version: 66.02
glider: 14
mission: 3
dive: 25
start: 2 19 108 2 57 28
data:
$ID,14
$MISSION,3
$DIVE,25
$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,-131921.19
$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,23
$R_STBD_OVSHOOT,18
$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
$GPS1,025007,6132.101,-314.065,36,1.0,36,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.7
$GPS2,025633,6132.141,-313.832,12,1.0,12,-6.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.256,0.005
$KALMAN_X,78834.0,-90.0,-456.4,-82599.7,3481.8
$KALMAN_Y,-3655.6,532.4,171.1,-431.2,-589.8
$MHEAD_RNG_PITCHd_Wd,277.3,26072,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-59.60,0.000,2,0.000,0.000,36,2380,2836
$GC,96,-1.38,-146.6,5.5,-10.0,3,119,11.23,2.75,-6.00,0.000,4,0.179,0.120,2035,3782,3141
$GC,192,-1.38,-146.6,25.4,-13.5,7,196,0.00,2.42,0.00,0.000,6,0.000,0.061,2035,2372,3141
$GC,514,-1.38,-146.6,61.2,-10.4,23,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2371,3143
$GC,823,-1.38,-146.6,96.0,-11.4,38,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2372,3144
$GC,1132,-1.38,-146.6,131.4,-11.0,53,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2371,3144
$GC,1441,-1.38,-146.6,164.9,-10.8,68,1445,0.00,2.47,0.00,0.000,4,0.000,0.074,2036,977,3145
$GC,1474,-1.38,-146.6,168.6,-11.1,69,1479,0.00,2.42,0.00,0.000,6,0.000,0.061,2035,2380,3145
$GC,1790,-1.38,-146.6,203.7,-11.6,85,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3145
$GC,2099,-1.38,-146.6,236.1,-10.5,100,2103,0.00,2.50,0.00,0.000,4,0.000,0.073,2035,979,3145
$GC,2143,-1.38,-146.6,241.0,-10.3,102,2148,0.00,2.45,0.00,0.000,6,0.000,0.061,2035,2388,3145
$GC,2465,-1.38,-146.6,275.4,-10.8,118,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2388,3145
$GC,2773,-1.38,-146.6,308.0,-10.4,133,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2388,3145
$GC,3082,-1.38,-146.6,341.8,-10.7,148,3087,0.00,2.55,0.00,0.000,4,0.000,0.076,2035,977,3145
$GC,3127,-1.38,-146.6,346.9,-12.0,150,3131,0.00,2.45,0.00,0.000,6,0.000,0.063,2035,2384,3145
$GC,3449,-1.38,-146.6,380.5,-9.8,166,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2383,3145
$GC,3758,-1.38,-146.6,410.7,-10.1,181,3762,0.00,2.55,0.00,0.000,4,0.000,0.078,2035,974,3145
$GC,3836,-1.38,-146.6,420.0,-12.4,184,3842,0.00,2.42,0.00,0.000,6,0.000,0.064,2035,2386,3145
$GC,4152,-1.38,-146.6,456.7,-10.4,200,4156,0.00,2.55,0.00,0.000,4,0.000,0.078,2035,978,3145
$GC,4196,-1.38,-146.6,461.4,-10.3,202,4200,0.00,2.47,0.00,0.000,6,0.000,0.064,2035,2382,3145
$GC,4518,-1.38,-146.6,490.6,-9.7,218,4522,0.00,2.83,0.00,0.000,4,0.000,0.138,2035,3784,3145
$GC,4595,-1.38,-146.6,498.5,-10.3,221,4601,0.00,2.47,0.00,0.000,6,0.000,0.071,2035,2383,3145
$GC,4914,-1.38,-146.6,526.7,-8.6,237,4918,0.00,2.60,0.00,0.000,4,0.000,0.091,2035,971,3145
$GC,4980,-1.38,-146.6,533.2,-9.7,240,4985,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2387,3145
$GC,5303,-1.38,-146.6,560.6,-8.7,256,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2387,3145
$GC,5612,-1.38,-146.6,588.2,-9.1,271,5617,0.00,2.60,0.00,0.000,4,0.000,0.084,2035,974,3143
$GC,5685,-1.38,-146.6,595.5,-9.8,274,5690,0.00,2.47,0.00,0.000,6,0.000,0.066,2035,2380,3143
$GC,6003,-1.38,-146.6,625.9,-9.7,289,6007,0.00,2.58,0.00,0.000,4,0.000,0.082,2035,973,3142
