version: 66.02
glider: 14
mission: 3
dive: 39
start: 2 22 108 22 39 24
data:
$ID,14
$MISSION,3
$DIVE,39
$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,577.19092
$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,-132263.75
$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,2320
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$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
$GPS1,220702,6126.125,-335.365,61,1.4,61,-6.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.8
$GPS2,223830,6126.007,-334.281,14,1.4,17,-6.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.223,0.072
$KALMAN_X,131229.9,81.0,-445.4,-153211.7,3646.2
$KALMAN_Y,-20847.2,-449.4,-253.3,6838.3,-771.0
$MHEAD_RNG_PITCHd_Wd,294.2,7762,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,31,-1.16,-146.6,0.0,0.0,0,90,0.00,0.00,-57.33,0.000,2,0.000,0.000,36,2331,2305
$GC,94,-1.16,-146.6,3.0,-4.0,3,139,11.35,2.67,-26.50,0.000,4,0.175,0.120,2080,3703,3139
$GC,186,-1.16,-146.6,13.6,-10.7,7,190,0.00,2.40,0.00,0.000,6,0.000,0.059,2080,2309,3140
$GC,508,-1.16,-146.6,47.6,-9.8,23,512,0.00,2.65,0.00,0.000,4,0.000,0.101,2080,3705,3140
$GC,535,-1.16,-146.6,50.1,-8.8,24,539,0.00,2.42,0.00,0.000,6,0.000,0.064,2080,2317,3140
$GC,853,-1.16,-146.6,76.8,-6.6,39,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3140
$GC,1161,-1.16,-146.6,100.3,-7.7,54,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3140
$GC,1470,-1.16,-146.6,126.3,-10.1,69,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2317,3140
$GC,1778,-1.16,-146.6,158.1,-11.4,84,1782,0.00,2.65,0.00,0.000,4,0.000,0.107,2080,3705,3140
$GC,1828,-1.16,-146.6,163.9,-10.8,86,1832,0.00,2.42,0.00,0.000,6,0.000,0.065,2080,2317,3140
$GC,2144,-1.16,-146.6,194.7,-10.1,101,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3139
$GC,2455,-1.16,-146.6,225.0,-9.7,116,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3140
$GC,2763,-1.16,-146.6,252.6,-8.4,131,2768,0.00,2.67,0.00,0.000,4,0.000,0.110,2080,3705,3140
$GC,2813,-1.16,-146.6,257.2,-8.5,133,2818,0.00,2.42,0.00,0.000,6,0.000,0.067,2080,2319,3140
$GC,3129,-1.16,-146.6,286.2,-9.5,148,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2319,3140
$GC,3439,-1.16,-146.6,313.8,-8.1,163,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2319,3141
$GC,3748,-1.16,-146.6,338.1,-8.1,178,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3141
$GC,4057,-1.16,-146.6,362.9,-8.2,193,4061,0.00,2.55,0.00,0.000,4,0.000,0.085,2080,911,3141
$GC,4090,-1.16,-146.6,365.6,-8.0,194,4095,0.00,2.40,0.00,0.000,6,0.000,0.061,2080,2305,3141
$GC,4406,-1.16,-146.6,396.0,-10.2,210,4410,0.00,2.75,0.00,0.000,4,0.000,0.121,2080,3721,3141
$GC,4468,-1.16,-146.6,402.1,-9.8,213,4472,0.00,2.45,0.00,0.000,6,0.000,0.067,2080,2318,3141
$GC,4794,-1.16,-146.6,430.8,-8.2,229,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2319,3140
$GC,5103,-1.16,-146.6,455.8,-8.3,244,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2319,3141
$GC,5413,-1.16,-146.6,481.9,-8.2,259,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3140
$GC,5722,-1.16,-146.6,505.2,-7.2,274,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3140
$GC,6032,-1.16,-146.6,525.8,-6.6,289,6037,0.00,2.75,0.00,0.000,4,0.000,0.118,2080,3726,3139
$GC,6077,-1.16,-146.6,528.9,-7.2,291,6081,0.00,2.47,0.00,0.000,6,0.000,0.067,2080,2320,3139
$GC,6399,-1.16,-146.6,550.4,-6.6,307,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3138
$GC,6707,-1.16,-146.6,571.3,-6.5,322,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3137
$GC,7017,-1.16,-146.6,591.2,-6.5,337,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3137
$GC,7326,-1.16,-146.6,612.2,-6.8,352,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3135
