version: 66.02
glider: 14
mission: 3
dive: 27
start: 2 19 108 14 0 37
data:
$ID,14
$MISSION,3
$DIVE,27
$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,-131965.05
$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,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
$GPS1,135008,6133.395,-319.694,77,1.5,77,-6.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-64.2
$GPS2,135939,6133.468,-319.657,9,1.8,9,-6.2
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.238,-0.095
$KALMAN_X,83270.8,-30.1,-61.7,-92626.9,2171.8
$KALMAN_Y,295.6,3.6,158.0,-1371.6,568.6
$MHEAD_RNG_PITCHd_Wd,254.5,22209,-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,24,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,-59.60,0.000,2,0.000,0.000,38,2389,2770
$GC,93,-1.38,-146.6,4.5,-7.4,3,115,11.43,0.00,-7.85,0.000,6,0.183,0.000,2034,2389,3140
$GC,420,-1.38,-146.6,49.1,-11.8,19,425,0.00,2.53,0.00,0.000,4,0.000,0.071,2034,982,3142
$GC,515,-1.38,-146.6,61.0,-11.8,23,520,0.00,2.45,0.00,0.000,6,0.000,0.061,2034,2384,3142
$GC,834,-1.38,-146.6,94.5,-9.8,38,838,0.00,2.53,0.00,0.000,4,0.000,0.073,2034,982,3143
$GC,878,-1.38,-146.6,99.1,-10.1,40,882,0.00,2.45,0.00,0.000,6,0.000,0.061,2034,2384,3142
$GC,1199,-1.38,-146.6,130.6,-10.2,56,1204,0.00,2.53,0.00,0.000,4,0.000,0.072,2033,982,3143
$GC,1233,-1.38,-146.6,134.3,-10.2,57,1239,0.00,2.45,0.00,0.000,6,0.000,0.061,2034,2380,3142
$GC,1549,-1.38,-146.6,169.0,-11.3,73,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2380,3144
$GC,1858,-1.38,-146.6,204.1,-11.0,88,1862,0.00,2.53,0.00,0.000,4,0.000,0.073,2033,979,3144
$GC,1924,-1.38,-146.6,211.9,-11.3,91,1928,0.00,2.45,0.00,0.000,6,0.000,0.061,2035,2385,3144
$GC,2245,-1.38,-146.6,247.0,-10.8,107,2249,0.00,2.53,0.00,0.000,4,0.000,0.073,2034,983,3144
$GC,2285,-1.38,-146.6,251.2,-10.6,109,2289,0.00,2.42,0.00,0.000,6,0.000,0.062,2033,2380,3144
$GC,2611,-1.38,-146.6,285.6,-10.5,125,2616,0.00,2.53,0.00,0.000,4,0.000,0.074,2034,979,3144
$GC,2652,-1.38,-146.6,290.1,-11.6,127,2656,0.00,2.42,0.00,0.000,6,0.000,0.062,2033,2381,3144
$GC,2980,-1.38,-146.6,325.4,-10.8,143,2985,0.00,2.53,0.00,0.000,4,0.000,0.075,2034,976,3144
$GC,3036,-1.38,-146.6,331.9,-11.3,145,3042,0.00,2.47,0.00,0.000,6,0.000,0.063,2034,2383,3144
$GC,3353,-1.38,-146.6,363.9,-9.5,161,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3144
$GC,3662,-1.38,-146.6,395.6,-10.5,176,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3145
$GC,3971,-1.38,-146.6,428.0,-10.7,191,3976,0.00,2.55,0.00,0.000,4,0.000,0.079,2033,983,3145
$GC,4005,-1.38,-146.6,431.2,-8.8,192,4011,0.00,2.47,0.00,0.000,6,0.000,0.065,2032,2379,3145
$GC,4321,-1.38,-146.6,462.3,-10.0,208,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2379,3144
$GC,4631,-1.38,-146.6,493.0,-9.8,223,4635,0.00,2.55,0.00,0.000,4,0.000,0.081,2034,984,3144
$GC,4664,-1.38,-146.6,496.6,-10.6,224,4669,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2382,3143
$GC,4980,-1.38,-146.6,528.6,-10.4,240,4984,0.00,2.55,0.00,0.000,4,0.000,0.081,2034,982,3143
$GC,5024,-1.38,-146.6,533.4,-10.8,242,5028,0.00,2.45,0.00,0.000,6,0.000,0.064,2033,2380,3144
$GC,5345,-1.38,-146.6,566.6,-10.3,258,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3141
$GC,5654,-1.38,-146.6,598.5,-10.2,273,5658,0.00,2.55,0.00,0.000,4,0.000,0.083,2034,985,3142
