version: 66.02
glider: 14
mission: 3
dive: 34
start: 2 21 108 11 38 9
data:
$ID,14
$MISSION,3
$DIVE,34
$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,412.5
$T_MISSION,450
$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,-132158.05
$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,27
$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
$GPS1,111355,6125.262,-326.723,58,1.1,59,-6.2
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-53.4
$GPS2,113716,6125.512,-325.714,35,1.4,36,-6.2
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.152,0.179
$KALMAN_X,113084.7,192.2,445.9,-128509.6,4180.9
$KALMAN_Y,-12642.3,49.0,1088.9,-4144.2,-4552.2
$MHEAD_RNG_PITCHd_Wd,325.7,15126,-14.4,-8.000
$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,-1.16,-146.6,0.0,0.0,0,93,0.00,0.00,-60.45,0.000,2,0.000,0.000,40,2393,2656
$GC,97,-1.16,-146.6,3.3,-5.4,3,127,11.52,2.58,-11.30,0.000,4,0.183,0.084,2082,980,3141
$GC,290,-1.16,-146.6,28.4,-9.8,11,297,0.00,2.45,0.00,0.000,6,0.000,0.061,2082,2376,3141
$GC,607,-1.16,-146.6,58.3,-8.7,27,611,0.00,2.50,0.00,0.000,4,0.000,0.072,2082,983,3142
$GC,652,-1.16,-146.6,62.7,-10.0,29,656,0.00,2.45,0.00,0.000,6,0.000,0.061,2082,2384,3142
$GC,974,-1.16,-146.6,92.1,-9.5,45,979,0.00,2.53,0.00,0.000,4,0.000,0.072,2082,975,3142
$GC,1020,-1.16,-146.6,96.8,-10.6,47,1025,0.00,2.45,0.00,0.000,6,0.000,0.061,2081,2380,3142
$GC,1343,-1.16,-146.6,126.3,-9.1,63,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2380,3143
$GC,1651,-1.16,-146.6,155.2,-9.2,78,1655,0.00,2.53,0.00,0.000,4,0.000,0.072,2081,978,3143
$GC,1758,-1.16,-146.6,166.7,-11.0,83,1763,0.00,2.42,0.00,0.000,6,0.000,0.061,2082,2379,3143
$GC,2085,-1.16,-146.6,198.4,-9.2,99,2090,0.00,2.53,0.00,0.000,4,0.000,0.073,2082,974,3142
$GC,2130,-1.16,-146.6,202.5,-8.9,101,2134,0.00,2.45,0.00,0.000,6,0.000,0.061,2082,2382,3143
$GC,2451,-1.16,-146.6,231.1,-10.1,117,2455,0.00,2.53,0.00,0.000,4,0.000,0.073,2082,980,3143
$GC,2502,-1.16,-146.6,236.4,-10.6,119,2506,0.00,2.45,0.00,0.000,6,0.000,0.061,2082,2385,3142
$GC,2818,-1.16,-146.6,264.2,-7.9,134,2822,0.00,2.53,0.00,0.000,4,0.000,0.072,2082,979,3142
$GC,2873,-1.16,-146.6,269.0,-8.3,136,2879,0.00,2.45,0.00,0.000,6,0.000,0.061,2082,2381,3143
$GC,3189,-1.16,-146.6,294.3,-8.1,152,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3143
$GC,3498,-1.16,-146.6,321.0,-9.1,167,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3143
$GC,3808,-1.16,-146.6,345.2,-7.8,182,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3143
$GC,4117,-1.16,-146.6,370.4,-8.6,197,4121,0.00,2.53,0.00,0.000,4,0.000,0.077,2082,984,3143
$GC,4234,-1.16,-146.6,381.1,-8.6,202,4238,0.00,2.45,0.00,0.000,6,0.000,0.063,2082,2382,3143
$GC,4550,-1.16,-146.6,405.9,-7.9,217,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2382,3143