$GC,7635,-1.16,-146.6,634.4,-7.3,367,7640,0.00,2.75,0.00,0.000,4,0.000,0.120,2080,3723,3134
$GC,7680,-1.16,-146.6,638.1,-8.3,369,7685,0.00,2.50,0.00,0.000,6,0.000,0.070,2080,2315,3134
$GC,8002,-1.16,-146.6,662.2,-7.2,385,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3134
$GC,8312,-1.16,-146.6,684.1,-7.0,400,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3133
$GC,8621,-1.16,-146.6,705.6,-7.2,415,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2313,3132
$GC,8930,-1.16,-146.6,727.9,-7.2,430,8934,0.00,2.78,0.00,0.000,4,0.000,0.121,2080,3726,3131
$GC,8974,-1.16,-146.6,731.3,-7.3,432,8979,0.00,2.50,0.00,0.000,6,0.000,0.070,2080,2317,3130
$GC,9296,-1.16,-146.6,755.3,-7.4,448,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3129
$GC,9605,-1.16,-146.6,778.2,-7.7,463,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2317,3129
$GC,9917,-1.16,-146.6,800.8,-7.2,478,9922,0.00,2.75,0.00,0.000,4,0.000,0.120,2080,3721,3128
$GC,9961,-1.16,-146.6,804.5,-7.9,480,9966,0.00,2.47,0.00,0.000,6,0.000,0.067,2080,2317,3128
$GC,10284,-1.16,-146.6,828.7,-7.6,496,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3128
$GC,10593,-1.16,-146.6,852.9,-8.1,511,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3127
$GC,10902,-1.16,-146.6,878.2,-8.3,526,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3127
$GC,11212,-1.16,-146.6,902.8,-8.0,541,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3125
$GC,11521,-1.16,-146.6,927.5,-7.9,556,11526,0.00,2.75,0.00,0.000,4,0.000,0.118,2080,3723,3125
$GC,11561,-1.16,-146.6,931.0,-9.3,558,11565,0.00,2.45,0.00,0.000,6,0.000,0.063,2080,2311,3125
$GC,11887,-1.16,-146.6,956.6,-7.4,574,11889,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2311,3125
$GC,12197,-1.16,-146.6,979.3,-7.3,589,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2310,3124
$STATE,12358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12358,begin apogee
$GC,12366,-0.32,0.0,990.9,7.0,597,12493,0.98,0.00,123.40,1.376,6,0.134,0.000,2268,2114,2540
$STATE,12494,end apogee,CONTROL_FINISHED_OK
$STATE,12494,begin climb
$GC,12498,1.16,146.6,996.4,0.0,603,12629,1.45,2.70,122.80,1.347,4,0.077,0.095,2594,716,1942
$GC,12779,1.22,180.2,992.2,6.7,617,12814,0.00,2.45,29.62,1.323,6,0.000,0.059,2594,2127,1805
$GC,13128,1.24,194.1,966.2,7.5,633,13144,0.00,0.00,13.10,1.279,6,0.000,0.000,2594,2127,1748
$GC,13455,1.25,200.1,940.5,7.8,649,13463,0.00,0.00,6.50,1.075,6,0.000,0.000,2594,2128,1724
$GC,13764,1.27,210.6,916.1,7.6,664,13776,0.00,0.00,10.30,1.190,6,0.000,0.000,2594,2127,1681
$GC,14073,1.27,211.7,891.5,8.0,679,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2128,1681
$GC,14382,1.27,211.7,866.0,8.5,694,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2129,1680
$GC,14691,1.27,211.7,840.3,8.3,709,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2131,1680
$GC,15001,1.27,211.7,814.2,8.4,724,15005,0.00,2.62,0.00,0.000,4,0.000,0.100,2594,3517,1680
$GC,15033,1.27,211.7,811.2,8.5,725,15040,0.00,2.47,0.00,0.000,6,0.000,0.062,2594,2114,1680
$GC,15350,1.27,211.7,783.9,8.8,741,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2114,1680
$GC,15659,1.27,211.7,756.9,8.7,756,15660,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2114,1680
$GC,15968,1.27,211.7,730.1,8.6,771,15973,0.00,2.67,0.00,0.000,4,0.000,0.097,2594,3522,1680
$GC,16013,1.27,211.7,725.9,8.6,773,16017,0.00,2.47,0.00,0.000,6,0.000,0.063,2594,2115,1680
$GC,16334,1.27,211.7,698.4,8.3,789,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2115,1680
$GC,16643,1.27,214.2,672.8,7.9,804,16651,0.10,0.00,4.88,0.888,6,0.078,0.000,2620,2115,1666
$GC,16952,1.27,214.2,646.0,8.6,819,16954,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2115,1666
