version: 66.02
glider: 14
mission: 3
dive: 21
start: 2 18 108 4 30 42
data:
$ID,14
$MISSION,3
$DIVE,21
$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,-131824.44
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,042230,6130.072,-304.141,54,2.0,55,-6.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-55.0
$GPS2,042945,6130.059,-303.928,11,1.9,29,-6.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.253,-0.042
$KALMAN_X,67681.8,49.2,-404.6,-62904.6,3893.1
$KALMAN_Y,-3886.3,-100.5,-719.5,-2507.8,703.7
$MHEAD_RNG_PITCHd_Wd,266.7,33895,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-59.65,0.000,2,0.000,0.000,37,2395,2848
$GC,93,-1.38,-146.6,5.1,-7.8,3,116,11.23,2.67,-5.68,0.000,4,0.180,0.114,2033,3767,3139
$GC,122,-1.38,-146.6,16.6,-34.0,4,127,0.00,2.38,0.00,0.000,6,0.000,0.061,2033,2383,3139
$GC,444,-1.38,-146.6,60.3,-15.4,20,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3140
$GC,755,-1.38,-146.6,101.5,-13.9,35,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3141
$GC,1063,-1.38,-146.6,134.0,-9.9,50,1067,0.00,2.50,0.00,0.000,4,0.000,0.074,2033,977,3141
$GC,1096,-1.38,-146.6,137.9,-11.2,51,1102,0.00,2.42,0.00,0.000,6,0.000,0.061,2032,2372,3141
$GC,1411,-1.38,-146.6,174.7,-11.5,67,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2371,3141
$GC,1721,-1.38,-146.6,209.6,-11.4,82,1725,0.00,2.47,0.00,0.000,4,0.000,0.071,2033,978,3142
$GC,1770,-1.38,-146.6,215.5,-11.3,84,1775,0.00,2.42,0.00,0.000,6,0.000,0.062,2033,2386,3142
$GC,2088,-1.38,-146.6,250.6,-10.8,99,2092,0.00,2.50,0.00,0.000,4,0.000,0.071,2033,979,3142
$GC,2122,-1.38,-146.6,254.4,-10.4,100,2129,0.00,2.45,0.00,0.000,6,0.000,0.061,2033,2387,3142
$GC,2439,-1.38,-146.6,287.1,-10.2,116,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2387,3142
$GC,2749,-1.38,-146.6,319.9,-11.0,131,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2387,3143
$GC,3059,-1.38,-146.6,350.4,-9.1,146,3063,0.00,2.53,0.00,0.000,4,0.000,0.074,2033,979,3143
$GC,3126,-1.38,-146.6,356.8,-9.7,149,3130,0.00,2.45,0.00,0.000,6,0.000,0.063,2033,2381,3143
$GC,3447,-1.38,-146.6,389.3,-10.4,165,3451,0.00,2.50,0.00,0.000,4,0.000,0.074,2033,981,3143
$GC,3474,-1.38,-146.6,392.2,-11.0,166,3478,0.00,2.42,0.00,0.000,6,0.000,0.064,2033,2379,3143
$GC,3791,-1.38,-146.6,423.8,-9.2,181,3796,0.00,2.78,0.00,0.000,4,0.000,0.130,2033,3782,3143
$GC,3840,-1.38,-146.6,429.0,-10.4,183,3845,0.00,2.42,0.00,0.000,6,0.000,0.067,2033,2384,3144
$GC,4157,-1.38,-146.6,461.8,-9.8,198,4161,0.00,2.53,0.00,0.000,4,0.000,0.081,2033,976,3144
$GC,4220,-1.38,-146.6,467.9,-9.8,201,4224,0.00,2.45,0.00,0.000,6,0.000,0.062,2033,2384,3143
$GC,4547,-1.38,-146.6,498.7,-9.8,217,4551,0.00,2.78,0.00,0.000,4,0.000,0.131,2033,3783,3143
$GC,4591,-1.38,-146.6,503.3,-10.9,219,4595,0.00,2.47,0.00,0.000,6,0.000,0.069,2033,2375,3143
$GC,4912,-1.38,-146.6,538.9,-12.2,235,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2374,3143
$GC,5222,-1.38,-146.6,575.6,-11.5,250,5226,0.00,2.55,0.00,0.000,4,0.000,0.087,2033,970,3143
$GC,5311,-1.38,-146.6,586.2,-11.5,254,5315,0.00,2.45,0.00,0.000,6,0.000,0.063,2033,2380,3143
$GC,5632,-1.38,-146.6,618.6,-10.2,270,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3142