$GC,5704,-1.38,-146.6,603.8,-10.4,275,5708,0.00,2.47,0.00,0.000,6,0.000,0.065,2034,2381,3142
$GC,6019,-1.38,-146.6,636.2,-10.2,290,6024,0.00,2.55,0.00,0.000,4,0.000,0.082,2034,985,3141
$GC,6060,-1.38,-146.6,640.3,-11.0,292,6064,0.00,2.47,0.00,0.000,6,0.000,0.065,2034,2384,3141
$GC,6387,-1.38,-146.6,673.5,-10.3,308,6391,0.00,2.55,0.00,0.000,4,0.000,0.083,2034,985,3139
$GC,6426,-1.38,-146.6,677.7,-11.1,310,6431,0.00,2.47,0.00,0.000,6,0.000,0.065,2033,2385,3139
$GC,6754,-1.38,-146.6,711.4,-10.3,326,6759,0.00,2.58,0.00,0.000,4,0.000,0.081,2034,977,3138
$GC,6795,-1.38,-146.6,715.8,-11.2,328,6799,0.00,2.47,0.00,0.000,6,0.000,0.065,2034,2381,3137
$GC,7121,-1.38,-146.6,749.8,-10.3,344,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2383,3136
$GC,7431,-1.38,-146.6,781.4,-10.2,359,7435,0.00,2.58,0.00,0.000,4,0.000,0.081,2034,982,3135
$GC,7493,-1.38,-146.6,788.1,-11.1,362,7497,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2381,3135
$GC,7819,-1.38,-146.6,821.2,-10.2,378,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2381,3134
$GC,8129,-1.38,-146.6,853.5,-10.4,393,8133,0.00,2.55,0.00,0.000,4,0.000,0.081,2034,980,3135
$GC,8201,-1.38,-146.6,861.7,-10.8,396,8205,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2381,3134
$GC,8518,-1.38,-146.6,894.4,-10.1,411,8522,0.00,2.55,0.00,0.000,4,0.000,0.080,2034,980,3133
$GC,8558,-1.38,-146.6,898.5,-10.6,413,8562,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2384,3134
$GC,8884,-1.38,-146.6,932.2,-10.4,429,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2384,3132
$GC,9193,-1.38,-146.6,963.5,-10.3,444,9198,0.00,2.55,0.00,0.000,4,0.000,0.079,2034,983,3132
$GC,9260,-1.38,-146.6,970.7,-11.1,447,9265,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2382,3132
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9463,-0.32,0.0,990.7,10.3,457,9590,1.15,0.00,123.20,1.420,6,0.112,0.000,2266,2163,2540
$STATE,9591,end apogee,CONTROL_FINISHED_OK
$STATE,9591,begin climb
$GC,9594,1.38,146.6,997.3,0.0,463,9725,1.70,2.80,122.07,1.371,4,0.079,0.108,2641,3573,1942
$GC,9922,1.49,213.5,991.0,6.9,479,9986,0.10,2.50,56.75,1.354,6,0.078,0.066,2666,2171,1669
$GC,10308,1.49,213.5,950.5,11.1,498,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2171,1668
$GC,10618,1.49,213.5,915.3,11.6,513,10622,0.00,2.60,0.00,0.000,4,0.000,0.092,2666,768,1666
$GC,10662,1.49,213.5,909.9,12.0,515,10666,0.00,2.50,0.00,0.000,6,0.000,0.059,2666,2182,1667
$GC,10983,1.49,213.5,873.1,11.4,531,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2182,1666
$GC,11292,1.49,213.5,837.9,11.4,546,11297,0.00,2.62,0.00,0.000,4,0.000,0.087,2666,768,1667
$GC,11370,1.49,213.5,828.2,12.4,549,11376,0.00,2.47,0.00,0.000,6,0.000,0.061,2666,2168,1666
$GC,11686,1.49,213.5,792.6,10.9,565,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2169,1666
$GC,11995,1.49,213.5,758.5,11.1,580,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2170,1665
$GC,12305,1.49,213.5,724.9,10.9,595,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2172,1665
$GC,12614,1.49,213.5,691.9,10.6,610,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2172,1665
$GC,12923,1.49,213.5,659.2,10.5,625,12927,0.00,2.62,0.00,0.000,4,0.000,0.091,2666,766,1665
$GC,12967,1.49,213.5,654.1,11.2,627,12971,0.00,2.47,0.00,0.000,6,0.000,0.061,2666,2172,1665
