version: 66.02
glider: 14
mission: 3
dive: 40
start: 2 23 108 5 33 44
data:
$ID,14
$MISSION,3
$DIVE,40
$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,-132279.84
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,051901,6125.265,-339.033,34,1.1,39,-6.4
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,2
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-50.1
$GPS2,053250,6125.221,-338.739,9,1.1,14,-6.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,0.102
$KALMAN_X,133290.7,-284.9,-515.6,-158756.2,4237.8
$KALMAN_Y,-24119.9,10.5,-661.6,8605.0,-776.0
$MHEAD_RNG_PITCHd_Wd,302.2,5900,-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,28,-1.16,-146.6,0.0,0.0,0,170,0.00,0.00,-140.00,0.000,2,0.000,0.000,36,2330,2912
$GC,175,-1.16,-146.6,5.8,-5.7,7,194,11.75,0.00,-4.47,0.000,6,0.184,0.000,2083,2329,3141
$GC,516,-1.16,-146.6,46.0,-11.3,24,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3144
$GC,826,-1.16,-146.6,80.4,-11.0,39,830,0.00,2.53,0.00,0.000,4,0.000,0.074,2083,912,3144
$GC,866,-1.16,-146.6,85.9,-13.5,41,870,0.00,2.40,0.00,0.000,6,0.000,0.059,2083,2307,3144
$GC,1193,-1.16,-146.6,120.8,-9.5,57,1198,0.00,2.70,0.00,0.000,4,0.000,0.110,2083,3719,3144
$GC,1215,-1.16,-146.6,123.0,-9.0,58,1220,0.00,2.42,0.00,0.000,6,0.000,0.062,2083,2318,3144
$GC,1538,-1.16,-146.6,149.8,-7.4,74,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3144
$GC,1846,-1.16,-146.6,179.0,-9.6,89,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3144
$GC,2155,-1.16,-146.6,206.2,-8.9,104,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3144
$GC,2465,-1.16,-146.6,233.4,-8.9,119,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3145
$GC,2774,-1.16,-146.6,261.3,-8.8,134,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3145
$GC,3083,-1.16,-146.6,289.3,-8.7,149,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3145
$GC,3392,-1.16,-146.6,314.4,-8.2,164,3397,0.00,2.53,0.00,0.000,4,0.000,0.081,2083,911,3145
$GC,3448,-1.16,-146.6,319.4,-8.6,166,3454,0.00,2.45,0.00,0.000,6,0.000,0.061,2083,2326,3145
$GC,3764,-1.16,-146.6,344.9,-8.0,182,3769,0.00,2.70,0.00,0.000,4,0.000,0.118,2083,3723,3146
$GC,3814,-1.16,-146.6,349.6,-8.9,184,3822,0.00,2.42,0.00,0.000,6,0.000,0.068,2083,2320,3145
$GC,4138,-1.16,-146.6,379.9,-9.4,200,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3146
$GC,4447,-1.16,-146.6,406.2,-8.6,215,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3146
$GC,4757,-1.16,-146.6,434.4,-9.2,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3146
$GC,5066,-1.16,-146.6,462.3,-9.1,245,5070,0.00,2.72,0.00,0.000,4,0.000,0.116,2083,3721,3145
$GC,5105,-1.16,-146.6,466.1,-9.7,247,5110,0.00,2.45,0.00,0.000,6,0.000,0.068,2083,2323,3145
$GC,5433,-1.16,-146.6,495.5,-8.6,263,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2316,3145
$GC,5742,-1.16,-146.6,521.3,-8.0,278,5746,0.00,2.75,0.00,0.000,4,0.000,0.119,2083,3721,3143
$GC,5791,-1.16,-146.6,525.8,-9.0,280,5795,0.00,2.47,0.00,0.000,6,0.000,0.067,2083,2316,3142
$GC,6108,-1.16,-146.6,551.6,-8.0,295,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2316,3141
$GC,6416,-1.16,-146.6,577.5,-8.5,310,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2316,3141
$GC,6726,-1.16,-146.6,603.9,-8.6,325,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2316,3141
$GC,7035,-1.16,-146.6,629.3,-8.2,340,7039,0.00,2.75,0.00,0.000,4,0.000,0.119,2083,3719,3139
$GC,7084,-1.16,-146.6,633.6,-8.8,342,7089,0.00,2.47,0.00,0.000,6,0.000,0.068,2083,2320,3139
$GC,7400,-1.16,-146.6,659.9,-8.4,357,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3138