$GC,17261,1.27,214.2,619.5,8.9,834,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2114,1666
$GC,17571,1.27,214.2,590.9,9.4,849,17572,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2114,1666
$GC,17880,1.27,214.2,561.0,9.5,864,17881,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2114,1666
$GC,18189,1.27,214.2,531.7,9.4,879,18190,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2114,1666
$GC,18499,1.27,214.2,503.2,9.0,894,18503,0.00,2.65,0.00,0.000,4,0.000,0.099,2620,3516,1666
$GC,18554,1.27,214.2,497.8,9.9,896,18559,0.00,2.47,0.00,0.000,6,0.000,0.064,2621,2114,1666
$GC,18870,1.27,214.2,469.0,9.3,912,18871,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2114,1666
$GC,19179,1.27,214.2,437.2,10.7,927,19183,0.00,2.65,0.00,0.000,4,0.000,0.095,2621,3519,1666
$GC,19225,1.27,214.2,432.1,12.0,929,19229,0.00,2.45,0.00,0.000,6,0.000,0.064,2621,2119,1666
$GC,19546,1.27,214.2,399.7,9.4,945,19547,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2119,1666
$GC,19855,1.27,214.2,372.6,8.3,960,19860,0.00,2.62,0.00,0.000,4,0.000,0.095,2621,3519,1666
$GC,19922,1.27,214.2,366.7,9.0,963,19926,0.00,2.45,0.00,0.000,6,0.000,0.064,2621,2121,1666
$GC,20243,1.27,214.2,336.5,9.9,979,20247,0.00,2.62,0.00,0.000,4,0.000,0.094,2621,3517,1666
$GC,20270,1.27,214.2,333.8,10.6,980,20274,0.00,2.45,0.00,0.000,6,0.000,0.063,2621,2121,1666
$GC,20586,1.27,214.2,304.2,9.6,995,20587,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2121,1666
$GC,20895,1.27,214.2,277.4,8.8,1010,20899,0.00,2.62,0.00,0.000,4,0.000,0.093,2621,3518,1666
$GC,20944,1.27,214.2,272.9,9.0,1012,20949,0.00,2.45,0.00,0.000,6,0.000,0.064,2621,2122,1666
$GC,21260,1.30,232.6,247.2,7.3,1027,21282,0.00,2.72,16.10,0.962,4,0.000,0.094,2621,716,1591
$GC,21338,1.30,232.6,240.9,9.0,1030,21342,0.00,2.42,0.00,0.000,6,0.000,0.056,2621,2127,1591
$GC,21654,1.30,232.6,215.4,8.8,1045,21655,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2128,1591
$GC,21963,1.30,232.6,187.0,9.4,1060,21967,0.00,2.55,0.00,0.000,4,0.000,0.077,2621,713,1591
$GC,22025,1.30,232.6,180.9,9.8,1063,22030,0.00,2.40,0.00,0.000,6,0.000,0.056,2621,2127,1591
$GC,22353,1.30,232.6,146.3,10.9,1079,22354,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2127,1591
$GC,22664,1.30,232.6,115.5,9.3,1094,22665,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2128,1591
$GC,22972,1.30,232.6,84.8,9.2,1109,22973,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2127,1592
$GC,23281,1.30,232.6,48.9,12.1,1124,23282,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2128,1593
$GC,23590,1.30,232.6,12.0,10.7,1139,23594,0.00,2.55,0.00,0.000,4,0.000,0.094,2621,3512,1594
$GC,23635,1.30,232.6,7.1,11.4,1141,23640,0.00,2.42,0.00,0.000,6,0.000,0.064,2621,2115,1594
$STATE,23666,end climb,SURFACE_DEPTH_REACHED
$STATE,23666,begin surface coast
$FINISH,1.6,1.027535
$STATE,23687,end surface coast,CONTROL_FINISHED_OK
$STATE,23688,begin surface
$SM_CCo,23713,178.48,0.703,1,0,184,577.19
$SM_GC,0.65,0.00,0.00,178.48,0.000,0.000,0.703,36,2330,184,-10.59,0.25,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1712
$TCM_TEMP,0.50
$XPDR_PINGS,4
$24V_AH,23.5,9.269
$10V_AH,10.1,4.579
$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,25.275,113.250,326.700,178.475,0.000,162.697,180.219,1122.901,9.500,0.000,0.000,18.530,2015.102,19530.363,695.282,1615.689,1925.759,33.369,1704.850,0.000,1143.045,0.000,55.938
$DEVICE_MAMPS,174.876,121.186,1375.998,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1124.674,1093.016,593.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56933,1144
$CFSIZE,254472192,249913344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,230208,051901,6125.265,-339.033,34,1.1,39,-6.4