version: 66.02
glider: 14
mission: 3
dive: 22
start: 2 18 108 10 12 23
data:
$ID,14
$MISSION,3
$DIVE,22
$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,-131859.69
$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,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
$GPS1,095337,6129.898,-305.058,37,1.3,37,-6.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.3
$GPS2,101129,6129.939,-304.573,13,2.4,32,-6.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.244,0.076
$KALMAN_X,71283.1,-116.4,582.1,-67902.7,2151.1
$KALMAN_Y,-4668.8,0.8,562.1,-3337.8,-1795.0
$MHEAD_RNG_PITCHd_Wd,293.3,33303,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.38,-146.6,0.0,0.0,0,92,0.00,0.00,-59.92,0.000,2,0.000,0.000,38,2392,2858
$GC,96,-1.38,-146.6,5.2,-9.5,3,119,11.27,2.72,-5.55,0.000,4,0.182,0.117,2035,3778,3141
$GC,170,-1.38,-146.6,21.3,-11.1,6,174,0.00,2.40,0.00,0.000,6,0.000,0.060,2034,2379,3142
$GC,493,-1.38,-146.6,55.6,-9.8,22,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3143
$GC,801,-1.38,-146.6,88.1,-12.1,37,805,0.00,2.50,0.00,0.000,4,0.000,0.075,2035,976,3143
$GC,841,-1.38,-146.6,92.2,-10.3,39,846,0.00,2.40,0.00,0.000,6,0.000,0.061,2035,2373,3143
$GC,1169,-1.38,-146.6,122.9,-8.8,55,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2373,3143
$GC,1477,-1.38,-146.6,156.5,-9.9,70,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2373,3143
$GC,1786,-1.38,-146.6,193.3,-11.1,85,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2373,3143
$GC,2096,-1.38,-146.6,226.4,-10.3,100,2101,0.00,2.47,0.00,0.000,4,0.000,0.071,2035,980,3144
$GC,2147,-1.38,-146.6,232.1,-10.8,102,2151,0.00,2.42,0.00,0.000,6,0.000,0.061,2035,2381,3144
$GC,2463,-1.38,-146.6,266.6,-11.4,117,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3144
$GC,2772,-1.38,-146.6,300.2,-10.6,132,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3144
$GC,3081,-1.38,-146.6,333.2,-10.7,147,3085,0.00,2.50,0.00,0.000,4,0.000,0.075,2035,979,3144
$GC,3120,-1.38,-146.6,337.4,-10.5,149,3125,0.00,2.42,0.00,0.000,6,0.000,0.063,2035,2384,3144
$GC,3447,-1.38,-146.6,371.9,-10.5,165,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2384,3145
$GC,3757,-1.38,-146.6,406.6,-12.2,180,3761,0.00,2.75,0.00,0.000,4,0.000,0.130,2033,3782,3145
$GC,3784,-1.38,-146.6,409.9,-11.7,181,3788,0.00,2.42,0.00,0.000,6,0.000,0.066,2035,2385,3145
$GC,4101,-1.38,-146.6,442.7,-10.0,196,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2384,3145
$GC,4410,-1.38,-146.6,473.0,-9.2,211,4415,0.00,2.58,0.00,0.000,4,0.000,0.087,2035,972,3145
$GC,4451,-1.38,-146.6,477.1,-9.4,213,4455,0.00,2.42,0.00,0.000,6,0.000,0.063,2035,2380,3145
$GC,4778,-1.38,-146.6,508.5,-9.9,229,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3145
$GC,5087,-1.38,-146.6,537.7,-9.3,244,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3145
$GC,5396,-1.38,-146.6,566.9,-9.9,259,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2382,3144
$GC,5706,-1.38,-146.6,596.2,-8.8,274,5710,0.00,2.55,0.00,0.000,4,0.000,0.084,2034,978,3143
$GC,5747,-1.38,-146.6,599.9,-9.3,276,5751,0.00,2.42,0.00,0.000,6,0.000,0.067,2035,2381,3142
$GC,6080,-1.38,-146.6,629.8,-9.6,292,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3140