$GC,4859,-1.16,-146.6,429.6,-7.7,232,4864,0.00,2.53,0.00,0.000,4,0.000,0.078,2082,980,3143
$GC,4960,-1.16,-146.6,437.5,-7.8,236,4966,0.00,2.45,0.00,0.000,6,0.000,0.064,2082,2379,3142
$GC,5277,-1.16,-146.6,463.0,-7.9,252,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2379,3143
$GC,5586,-1.16,-146.6,484.5,-6.8,267,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3141
$GC,5895,-1.16,-146.6,507.6,-8.1,282,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3141
$GC,6204,-1.16,-146.6,533.7,-8.6,297,6208,0.00,2.55,0.00,0.000,4,0.000,0.081,2082,984,3140
$GC,6243,-1.16,-146.6,537.2,-9.4,299,6248,0.00,2.47,0.00,0.000,6,0.000,0.064,2082,2385,3140
$GC,6571,-1.16,-146.6,564.1,-7.9,315,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2386,3140
$GC,6880,-1.16,-146.6,588.1,-7.7,330,6884,0.00,2.55,0.00,0.000,4,0.000,0.081,2082,984,3139
$GC,6952,-1.16,-146.6,594.1,-8.4,333,6956,0.00,2.47,0.00,0.000,6,0.000,0.065,2082,2387,3138
$GC,7269,-1.16,-146.6,619.7,-7.9,348,7273,0.00,2.55,0.00,0.000,4,0.000,0.080,2082,984,3137
$GC,7318,-1.16,-146.6,623.9,-8.2,350,7322,0.00,2.47,0.00,0.000,6,0.000,0.065,2082,2388,3137
$GC,7634,-1.16,-146.6,647.7,-7.5,365,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2388,3136
$GC,7944,-1.16,-146.6,669.8,-6.8,380,7948,0.00,2.55,0.00,0.000,4,0.000,0.080,2082,984,3135
$GC,8006,-1.16,-146.6,674.1,-7.1,383,8011,0.00,2.45,0.00,0.000,6,0.000,0.065,2082,2383,3135
$GC,8334,-1.16,-146.6,695.2,-6.6,399,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2382,3135
$GC,8643,-1.16,-146.6,715.8,-6.9,414,8647,0.00,2.55,0.00,0.000,4,0.000,0.080,2082,983,3134
$GC,8715,-1.16,-146.6,721.1,-7.5,417,8720,0.00,2.45,0.00,0.000,6,0.000,0.064,2082,2381,3133
$GC,9032,-1.16,-146.6,743.2,-7.0,432,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3133
$GC,9341,-1.16,-146.6,766.0,-7.6,447,9345,0.00,2.55,0.00,0.000,4,0.000,0.080,2082,979,3132
$GC,9380,-1.16,-146.6,769.1,-8.3,449,9385,0.00,2.45,0.00,0.000,6,0.000,0.064,2082,2379,3132
$GC,9708,-1.16,-146.6,794.4,-7.7,465,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3131
$GC,10017,-1.16,-146.6,818.2,-7.7,480,10021,0.00,2.55,0.00,0.000,4,0.000,0.079,2082,979,3130
$GC,10072,-1.16,-146.6,822.8,-8.7,482,10078,0.00,2.47,0.00,0.000,6,0.000,0.064,2082,2384,3130
$GC,10388,-1.16,-146.6,847.1,-7.7,498,10393,0.00,2.55,0.00,0.000,4,0.000,0.080,2082,980,3129
$GC,10429,-1.16,-146.6,850.4,-8.8,500,10434,0.00,2.45,0.00,0.000,6,0.000,0.064,2082,2381,3129
$GC,10758,-1.16,-146.6,875.0,-7.5,516,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2381,3129
$GC,11067,-1.16,-146.6,898.3,-7.6,531,11071,0.00,2.55,0.00,0.000,4,0.000,0.079,2082,983,3128
$GC,11151,-1.16,-146.6,905.2,-8.3,535,11155,0.00,2.45,0.00,0.000,6,0.000,0.064,2083,2384,3127
$GC,11479,-1.16,-146.6,930.5,-7.9,551,11483,0.00,2.55,0.00,0.000,4,0.000,0.080,2082,981,3127