$GC,5941,-1.38,-146.6,649.2,-9.7,285,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3141
$GC,6251,-1.38,-146.6,678.4,-9.0,300,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3141
$GC,6560,-1.38,-146.6,703.8,-8.0,315,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3139
$GC,6869,-1.38,-146.6,728.0,-7.7,330,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3138
$GC,7179,-1.38,-146.6,751.8,-7.8,345,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3136
$GC,7488,-1.38,-146.6,776.2,-7.9,360,7493,0.00,2.55,0.00,0.000,4,0.000,0.081,2033,973,3136
$GC,7529,-1.38,-146.6,779.6,-8.0,362,7533,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2384,3135
$GC,7856,-1.38,-146.6,806.0,-8.2,378,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3134
$GC,8165,-1.38,-146.6,831.0,-7.9,393,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3133
$GC,8474,-1.38,-146.6,856.4,-8.4,408,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2387,3132
$GC,8784,-1.38,-146.6,883.2,-8.5,423,8788,0.00,2.55,0.00,0.000,4,0.000,0.081,2033,976,3131
$GC,8829,-1.38,-146.6,887.3,-9.4,425,8833,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2381,3131
$GC,9151,-1.38,-146.6,914.2,-8.2,441,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3130
$GC,9460,-1.38,-146.6,940.4,-8.8,456,9465,0.00,2.55,0.00,0.000,4,0.000,0.080,2033,974,3129
$GC,9517,-1.38,-146.6,945.6,-9.4,458,9522,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2382,3128
$GC,9833,-1.38,-146.6,972.7,-8.4,474,9837,0.00,2.55,0.00,0.000,4,0.000,0.079,2033,975,3127
$GC,9866,-1.38,-146.6,975.7,-8.7,475,9872,0.00,2.47,0.00,0.000,6,0.000,0.063,2033,2384,3127
$STATE,10034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10034,begin apogee
$GC,10043,-0.32,0.0,990.1,8.5,484,10170,1.15,0.00,123.25,1.385,6,0.113,0.000,2265,2157,2540
$STATE,10170,end apogee,CONTROL_FINISHED_OK
$STATE,10171,begin climb
$GC,10174,1.38,146.6,994.9,0.0,490,10305,1.73,2.80,122.43,1.353,4,0.076,0.107,2639,3573,1942
$GC,10508,1.43,179.0,983.7,8.5,506,10542,0.00,2.47,28.67,1.337,6,0.000,0.065,2639,2182,1810
$GC,10873,1.43,179.0,948.8,10.0,524,10877,0.00,2.65,0.00,0.000,4,0.000,0.092,2639,759,1809
$GC,10917,1.43,179.0,944.0,10.1,526,10921,0.00,2.50,0.00,0.000,6,0.000,0.060,2639,2175,1808
$GC,11238,1.46,191.9,913.7,9.4,542,11259,0.00,2.67,12.25,1.225,4,0.000,0.084,2639,772,1756
$GC,11283,1.46,191.9,909.1,10.9,544,11287,0.00,2.47,0.00,0.000,6,0.000,0.060,2638,2169,1755
$GC,11609,1.47,202.9,877.3,9.5,560,11622,0.00,0.00,10.95,1.196,6,0.000,0.000,2639,2170,1712
$GC,11918,1.49,214.9,847.3,9.4,575,11940,0.12,2.70,11.12,1.183,4,0.076,0.086,2671,766,1663
$GC,11973,1.49,214.9,841.1,11.4,577,11978,0.00,2.50,0.00,0.000,6,0.000,0.061,2671,2172,1663
$GC,12289,1.49,214.9,807.4,10.6,592,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2172,1662
$GC,12598,1.49,214.9,774.8,10.6,607,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2174,1662
$GC,12908,1.49,214.9,741.2,10.9,622,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2175,1662
$GC,13217,1.49,214.9,708.3,10.7,637,13221,0.00,2.67,0.00,0.000,4,0.000,0.109,2671,3572,1660
$GC,13250,1.49,214.9,704.5,11.1,638,13255,0.00,2.50,0.00,0.000,6,0.000,0.065,2671,2165,1661
$GC,13565,1.49,214.9,670.0,10.7,654,13570,0.00,2.60,0.00,0.000,4,0.000,0.094,2671,765,1661