$GC,6389,-1.38,-146.6,658.5,-9.3,307,6393,0.00,2.58,0.00,0.000,4,0.000,0.084,2035,978,3139
$GC,6422,-1.38,-146.6,661.8,-9.7,308,6428,0.00,2.47,0.00,0.000,6,0.000,0.065,2035,2380,3140
$GC,6738,-1.38,-146.6,692.5,-9.9,324,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3138
$GC,7047,-1.38,-146.6,721.7,-8.9,339,7052,0.00,2.55,0.00,0.000,4,0.000,0.081,2035,978,3136
$GC,7081,-1.38,-146.6,724.9,-9.2,340,7089,0.00,2.47,0.00,0.000,6,0.000,0.065,2035,2380,3136
$GC,7398,-1.38,-146.6,752.6,-8.8,356,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2380,3135
$GC,7707,-1.38,-146.6,779.5,-8.7,371,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3135
$GC,8017,-1.38,-146.6,806.9,-8.9,386,8021,0.00,2.55,0.00,0.000,4,0.000,0.080,2035,971,3133
$GC,8057,-1.38,-146.6,810.6,-9.5,388,8061,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2381,3132
$GC,8384,-1.38,-146.6,840.3,-9.0,404,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3132
$GC,8693,-1.38,-146.6,866.5,-8.1,419,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3131
$GC,9002,-1.38,-146.6,892.0,-8.3,434,9006,0.00,2.55,0.00,0.000,4,0.000,0.079,2034,969,3131
$GC,9043,-1.38,-146.6,895.6,-9.2,436,9048,0.00,2.47,0.00,0.000,6,0.000,0.063,2035,2381,3131
$GC,9371,-1.38,-146.6,924.0,-8.7,452,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3129
$GC,9681,-1.38,-146.6,951.3,-9.0,467,9685,0.00,2.55,0.00,0.000,4,0.000,0.077,2035,971,3128
$GC,9714,-1.38,-146.6,954.5,-9.2,468,9720,0.00,2.47,0.00,0.000,6,0.000,0.062,2035,2382,3128
$GC,10030,-1.38,-146.6,982.3,-8.6,484,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2382,3128
$STATE,10129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10129,begin apogee
$GC,10138,-0.32,0.0,991.5,8.8,489,10265,1.12,0.00,123.12,1.384,6,0.108,0.000,2264,2159,2540
$STATE,10266,end apogee,CONTROL_FINISHED_OK
$STATE,10266,begin climb
$GC,10269,1.38,146.6,996.7,0.0,495,10400,1.73,2.62,122.55,1.352,4,0.077,0.084,2639,778,1942
$GC,10519,1.45,186.1,993.5,8.2,507,10559,0.00,2.47,35.30,1.439,6,0.000,0.060,2639,2175,1781
$GC,10872,1.45,186.1,958.8,10.2,524,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2175,1780
$GC,11179,1.45,186.1,927.0,10.3,539,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2175,1778
$GC,11488,1.45,186.1,895.6,10.1,554,11492,0.00,2.60,0.00,0.000,4,0.000,0.083,2639,774,1778
$GC,11538,1.45,186.1,890.3,10.5,556,11542,0.00,2.45,0.00,0.000,6,0.000,0.060,2638,2173,1778
$GC,11855,1.45,188.7,858.7,9.9,571,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2174,1778
$GC,12164,1.47,200.8,828.3,9.4,586,12182,0.00,0.00,13.32,1.200,6,0.000,0.000,2638,2175,1720
$GC,12492,1.47,200.8,794.8,10.5,602,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2175,1719
$GC,12801,1.47,200.8,761.7,10.6,617,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2176,1719
$GC,13111,1.47,200.8,729.5,10.5,632,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2177,1719
$GC,13420,1.47,200.8,698.2,10.2,647,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2177,1718
$GC,13729,1.48,204.5,667.2,9.8,662,13740,0.10,2.60,4.53,0.858,4,0.077,0.086,2665,775,1706
$GC,13796,1.48,204.5,659.9,11.1,665,13800,0.00,2.47,0.00,0.000,6,0.000,0.061,2664,2176,1706
$GC,14118,1.48,204.5,626.5,10.2,681,14122,0.00,2.58,0.00,0.000,4,0.000,0.081,2665,775,1706
