version: 66.02
glider: 14
mission: 3
dive: 41
start: 2 23 108 12 16 41
data:
$ID,14
$MISSION,3
$DIVE,41
$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,-132294.17
$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,28
$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
$GPS1,120508,6126.239,-341.806,29,1.2,30,-6.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-56.2
$GPS2,121545,6126.326,-341.650,12,1.1,12,-6.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.105,0.210
$KALMAN_X,135090.7,-393.0,464.4,-163997.5,1813.8
$KALMAN_Y,-26452.0,345.1,827.8,11141.6,-4844.6
$MHEAD_RNG_PITCHd_Wd,339.9,61171,-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,-146.6,0.0,0.0,0,110,0.00,0.00,-80.18,0.000,2,0.000,0.000,40,2329,3057
$GC,114,-1.16,-146.6,7.1,-9.1,4,136,11.62,2.65,-1.42,0.000,4,0.185,0.111,2083,3712,3141
$GC,153,-1.16,-146.6,24.0,-28.9,5,159,0.00,2.42,0.00,0.000,6,0.000,0.061,2083,2319,3143
$GC,472,-1.16,-146.6,53.3,-8.0,21,476,0.00,2.50,0.00,0.000,4,0.000,0.076,2083,917,3143
$GC,737,-1.16,-146.6,76.5,-8.8,33,741,0.00,2.40,0.00,0.000,6,0.000,0.060,2083,2311,3143
$GC,1064,-1.16,-146.6,104.1,-8.4,49,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2310,3143
$GC,1373,-1.16,-146.6,129.4,-8.3,64,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2309,3143
$GC,1682,-1.16,-146.6,156.4,-8.4,79,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2310,3143
$GC,1991,-1.16,-146.6,182.5,-8.6,94,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3143
$GC,2300,-1.16,-146.6,209.7,-8.8,109,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3143
$GC,2609,-1.16,-146.6,236.7,-8.4,124,2614,0.00,2.47,0.00,0.000,4,0.000,0.073,2083,916,3144
$GC,2654,-1.16,-146.6,240.7,-8.8,126,2658,0.00,2.42,0.00,0.000,6,0.000,0.060,2083,2328,3144
$GC,2975,-1.16,-146.6,266.5,-7.9,142,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2328,3144
$GC,3284,-1.16,-146.6,290.6,-8.2,157,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2329,3145
$GC,3593,-1.16,-146.6,317.4,-8.5,172,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3145
$GC,3903,-1.16,-146.6,342.1,-7.9,187,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3145
$GC,4212,-1.16,-146.6,368.8,-8.8,202,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3146
$GC,4521,-1.16,-146.6,395.1,-8.7,217,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3146
$GC,4830,-1.16,-146.6,421.3,-8.3,232,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3146
$GC,5140,-1.16,-146.6,441.5,-5.7,247,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3146
$GC,5449,-1.16,-146.6,463.0,-7.7,262,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3145
$GC,5758,-1.16,-146.6,488.3,-8.2,277,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2329,3144
$GC,6068,-1.16,-146.6,511.8,-7.3,292,6072,0.00,2.58,0.00,0.000,4,0.000,0.086,2083,915,3144
$GC,6123,-1.16,-146.6,515.9,-7.3,294,6129,0.00,2.42,0.00,0.000,6,0.000,0.061,2083,2319,3143
$GC,6439,-1.16,-146.6,538.2,-7.3,310,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3142
$GC,6749,-1.16,-146.6,558.3,-6.2,325,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3141
$GC,7058,-1.16,-146.6,578.4,-6.9,340,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3140
$GC,7368,-1.16,-146.6,601.0,-7.6,355,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3140
$GC,7677,-1.16,-146.6,622.6,-6.8,370,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3139
$GC,7986,-1.16,-146.6,643.2,-6.5,385,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3138
