version: 66.02
glider: 14
mission: 3
dive: 15
start: 2 16 108 19 4 10
data:
$ID,14
$MISSION,3
$DIVE,15
$D_SURF,4
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$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,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-131691.11
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,42
$PITCH_MAX,3363
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$C_ROLL_DIVE,2380
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2540
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,95.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-15.807375
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,17
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042855334
$SEABIRD_T_H,0.00062604493
$SEABIRD_T_I,2.1829796e-05
$SEABIRD_T_J,2.0724553e-06
$SEABIRD_C_G,-9.9956274
$SEABIRD_C_H,1.1210338
$SEABIRD_C_I,-0.0011134691
$SEABIRD_C_J,0.00016706332
$GPS1,185138,6131.355,-253.427,83,1.2,83,-6.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-54.9
$GPS2,190315,6131.470,-252.889,13,1.2,13,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,0.138
$KALMAN_X,50110.0,-905.1,-472.5,-34558.7,6117.5
$KALMAN_Y,-4068.7,652.5,692.1,-1891.8,-2456.0
$MHEAD_RNG_PITCHd_Wd,308.6,43918,-17.8,-10.000
$D_GRID,990
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.38,-146.6,0.0,0.0,0,72,0.00,0.00,-39.97,0.000,2,0.000,0.000,40,2382,2363
$GC,77,-1.38,-146.6,3.1,-7.8,2,119,11.15,2.55,-21.17,0.000,4,0.176,0.079,2035,970,3140
$GC,159,-1.38,-146.6,15.9,-12.6,5,165,0.00,2.42,0.00,0.000,6,0.000,0.059,2035,2377,3140
$GC,475,-1.38,-146.6,52.0,-13.3,21,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2376,3140
$GC,785,-1.38,-146.6,88.6,-12.9,36,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2376,3140
$GC,1094,-1.38,-146.6,127.9,-11.4,51,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2377,3140
$GC,1403,-1.38,-146.6,161.4,-11.1,66,1407,0.00,2.50,0.00,0.000,4,0.000,0.071,2035,972,3141
$GC,1465,-1.38,-146.6,168.3,-11.6,69,1470,0.00,2.42,0.00,0.000,6,0.000,0.061,2035,2379,3141
$GC,1792,-1.38,-146.6,203.0,-10.4,85,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3141
$GC,2101,-1.38,-146.6,233.3,-9.6,100,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3141
$GC,2410,-1.38,-146.6,263.2,-10.0,115,2414,0.00,2.50,0.00,0.000,4,0.000,0.072,2035,974,3141
$GC,2455,-1.38,-146.6,268.0,-10.3,117,2459,0.00,2.45,0.00,0.000,6,0.000,0.062,2035,2385,3141
$GC,2776,-1.38,-146.6,302.5,-11.2,133,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2385,3141
$GC,3085,-1.38,-146.6,339.4,-11.7,148,3089,0.00,2.53,0.00,0.000,4,0.000,0.073,2035,973,3141
$GC,3125,-1.38,-146.6,344.0,-12.0,150,3129,0.00,2.42,0.00,0.000,6,0.000,0.064,2035,2379,3141
$GC,3452,-1.38,-146.6,378.0,-10.3,166,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3141
$GC,3762,-1.38,-146.6,408.4,-9.4,181,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3141
$GC,4071,-1.38,-146.6,438.0,-10.1,196,4075,0.00,2.53,0.00,0.000,4,0.000,0.076,2035,976,3142
$GC,4182,-1.38,-146.6,449.9,-10.4,201,4187,0.00,2.45,0.00,0.000,6,0.000,0.065,2035,2378,3142
$GC,4509,-1.38,-146.6,481.5,-9.8,217,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3142
$GC,4819,-1.38,-146.6,511.8,-9.4,232,4823,0.00,2.53,0.00,0.000,4,0.000,0.079,2035,980,3144
$GC,4859,-1.38,-146.6,515.8,-9.4,234,4863,0.00,2.47,0.00,0.000,6,0.000,0.066,2035,2387,3144
$GC,5185,-1.38,-146.6,547.1,-9.6,250,5190,0.00,2.55,0.00,0.000,4,0.000,0.081,2035,981,3144