$GC,14167,1.48,204.5,621.0,10.7,683,14172,0.00,2.45,0.00,0.000,6,0.000,0.060,2665,2172,1706
$GC,14483,1.49,211.9,590.5,9.7,698,14493,0.00,0.00,7.80,1.012,6,0.000,0.000,2664,2174,1676
$GC,14792,1.49,211.9,558.5,10.3,713,14797,0.00,2.70,0.00,0.000,4,0.000,0.110,2665,3568,1676
$GC,14825,1.49,211.9,554.9,10.8,714,14831,0.00,2.45,0.00,0.000,6,0.000,0.065,2665,2179,1675
$GC,15141,1.49,211.9,522.7,10.1,730,15145,0.00,2.60,0.00,0.000,4,0.000,0.088,2665,764,1675
$GC,15218,1.49,211.9,514.4,10.3,733,15224,0.00,2.45,0.00,0.000,6,0.000,0.059,2664,2172,1675
$GC,15534,1.49,211.9,483.1,10.3,749,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2173,1674
$GC,15843,1.49,211.9,449.7,10.7,764,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2173,1674
$GC,16153,1.50,219.6,419.8,9.6,779,16166,0.00,2.72,7.75,0.969,4,0.000,0.105,2665,3561,1644
$GC,16355,1.50,219.6,397.7,10.3,788,16359,0.00,2.42,0.00,0.000,6,0.000,0.063,2665,2165,1644
$GC,16682,1.50,221.3,365.0,9.9,804,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2165,1643
$GC,16991,1.51,229.4,335.0,9.6,819,17002,0.00,0.00,9.38,0.937,6,0.000,0.000,2665,2164,1604
$GC,17300,1.53,237.5,305.0,9.6,834,17310,0.00,0.00,8.52,0.890,6,0.000,0.000,2664,2164,1571
$GC,17609,1.53,237.5,273.8,10.1,849,17613,0.00,2.50,0.00,0.000,4,0.000,0.078,2665,769,1571
$GC,17664,1.53,237.5,267.8,10.5,851,17670,0.00,2.40,0.00,0.000,6,0.000,0.057,2664,2174,1571
$GC,17980,1.53,237.5,233.4,11.5,867,17984,0.00,2.53,0.00,0.000,4,0.000,0.074,2665,766,1571
$GC,18052,1.53,237.5,224.4,12.5,870,18056,0.00,2.40,0.00,0.000,6,0.000,0.057,2664,2173,1571
$GC,18368,1.53,237.5,188.2,11.8,885,18372,0.00,2.50,0.00,0.000,4,0.000,0.074,2665,770,1572
$GC,18440,1.53,237.5,179.1,14.6,888,18444,0.00,2.40,0.00,0.000,6,0.000,0.058,2665,2175,1571
$GC,18757,1.53,237.5,142.3,11.4,903,18758,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2175,1573
$GC,19065,1.53,237.5,107.8,11.4,918,19067,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2175,1574
$GC,19375,1.53,237.5,71.0,11.8,933,19379,0.00,2.53,0.00,0.000,4,0.000,0.074,2665,770,1575
$GC,19447,1.53,237.5,61.5,12.9,936,19451,0.00,2.40,0.00,0.000,6,0.000,0.058,2665,2172,1575
$GC,19765,1.53,237.5,23.2,12.6,951,19766,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2172,1576
$STATE,19926,end climb,SURFACE_DEPTH_REACHED
$STATE,19926,begin surface coast
$FINISH,0.5,1.013556
$STATE,19947,end surface coast,CONTROL_FINISHED_OK
$STATE,19947,begin surface
$SM_CCo,19972,7.32,0.634,0,0,1519,250.21
$SM_GC,2.43,0.00,0.00,7.32,0.000,0.000,0.634,40,2384,1519,-10.58,0.11,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1743
$TCM_TEMP,2.50
$XPDR_PINGS,3
$24V_AH,23.5,6.422
$10V_AH,10.1,2.839
$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,25.775,116.125,332.275,7.325,0.000,130.157,168.296,413.798,9.250,0.000,0.000,34.618,1727.484,16261.519,511.775,1434.785,1118.638,33.369,1408.611,0.000,1009.299,0.000,55.970
$DEVICE_MAMPS,181.779,129.623,1438.892,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,939.590,910.144,504.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47471,960
$CFSIZE,254472192,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,180208,154701,6129.836,-308.621,58,1.4,58,-6.1