$GC,8295,-1.16,-146.6,662.3,-6.2,400,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3137
$GC,8605,-1.16,-146.6,682.5,-6.7,415,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3136
$GC,8914,-1.16,-146.6,703.9,-7.1,430,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3135
$GC,9225,-1.16,-146.6,726.2,-7.4,445,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3135
$GC,9532,-1.16,-146.6,748.0,-7.1,460,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2319,3135
$GC,9841,-1.16,-146.6,769.3,-7.0,475,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3134
$GC,10151,-1.16,-146.6,790.8,-6.9,490,10155,0.00,2.53,0.00,0.000,4,0.000,0.081,2083,918,3133
$GC,10195,-1.16,-146.6,794.1,-7.4,492,10199,0.00,2.42,0.00,0.000,6,0.000,0.061,2083,2320,3133
$GC,10517,-1.16,-146.6,816.5,-6.9,508,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3133
$GC,10827,-1.16,-146.6,837.3,-6.7,523,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3133
$GC,11135,-1.16,-146.6,859.4,-7.5,538,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3132
$GC,11445,-1.16,-146.6,882.0,-7.4,553,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3132
$GC,11755,-1.16,-146.6,905.0,-7.3,568,11759,0.00,2.53,0.00,0.000,4,0.000,0.078,2083,916,3130
$GC,11799,-1.16,-146.6,908.5,-8.1,570,11803,0.00,2.42,0.00,0.000,6,0.000,0.060,2083,2326,3131
$GC,12121,-1.16,-146.6,931.4,-6.9,586,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2326,3130
$GC,12430,-1.16,-146.6,952.1,-6.8,601,12434,0.00,2.53,0.00,0.000,4,0.000,0.078,2083,917,3130
$GC,12470,-1.16,-146.6,955.0,-6.9,603,12474,0.00,2.42,0.00,0.000,6,0.000,0.060,2083,2320,3130
$GC,12797,-1.16,-146.6,977.2,-6.7,619,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3130
$STATE,12999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12999,begin apogee
$GC,13008,-0.32,0.0,991.2,6.8,629,13135,0.90,0.00,124.30,1.380,6,0.103,0.000,2269,2113,2540
$STATE,13136,end apogee,CONTROL_FINISHED_OK
$STATE,13136,begin climb
$GC,13140,1.16,146.6,996.2,0.0,635,13270,1.50,2.62,122.32,1.349,4,0.074,0.086,2593,722,1942
$GC,13425,1.20,169.8,990.2,7.1,649,13452,0.00,2.45,20.92,1.306,6,0.000,0.059,2593,2130,1847
$GC,13772,1.20,169.9,962.9,8.0,666,13776,0.00,2.62,0.00,0.000,4,0.000,0.101,2593,3516,1847
$GC,13816,1.23,188.3,958.9,7.3,668,13839,0.00,2.45,16.85,1.287,6,0.000,0.061,2593,2123,1772
$GC,14162,1.23,188.3,928.1,8.7,685,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2123,1772
$GC,14472,1.23,188.3,902.2,8.1,700,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2123,1771
$GC,14781,1.25,200.9,877.7,7.5,715,14800,0.00,0.00,12.20,1.210,6,0.000,0.000,2593,2123,1720
$GC,15110,1.25,200.9,850.9,8.2,731,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2123,1719
$GC,15419,1.25,200.9,826.0,8.1,746,15421,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2123,1719
$GC,15729,1.25,200.9,800.6,8.4,761,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2123,1719
$GC,16038,1.25,200.9,774.4,8.4,776,16042,0.00,2.65,0.00,0.000,4,0.000,0.099,2593,3516,1719
$GC,16093,1.25,200.9,769.4,8.8,778,16099,0.00,2.45,0.00,0.000,6,0.000,0.062,2593,2118,1719
$GC,16409,1.25,200.9,743.4,8.2,794,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2118,1719
$GC,16718,1.25,200.9,718.4,8.0,809,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2118,1719
$GC,17028,1.25,200.9,692.8,8.6,824,17029,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2118,1719
$GC,17337,1.25,200.9,666.2,8.7,839,17338,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2118,1719
$GC,17646,1.25,200.9,640.5,8.1,854,17647,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2118,1719