$GC,5219,-1.38,-146.6,550.7,-10.0,251,5225,0.00,2.47,0.00,0.000,6,0.000,0.066,2035,2380,3144
$GC,5535,-1.38,-146.6,580.9,-9.4,267,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3143
$GC,5845,-1.38,-146.6,609.8,-9.3,282,5849,0.00,2.55,0.00,0.000,4,0.000,0.084,2035,981,3142
$GC,5885,-1.38,-146.6,613.6,-9.3,284,5889,0.00,2.50,0.00,0.000,6,0.000,0.066,2035,2386,3142
$GC,6212,-1.38,-146.6,643.1,-8.9,300,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2386,3140
$GC,6521,-1.38,-146.6,671.1,-9.0,315,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2387,3139
$GC,6830,-1.38,-146.6,698.2,-8.5,330,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2387,3137
$GC,7139,-1.38,-146.6,724.2,-8.5,345,7144,0.00,2.58,0.00,0.000,4,0.000,0.081,2035,976,3136
$GC,7180,-1.38,-146.6,727.8,-9.3,347,7184,0.00,2.47,0.00,0.000,6,0.000,0.067,2035,2386,3136
$GC,7507,-1.38,-146.6,756.6,-9.2,363,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2386,3134
$GC,7816,-1.38,-146.6,785.2,-9.5,378,7820,0.00,2.55,0.00,0.000,4,0.000,0.080,2035,980,3132
$GC,7866,-1.38,-146.6,790.2,-10.0,380,7870,0.00,2.50,0.00,0.000,6,0.000,0.066,2035,2386,3132
$GC,8182,-1.38,-146.6,820.6,-10.0,395,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2386,3131
$GC,8492,-1.38,-146.6,850.1,-9.6,410,8496,0.00,2.55,0.00,0.000,4,0.000,0.080,2035,981,3129
$GC,8547,-1.38,-146.6,856.0,-10.3,412,8553,0.00,2.47,0.00,0.000,6,0.000,0.065,2035,2381,3130
$GC,8863,-1.38,-146.6,886.2,-9.6,428,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3129
$GC,9173,-1.38,-146.6,914.7,-9.0,443,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3128
$GC,9482,-1.38,-146.6,942.5,-8.8,458,9486,0.00,2.55,0.00,0.000,4,0.000,0.079,2035,974,3127
$GC,9538,-1.38,-146.6,947.9,-9.6,460,9544,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2390,3127
$GC,9856,-1.38,-146.6,975.6,-8.6,476,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2390,3125
$STATE,10036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10036,begin apogee
$GC,10044,-0.32,0.0,991.7,8.7,485,10171,1.15,0.00,122.85,1.389,6,0.110,0.000,2268,2154,2540
$STATE,10171,end apogee,CONTROL_FINISHED_OK
$STATE,10172,begin climb
$GC,10175,1.38,146.6,997.0,0.0,491,10306,1.67,2.83,122.12,1.364,4,0.074,0.109,2643,3573,1942
$GC,10544,1.46,196.1,984.7,7.7,509,10593,0.00,2.47,42.72,1.356,6,0.000,0.066,2643,2182,1739
$GC,10919,1.46,196.1,947.6,10.5,527,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2182,1738
$GC,11226,1.46,196.1,916.1,10.1,542,11230,0.00,2.65,0.00,0.000,4,0.000,0.091,2644,760,1737
$GC,11292,1.46,196.1,908.9,11.5,545,11297,0.00,2.50,0.00,0.000,6,0.000,0.061,2643,2175,1737
$GC,11614,1.47,203.4,877.9,9.7,561,11623,0.00,0.00,7.65,1.128,6,0.000,0.000,2643,2175,1710
$GC,11923,1.48,208.8,847.8,9.7,576,11934,0.00,2.70,5.97,1.038,4,0.000,0.084,2643,763,1688
$GC,11974,1.48,208.8,842.3,10.8,578,11978,0.00,2.50,0.00,0.000,6,0.000,0.061,2643,2177,1688
$GC,12290,1.50,220.8,811.7,9.4,593,12304,0.10,0.00,11.80,1.188,6,0.079,0.000,2669,2178,1639
$GC,12600,1.50,220.8,777.8,11.2,608,12604,0.00,2.62,0.00,0.000,4,0.000,0.084,2669,766,1639
$GC,12677,1.50,220.8,768.1,12.8,611,12683,0.00,2.50,0.00,0.000,6,0.000,0.061,2670,2174,1638
$GC,12993,1.50,220.8,730.9,11.5,627,12997,0.00,2.62,0.00,0.000,4,0.000,0.083,2669,759,1638
$GC,13043,1.50,220.8,724.5,12.4,629,13047,0.00,2.47,0.00,0.000,6,0.000,0.061,2670,2171,1637
$GC,13359,1.50,220.8,689.0,11.2,644,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2172,1637
