version: 66.02
glider: 14
mission: 3
dive: 23
start: 2 18 108 15 58 17
data:
$ID,14
$MISSION,3
$DIVE,23
$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,-131895.59
$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,22
$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
$GPS1,154701,6129.836,-308.621,58,1.4,58,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.6
$GPS2,155720,6129.833,-308.407,16,1.4,33,-6.1
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.256,-0.014
$KALMAN_X,74182.2,-126.6,-836.2,-72746.2,4839.0
$KALMAN_Y,-5333.9,82.2,-555.2,-1835.1,259.0
$MHEAD_RNG_PITCHd_Wd,272.9,29911,-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,-59.62,0.000,2,0.000,0.000,38,2385,2827
$GC,93,-1.38,-146.6,5.0,-8.2,3,116,11.27,2.78,-6.20,0.000,4,0.182,0.121,2035,3783,3140
$GC,189,-1.38,-146.6,23.5,-10.8,7,194,0.00,2.42,0.00,0.000,6,0.000,0.060,2035,2374,3141
$GC,512,-1.38,-146.6,60.2,-10.7,23,516,0.00,2.50,0.00,0.000,4,0.000,0.076,2035,979,3141
$GC,552,-1.38,-146.6,64.8,-11.3,25,557,0.00,2.42,0.00,0.000,6,0.000,0.061,2035,2381,3142
$GC,880,-1.38,-146.6,99.6,-10.2,41,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3142
$GC,1189,-1.38,-146.6,132.7,-11.1,56,1194,0.00,2.50,0.00,0.000,4,0.000,0.071,2035,980,3142
$GC,1253,-1.38,-146.6,139.9,-11.3,59,1257,0.00,2.42,0.00,0.000,6,0.000,0.061,2035,2382,3142
$GC,1580,-1.38,-146.6,176.3,-10.7,75,1585,0.00,2.50,0.00,0.000,4,0.000,0.071,2035,980,3143
$GC,1620,-1.38,-146.6,180.8,-11.2,77,1625,0.00,2.42,0.00,0.000,6,0.000,0.062,2034,2382,3143
$GC,1948,-1.38,-146.6,217.3,-11.5,93,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2382,3143
$GC,2257,-1.38,-146.6,253.4,-11.9,108,2261,0.00,2.50,0.00,0.000,4,0.000,0.072,2034,980,3143
$GC,2346,-1.38,-146.6,264.1,-11.5,112,2350,0.00,2.45,0.00,0.000,6,0.000,0.061,2033,2386,3143
$GC,2667,-1.38,-146.6,300.5,-11.7,128,2672,0.00,2.50,0.00,0.000,4,0.000,0.073,2035,980,3144
$GC,2708,-1.38,-146.6,305.9,-12.7,130,2712,0.00,2.45,0.00,0.000,6,0.000,0.063,2035,2387,3144
$GC,3035,-1.38,-146.6,343.7,-11.3,146,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2387,3144
$GC,3345,-1.38,-146.6,377.1,-10.3,161,3349,0.00,2.53,0.00,0.000,4,0.000,0.075,2034,983,3144
$GC,3400,-1.38,-146.6,383.0,-11.0,163,3405,0.00,2.45,0.00,0.000,6,0.000,0.064,2035,2384,3144
$GC,3716,-1.38,-146.6,414.9,-10.6,179,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2384,3144
$GC,4025,-1.38,-146.6,446.9,-10.3,194,4029,0.00,2.53,0.00,0.000,4,0.000,0.076,2035,982,3144
$GC,4087,-1.38,-146.6,453.7,-10.9,197,4091,0.00,2.42,0.00,0.000,6,0.000,0.064,2035,2379,3144
$GC,4414,-1.38,-146.6,486.3,-9.9,213,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3144
$GC,4723,-1.38,-146.6,515.9,-9.5,228,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2379,3144
$GC,5032,-1.38,-146.6,546.3,-9.7,243,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3144
$GC,5343,-1.38,-146.6,575.6,-9.5,258,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3144
$GC,5651,-1.38,-146.6,605.9,-9.6,273,5655,0.00,2.55,0.00,0.000,4,0.000,0.082,2035,982,3144