$GC,13288,1.49,213.5,620.1,10.5,643,13292,0.00,2.60,0.00,0.000,4,0.000,0.086,2664,769,1665
$GC,13321,1.49,213.5,616.3,10.6,644,13326,0.00,2.47,0.00,0.000,6,0.000,0.061,2666,2176,1665
$GC,13637,1.49,214.2,584.1,10.0,660,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2176,1665
$GC,13946,1.51,229.4,554.6,9.3,675,13968,0.00,2.78,13.68,1.063,4,0.000,0.110,2666,3567,1603
$GC,14007,1.51,229.4,548.3,10.9,677,14013,0.00,2.53,0.00,0.000,6,0.000,0.066,2666,2169,1603
$GC,14323,1.51,229.4,515.5,11.0,693,14328,0.00,2.62,0.00,0.000,4,0.000,0.093,2666,764,1603
$GC,14441,1.51,229.4,501.4,11.3,698,14445,0.00,2.47,0.00,0.000,6,0.000,0.059,2666,2170,1602
$GC,14757,1.51,229.4,465.3,11.5,713,14761,0.00,2.70,0.00,0.000,4,0.000,0.109,2666,3569,1602
$GC,14829,1.51,229.4,456.2,12.4,716,14833,0.00,2.50,0.00,0.000,6,0.000,0.065,2666,2160,1602
$GC,15145,1.51,229.4,418.5,12.4,731,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2160,1602
$GC,15455,1.51,229.4,382.5,11.5,746,15459,0.00,2.70,0.00,0.000,4,0.000,0.100,2666,3568,1602
$GC,15499,1.51,229.4,377.0,11.7,748,15503,0.00,2.47,0.00,0.000,6,0.000,0.064,2666,2166,1602
$GC,15820,1.51,229.4,339.9,11.8,764,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2166,1602
$GC,16129,1.51,229.4,301.7,12.5,779,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2166,1602
$GC,16438,1.51,229.4,262.7,12.1,794,16439,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2166,1602
$GC,16748,1.51,229.4,227.9,11.5,809,16749,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2166,1602
$GC,17057,1.51,229.4,194.4,10.5,824,17058,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2166,1602
$GC,17366,1.51,229.4,162.0,10.5,839,17371,0.00,2.58,0.00,0.000,4,0.000,0.089,2666,768,1602
$GC,17422,1.51,229.4,155.7,11.4,841,17428,0.00,2.42,0.00,0.000,6,0.000,0.057,2666,2183,1602
$GC,17739,1.51,229.4,122.4,10.6,857,17740,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2184,1603
$GC,18048,1.51,229.4,89.3,11.4,872,18052,0.00,2.58,0.00,0.000,4,0.000,0.077,2666,760,1604
$GC,18114,1.51,229.4,81.1,12.3,875,18119,0.00,2.42,0.00,0.000,6,0.000,0.058,2666,2175,1604
$GC,18437,1.51,229.4,46.4,10.7,891,18441,0.00,2.55,0.00,0.000,4,0.000,0.077,2666,763,1606
$GC,18469,1.51,229.4,42.4,11.5,892,18476,0.00,2.42,0.00,0.000,6,0.000,0.058,2666,2170,1605
$GC,18787,1.51,229.4,5.5,12.5,908,18789,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2170,1607
$STATE,18803,end climb,SURFACE_DEPTH_REACHED
$STATE,18804,begin surface coast
$FINISH,1.0,1.027487
$STATE,18825,end surface coast,CONTROL_FINISHED_OK
$STATE,18825,begin surface
$SM_CCo,18850,11.02,0.710,0,0,1519,250.45
$SM_GC,2.94,0.00,0.00,11.02,0.000,0.000,0.710,35,2381,1519,-10.61,0.03,250.45
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1746
$TCM_TEMP,1.00
$XPDR_PINGS,1
$24V_AH,23.5,7.144
$10V_AH,10.1,3.275
$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,25.825,152.250,315.700,11.025,0.000,65.082,117.643,187.012,8.750,0.000,0.000,11.189,1666.447,15076.244,527.164,1405.845,762.811,33.399,1439.898,0.000,1019.271,0.000,55.931
$DEVICE_MAMPS,183.313,110.448,1420.484,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,893.933,864.779,490.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47505,910
$CFSIZE,254472192,250851328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,190208,191626,6132.488,-324.297,47,1.1,47,-6.3