version: 66.02
glider: 14
mission: 3
dive: 18
start: 2 17 108 12 3 47
data:
$ID,14
$MISSION,3
$DIVE,18
$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,-131762.86
$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,29
$R_STBD_OVSHOOT,15
$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
$GPS1,113937,6133.826,-259.786,50,1.3,50,-6.0
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-52.2
$GPS2,120250,6133.825,-259.042,9,1.5,20,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.244,-0.077
$KALMAN_X,56550.4,169.3,613.5,-48614.3,407.7
$KALMAN_Y,-1227.4,-342.4,210.4,1111.4,266.3
$MHEAD_RNG_PITCHd_Wd,258.5,39504,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.38,-146.6,0.0,0.0,0,85,0.00,0.00,-55.22,0.000,2,0.000,0.000,39,2384,2706
$GC,89,-1.38,-146.6,4.5,-6.3,3,115,11.25,2.72,-9.05,0.000,4,0.180,0.125,2032,3783,3139
$GC,230,-1.38,-146.6,29.6,-13.9,9,235,0.00,2.42,0.00,0.000,6,0.000,0.061,2032,2383,3140
$GC,548,-1.38,-146.6,64.5,-10.6,24,553,0.00,2.55,0.00,0.000,4,0.000,0.076,2032,973,3141
$GC,604,-1.38,-146.6,71.3,-11.5,26,611,0.00,2.47,0.00,0.000,6,0.000,0.061,2032,2383,3141
$GC,921,-1.38,-146.6,107.0,-11.5,42,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2383,3141
$GC,1230,-1.38,-146.6,141.2,-10.8,57,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2383,3141
$GC,1539,-1.38,-146.6,177.1,-12.1,72,1543,0.00,2.55,0.00,0.000,4,0.000,0.074,2032,970,3141
$GC,1613,-1.38,-146.6,184.5,-10.0,75,1617,0.00,2.47,0.00,0.000,6,0.000,0.063,2032,2382,3141
$GC,1929,-1.38,-146.6,216.3,-9.1,90,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2382,3141
$GC,2238,-1.38,-146.6,243.8,-9.2,105,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2382,3141
$GC,2547,-1.38,-146.6,274.8,-10.3,120,2551,0.00,2.53,0.00,0.000,4,0.000,0.077,2032,976,3141
$GC,2580,-1.38,-146.6,278.5,-10.7,121,2584,0.00,2.45,0.00,0.000,6,0.000,0.063,2032,2379,3141
$GC,2896,-1.38,-146.6,310.7,-10.2,136,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2379,3141
$GC,3206,-1.38,-146.6,342.5,-10.5,151,3210,0.00,2.53,0.00,0.000,4,0.000,0.075,2032,980,3142
$GC,3268,-1.38,-146.6,348.9,-10.2,154,3272,0.00,2.45,0.00,0.000,6,0.000,0.064,2032,2379,3142
$GC,3594,-1.38,-146.6,382.4,-10.5,170,3599,0.00,2.80,0.00,0.000,4,0.000,0.130,2032,3781,3141
$GC,3627,-1.38,-146.6,386.1,-10.9,171,3633,0.00,2.45,0.00,0.000,6,0.000,0.065,2032,2379,3141
$GC,3943,-1.38,-146.6,421.0,-11.4,187,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2379,3142
$GC,4253,-1.38,-146.6,453.3,-9.7,202,4257,0.00,2.58,0.00,0.000,4,0.000,0.085,2032,970,3142
$GC,4360,-1.38,-146.6,464.4,-10.2,207,4364,0.00,2.47,0.00,0.000,6,0.000,0.063,2032,2382,3142
$GC,4686,-1.38,-146.6,499.0,-10.7,223,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2382,3142
$GC,4996,-1.38,-146.6,532.2,-10.4,238,5000,0.00,2.83,0.00,0.000,4,0.000,0.137,2032,3779,3142
$GC,5051,-1.38,-146.6,538.6,-12.0,240,5057,0.00,2.50,0.00,0.000,6,0.000,0.071,2032,2377,3142
$GC,5368,-1.38,-146.6,573.2,-11.0,256,5372,0.00,2.58,0.00,0.000,4,0.000,0.089,2032,976,3141
$GC,5440,-1.38,-146.6,581.5,-11.6,259,5444,0.00,2.47,0.00,0.000,6,0.000,0.064,2032,2383,3142
