version: 66.02
glider: 14
mission: 3
dive: 20
start: 2 17 108 22 49 51
data:
$ID,14
$MISSION,3
$DIVE,20
$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,-131792.67
$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,24
$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
$GPS1,223826,6131.038,-301.295,40,2.0,58,-6.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.3
$GPS2,224856,6131.017,-300.899,8,1.6,13,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.255,0.020
$KALMAN_X,64504.6,153.4,280.3,-57851.9,2982.2
$KALMAN_Y,-2651.8,-155.4,270.8,-2898.6,-709.2
$MHEAD_RNG_PITCHd_Wd,280.4,36787,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-60.58,0.000,2,0.000,0.000,40,2387,2881
$GC,98,-1.38,-146.6,5.7,-9.4,3,120,11.20,2.67,-4.95,0.000,4,0.179,0.118,2033,3775,3139
$GC,148,-1.38,-146.6,20.2,-14.4,5,153,0.00,2.40,0.00,0.000,6,0.000,0.061,2033,2383,3139
$GC,470,-1.38,-146.6,58.7,-12.5,21,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3140
$GC,779,-1.38,-146.6,92.1,-11.7,36,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3140
$GC,1088,-1.38,-146.6,128.0,-11.0,51,1093,0.00,2.50,0.00,0.000,4,0.000,0.075,2033,979,3141
$GC,1133,-1.38,-146.6,133.5,-10.8,53,1137,0.00,2.42,0.00,0.000,6,0.000,0.061,2033,2381,3141
$GC,1454,-1.38,-146.6,170.5,-11.4,69,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3141
$GC,1763,-1.38,-146.6,206.1,-11.4,84,1767,0.00,2.50,0.00,0.000,4,0.000,0.071,2033,977,3142
$GC,1813,-1.38,-146.6,212.0,-11.9,86,1817,0.00,2.42,0.00,0.000,6,0.000,0.061,2033,2380,3141
$GC,2130,-1.38,-146.6,247.5,-11.7,101,2134,0.00,2.50,0.00,0.000,4,0.000,0.072,2033,976,3142
$GC,2163,-1.38,-146.6,251.7,-12.2,102,2168,0.00,2.42,0.00,0.000,6,0.000,0.061,2033,2380,3142
$GC,2479,-1.38,-146.6,288.2,-11.3,118,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3142
$GC,2788,-1.38,-146.6,322.2,-10.9,133,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3143
$GC,3097,-1.38,-146.6,356.5,-10.8,148,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2379,3143
$GC,3406,-1.38,-146.6,389.7,-11.0,163,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2379,3143
$GC,3716,-1.38,-146.6,420.3,-9.5,178,3721,0.00,2.55,0.00,0.000,4,0.000,0.081,2033,973,3143
$GC,3812,-1.38,-146.6,429.8,-9.8,182,3816,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2380,3143
$GC,4128,-1.38,-146.6,458.3,-9.1,197,4133,0.00,2.80,0.00,0.000,4,0.000,0.135,2033,3785,3143
$GC,4179,-1.38,-146.6,463.4,-9.7,199,4183,0.00,2.45,0.00,0.000,6,0.000,0.069,2033,2384,3143
$GC,4495,-1.38,-146.6,494.3,-10.3,214,4499,0.00,2.58,0.00,0.000,4,0.000,0.088,2033,974,3144
$GC,4528,-1.38,-146.6,497.8,-10.5,215,4534,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2384,3143
$GC,4845,-1.38,-146.6,528.9,-9.4,231,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3142
$GC,5154,-1.38,-146.6,559.0,-9.6,246,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3142
$GC,5464,-1.38,-146.6,588.2,-9.4,261,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3141
$GC,5773,-1.38,-146.6,615.9,-9.0,276,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3139
$GC,6082,-1.38,-146.6,644.9,-9.4,291,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3138
$GC,6391,-1.38,-146.6,673.1,-8.9,306,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3137