$GC,6047,-1.38,-146.6,630.6,-10.6,291,6051,0.00,2.47,0.00,0.000,6,0.000,0.066,2035,2379,3142
$GC,6368,-1.38,-146.6,660.5,-9.5,307,6372,0.00,2.58,0.00,0.000,4,0.000,0.082,2035,972,3141
$GC,6407,-1.38,-146.6,664.4,-10.3,309,6412,0.00,2.50,0.00,0.000,6,0.000,0.065,2035,2383,3141
$GC,6735,-1.38,-146.6,695.6,-9.6,325,6740,0.00,2.58,0.00,0.000,4,0.000,0.081,2035,973,3140
$GC,6781,-1.38,-146.6,700.3,-9.9,327,6785,0.00,2.50,0.00,0.000,6,0.000,0.065,2035,2381,3139
$GC,7102,-1.38,-146.6,731.4,-9.3,343,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3138
$GC,7411,-1.38,-146.6,761.2,-9.6,358,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3137
$GC,7721,-1.38,-146.6,791.0,-9.8,373,7725,0.00,2.58,0.00,0.000,4,0.000,0.081,2035,970,3135
$GC,7784,-1.38,-146.6,797.3,-10.5,376,7788,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2385,3135
$GC,8111,-1.38,-146.6,828.1,-9.2,392,8115,0.00,2.58,0.00,0.000,4,0.000,0.081,2035,973,3135
$GC,8151,-1.38,-146.6,831.9,-9.8,394,8155,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2388,3135
$GC,8478,-1.38,-146.6,861.7,-9.3,410,8482,0.00,2.58,0.00,0.000,4,0.000,0.081,2035,974,3134
$GC,8511,-1.38,-146.6,865.1,-9.5,411,8516,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2385,3134
$GC,8827,-1.38,-146.6,893.5,-8.8,427,8832,0.00,2.58,0.00,0.000,4,0.000,0.080,2035,971,3134
$GC,8884,-1.38,-146.6,898.7,-8.8,429,8889,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2384,3133
$GC,9201,-1.38,-146.6,926.3,-9.0,445,9205,0.00,2.58,0.00,0.000,4,0.000,0.080,2035,965,3133
$GC,9241,-1.38,-146.6,930.0,-9.0,447,9245,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2384,3132
$GC,9568,-1.38,-146.6,957.1,-8.1,463,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2384,3132
$GC,9877,-1.38,-146.6,981.6,-7.9,478,9881,0.00,2.58,0.00,0.000,4,0.000,0.080,2035,969,3131
$GC,9933,-1.38,-146.6,986.4,-8.8,480,9939,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2382,3131
$STATE,9977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9977,begin apogee
$GC,9985,-0.32,0.0,990.4,8.4,483,10113,1.15,0.00,124.32,1.378,6,0.112,0.000,2268,2157,2540
$STATE,10114,end apogee,CONTROL_FINISHED_OK
$STATE,10114,begin climb
$GC,10118,1.38,146.6,994.9,0.0,489,10249,1.67,2.80,122.80,1.349,4,0.074,0.107,2642,3573,1942
$GC,10299,1.52,232.7,996.4,6.0,498,10379,0.12,2.50,73.07,1.493,6,0.074,0.065,2673,2177,1591
$GC,10696,1.52,232.7,948.2,13.0,518,10700,0.00,2.62,0.00,0.000,4,0.000,0.092,2673,768,1590
$GC,10735,1.52,232.7,942.9,13.6,520,10740,0.00,2.50,0.00,0.000,6,0.000,0.061,2673,2183,1589
$GC,11063,1.52,232.7,901.2,12.7,536,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2185,1589
$GC,11373,1.52,232.7,863.7,12.0,551,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2185,1589
$GC,11682,1.52,232.7,826.6,12.1,566,11686,0.00,2.62,0.00,0.000,4,0.000,0.086,2673,769,1588
$GC,11726,1.52,232.7,820.9,12.6,568,11730,0.00,2.47,0.00,0.000,6,0.000,0.061,2673,2172,1589
$GC,12047,1.52,232.7,783.4,11.8,584,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2172,1588
$GC,12356,1.52,232.7,747.1,11.6,599,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2173,1588
$GC,12665,1.52,232.7,712.6,10.9,614,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2175,1588
$GC,12974,1.52,232.7,678.4,11.1,629,12979,0.00,2.60,0.00,0.000,4,0.000,0.086,2673,766,1588
$GC,13024,1.52,232.7,672.6,11.1,631,13029,0.00,2.47,0.00,0.000,6,0.000,0.061,2673,2174,1588