$GC,13615,1.49,214.9,664.1,11.0,656,13620,0.00,2.47,0.00,0.000,6,0.000,0.061,2671,2176,1661
$GC,13932,1.49,214.9,631.5,10.1,671,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2176,1661
$GC,14241,1.49,214.9,599.6,10.9,686,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2177,1661
$GC,14551,1.51,224.5,569.3,9.6,701,14562,0.00,0.00,9.18,1.031,6,0.000,0.000,2671,2178,1624
$GC,14860,1.52,233.0,539.3,9.6,716,14874,0.00,2.72,8.48,0.979,4,0.000,0.108,2671,3573,1589
$GC,14928,1.54,248.0,532.8,9.3,719,14948,0.00,2.50,13.73,1.026,6,0.000,0.065,2671,2164,1529
$GC,15259,1.54,248.0,498.6,10.5,735,15260,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2164,1528
$GC,15568,1.54,248.0,464.1,11.8,750,15572,0.00,2.60,0.00,0.000,4,0.000,0.093,2672,765,1527
$GC,15652,1.54,248.0,452.9,13.2,754,15657,0.00,2.45,0.00,0.000,6,0.000,0.059,2671,2183,1527
$GC,15979,1.54,248.0,412.3,12.3,770,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2184,1527
$GC,16289,1.54,248.0,374.0,13.1,785,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2184,1526
$GC,16598,1.54,248.0,335.9,12.0,800,16599,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2183,1526
$GC,16907,1.54,248.0,298.8,12.0,815,16908,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2184,1526
$GC,17216,1.54,248.0,260.9,12.5,830,17221,0.00,2.55,0.00,0.000,4,0.000,0.077,2671,767,1526
$GC,17279,1.54,248.0,252.9,12.4,833,17283,0.00,2.38,0.00,0.000,6,0.000,0.057,2671,2171,1527
$GC,17606,1.54,248.0,213.3,12.5,849,17607,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2172,1527
$GC,17915,1.54,248.0,172.5,14.0,864,17919,0.00,2.62,0.00,0.000,4,0.000,0.100,2671,3572,1528
$GC,17947,1.54,248.0,167.3,14.4,865,17954,0.00,2.45,0.00,0.000,6,0.000,0.061,2671,2160,1528
$GC,18264,1.54,248.0,129.8,12.8,881,18265,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2160,1529
$GC,18575,1.54,248.0,92.4,12.1,896,18576,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2160,1531
$GC,18883,1.54,248.0,53.7,12.6,911,18884,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2160,1532
$GC,19192,1.54,248.0,12.5,14.6,926,19196,0.00,2.50,0.00,0.000,4,0.000,0.080,2671,767,1533
$GC,19225,1.54,248.0,7.0,16.0,927,19231,0.00,2.40,0.00,0.000,6,0.000,0.057,2671,2171,1533
$STATE,19249,end climb,SURFACE_DEPTH_REACHED
$STATE,19249,begin surface coast
$FINISH,0.5,1.015618
$STATE,19271,end surface coast,CONTROL_FINISHED_OK
$STATE,19271,begin surface
$SM_CCo,19296,1.77,0.142,0,0,1520,250.21
$SM_GC,2.35,0.00,0.00,1.77,0.000,0.000,0.142,38,2389,1520,-10.59,0.25,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1744
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.5,6.257
$10V_AH,10.1,2.746
$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,25.650,127.175,340.050,1.775,0.000,32.539,39.224,200.826,8.500,0.000,0.000,31.135,1685.752,15486.620,522.418,1386.359,656.159,33.363,1412.764,0.000,992.301,0.000,55.940
$DEVICE_MAMPS,180.245,131.157,1385.202,141.895,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,907.384,881.456,473.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47453,930
$CFSIZE,254472192,251244544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,180208,095337,6129.898,-305.058,37,1.3,37,-6.1