821
$GC,11924,1.06,206.4,890.5,7.1,361,11953,0.00,2.90,22.62,1.338,4,0.000,0.101,2728,3409,1722
$GC,12005,1.07,215.1,884.3,7.7,362,12019,0.00,2.62,9.30,1.203,6,0.000,0.059,2727,1997,1687
$GC,12353,1.07,217.0,856.9,7.9,368,12357,0.00,2.80,0.00,0.000,4,0.000,0.095,2728,3409,1687
$GC,12442,1.07,217.0,849.4,8.2,369,12446,0.00,2.62,0.00,0.000,6,0.000,0.059,2728,1991,1686
$GC,12780,1.09,232.1,824.0,7.4,375,12804,0.00,2.92,16.77,1.296,4,0.000,0.094,2728,3415,1616
$GC,12862,1.09,233.7,817.6,7.9,376,12866,0.00,2.62,0.00,0.000,6,0.000,0.058,2728,1999,1615
$GC,13211,1.10,240.1,790.6,7.8,382,13225,0.00,2.85,8.20,1.155,4,0.000,0.094,2727,3406,1585
$GC,13282,1.12,252.6,784.8,7.5,383,13302,0.00,2.60,12.65,1.224,6,0.000,0.058,2728,1992,1534
$GC,13647,1.12,252.6,754.5,8.4,389,13652,0.00,2.80,0.00,0.000,4,0.000,0.094,2727,3411,1534
$GC,13686,1.12,252.6,750.8,9.2,389,13690,0.00,2.60,0.00,0.000,6,0.000,0.058,2727,1995,1533
$GC,14007,1.16,252.6,721.9,9.0,395,14009,0.10,0.00,0.00,0.000,6,0.073,0.000,2753,1995,1533
$GC,14310,1.16,252.6,692.2,9.8,400,14314,0.00,2.80,0.00,0.000,4,0.000,0.094,2753,3416,1534
$GC,14372,1.11,252.6,686.0,9.6,401,14377,0.00,2.62,0.00,0.000,6,0.000,0.058,2753,1993,1534
$GC,14739,1.11,252.6,652.0,9.2,407,14743,0.00,2.78,0.00,0.000,4,0.000,0.093,2753,3410,1533
$GC,14777,1.11,252.6,648.2,10.0,407,14782,0.00,2.60,0.00,0.000,6,0.000,0.058,2753,1996,1533
$GC,15098,1.11,252.6,619.5,8.9,413,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1534
$GC,15401,1.11,252.6,591.9,9.1,418,15406,0.00,2.78,0.00,0.000,4,0.000,0.092,2753,3412,1533
$GC,15451,1.11,252.6,587.1,9.2,418,15455,0.00,2.60,0.00,0.000,6,0.000,0.057,2753,1993,1533
$GC,15761,1.11,252.6,558.6,9.2,423,15766,0.00,2.78,0.00,0.000,4,0.000,0.091,2753,3413,1533
$GC,15806,1.11,252.6,554.3,9.4,423,15811,0.00,2.60,0.00,0.000,6,0.000,0.055,2753,1988,1533
$GC,16122,1.11,252.6,526.2,8.9,429,16127,0.00,2.78,0.00,0.000,4,0.000,0.089,2753,3417,1534
$GC,16173,1.11,252.6,521.3,9.1,429,16178,0.00,2.58,0.00,0.000,6,0.000,0.054,2753,1999,1533
$GC,16483,1.11,252.6,493.5,9.0,434,16484,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2000,1533
$GC,16786,1.11,252.6,465.7,9.1,439,16791,0.00,2.70,0.00,0.000,4,0.000,0.083,2753,3410,1533
$GC,16870,1.11,252.6,457.9,8.9,440,16874,0.00,2.55,0.00,0.000,6,0.000,0.050,2753,1988,1533
$GC,17213,1.11,252.6,428.3,8.6,446,17218,0.00,2.70,0.00,0.000,4,0.000,0.078,2753,3412,1533
$GC,17253,1.11,252.6,424.7,8.1,446,17257,0.00,2.55,0.00,0.000,6,0.000,0.049,2753,1991,1534
$GC,17574,1.11,252.6,397.6,8.4,452,17578,0.00,2.67,0.00,0.000,4,0.000,0.074,2753,3417,1534
$GC,17618,1.11,252.6,393.5,10.0,452,17623,0.00,2.55,0.00,0.000,6,0.000,0.048,2753,1988,1534
$GC,17934,1.11,252.6,366.2,8.7,458,17938,0.00,2.67,0.00,0.000,4,0.000,0.073,2753,3413,1534