$GC,7710,-1.16,-146.6,686.2,-8.5,372,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3137
$GC,8019,-1.16,-146.6,711.6,-8.1,387,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3136
$GC,8328,-1.16,-146.6,735.6,-7.7,402,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3135
$GC,8637,-1.16,-146.6,758.4,-7.5,417,8642,0.00,2.78,0.00,0.000,4,0.000,0.123,2083,3719,3134
$GC,8693,-1.16,-146.6,762.7,-8.0,419,8698,0.00,2.47,0.00,0.000,6,0.000,0.069,2083,2320,3134
$GC,9009,-1.16,-146.6,785.1,-7.0,435,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2319,3135
$GC,9319,-1.16,-146.6,806.6,-7.0,450,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3134
$GC,9628,-1.16,-146.6,829.1,-7.4,465,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3133
$GC,9937,-1.16,-146.6,852.2,-7.5,480,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3132
$GC,10248,-1.16,-146.6,875.5,-7.4,495,10253,0.00,2.72,0.00,0.000,4,0.000,0.118,2083,3719,3132
$GC,10281,-1.16,-146.6,878.4,-8.8,496,10287,0.00,2.42,0.00,0.000,6,0.000,0.064,2083,2318,3132
$GC,10598,-1.16,-146.6,901.2,-7.0,512,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2317,3131
$GC,10907,-1.16,-146.6,923.1,-7.6,527,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2316,3130
$GC,11216,-1.16,-146.6,947.1,-7.9,542,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2316,3130
$GC,11525,-1.16,-146.6,971.8,-8.0,557,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2315,3130
$STATE,11748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11748,begin apogee
$GC,11757,-0.32,0.0,990.2,8.1,568,11882,0.90,0.00,121.78,1.393,6,0.104,0.000,2268,2115,2540
$STATE,11882,end apogee,CONTROL_FINISHED_OK
$STATE,11883,begin climb
$GC,11886,1.16,146.6,997.1,0.0,574,12018,1.50,2.67,123.15,1.348,4,0.083,0.094,2597,720,1942
$GC,12271,1.24,193.7,990.4,6.2,591,12317,0.00,2.45,40.72,1.331,6,0.000,0.059,2597,2128,1750
$GC,12630,1.25,198.6,964.1,7.8,609,12638,0.00,0.00,5.80,1.122,6,0.000,0.000,2597,2128,1730
$GC,12937,1.25,201.3,940.1,7.9,624,12942,0.00,0.00,3.88,0.833,6,0.000,0.000,2597,2128,1719
$GC,13246,1.26,204.1,915.7,7.9,639,13255,0.00,2.65,4.20,0.884,4,0.000,0.099,2596,3519,1708
$GC,13295,1.26,204.1,911.6,8.2,641,13299,0.00,2.47,0.00,0.000,6,0.000,0.062,2597,2121,1708
$GC,13612,1.26,207.2,886.2,7.9,656,13618,0.00,0.00,4.30,0.889,6,0.000,0.000,2597,2121,1695
$GC,13921,1.26,207.2,860.5,8.3,671,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2120,1695
$GC,14230,1.26,207.2,834.1,8.2,686,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2121,1695
$GC,14540,1.26,207.4,808.9,8.0,701,14544,0.00,2.65,0.00,0.000,4,0.000,0.097,2597,3516,1695
$GC,14589,1.26,207.4,804.5,8.7,703,14594,0.00,2.45,0.00,0.000,6,0.000,0.063,2597,2122,1695
$GC,14905,1.29,225.6,781.3,7.3,718,14925,0.10,0.00,16.58,1.200,6,0.076,0.000,2623,2122,1620
$GC,15234,1.29,225.6,751.8,9.3,734,15239,0.00,2.65,0.00,0.000,4,0.000,0.097,2623,3518,1619
$GC,15279,1.29,225.6,747.4,10.1,736,15283,0.00,2.47,0.00,0.000,6,0.000,0.064,2623,2120,1620
$GC,15600,1.29,225.6,718.3,9.0,752,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2120,1619
$GC,15909,1.29,225.6,690.4,8.9,767,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2120,1620
$GC,16218,1.29,225.6,663.1,8.9,782,16219,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2120,1619
$GC,16527,1.29,225.6,635.8,8.6,797,16532,0.00,2.65,0.00,0.000,4,0.000,0.099,2623,3516,1619
$GC,16561,1.29,225.6,632.7,8.5,798,16567,0.00,2.47,0.00,0.000,6,0.000,0.065,2623,2115,1619
$GC,16877,1.29,225.6,604.6,9.1,814,16878,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2115,1619