$GC,5756,-1.38,-146.6,616.4,-11.0,274,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2383,3142
$GC,6066,-1.38,-146.6,650.3,-10.9,289,6070,0.00,2.58,0.00,0.000,4,0.000,0.083,2032,976,3141
$GC,6099,-1.38,-146.6,654.3,-11.7,290,6105,0.00,2.50,0.00,0.000,6,0.000,0.064,2032,2384,3141
$GC,6416,-1.38,-146.6,689.4,-11.3,306,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2384,3139
$GC,6724,-1.38,-146.6,723.5,-11.1,321,6729,0.00,2.58,0.00,0.000,4,0.000,0.081,2032,975,3138
$GC,6758,-1.38,-146.6,727.4,-11.0,322,6763,0.00,2.47,0.00,0.000,6,0.000,0.065,2032,2380,3138
$GC,7074,-1.38,-146.6,760.9,-10.3,338,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2381,3137
$GC,7383,-1.38,-146.6,792.7,-10.3,353,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2381,3136
$GC,7693,-1.38,-146.6,825.3,-10.4,368,7698,0.00,2.58,0.00,0.000,4,0.000,0.080,2032,968,3134
$GC,7757,-1.38,-146.6,832.2,-10.8,371,7761,0.00,2.47,0.00,0.000,6,0.000,0.064,2032,2381,3134
$GC,8083,-1.38,-146.6,865.2,-10.0,387,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2381,3133
$GC,8392,-1.38,-146.6,896.7,-10.4,402,8397,0.00,2.58,0.00,0.000,4,0.000,0.079,2032,965,3132
$GC,8443,-1.38,-146.6,902.3,-10.9,404,8447,0.00,2.50,0.00,0.000,6,0.000,0.064,2032,2381,3132
$GC,8758,-1.38,-146.6,934.6,-10.1,419,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2381,3131
$GC,9068,-1.38,-146.6,965.8,-10.0,434,9073,0.00,2.55,0.00,0.000,4,0.000,0.077,2032,973,3130
$GC,9124,-1.38,-146.6,971.8,-11.4,436,9130,0.00,2.50,0.00,0.000,6,0.000,0.064,2032,2386,3130
$STATE,9313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9314,begin apogee
$GC,9322,-0.32,0.0,990.7,9.9,446,9449,1.15,0.00,123.57,1.394,6,0.110,0.000,2265,2151,2540
$STATE,9450,end apogee,CONTROL_FINISHED_OK
$STATE,9450,begin climb
$GC,9454,1.38,146.6,996.9,0.0,452,9585,1.70,2.83,123.22,1.353,4,0.073,0.107,2647,3573,1942
$GC,9811,1.49,210.8,987.6,7.0,469,9871,0.00,2.50,54.58,1.345,6,0.000,0.066,2646,2174,1680
$GC,10187,1.49,210.8,948.7,11.0,488,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2174,1680
$GC,10496,1.49,210.8,915.3,10.8,503,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2174,1679
$GC,10806,1.49,210.8,881.4,11.0,518,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2174,1678
$GC,11115,1.49,210.8,847.4,10.8,533,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2173,1679
$GC,11424,1.49,210.8,814.2,10.7,548,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2173,1678
$GC,11733,1.49,210.8,781.1,10.9,563,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2173,1678
$GC,12043,1.49,210.8,746.9,10.9,578,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2173,1678
$GC,12352,1.49,210.8,712.2,11.0,593,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,1677
$GC,12661,1.49,210.8,675.9,12.0,608,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2171,1677
$GC,12970,1.49,210.8,639.3,11.8,623,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2171,1677
$GC,13280,1.49,210.8,603.1,11.3,638,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2171,1677
$GC,13589,1.49,210.8,568.6,10.7,653,13594,0.00,2.70,0.00,0.000,4,0.000,0.107,2646,3573,1677