$GC,17984,1.11,252.6,361.7,8.7,458,17988,0.00,2.53,0.00,0.000,6,0.000,0.046,2753,1996,1533
$GC,18294,1.11,252.6,334.7,8.7,463,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1534
$GC,18597,1.11,252.6,308.9,8.4,468,18598,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1534
$GC,18906,1.12,258.4,285.3,7.8,479,18919,0.00,2.72,6.60,0.855,4,0.000,0.070,2753,3412,1510
$GC,19000,1.13,263.8,277.4,7.8,483,19011,0.00,2.53,6.20,0.830,6,0.000,0.044,2753,1996,1488
$GC,19324,1.13,268.8,252.3,7.8,498,19332,0.00,0.00,6.32,0.819,6,0.000,0.000,2753,1996,1467
$GC,19632,1.13,268.8,227.5,8.1,513,19634,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1467
$GC,19941,1.17,268.8,202.0,8.5,528,19945,0.00,2.65,0.00,0.000,4,0.000,0.067,2753,3418,1467
$GC,20036,1.17,268.8,193.7,8.7,532,20041,0.00,2.53,0.00,0.000,6,0.000,0.043,2753,1989,1467
$GC,20353,1.23,271.9,168.6,7.9,547,20360,0.00,0.00,4.45,0.677,6,0.000,0.000,2753,1989,1455
$GC,20665,1.30,282.9,143.3,7.6,566,20682,0.12,2.67,11.05,0.838,4,0.064,0.064,2785,3413,1409
$GC,20834,1.30,282.9,127.5,9.5,580,20840,0.00,2.50,0.00,0.000,6,0.000,0.041,2785,1999,1409
$GC,21163,1.33,309.0,102.4,7.0,611,21187,0.00,0.00,22.62,0.848,6,0.000,0.000,2785,1999,1304
$GC,21506,1.40,316.1,76.7,7.7,646,21519,0.00,2.70,8.00,0.749,4,0.000,0.063,2785,3413,1275
$GC,21583,1.45,316.1,70.4,8.4,659,21590,0.12,2.50,0.00,0.000,6,0.079,0.041,2812,1998,1275
$GC,21935,1.45,316.1,38.9,8.5,720,21936,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1998,1275
$GC,22253,1.45,316.1,11.4,9.0,750,22258,0.00,2.62,0.00,0.000,4,0.000,0.065,2812,3414,1275
$GC,22299,1.45,318.2,7.4,7.9,753,22305,0.00,2.47,0.00,0.000,6,0.000,0.040,2812,1998,1275
$STATE,22356,end climb,SURFACE_DEPTH_REACHED
$STATE,22356,begin surface coast
$FINISH,0.9,1.025312
$STATE,22379,end surface coast,CONTROL_FINISHED_OK
$STATE,22379,begin surface
$SM_CCo,22405,76.20,0.693,7,0,933,400.08
$SM_GC,1.70,0.00,0.00,76.20,0.000,0.000,0.693,30,2572,933,-11.36,0.62,400.08
$IRIDIUM_FIX,4648.08,-12738.36,100797,070722
$TT8_MAMPS,0.026078
$HUMID,1794
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.80
$XPDR_PINGS,1
$24V_AH,23.2,15.334
$10V_AH,10.1,7.662
$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,28.000,173.625,422.500,76.200,0.000,24.174,25.161,148.103,9.000,0.000,0.000,35.050,1562.038,17885.889,688.426,2112.561,631.728,33.366,1734.095,0.000,2043.997,0.000,56.632
$DEVICE_MAMPS,140.361,103.545,1472.640,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.335,602.265,863.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,761
$CAP_FILE_SIZE,147311,0
$CFSIZE,260165632,253988864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,7,0
$GPS,150408,195207,4703.642,-12726.759,37,1.8,42,18.6