$GC,17956,1.26,205.9,616.3,7.8,869,17963,0.00,0.00,5.50,0.907,6,0.000,0.000,2593,2118,1700
$GC,18265,1.28,219.2,592.5,7.5,884,18283,0.12,0.00,12.35,1.056,6,0.074,0.000,2625,2118,1646
$GC,18593,1.28,219.2,564.5,8.6,900,18595,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2118,1646
$GC,18903,1.28,219.2,537.7,8.7,915,18907,0.00,2.65,0.00,0.000,4,0.000,0.100,2625,3521,1645
$GC,18946,1.28,219.2,533.6,8.9,917,18951,0.00,2.47,0.00,0.000,6,0.000,0.063,2625,2115,1645
$GC,19268,1.28,219.2,504.5,9.2,933,19269,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2115,1645
$GC,19577,1.28,219.2,475.0,9.6,948,19578,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2115,1645
$GC,19886,1.28,219.2,443.4,10.7,963,19891,0.00,2.65,0.00,0.000,4,0.000,0.096,2625,3518,1645
$GC,19965,1.28,219.2,434.2,10.7,966,19970,0.00,2.45,0.00,0.000,6,0.000,0.063,2625,2122,1645
$GC,20280,1.28,219.2,400.7,9.6,982,20282,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2122,1645
$GC,20590,1.28,219.2,372.5,9.1,997,20594,0.00,2.60,0.00,0.000,4,0.000,0.094,2625,717,1645
$GC,20707,1.28,219.2,360.9,10.0,1002,20711,0.00,2.40,0.00,0.000,6,0.000,0.057,2625,2124,1645
$GC,21023,1.29,222.9,333.7,7.9,1017,21033,0.00,2.62,4.72,0.834,4,0.000,0.100,2626,3512,1632
$GC,21096,1.29,222.9,327.6,8.5,1020,21100,0.00,2.45,0.00,0.000,6,0.000,0.061,2625,2112,1631
$GC,21412,1.29,222.9,298.7,9.4,1035,21416,0.00,2.55,0.00,0.000,4,0.000,0.087,2626,715,1631
$GC,21542,1.29,222.9,286.2,10.0,1041,21546,0.00,2.40,0.00,0.000,6,0.000,0.057,2625,2131,1631
$GC,21869,1.29,222.9,258.0,8.4,1057,21871,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2131,1631
$GC,22178,1.29,222.9,230.9,9.3,1072,22180,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2131,1631
$GC,22488,1.29,222.9,204.2,8.3,1087,22489,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2131,1631
$GC,22797,1.29,222.9,177.5,8.5,1102,22798,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2131,1631
$GC,23106,1.29,222.9,151.0,8.6,1117,23107,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2131,1632
$GC,23416,1.29,222.9,121.0,10.8,1132,23418,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2132,1632
$GC,23727,1.29,222.9,85.7,11.2,1147,23731,0.00,2.53,0.00,0.000,4,0.000,0.078,2625,709,1633
$GC,23812,1.29,222.9,74.5,13.6,1151,23817,0.00,2.40,0.00,0.000,6,0.000,0.057,2625,2123,1634
$GC,24140,1.29,222.9,43.0,11.1,1167,24141,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2123,1635
$GC,24450,1.29,222.9,31.6,8.8,1182,24451,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2123,1636
$STATE,24735,end climb,SURFACE_DEPTH_REACHED
$STATE,24735,begin surface coast
$FINISH,0.1,1.005179
$STATE,24757,end surface coast,CONTROL_FINISHED_OK
$STATE,24757,begin surface
$SM_CCo,24782,15.05,0.710,0,0,1520,250.21
$SM_GC,1.25,0.00,0.00,15.05,0.000,0.000,0.710,37,2326,1520,-10.59,0.17,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1735
$TCM_TEMP,0.50
$XPDR_PINGS,1
$24V_AH,23.5,9.583
$10V_AH,10.1,4.789
$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,25.500,80.800,319.175,15.050,0.000,65.080,76.003,274.459,9.000,0.000,0.000,13.710,2094.789,20307.717,507.788,1679.145,844.975,33.359,1552.754,0.000,1197.944,0.000,58.780
$DEVICE_MAMPS,184.847,111.215,1379.833,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.752,1133.476,622.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59971,1197
$CFSIZE,254472192,249815040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,230208,191307,6127.335,-346.841,143,1.8,148,-6.4