$GC,5695,-1.38,-146.6,610.6,-10.5,275,5699,0.00,2.47,0.00,0.000,6,0.000,0.065,2035,2381,3144
$GC,6017,-1.38,-146.6,641.9,-10.0,291,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3142
$GC,6326,-1.38,-146.6,672.9,-10.0,306,6330,0.00,2.55,0.00,0.000,4,0.000,0.081,2035,982,3142
$GC,6370,-1.38,-146.6,677.9,-10.9,308,6374,0.00,2.45,0.00,0.000,6,0.000,0.065,2035,2381,3142
$GC,6691,-1.38,-146.6,710.7,-10.4,324,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3140
$GC,7000,-1.38,-146.6,742.7,-10.4,339,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3138
$GC,7309,-1.38,-146.6,774.5,-10.1,354,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3137
$GC,7619,-1.38,-146.6,806.9,-10.7,369,7623,0.00,2.53,0.00,0.000,4,0.000,0.077,2035,981,3136
$GC,7668,-1.38,-146.6,812.6,-12.0,371,7673,0.00,2.45,0.00,0.000,6,0.000,0.064,2035,2383,3136
$GC,7985,-1.38,-146.6,846.0,-10.6,386,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2383,3134
$GC,8294,-1.38,-146.6,877.5,-10.1,401,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2384,3133
$GC,8604,-1.38,-146.6,907.7,-9.5,416,8608,0.00,2.55,0.00,0.000,4,0.000,0.079,2035,978,3132
$GC,8648,-1.38,-146.6,912.2,-9.2,418,8652,0.00,2.47,0.00,0.000,6,0.000,0.064,2035,2380,3132
$GC,8969,-1.38,-146.6,941.7,-9.0,434,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3131
$GC,9279,-1.38,-146.6,969.5,-9.1,449,9283,0.00,2.53,0.00,0.000,4,0.000,0.078,2035,983,3130
$GC,9323,-1.38,-146.6,973.7,-8.6,451,9327,0.00,2.45,0.00,0.000,6,0.000,0.063,2035,2381,3130
$STATE,9517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9517,begin apogee
$GC,9526,-0.32,0.0,991.2,8.9,461,9653,1.15,0.00,123.82,1.378,6,0.111,0.000,2267,2158,2540
$STATE,9654,end apogee,CONTROL_FINISHED_OK
$STATE,9654,begin climb
$GC,9658,1.38,146.6,996.6,0.0,467,9789,1.67,2.80,122.35,1.345,4,0.072,0.107,2644,3572,1942
$GC,9946,1.43,176.7,990.1,8.6,481,9980,0.00,2.50,27.45,1.424,6,0.000,0.065,2644,2175,1818
$GC,10312,1.44,184.9,956.3,9.6,499,10322,0.00,0.00,8.35,1.228,6,0.000,0.000,2644,2175,1786
$GC,10618,1.44,184.9,925.7,10.2,514,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2174,1785
$GC,10927,1.44,184.9,893.8,10.1,529,10932,0.00,2.62,0.00,0.000,4,0.000,0.091,2644,767,1784
$GC,10977,1.44,184.9,888.2,11.2,531,10982,0.00,2.50,0.00,0.000,6,0.000,0.060,2644,2181,1784
$GC,11294,1.44,185.2,856.7,10.0,546,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2181,1783
$GC,11604,1.46,192.0,826.5,9.7,561,11613,0.00,0.00,7.38,1.088,6,0.000,0.000,2644,2182,1757
$GC,11913,1.46,193.3,795.6,9.9,576,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2184,1756
$GC,12222,1.47,202.0,765.8,9.6,591,12233,0.00,0.00,9.45,1.118,6,0.000,0.000,2644,2184,1717
$GC,12531,1.49,214.8,736.0,9.4,606,12549,0.00,0.00,12.38,1.145,6,0.000,0.000,2644,2185,1664
$GC,12860,1.50,219.4,704.2,9.8,622,12868,0.10,0.00,5.53,0.945,6,0.079,0.000,2670,2185,1645
$GC,13169,1.50,219.4,670.8,11.0,637,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2187,1644
$GC,13478,1.50,219.4,638.1,10.1,652,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2187,1645