$GC,11523,-1.16,-146.6,934.4,-8.1,553,11527,0.00,2.45,0.00,0.000,6,0.000,0.063,2082,2381,3127
$GC,11844,-1.16,-146.6,959.6,-7.9,569,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2381,3127
$GC,12153,-1.16,-146.6,984.5,-7.9,584,12158,0.00,2.55,0.00,0.000,4,0.000,0.079,2082,977,3127
$STATE,12217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12217,begin apogee
$GC,12227,-0.32,0.0,990.4,9.0,587,12354,0.88,0.00,123.62,1.398,6,0.106,0.000,2264,2175,2540
$STATE,12355,end apogee,CONTROL_FINISHED_OK
$STATE,12355,begin climb
$GC,12359,1.16,146.6,997.1,0.0,593,12490,1.50,2.65,122.78,1.358,4,0.077,0.085,2596,776,1942
$GC,12660,1.22,178.7,994.1,6.8,608,12694,0.00,2.47,28.48,1.332,6,0.000,0.061,2596,2178,1811
$GC,13015,1.25,198.5,968.9,7.2,625,13035,0.00,0.00,17.92,1.299,6,0.000,0.000,2596,2178,1730
$GC,13342,1.25,198.5,942.6,8.1,641,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2177,1730
$GC,13651,1.25,198.5,917.6,8.1,656,13655,0.00,2.62,0.00,0.000,4,0.000,0.084,2596,770,1730
$GC,13701,1.25,198.5,913.3,9.1,658,13705,0.00,2.47,0.00,0.000,6,0.000,0.061,2596,2172,1730
$GC,14016,1.25,198.5,887.7,8.1,673,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2173,1730
$GC,14326,1.25,201.2,862.7,7.9,688,14332,0.00,0.00,3.65,0.798,6,0.000,0.000,2596,2173,1719
$GC,14635,1.26,209.1,838.3,7.7,703,14646,0.00,0.00,8.57,1.134,6,0.000,0.000,2596,2174,1687
$GC,14944,1.26,209.1,813.3,8.0,718,14949,0.00,2.60,0.00,0.000,4,0.000,0.086,2596,772,1686
$GC,15000,1.26,209.1,808.5,8.1,720,15006,0.00,2.47,0.00,0.000,6,0.000,0.061,2596,2171,1686
$GC,15317,1.29,228.0,784.8,7.3,736,15337,0.12,0.00,17.00,1.206,6,0.073,0.000,2628,2172,1610
$GC,15645,1.29,228.0,755.4,9.1,752,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2173,1609
$GC,15954,1.29,228.0,727.9,8.8,767,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2173,1609
$GC,16264,1.29,228.0,700.3,9.1,782,16268,0.00,2.60,0.00,0.000,4,0.000,0.086,2629,776,1609
$GC,16314,1.29,228.0,695.4,10.6,784,16318,0.00,2.45,0.00,0.000,6,0.000,0.061,2629,2175,1609
$GC,16629,1.29,228.0,666.2,9.2,799,16631,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2176,1609
$GC,16939,1.29,228.0,637.5,9.3,814,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2177,1608
$GC,17248,1.29,228.0,608.3,9.1,829,17249,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2176,1609
$GC,17557,1.29,228.0,578.7,9.8,844,17558,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2178,1608
$GC,17867,1.29,228.0,549.3,9.1,859,17868,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2177,1609
$GC,18176,1.29,228.0,520.2,9.6,874,18177,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2179,1609
$GC,18485,1.29,228.0,490.5,9.3,889,18490,0.00,2.58,0.00,0.000,4,0.000,0.084,2629,777,1609
$GC,18535,1.29,228.0,485.7,9.5,891,18540,0.00,2.42,0.00,0.000,6,0.000,0.059,2629,2173,1608