$GC,13668,1.50,220.8,654.3,11.7,659,13672,0.00,2.60,0.00,0.000,4,0.000,0.083,2669,762,1637
$GC,13723,1.50,220.8,647.3,12.3,661,13729,0.00,2.47,0.00,0.000,6,0.000,0.061,2669,2175,1637
$GC,14039,1.50,220.8,611.1,11.2,677,14043,0.00,2.70,0.00,0.000,4,0.000,0.113,2669,3572,1637
$GC,14150,1.50,220.8,597.8,11.8,682,14155,0.00,2.50,0.00,0.000,6,0.000,0.066,2669,2168,1637
$GC,14472,1.50,220.8,564.4,10.1,698,14476,0.00,2.62,0.00,0.000,4,0.000,0.091,2669,764,1637
$GC,14566,1.50,220.8,553.8,11.2,702,14571,0.00,2.47,0.00,0.000,6,0.000,0.060,2670,2179,1637
$GC,14882,1.50,220.8,521.3,10.2,717,14887,0.00,2.67,0.00,0.000,4,0.000,0.110,2669,3572,1637
$GC,14944,1.50,220.8,515.0,11.6,720,14949,0.00,2.47,0.00,0.000,6,0.000,0.066,2669,2162,1636
$GC,15272,1.57,261.7,486.2,8.1,736,15313,0.00,2.70,32.80,1.050,4,0.000,0.092,2669,771,1473
$GC,15375,1.57,261.7,475.9,10.5,740,15382,0.00,2.47,0.00,0.000,6,0.000,0.059,2669,2174,1473
$GC,15692,1.57,261.7,439.8,11.9,756,15696,0.00,2.67,0.00,0.000,4,0.000,0.107,2669,3571,1473
$GC,15713,1.57,261.7,436.9,12.2,757,15717,0.00,2.47,0.00,0.000,6,0.000,0.064,2669,2165,1472
$GC,16035,1.57,261.7,397.5,12.0,773,16039,0.00,2.58,0.00,0.000,4,0.000,0.090,2669,769,1471
$GC,16191,1.57,261.7,377.8,12.6,780,16195,0.00,2.45,0.00,0.000,6,0.000,0.058,2669,2176,1471
$GC,16513,1.57,261.7,335.5,13.5,796,16517,0.00,2.58,0.00,0.000,4,0.000,0.078,2669,761,1470
$GC,16590,1.57,261.7,324.2,12.8,799,16596,0.00,2.42,0.00,0.000,6,0.000,0.057,2669,2175,1470
$GC,16906,1.57,261.7,283.3,13.0,815,16910,0.00,2.55,0.00,0.000,4,0.000,0.076,2669,766,1470
$GC,16961,1.57,261.7,275.5,12.8,817,16967,0.00,2.40,0.00,0.000,6,0.000,0.057,2670,2169,1471
$GC,17277,1.57,261.7,234.5,13.1,833,17281,0.00,2.53,0.00,0.000,4,0.000,0.075,2669,766,1471
$GC,17327,1.57,261.7,227.5,14.8,835,17331,0.00,2.40,0.00,0.000,6,0.000,0.057,2669,2170,1471
$GC,17642,1.57,261.7,186.6,12.2,850,17647,0.00,2.53,0.00,0.000,4,0.000,0.074,2669,766,1472
$GC,17687,1.57,261.7,181.3,11.3,852,17691,0.00,2.40,0.00,0.000,6,0.000,0.057,2670,2170,1472
$GC,18009,1.57,261.7,140.2,13.5,868,18010,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2170,1474
$GC,18318,1.57,261.7,96.2,13.9,883,18322,0.00,2.55,0.00,0.000,4,0.000,0.077,2670,764,1474
$GC,18358,1.57,261.7,90.2,16.0,885,18362,0.00,2.42,0.00,0.000,6,0.000,0.058,2669,2175,1474
$GC,18686,1.57,261.7,41.9,14.6,901,18690,0.00,2.53,0.00,0.000,4,0.000,0.074,2669,765,1476
$GC,18737,1.57,261.7,32.5,19.7,903,18741,0.00,2.40,0.00,0.000,6,0.000,0.058,2669,2165,1476
$STATE,18926,end climb,SURFACE_DEPTH_REACHED
$STATE,18926,begin surface coast
$FINISH,0.5,1.015340
$STATE,18950,end surface coast,CONTROL_FINISHED_OK
$STATE,18950,begin surface
$SM_CCo,19035,0.00,0.000,0,0,1476,261.00
$SM_GC,1.41,11.57,0.00,0.00,0.061,0.000,0.000,39,2381,1476,-10.52,0.03,261.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1758
$TCM_TEMP,2.50
$XPDR_PINGS,1
$24V_AH,23.5,5.279
$10V_AH,10.1,2.205
$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,25.650,152.225,345.925,0.000,0.000,67.910,84.152,312.303,8.750,0.000,0.000,14.752,1694.407,15181.416,535.693,1438.250,881.219,33.359,1475.795,0.000,1052.947,0.000,55.956
$DEVICE_MAMPS,176.410,112.749,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,876.496,849.655,461.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47422,913
$CFSIZE,254472192,251629568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,170208,002237,6132.939,-256.194,36,1.0,36,-6.0