version: 66.02
glider: 14
mission: 3
dive: 16
start: 2 17 108 0 45 34
data:
$ID,14
$MISSION,3
$DIVE,16
$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,577.19092
$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,-131706.61
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,002237,6132.939,-256.194,36,1.0,36,-6.0
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-61.9
$GPS2,004439,6133.188,-255.107,13,1.2,13,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.248,0.065
$KALMAN_X,51013.9,184.3,-223.8,-38756.1,2663.0
$KALMAN_Y,-3110.7,639.8,246.8,782.2,-1802.1
$MHEAD_RNG_PITCHd_Wd,290.7,42582,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.38,-146.6,0.0,0.0,0,90,0.00,0.00,-60.30,0.000,2,0.000,0.000,39,2383,2893
$GC,94,-1.38,-146.6,6.8,-12.9,3,117,11.32,2.53,-4.40,0.000,4,0.183,0.077,2034,965,3139
$GC,190,-1.38,-146.6,31.6,-15.0,7,194,0.00,2.47,0.00,0.000,6,0.000,0.061,2034,2379,3139
$GC,511,-1.38,-146.6,71.8,-11.4,23,515,0.00,2.53,0.00,0.000,4,0.000,0.071,2034,969,3140
$GC,566,-1.38,-146.6,77.1,-10.9,25,572,0.00,2.47,0.00,0.000,6,0.000,0.061,2033,2379,3140
$GC,883,-1.38,-146.6,112.8,-12.1,41,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2380,3141
$GC,1193,-1.38,-146.6,145.2,-9.5,56,1197,0.00,2.53,0.00,0.000,4,0.000,0.071,2034,970,3141
$GC,1233,-1.38,-146.6,149.6,-11.8,58,1237,0.00,2.42,0.00,0.000,6,0.000,0.064,2034,2373,3141
$GC,1565,-1.38,-146.6,186.3,-9.7,74,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2373,3141
$GC,1874,-1.38,-146.6,220.3,-11.2,89,1878,0.00,2.50,0.00,0.000,4,0.000,0.071,2034,973,3142
$GC,1917,-1.38,-146.6,225.0,-11.4,91,1921,0.00,2.45,0.00,0.000,6,0.000,0.062,2034,2386,3142
$GC,2243,-1.38,-146.6,260.9,-10.4,107,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2385,3142
$GC,2553,-1.38,-146.6,293.7,-11.5,122,2557,0.00,2.53,0.00,0.000,4,0.000,0.073,2034,976,3142
$GC,2615,-1.38,-146.6,301.1,-11.3,125,2619,0.00,2.42,0.00,0.000,6,0.000,0.063,2034,2379,3142
$GC,2943,-1.38,-146.6,340.2,-11.9,141,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2379,3142
$GC,3252,-1.38,-146.6,374.3,-10.7,156,3256,0.00,2.53,0.00,0.000,4,0.000,0.075,2034,977,3142
$GC,3314,-1.38,-146.6,381.2,-10.8,159,3318,0.00,2.45,0.00,0.000,6,0.000,0.064,2034,2381,3142
$GC,3641,-1.38,-146.6,414.4,-9.4,175,3645,0.00,2.53,0.00,0.000,4,0.000,0.075,2034,977,3142
$GC,3681,-1.38,-146.6,418.3,-9.5,177,3685,0.00,2.45,0.00,0.000,6,0.000,0.065,2034,2379,3143
$GC,4007,-1.38,-146.6,453.0,-11.2,193,4012,0.00,2.53,0.00,0.000,4,0.000,0.077,2034,978,3143
$GC,4058,-1.38,-146.6,458.6,-10.4,195,4062,0.00,2.47,0.00,0.000,6,0.000,0.065,2034,2380,3143
$GC,4374,-1.38,-146.6,487.7,-9.3,210,4378,0.00,2.55,0.00,0.000,4,0.000,0.078,2034,978,3143
$GC,4463,-1.38,-146.6,497.3,-11.0,214,4467,0.00,2.47,0.00,0.000,6,0.000,0.066,2034,2384,3143
$GC,4784,-1.38,-146.6,530.0,-10.3,230,4789,0.00,2.85,0.00,0.000,4,0.000,0.145,2034,3785,3143
$GC,4828,-1.38,-146.6,535.0,-11.2,232,4832,0.00,2.47,0.00,0.000,6,0.000,0.071,2034,2379,3143
$GC,5149,-1.38,-146.6,565.8,-8.9,248,5153,0.00,2.58,0.00,0.000,4,0.000,0.091,2034,977,3142
$GC,5189,-1.38,-146.6,569.5,-9.2,250,5193,0.00,2.45,0.00,0.000,6,0.000,0.065,2034,2381,3142
