version: 66.03
glider: 101
mission: 5
dive: 276
start: 6 17 108 14 6 42
data:
$ID,101
$MISSION,5
$DIVE,276
$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,-696654.31
$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,31
$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,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
$GPS1,140008,4659.966,-12503.763,52,1.3,52,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-63.2
$GPS2,140539,4659.921,-12503.673,15,1.2,15,18.4
$SPEED_LIMITS,0.099,0.182
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.178,0.073
$KALMAN_X,950.0,151.5,180.8,41386.7,-1715.9
$KALMAN_Y,200739.5,-352.8,1055.8,-327138.8,-1296.9
$MHEAD_RNG_PITCHd_Wd,49.4,7166,-12.5,-6.000
$D_GRID,579
$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,-40.45,0.000,2,0.000,0.000,30,2543,1891
$GC,76,-1.28,-117.3,3.3,-4.4,4,132,11.50,2.08,-38.83,0.000,4,0.132,0.091,2214,3617,2952
$GC,388,-1.11,-117.3,39.2,-13.3,32,392,0.20,1.88,0.00,0.000,6,0.087,0.040,2255,2529,2952
$GC,722,-1.11,-117.3,74.2,-9.9,63,725,0.00,2.05,0.00,0.000,4,0.000,0.072,2255,3628,2952
$GC,828,-1.11,-117.3,85.3,-8.9,70,835,0.00,1.88,0.00,0.000,6,0.000,0.041,2255,2557,2952
$GC,1145,-1.11,-117.3,109.6,-7.0,86,1149,0.00,2.50,0.00,0.000,4,0.000,0.051,2255,1163,2952
$GC,1224,-1.11,-117.3,115.0,-6.7,89,1230,0.00,2.45,0.00,0.000,6,0.000,0.041,2255,2555,2952
$GC,1540,-1.11,-117.3,135.7,-6.6,105,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2555,2952
$GC,1848,-1.11,-117.3,156.0,-6.7,118,1852,0.00,2.50,0.00,0.000,4,0.000,0.049,2255,1163,2952
$GC,1979,-1.16,-117.3,164.8,-6.8,121,1983,0.00,2.45,0.00,0.000,6,0.000,0.041,2255,2550,2952
$GC,2304,-1.20,-117.3,187.2,-7.0,129,2308,0.00,2.47,0.00,0.000,4,0.000,0.049,2255,1164,2952
$GC,2383,-1.25,-117.3,192.8,-7.0,130,2390,0.15,2.45,0.00,0.000,6,0.102,0.043,2227,2555,2952
$GC,2715,-1.25,-117.3,219.9,-8.3,139,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2555,2952
$GC,3040,-1.25,-117.3,246.3,-7.9,147,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2556,2952
$GC,3364,-1.25,-117.3,269.4,-6.9,155,3369,0.00,2.50,0.00,0.000,4,0.000,0.052,2227,1153,2951
$GC,3450,-1.25,-117.3,275.5,-6.8,157,3455,0.00,2.47,0.00,0.000,6,0.000,0.045,2227,2549,2951
$GC,3775,-1.25,-117.3,297.3,-6.7,165,3779,0.00,2.50,0.00,0.000,4,0.000,0.052,2227,1157,2950
$GC,3817,-1.25,-117.3,300.1,-6.8,166,3821,0.00,2.47,0.00,0.000,6,0.000,0.045,2227,2550,2951
$GC,4180,-1.25,-117.3,324.5,-6.7,171,4184,0.00,2.50,0.00,0.000,4,0.000,0.054,2227,1164,2950
$GC,4275,-1.25,-117.3,331.2,-6.5,172,4279,0.00,2.47,0.00,0.000,6,0.000,0.048,2227,2549,2950
$GC,4591,-1.25,-117.3,353.4,-7.1,176,4596,0.00,2.50,0.00,0.000,4,0.000,0.057,2227,1161,2950
$GC,4649,-1.25,-117.3,357.7,-7.5,176,4654,0.00,2.50,0.00,0.000,6,0.000,0.050,2227,2556,2950
$GC,4995,-1.25,-117.3,381.4,-6.8,181,5000,0.00,2.55,0.00,0.000,4,0.000,0.060,2227,1158,2949
$GC,5046,-1.25,-117.3,385.5,-7.7,181,5050,0.00,2.53,0.00,0.000,6,0.000,0.052,2227,2559,2949
$GC,5398,-1.25,-117.3,410.2,-7.1,186,5402,0.00,2.58,0.00,0.000,4,0.000,0.064,2227,1160,2949