$GC,18852,1.29,228.0,456.7,9.1,906,18856,0.00,2.58,0.00,0.000,4,0.000,0.083,2629,775,1608
$GC,18918,1.29,228.0,450.1,10.0,909,18923,0.00,2.42,0.00,0.000,6,0.000,0.060,2629,2172,1608
$GC,19240,1.29,228.0,423.4,8.2,925,19241,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2172,1608
$GC,19549,1.29,228.0,392.5,10.5,940,19554,0.00,2.55,0.00,0.000,4,0.000,0.081,2629,774,1607
$GC,19680,1.29,228.0,379.2,10.3,946,19684,0.00,2.42,0.00,0.000,6,0.000,0.059,2629,2173,1608
$GC,20007,1.29,228.0,347.9,10.7,962,20008,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2173,1608
$GC,20316,1.29,228.0,313.0,11.1,977,20320,0.00,2.55,0.00,0.000,4,0.000,0.078,2629,775,1608
$GC,20388,1.29,228.0,304.5,11.2,980,20392,0.00,2.42,0.00,0.000,6,0.000,0.059,2629,2172,1608
$GC,20704,1.32,242.6,277.2,7.4,995,20726,0.00,2.62,13.18,0.979,4,0.000,0.079,2629,775,1550
$GC,20833,1.32,242.6,266.3,8.4,1000,20839,0.00,2.45,0.00,0.000,6,0.000,0.059,2629,2170,1550
$GC,21149,1.32,242.6,238.4,9.6,1016,21150,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2170,1550
$GC,21458,1.32,242.6,207.5,10.4,1031,21463,0.00,2.55,0.00,0.000,4,0.000,0.077,2629,767,1549
$GC,21531,1.32,242.6,199.6,10.0,1034,21536,0.00,2.42,0.00,0.000,6,0.000,0.058,2629,2172,1550
$GC,21847,1.38,280.9,174.4,6.5,1049,21889,0.00,2.65,31.33,0.894,4,0.000,0.077,2629,774,1393
$GC,21984,1.38,280.9,160.9,10.2,1055,21989,0.00,2.42,0.00,0.000,6,0.000,0.058,2629,2170,1392
$GC,22307,1.38,280.9,119.8,13.4,1071,22308,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2170,1392
$GC,22616,1.38,280.9,84.8,10.8,1086,22620,0.00,2.53,0.00,0.000,4,0.000,0.076,2629,773,1392
$GC,22661,1.38,280.9,79.8,12.8,1088,22666,0.00,2.42,0.00,0.000,6,0.000,0.058,2628,2172,1392
$GC,22984,1.38,280.9,49.1,10.6,1104,22985,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2172,1393
$STATE,23291,end climb,SURFACE_DEPTH_REACHED
$STATE,23291,begin surface coast
$FINISH,-0.0,1.027522
$STATE,23311,end surface coast,CONTROL_FINISHED_OK
$STATE,23311,begin surface
$SM_CCo,23397,0.00,0.000,0,0,1393,281.36
$SM_GC,0.89,11.43,0.00,0.00,0.061,0.000,0.000,39,2389,1393,-10.53,0.23,281.36
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1757
$TCM_TEMP,1.00
$XPDR_PINGS,4
$24V_AH,23.5,8.323
$10V_AH,10.1,4.023
$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,25.450,160.275,366.525,0.000,0.000,162.701,192.634,603.008,9.500,0.000,0.000,37.720,2039.145,18986.227,572.920,1758.276,1433.305,33.372,1686.852,0.000,1259.442,0.000,55.940
$DEVICE_MAMPS,182.546,85.904,1398.241,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.550,1046.799,569.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57012,1120
$CFSIZE,254472192,250306560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,210208,181034,6126.121,-328.594,111,0.9,111,-6.3