$GC,13788,1.52,232.6,607.7,9.4,667,13808,0.00,2.72,12.12,1.076,4,0.000,0.087,2671,768,1591
$GC,13865,1.52,234.0,599.8,9.9,670,13869,0.00,2.47,0.00,0.000,6,0.000,0.061,2671,2171,1591
$GC,14181,1.52,234.0,567.7,10.6,685,14185,0.00,2.60,0.00,0.000,4,0.000,0.084,2670,761,1590
$GC,14236,1.52,234.0,561.3,11.8,687,14242,0.00,2.47,0.00,0.000,6,0.000,0.060,2670,2172,1590
$GC,14552,1.52,234.0,524.5,12.1,703,14556,0.00,2.70,0.00,0.000,4,0.000,0.110,2670,3567,1589
$GC,14636,1.52,234.0,513.6,13.0,707,14641,0.00,2.50,0.00,0.000,6,0.000,0.066,2671,2163,1589
$GC,14963,1.52,234.0,471.0,13.7,723,14967,0.00,2.58,0.00,0.000,4,0.000,0.090,2670,766,1589
$GC,15103,1.52,234.0,450.9,14.5,729,15107,0.00,2.45,0.00,0.000,6,0.000,0.058,2671,2172,1588
$GC,15419,1.52,234.0,412.0,12.5,744,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2172,1588
$GC,15728,1.52,234.0,374.1,11.8,759,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2172,1588
$GC,16037,1.52,234.0,338.8,11.1,774,16041,0.00,2.55,0.00,0.000,4,0.000,0.077,2671,763,1588
$GC,16078,1.52,234.0,334.2,11.8,776,16082,0.00,2.42,0.00,0.000,6,0.000,0.057,2671,2175,1588
$GC,16404,1.52,234.0,298.0,11.3,792,16405,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2175,1588
$GC,16714,1.52,234.0,262.8,11.5,807,16718,0.00,2.53,0.00,0.000,4,0.000,0.074,2670,764,1589
$GC,16758,1.52,234.0,257.3,12.7,809,16762,0.00,2.40,0.00,0.000,6,0.000,0.058,2670,2170,1589
$GC,17079,1.52,234.0,220.5,11.6,825,17080,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2170,1590
$GC,17388,1.52,234.0,184.2,11.7,840,17392,0.00,2.53,0.00,0.000,4,0.000,0.075,2671,765,1591
$GC,17528,1.52,234.0,165.7,14.0,846,17532,0.00,2.40,0.00,0.000,6,0.000,0.058,2671,2167,1592
$GC,17844,1.52,234.0,126.8,12.0,861,17849,0.00,2.53,0.00,0.000,4,0.000,0.074,2670,760,1593
$GC,17908,1.52,234.0,118.6,11.8,864,17913,0.00,2.42,0.00,0.000,6,0.000,0.058,2671,2168,1593
$GC,18237,1.52,234.0,80.6,11.7,880,18238,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2167,1594
$GC,18545,1.52,234.0,42.0,13.1,895,18549,0.00,2.53,0.00,0.000,4,0.000,0.074,2670,763,1594
$GC,18617,1.52,234.0,32.4,12.2,898,18628,0.00,2.42,4.18,0.553,6,0.000,0.059,2670,2175,1584
$STATE,18874,end climb,SURFACE_DEPTH_REACHED
$STATE,18874,begin surface coast
$FINISH,0.5,1.027395
$STATE,18895,end surface coast,CONTROL_FINISHED_OK
$STATE,18895,begin surface
$SM_CCo,18920,12.15,0.692,0,0,1520,250.21
$SM_GC,2.79,0.00,0.00,12.15,0.000,0.000,0.692,35,2386,1520,-10.60,0.17,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1731
$TCM_TEMP,2.50
$XPDR_PINGS,1
$24V_AH,23.5,6.570
$10V_AH,10.1,2.926
$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,25.625,121.175,333.000,12.150,0.000,65.076,156.511,174.910,8.750,0.000,0.000,35.287,1657.388,15195.052,517.602,1417.292,768.932,33.366,1405.151,0.000,1005.750,0.000,55.944
$DEVICE_MAMPS,181.779,121.186,1424.319,691.834,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,886.303,863.555,483.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47374,912
$CFSIZE,254472192,251117568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,180208,211540,6130.610,-310.365,61,1.1,70,-6.1