$GC,5517,-1.38,-146.6,599.0,-9.4,266,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3141
$GC,5826,-1.38,-146.6,629.3,-9.7,281,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3140
$GC,6135,-1.38,-146.6,659.9,-9.9,296,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2383,3138
$GC,6444,-1.38,-146.6,691.4,-10.3,311,6448,0.00,2.60,0.00,0.000,4,0.000,0.086,2034,970,3137
$GC,6499,-1.38,-146.6,697.4,-10.9,313,6505,0.00,2.50,0.00,0.000,6,0.000,0.066,2034,2382,3136
$GC,6815,-1.38,-146.6,729.7,-10.4,329,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3135
$GC,7125,-1.38,-146.6,760.3,-9.6,344,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3134
$GC,7434,-1.38,-146.6,790.2,-9.9,359,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3133
$GC,7744,-1.38,-146.6,819.9,-9.4,374,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3131
$GC,8053,-1.38,-146.6,848.8,-9.0,389,8057,0.00,2.55,0.00,0.000,4,0.000,0.080,2034,973,3130
$GC,8086,-1.38,-146.6,852.1,-9.6,390,8092,0.00,2.50,0.00,0.000,6,0.000,0.064,2034,2386,3130
$GC,8403,-1.38,-146.6,881.9,-9.4,406,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2385,3129
$GC,8712,-1.38,-146.6,911.5,-9.9,421,8716,0.00,2.55,0.00,0.000,4,0.000,0.080,2034,973,3128
$GC,8751,-1.38,-146.6,915.5,-10.6,423,8756,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2381,3128
$GC,9079,-1.38,-146.6,946.7,-9.5,439,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3126
$GC,9389,-1.38,-146.6,975.8,-9.3,454,9393,0.00,2.55,0.00,0.000,4,0.000,0.079,2034,973,3125
$GC,9430,-1.38,-146.6,979.7,-9.5,456,9434,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2382,3125
$STATE,9547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9547,begin apogee
$GC,9555,-0.32,0.0,991.3,9.7,462,9682,1.15,0.00,122.88,1.391,6,0.111,0.000,2267,2158,2540
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9686,1.38,146.6,997.0,0.0,468,9818,1.67,2.80,122.68,1.354,4,0.071,0.108,2645,3572,1942
$GC,10080,1.47,202.5,984.5,7.4,487,10134,0.00,2.47,48.08,1.342,6,0.000,0.066,2645,2181,1713
$GC,10455,1.47,202.5,945.8,10.6,505,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2181,1713
$GC,10761,1.47,202.5,912.6,10.4,520,10766,0.00,2.65,0.00,0.000,4,0.000,0.093,2645,765,1712
$GC,10811,1.47,202.5,906.8,11.1,522,10816,0.00,2.50,0.00,0.000,6,0.000,0.060,2645,2177,1712
$GC,11127,1.47,202.5,874.1,10.5,537,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,1712
$GC,11437,1.47,202.5,841.9,10.5,552,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2179,1711
$GC,11746,1.47,202.5,809.9,10.3,567,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2180,1711
$GC,12055,1.47,202.5,778.1,10.1,582,12059,0.00,2.67,0.00,0.000,4,0.000,0.108,2645,3568,1711
$GC,12088,1.47,202.5,774.7,10.0,583,12093,0.00,2.50,0.00,0.000,6,0.000,0.065,2645,2164,1711
$GC,12404,1.48,209.1,744.1,9.7,599,12412,0.00,0.00,6.35,1.023,6,0.000,0.000,2646,2164,1687
$GC,12713,1.48,209.9,713.3,10.0,614,12718,0.00,2.72,0.00,0.000,4,0.000,0.104,2645,3568,1687
$GC,12754,1.48,209.9,709.2,10.2,616,12758,0.00,2.50,0.00,0.000,6,0.000,0.067,2646,2166,1687
$GC,13080,1.50,221.8,677.2,9.4,632,13098,0.00,0.00,12.40,1.121,6,0.000,0.000,2645,2166,1634