$GC,5515,-1.25,-117.3,419.1,-7.4,187,5520,0.00,2.53,0.00,0.000,6,0.000,0.058,2227,2549,2948
$GC,5890,-1.25,-117.3,446.2,-7.3,192,5894,0.00,2.58,0.00,0.000,4,0.000,0.072,2227,1168,2949
$GC,5979,-1.25,-117.3,452.2,-6.4,193,5984,0.00,2.55,0.00,0.000,6,0.000,0.065,2227,2548,2947
$GC,6301,-1.25,-117.3,473.6,-6.3,197,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2548,2948
$GC,6624,-1.25,-117.3,494.2,-6.4,201,6628,0.00,2.65,0.00,0.000,4,0.000,0.084,2227,1163,2947
$GC,6702,-1.25,-117.3,499.5,-7.4,201,6708,0.00,2.62,0.00,0.000,6,0.000,0.077,2227,2551,2947
$GC,7032,-1.25,-117.3,524.2,-7.6,206,7036,0.00,2.67,0.00,0.000,4,0.000,0.086,2227,1158,2947
$GC,7087,-1.25,-117.3,528.6,-7.5,206,7092,0.00,2.65,0.00,0.000,6,0.000,0.079,2227,2554,2947
$GC,7434,-1.25,-117.3,552.2,-6.8,211,7439,0.00,2.65,0.00,0.000,4,0.000,0.085,2227,1169,2947
$GC,7508,-1.25,-117.3,557.4,-7.3,211,7513,0.00,2.62,0.00,0.000,6,0.000,0.080,2227,2549,2947
$GC,7838,-1.25,-117.3,578.1,-6.2,215,7843,0.00,2.67,0.00,0.000,4,0.000,0.086,2227,1160,2947
$STATE,7852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7852,begin apogee
$GC,7862,-0.45,0.0,579.2,6.4,215,7964,0.77,0.00,98.78,1.164,6,0.074,0.000,2394,2004,2473
$STATE,7965,end apogee,CONTROL_FINISHED_OK
$STATE,7965,begin climb
$GC,7969,1.28,117.3,581.3,0.0,216,8078,1.77,2.85,100.85,1.127,4,0.054,0.100,2781,622,1994
$GC,8180,1.07,127.0,578.0,5.6,219,8195,0.25,2.60,9.77,0.978,6,0.130,0.067,2737,1998,1955
$GC,8584,0.96,127.0,554.2,6.1,224,8586,0.15,0.00,0.00,0.000,6,0.102,0.000,2709,1998,1955
$GC,8904,0.92,140.9,536.5,5.5,228,8920,0.00,0.00,13.65,1.048,6,0.000,0.000,2709,1999,1898
$GC,9227,0.93,148.9,518.1,5.7,232,9241,0.00,2.83,8.60,0.978,4,0.000,0.091,2709,3420,1866
$GC,9304,0.87,148.9,513.4,6.6,232,9309,0.00,2.55,0.00,0.000,6,0.000,0.052,2709,2024,1865
$GC,9635,0.87,151.2,494.1,5.9,236,9644,0.00,2.70,4.12,0.742,4,0.000,0.084,2709,3413,1856
$GC,9697,0.82,157.5,490.6,5.8,236,9712,0.15,2.58,7.00,0.931,6,0.111,0.050,2681,1998,1831
$GC,10047,0.88,202.0,475.0,4.4,241,10093,0.00,2.80,40.30,1.087,4,0.000,0.081,2681,3418,1648
$GC,10209,0.92,202.0,464.4,6.3,242,10214,0.00,2.58,0.00,0.000,6,0.000,0.048,2681,1997,1648
$GC,10539,0.97,202.0,444.4,6.1,246,10544,0.12,2.70,0.00,0.000,4,0.060,0.076,2715,3414,1648
$GC,10625,0.99,219.6,439.6,5.4,247,10648,0.00,2.58,16.40,1.020,6,0.000,0.048,2715,1995,1577
$GC,11035,0.99,219.6,414.9,6.2,252,11040,0.00,2.67,0.00,0.000,4,0.000,0.072,2715,3415,1577
$GC,11102,0.99,219.6,410.8,6.4,252,11107,0.00,2.55,0.00,0.000,6,0.000,0.046,2715,1997,1577
$GC,11437,0.99,219.6,388.6,6.8,257,11441,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3415,1577
$GC,11499,0.99,222.4,384.8,5.9,257,11508,0.00,2.55,4.32,0.734,6,0.000,0.044,2715,1987,1566
$GC,11844,0.99,222.4,361.3,6.9,262,11849,0.00,2.67,0.00,0.000,4,0.000,0.069,2715,3416,1566
$GC,11931,0.99,222.4,355.4,6.4,263,11935,0.00,2.55,0.00,0.000,6,0.000,0.044,2715,1988,1566
$GC,12258,0.99,222.4,334.5,6.6,267,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1988,1566
$GC,12580,0.99,222.4,313.1,6.6,271,12584,0.00,2.67,0.00,0.000,4,0.000,0.068,2715,3420,1566