$GC,13341,1.52,232.7,637.5,11.1,646,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2175,1587
$GC,13650,1.52,232.7,602.1,11.7,661,13655,0.00,2.60,0.00,0.000,4,0.000,0.085,2673,766,1588
$GC,13785,1.52,232.7,584.7,12.4,667,13789,0.00,2.47,0.00,0.000,6,0.000,0.061,2673,2172,1588
$GC,14106,1.52,232.7,545.9,12.2,683,14110,0.00,2.60,0.00,0.000,4,0.000,0.083,2673,763,1588
$GC,14138,1.52,232.7,541.4,13.6,684,14144,0.00,2.47,0.00,0.000,6,0.000,0.060,2674,2175,1588
$GC,14454,1.52,232.7,502.3,12.7,700,14459,0.00,2.72,0.00,0.000,4,0.000,0.114,2673,3572,1587
$GC,14532,1.52,232.7,491.9,12.9,703,14537,0.00,2.47,0.00,0.000,6,0.000,0.066,2674,2165,1588
$GC,14848,1.52,232.7,451.7,13.0,719,14852,0.00,2.55,0.00,0.000,4,0.000,0.086,2673,770,1586
$GC,14903,1.52,232.7,443.9,13.8,721,14908,0.00,2.45,0.00,0.000,6,0.000,0.059,2673,2171,1587
$GC,15218,1.52,232.7,403.9,12.5,737,15223,0.00,2.67,0.00,0.000,4,0.000,0.108,2673,3568,1587
$GC,15336,1.52,232.7,389.2,11.0,742,15340,0.00,2.47,0.00,0.000,6,0.000,0.064,2673,2160,1587
$GC,15651,1.52,232.7,351.5,11.3,757,15656,0.00,2.55,0.00,0.000,4,0.000,0.084,2673,768,1586
$GC,15747,1.52,232.7,340.3,11.8,761,15751,0.00,2.45,0.00,0.000,6,0.000,0.058,2673,2180,1586
$GC,16063,1.52,232.7,302.2,12.4,776,16067,0.00,2.62,0.00,0.000,4,0.000,0.102,2673,3568,1586
$GC,16215,1.52,232.7,282.4,12.3,783,16219,0.00,2.42,0.00,0.000,6,0.000,0.064,2673,2167,1586
$GC,16542,1.52,232.7,243.7,11.7,799,16546,0.00,2.53,0.00,0.000,4,0.000,0.081,2673,774,1586
$GC,16619,1.52,232.7,233.9,11.9,802,16625,0.00,2.40,0.00,0.000,6,0.000,0.057,2673,2174,1586
$GC,16935,1.52,232.7,194.6,12.7,818,16940,0.00,2.53,0.00,0.000,4,0.000,0.076,2673,774,1588
$GC,16991,1.52,232.7,187.2,13.3,820,16997,0.00,2.40,0.00,0.000,6,0.000,0.058,2673,2167,1588
$GC,17308,1.52,232.7,150.0,11.5,836,17309,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2167,1589
$GC,17617,1.52,232.7,112.8,12.3,851,17622,0.00,2.53,0.00,0.000,4,0.000,0.077,2673,772,1589
$GC,17684,1.52,232.7,103.7,14.2,854,17689,0.00,2.40,0.00,0.000,6,0.000,0.058,2673,2170,1589
$GC,18008,1.52,232.7,62.1,13.0,870,18012,0.00,2.53,0.00,0.000,4,0.000,0.076,2673,773,1591
$GC,18119,1.52,232.7,46.8,14.1,875,18124,0.00,2.40,0.00,0.000,6,0.000,0.058,2673,2171,1591
$GC,18443,1.52,232.7,7.1,12.1,891,18444,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2171,1592
$STATE,18479,end climb,SURFACE_DEPTH_REACHED
$STATE,18479,begin surface coast
$FINISH,0.3,1.014096
$STATE,18501,end surface coast,CONTROL_FINISHED_OK
$STATE,18501,begin surface
$SM_CCo,18526,9.07,0.682,0,0,1520,250.21
$SM_GC,2.83,0.00,0.00,9.07,0.000,0.000,0.682,35,2380,1520,-10.60,0.00,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1742
$TCM_TEMP,1.00
$XPDR_PINGS,0
$24V_AH,23.4,6.851
$10V_AH,10.1,3.097
$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,25.675,167.725,320.200,9.075,0.000,32.541,44.384,169.504,8.500,0.000,0.000,13.763,1670.655,14645.683,536.239,1433.019,639.493,33.364,1473.595,0.000,1048.450,0.000,55.942
$DEVICE_MAMPS,179.478,138.060,1492.582,681.863,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,871.834,845.569,471.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44161,894
$CFSIZE,254472192,250982400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,190208,080801,6133.330,-316.517,57,1.8,57,-6.2