$GC,13622,1.49,210.8,564.9,11.3,654,13628,0.00,2.50,0.00,0.000,6,0.000,0.066,2646,2165,1676
$GC,13938,1.49,210.8,532.3,10.5,670,13943,0.00,2.60,0.00,0.000,4,0.000,0.096,2646,768,1677
$GC,14011,1.49,210.8,524.0,10.8,673,14015,0.00,2.45,0.00,0.000,6,0.000,0.060,2647,2175,1676
$GC,14327,1.49,210.8,491.0,10.5,688,14328,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2176,1675
$GC,14636,1.50,220.6,460.3,9.5,703,14650,0.00,2.62,8.93,0.950,4,0.000,0.084,2646,760,1640
$GC,14797,1.53,237.0,444.3,9.2,709,14818,0.12,2.47,14.60,0.988,6,0.076,0.059,2678,2173,1573
$GC,15137,1.53,237.0,407.8,10.6,726,15142,0.00,2.67,0.00,0.000,4,0.000,0.108,2678,3568,1571
$GC,15255,1.53,237.0,393.8,11.9,731,15259,0.00,2.47,0.00,0.000,6,0.000,0.064,2678,2166,1571
$GC,15572,1.53,237.0,356.8,12.3,746,15576,0.00,2.55,0.00,0.000,4,0.000,0.084,2678,771,1570
$GC,15627,1.53,237.0,349.2,13.1,748,15632,0.00,2.45,0.00,0.000,6,0.000,0.058,2678,2179,1570
$GC,15943,1.53,237.0,309.6,12.1,764,15944,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2179,1570
$GC,16252,1.53,237.0,270.0,13.2,779,16256,0.00,2.53,0.00,0.000,4,0.000,0.074,2678,769,1570
$GC,16330,1.53,237.0,258.8,14.2,782,16335,0.00,2.40,0.00,0.000,6,0.000,0.058,2678,2172,1571
$GC,16645,1.53,237.0,215.3,13.9,798,16650,0.00,2.53,0.00,0.000,4,0.000,0.074,2678,763,1572
$GC,16678,1.53,237.0,210.4,13.9,799,16684,0.00,2.40,0.00,0.000,6,0.000,0.057,2678,2169,1572
$GC,16994,1.53,237.0,166.4,14.1,815,16999,0.00,2.65,0.00,0.000,4,0.000,0.104,2678,3564,1574
$GC,17022,1.53,237.0,162.1,16.0,816,17026,0.00,2.45,0.00,0.000,6,0.000,0.063,2678,2161,1573
$GC,17338,1.53,237.0,120.1,12.8,831,17343,0.00,2.50,0.00,0.000,4,0.000,0.077,2678,769,1574
$GC,17357,1.53,237.0,117.5,13.2,832,17361,0.00,2.40,0.00,0.000,6,0.000,0.057,2678,2176,1575
$GC,17684,1.53,237.0,76.0,11.8,848,17689,0.00,2.62,0.00,0.000,4,0.000,0.102,2678,3567,1574
$GC,17739,1.53,237.0,69.0,12.6,850,17746,0.00,2.45,0.00,0.000,6,0.000,0.062,2679,2165,1575
$GC,18056,1.53,237.0,33.0,12.0,866,18060,0.00,2.62,0.00,0.000,4,0.000,0.091,2678,3572,1576
$GC,18106,1.53,237.0,26.6,11.1,868,18110,0.00,2.45,0.00,0.000,6,0.000,0.063,2678,2166,1576
$STATE,18275,end climb,SURFACE_DEPTH_REACHED
$STATE,18275,begin surface coast
$FINISH,0.6,1.026402
$STATE,18296,end surface coast,CONTROL_FINISHED_OK
$STATE,18297,begin surface
$SM_CCo,18322,7.28,0.650,0,0,1520,250.21
$SM_GC,2.67,0.00,0.00,7.28,0.000,0.000,0.650,38,2399,1520,-10.59,0.51,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1746
$TCM_TEMP,2.00
$XPDR_PINGS,4
$24V_AH,23.5,5.806
$10V_AH,10.1,2.482
$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,25.800,132.725,324.900,7.275,0.000,162.699,232.044,574.555,9.500,0.000,0.000,22.360,1605.331,14858.996,507.788,1372.032,1382.284,33.357,1393.989,0.000,990.474,0.000,55.946
$DEVICE_MAMPS,180.245,136.526,1394.406,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,852.216,822.852,461.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44198,877
$CFSIZE,254472192,251441152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,170208,171056,6132.338,-301.037,59,1.4,59,-6.1