$GC,12665,0.99,222.4,306.5,8.1,272,12669,0.00,2.53,0.00,0.000,6,0.000,0.042,2715,1998,1566
$GC,12993,0.99,222.4,283.5,6.6,278,12998,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3418,1566
$GC,13072,0.99,222.4,278.0,6.9,279,13078,0.00,2.53,0.00,0.000,6,0.000,0.042,2715,1992,1566
$GC,13404,0.99,222.4,257.4,6.3,288,13408,0.00,2.65,0.00,0.000,4,0.000,0.067,2715,3418,1566
$GC,13516,0.99,222.4,249.4,7.1,290,13520,0.00,2.50,0.00,0.000,6,0.000,0.042,2715,1999,1566
$GC,13853,0.99,222.4,224.0,7.6,299,13857,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3415,1566
$GC,13940,0.99,222.4,217.5,7.6,301,13944,0.00,2.50,0.00,0.000,6,0.000,0.041,2715,2000,1566
$GC,14265,0.99,222.4,193.4,7.2,309,14269,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3416,1566
$GC,14338,0.99,222.4,188.0,7.7,310,14343,0.00,2.50,0.00,0.000,6,0.000,0.041,2715,1998,1565
$GC,14670,0.99,222.4,165.5,6.8,318,14674,0.00,2.62,0.00,0.000,4,0.000,0.065,2715,3415,1566
$GC,14755,0.99,222.4,160.4,6.3,320,14760,0.00,2.50,0.00,0.000,6,0.000,0.040,2715,1998,1566
$GC,15083,0.99,222.4,137.2,7.8,332,15087,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3418,1566
$GC,15168,0.99,222.4,130.4,7.7,336,15172,0.00,2.50,0.00,0.000,6,0.000,0.039,2715,1997,1566
$GC,15495,1.04,222.4,108.5,6.9,352,15500,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3418,1566
$GC,15591,1.04,222.4,101.7,7.0,356,15595,0.00,2.50,0.00,0.000,6,0.000,0.039,2715,1992,1566
$GC,15909,1.16,279.0,84.3,3.9,371,15968,0.17,2.72,49.92,0.838,4,0.054,0.062,2759,3410,1335
$GC,16051,1.16,279.0,77.0,6.0,379,16056,0.00,2.50,0.00,0.000,6,0.000,0.038,2759,1995,1334
$GC,16380,1.16,279.0,56.2,8.0,409,16386,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1995,1334
$GC,16710,1.22,279.0,30.0,7.2,440,16715,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1995,1335
$GC,17040,1.34,308.1,11.3,4.9,471,17070,0.15,2.65,25.25,0.771,4,0.055,0.068,2802,601,1216
$GC,17146,1.34,308.1,4.7,6.4,481,17150,0.00,2.50,0.00,0.000,6,0.000,0.038,2802,2017,1214
$STATE,17181,end climb,SURFACE_DEPTH_REACHED
$STATE,17181,begin surface coast
$FINISH,1.2,1.024476
$STATE,17204,end surface coast,CONTROL_FINISHED_OK
$STATE,17204,begin surface
$SM_CCo,17232,35.53,0.702,2,0,1045,350.04
$SM_GC,2.54,0.00,0.00,35.53,0.000,0.000,0.702,32,2543,1045,-11.35,-0.20,350.04
$IRIDIUM_FIX,4638.64,-12437.33,110997,050531
$TT8_MAMPS,0.026078
$HUMID,1864
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.3,47.279
$10V_AH,10.2,29.809
$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,28.725,172.950,378.975,35.525,0.000,29.127,24.691,134.160,4.750,0.000,0.000,15.676,1151.368,13540.555,541.036,1807.585,569.748,33.372,1493.461,0.000,1756.474,0.000,31.156
$DEVICE_MAMPS,131.924,99.710,1164.306,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.608,379.590,427.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25451,486
$CAP_FILE_SIZE,125620,0
$CFSIZE,260165632,238874624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,170608,185622,4700.563,-12501.327,41,2.9,60,18.4