$GC,17186,1.29,225.6,576.8,9.4,829,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2115,1619
$GC,17495,1.29,225.6,548.6,8.9,844,17500,0.00,2.65,0.00,0.000,4,0.000,0.097,2623,3519,1619
$GC,17562,1.29,225.6,542.1,10.1,847,17567,0.00,2.47,0.00,0.000,6,0.000,0.066,2624,2121,1618
$GC,17884,1.29,225.6,512.8,9.4,863,17888,0.00,2.62,0.00,0.000,4,0.000,0.101,2623,719,1619
$GC,17939,1.29,225.6,507.3,10.2,865,17946,0.00,2.42,0.00,0.000,6,0.000,0.058,2623,2127,1619
$GC,18256,1.29,225.6,479.1,8.5,881,18260,0.00,2.58,0.00,0.000,4,0.000,0.083,2623,715,1619
$GC,18300,1.29,225.6,475.0,9.2,883,18304,0.00,2.40,0.00,0.000,6,0.000,0.057,2623,2122,1619
$GC,18621,1.29,225.6,446.2,9.2,899,18625,0.00,2.60,0.00,0.000,4,0.000,0.100,2623,3515,1619
$GC,18670,1.29,225.6,441.2,10.1,901,18675,0.00,2.45,0.00,0.000,6,0.000,0.062,2623,2109,1619
$GC,18987,1.29,225.6,410.0,10.3,916,18991,0.00,2.55,0.00,0.000,4,0.000,0.091,2623,720,1619
$GC,19118,1.29,225.6,396.0,10.8,922,19122,0.00,2.38,0.00,0.000,6,0.000,0.057,2623,2119,1619
$GC,19444,1.29,225.6,364.3,9.5,938,19446,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2119,1619
$GC,19754,1.29,225.6,334.9,9.3,953,19755,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2120,1619
$GC,20063,1.29,225.6,306.7,9.1,968,20067,0.00,2.60,0.00,0.000,4,0.000,0.101,2623,3513,1619
$GC,20174,1.29,225.6,296.0,10.1,973,20179,0.00,2.42,0.00,0.000,6,0.000,0.062,2623,2115,1619
$GC,20496,1.29,225.6,264.1,9.9,989,20500,0.00,2.60,0.00,0.000,4,0.000,0.091,2623,3511,1619
$GC,20545,1.29,225.6,259.0,10.7,991,20550,0.00,2.42,0.00,0.000,6,0.000,0.062,2623,2115,1619
$GC,20862,1.29,225.6,228.0,9.6,1006,20866,0.00,2.53,0.00,0.000,4,0.000,0.086,2623,720,1619
$GC,20906,1.29,225.6,223.4,9.4,1008,20911,0.00,2.38,0.00,0.000,6,0.000,0.056,2623,2127,1619
$GC,21227,1.29,225.6,195.7,8.5,1024,21228,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2127,1619
$GC,21536,1.29,225.6,168.2,9.5,1039,21537,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2127,1619
$GC,21848,1.29,225.6,140.7,9.1,1054,21849,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2128,1620
$GC,22156,1.29,225.6,113.8,8.7,1069,22157,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2127,1622
$GC,22465,1.29,225.6,85.4,9.4,1084,22466,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2127,1623
$GC,22774,1.29,225.6,55.2,10.1,1099,22775,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2127,1624
$GC,23083,1.29,225.6,26.7,8.6,1114,23088,0.00,2.53,0.00,0.000,4,0.000,0.077,2624,718,1625
$GC,23130,1.39,289.7,23.4,5.6,1116,23187,0.00,2.38,51.20,0.746,6,0.000,0.057,2623,2120,1359
$STATE,23309,end climb,SURFACE_DEPTH_REACHED
$STATE,23309,begin surface coast
$FINISH,0.3,1.027530
$STATE,23333,end surface coast,CONTROL_FINISHED_OK
$STATE,23333,begin surface
$SM_CCo,23418,0.00,0.000,0,0,1355,290.44
$SM_GC,1.01,11.50,0.00,0.00,0.061,0.000,0.000,40,2324,1355,-10.53,0.11,290.44
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1737
$TCM_TEMP,0.50
$XPDR_PINGS,1
$24V_AH,23.5,9.437
$10V_AH,10.1,4.684
$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,25.750,117.400,371.600,0.000,0.000,65.081,79.837,470.823,8.750,0.000,0.000,15.462,1979.645,18972.715,608.037,1632.349,1048.799,33.364,1637.057,0.000,1158.730,0.000,55.950
$DEVICE_MAMPS,184.080,123.487,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1098.031,1066.638,593.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56813,1126
$CFSIZE,254472192,249884672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,230208,120508,6126.239,-341.806,29,1.2,30,-6.4