$GC,13409,1.52,235.5,645.8,9.4,648,13428,0.12,0.00,12.75,1.101,6,0.075,0.000,2676,2165,1578
$GC,13738,1.52,235.5,609.9,11.0,664,13742,0.00,2.65,0.00,0.000,4,0.000,0.100,2676,765,1578
$GC,13788,1.52,235.5,603.8,12.0,666,13792,0.00,2.50,0.00,0.000,6,0.000,0.060,2676,2177,1577
$GC,14104,1.52,235.5,567.5,11.6,681,14109,0.00,2.62,0.00,0.000,4,0.000,0.085,2676,761,1578
$GC,14154,1.52,235.5,561.2,11.9,683,14158,0.00,2.47,0.00,0.000,6,0.000,0.060,2676,2172,1578
$GC,14470,1.52,235.5,525.8,11.4,698,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2173,1577
$GC,14779,1.52,235.5,490.8,10.9,713,14783,0.00,2.58,0.00,0.000,4,0.000,0.083,2676,764,1577
$GC,14958,1.52,235.5,467.8,14.0,721,14962,0.00,2.47,0.00,0.000,6,0.000,0.060,2676,2174,1577
$GC,15279,1.52,235.5,425.6,13.4,737,15283,0.00,2.58,0.00,0.000,4,0.000,0.079,2676,763,1576
$GC,15312,1.52,235.5,420.9,13.3,738,15318,0.00,2.47,0.00,0.000,6,0.000,0.059,2676,2180,1576
$GC,15628,1.52,235.5,378.7,13.4,754,15632,0.00,2.67,0.00,0.000,4,0.000,0.112,2676,3567,1576
$GC,15812,1.52,235.5,352.8,14.2,762,15817,0.00,2.47,0.00,0.000,6,0.000,0.064,2676,2159,1576
$GC,16128,1.52,235.5,310.9,12.9,777,16132,0.00,2.53,0.00,0.000,4,0.000,0.081,2676,763,1576
$GC,16172,1.52,235.5,304.9,13.9,779,16176,0.00,2.45,0.00,0.000,6,0.000,0.058,2676,2177,1576
$GC,16493,1.52,235.5,266.5,11.3,795,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2176,1576
$GC,16802,1.52,235.5,232.9,11.1,810,16806,0.00,2.55,0.00,0.000,4,0.000,0.074,2676,763,1577
$GC,16857,1.52,235.5,226.2,11.7,812,16863,0.00,2.40,0.00,0.000,6,0.000,0.057,2676,2168,1578
$GC,17173,1.52,235.5,189.0,11.7,828,17174,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2169,1578
$GC,17482,1.52,235.5,153.6,10.3,843,17486,0.00,2.53,0.00,0.000,4,0.000,0.074,2676,769,1579
$GC,17664,1.52,235.5,132.8,13.7,851,17668,0.00,2.40,0.00,0.000,6,0.000,0.058,2676,2168,1579
$GC,17985,1.52,235.5,87.4,14.5,867,17989,0.00,2.53,0.00,0.000,4,0.000,0.077,2676,769,1579
$GC,18103,1.52,235.5,70.3,13.3,872,18107,0.00,2.40,0.00,0.000,6,0.000,0.059,2676,2168,1580
$GC,18421,1.52,235.5,27.9,14.2,887,18425,0.00,2.53,0.00,0.000,4,0.000,0.075,2676,768,1581
$GC,18577,1.52,235.5,6.8,15.5,894,18582,0.00,2.40,0.00,0.000,6,0.000,0.058,2676,2173,1581
$STATE,18606,end climb,SURFACE_DEPTH_REACHED
$STATE,18607,begin surface coast
$FINISH,0.4,1.026556
$STATE,18628,end surface coast,CONTROL_FINISHED_OK
$STATE,18629,begin surface
$SM_CCo,18653,168.25,0.702,0,0,186,577.19
$SM_GC,0.95,0.00,0.00,168.25,0.000,0.000,0.702,33,2389,186,-10.61,0.25,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1713
$TCM_TEMP,2.00
$XPDR_PINGS,4
$24V_AH,23.5,5.484
$10V_AH,10.1,2.300
$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,25.750,147.125,325.125,168.250,0.000,165.416,205.418,529.280,9.500,0.000,0.000,14.877,1672.030,15015.339,688.292,1441.339,1330.048,33.351,1624.944,0.000,1060.555,0.000,55.960
$DEVICE_MAMPS,182.546,144.963,1391.338,701.805,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.453,846.202,459.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44323,897
$CFSIZE,254472192,251543552
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