$GC,6701,-1.38,-146.6,699.6,-8.4,321,6705,0.00,2.55,0.00,0.000,4,0.000,0.087,2033,983,3135
$GC,6740,-1.38,-146.6,703.3,-9.1,322,6745,0.00,2.47,0.00,0.000,6,0.000,0.065,2033,2380,3135
$GC,7056,-1.38,-146.6,730.2,-8.4,338,7060,0.00,2.55,0.00,0.000,4,0.000,0.080,2033,976,3135
$GC,7089,-1.38,-146.6,733.1,-8.5,339,7094,0.00,2.50,0.00,0.000,6,0.000,0.065,2033,2387,3135
$GC,7405,-1.38,-146.6,758.7,-7.9,355,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2388,3133
$GC,7714,-1.38,-146.6,783.4,-8.1,370,7718,0.00,2.55,0.00,0.000,4,0.000,0.079,2033,975,3132
$GC,7747,-1.38,-146.6,786.3,-9.0,371,7753,0.00,2.45,0.00,0.000,6,0.000,0.064,2033,2387,3132
$GC,8064,-1.38,-146.6,813.5,-8.4,387,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2387,3131
$GC,8373,-1.38,-146.6,839.6,-8.4,402,8377,0.00,2.55,0.00,0.000,4,0.000,0.078,2033,974,3130
$GC,8423,-1.38,-146.6,844.1,-9.1,404,8427,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2381,3130
$GC,8739,-1.38,-146.6,871.5,-8.7,419,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3129
$GC,9048,-1.38,-146.6,897.6,-8.6,434,9052,0.00,2.55,0.00,0.000,4,0.000,0.077,2033,968,3129
$GC,9094,-1.38,-146.6,901.6,-9.3,436,9098,0.00,2.50,0.00,0.000,6,0.000,0.064,2033,2390,3128
$GC,9416,-1.38,-146.6,926.3,-7.7,452,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2389,3127
$GC,9726,-1.38,-146.6,950.2,-7.9,467,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2390,3126
$GC,10034,-1.38,-146.6,975.3,-8.3,482,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2390,3125
$STATE,10216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10216,begin apogee
$GC,10224,-0.32,0.0,990.5,8.2,491,10351,1.15,0.00,122.78,1.393,6,0.110,0.000,2266,2153,2539
$STATE,10352,end apogee,CONTROL_FINISHED_OK
$STATE,10352,begin climb
$GC,10355,1.38,146.6,995.3,0.0,497,10487,1.67,2.80,122.70,1.351,4,0.071,0.105,2646,3572,1942
$GC,10759,1.42,168.7,978.2,9.0,515,10786,0.00,2.50,20.15,1.323,6,0.000,0.064,2645,2179,1853
$GC,11096,1.43,176.5,946.2,9.6,532,11110,0.00,2.72,8.38,1.182,4,0.000,0.102,2645,3573,1820
$GC,11156,1.43,176.5,939.7,10.4,534,11162,0.00,2.53,0.00,0.000,6,0.000,0.064,2645,2167,1820
$GC,11473,1.44,181.9,908.4,9.7,550,11481,0.00,0.00,6.12,1.052,6,0.000,0.000,2645,2167,1798
$GC,11781,1.44,181.9,877.4,10.2,565,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2167,1798
$GC,12091,1.45,186.4,845.7,9.8,580,12102,0.00,2.65,5.65,1.016,4,0.000,0.092,2645,759,1779
$GC,12141,1.45,186.4,840.3,10.9,582,12146,0.00,2.47,0.00,0.000,6,0.000,0.060,2645,2173,1779
$GC,12457,1.45,186.7,808.6,10.0,597,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2174,1778
$GC,12766,1.45,188.7,778.3,9.9,612,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2174,1778
$GC,13076,1.46,195.1,748.9,9.7,627,13086,0.00,0.00,8.68,1.102,6,0.000,0.000,2645,2176,1744
$GC,13385,1.46,195.1,716.7,10.3,642,13389,0.00,2.62,0.00,0.000,4,0.000,0.086,2645,759,1744
$GC,13434,1.46,195.1,711.3,11.1,644,13439,0.00,2.47,0.00,0.000,6,0.000,0.059,2645,2172,1743
$GC,13750,1.46,195.1,679.7,10.2,659,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2172,1742
$GC,14060,1.47,198.2,649.0,9.9,674,14066,0.00,0.00,4.07,0.802,6,0.000,0.000,2645,2173,1732
$GC,14369,1.48,206.3,618.9,9.6,689,14382,0.00,2.62,8.60,1.032,4,0.000,0.084,2645,761,1697
$GC,14446,1.48,206.3,610.6,10.8,692,14450,0.00,2.45,0.00,0.000,6,0.000,0.060,2645,2169,1698
$GC,14762,1.48,206.3,578.5,10.1,707,14766,0.00,2.70,0.00,0.000,4,0.000,0.109,2645,3573,1697
$GC,14848,1.49,216.9,569.7,9.5,711,14863,0.00,2.47,10.07,1.029,6,0.000,0.065,2646,2165,1655
$GC,15174,1.51,226.3,536.9,9.6,726,15186,0.10,0.00,9.12,0.989,6,0.078,0.000,2671,2165,1617
$GC,15485,1.51,226.3,504.7,10.1,741,15486,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2165,1616
$GC,15792,1.51,226.3,471.8,11.4,756,15797,0.00,2.58,0.00,0.000,4,0.000,0.089,2671,770,1616
$GC,15859,1.51,226.3,463.7,11.4,759,15864,0.00,2.45,0.00,0.000,6,0.000,0.058,2671,2176,1615
$GC,16181,1.51,226.3,431.2,10.1,775,16182,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2177,1615
$GC,16490,1.51,226.3,394.6,13.3,790,16494,0.00,2.62,0.00,0.000,4,0.000,0.104,2671,3566,1614
$GC,16556,1.51,226.3,385.9,11.0,793,16561,0.00,2.45,0.00,0.000,6,0.000,0.063,2671,2165,1614
$GC,16878,1.53,238.8,353.4,9.4,809,16898,0.00,2.75,11.35,1.007,4,0.000,0.097,2671,3572,1565
$GC,16989,1.53,238.8,340.3,13.4,814,16994,0.00,2.45,0.00,0.000,6,0.000,0.063,2671,2165,1565
$GC,17316,1.53,238.8,302.1,11.4,830,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2167,1566
$GC,17626,1.53,238.8,264.5,12.2,845,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2166,1566
$GC,17935,1.53,238.8,231.8,10.2,860,17939,0.00,2.50,0.00,0.000,4,0.000,0.080,2671,775,1566
$GC,17974,1.53,238.8,227.0,12.6,862,17979,0.00,2.38,0.00,0.000,6,0.000,0.056,2671,2178,1566
$GC,18301,1.53,238.8,185.5,13.6,878,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2179,1567
$GC,18611,1.53,238.8,146.6,11.4,893,18615,0.00,2.53,0.00,0.000,4,0.000,0.074,2670,775,1568
$GC,18656,1.53,238.8,141.1,13.0,895,18660,0.00,2.38,0.00,0.000,6,0.000,0.056,2671,2175,1568
$GC,18978,1.53,238.8,101.6,13.0,911,18982,0.00,2.53,0.00,0.000,4,0.000,0.074,2671,764,1570
$GC,19028,1.53,238.8,94.7,14.3,913,19032,0.00,2.40,0.00,0.000,6,0.000,0.058,2671,2174,1570
$GC,19344,1.53,238.8,55.2,12.6,928,19345,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2174,1571
$GC,19654,1.53,238.8,20.1,10.5,943,19658,0.00,2.62,0.00,0.000,4,0.000,0.101,2671,3572,1572
$GC,19703,1.53,238.8,13.6,12.9,945,19708,0.00,2.42,0.00,0.000,6,0.000,0.062,2671,2161,1572
$STATE,19810,end climb,SURFACE_DEPTH_REACHED
$STATE,19811,begin surface coast
$FINISH,0.4,1.015152
$STATE,19832,end surface coast,CONTROL_FINISHED_OK
$STATE,19832,begin surface
$SM_CCo,19857,6.57,0.619,0,0,1519,250.21
$SM_GC,2.94,0.00,0.00,6.57,0.000,0.000,0.619,37,2395,1519,-10.59,0.45,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1751
$TCM_TEMP,2.50
$XPDR_PINGS,1
$24V_AH,23.5,6.113
$10V_AH,10.1,2.660
$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,25.600,127.175,337.675,6.575,0.000,65.080,79.631,272.144,8.750,0.000,0.000,15.326,1733.512,15996.570,520.813,1429.355,816.931,33.361,1433.063,0.000,1027.581,0.000,55.951
$DEVICE_MAMPS,179.478,134.992,1392.872,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,923.794,898.913,490.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47522,951
$CFSIZE,254472192,251301888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,180208,042230,6130.072,-304.141,54,2.0,55,-6.1