version: 66.02
glider: 14
mission: 3
dive: 42
start: 2 23 108 19 36 15
data:
$ID,14
$MISSION,3
$DIVE,42
$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,-132309.59
$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,25
$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
$GPS1,191307,6127.335,-346.841,143,1.8,148,-6.4
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-56.1
$GPS2,193521,6127.308,-346.135,13,1.9,13,-6.4
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.230,0.048
$KALMAN_X,135654.2,-294.3,-1541.4,-166600.3,5321.2
$KALMAN_Y,-28099.5,122.6,-692.5,16344.0,-1024.8
$MHEAD_RNG_PITCHd_Wd,288.2,56829,-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,-146.6,0.0,0.0,0,110,0.00,0.00,-77.32,0.000,2,0.000,0.000,38,2321,3133
$GC,114,-1.16,-146.6,7.3,-9.7,4,136,11.43,2.62,0.00,0.000,4,0.178,0.088,2079,3717,3137
$GC,160,-1.16,-146.6,22.9,-15.6,6,165,0.00,2.40,0.00,0.000,6,0.000,0.060,2079,2319,3139
$GC,488,-1.16,-146.6,48.5,-7.6,22,493,0.00,2.65,0.00,0.000,4,0.000,0.100,2079,3716,3139
$GC,544,-1.16,-146.6,52.3,-6.3,24,551,0.00,2.42,0.00,0.000,6,0.000,0.062,2079,2320,3139
$GC,862,-1.16,-146.6,69.8,-6.4,40,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3139
$GC,1172,-1.16,-146.6,93.1,-6.0,55,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3139
$GC,1480,-1.16,-146.6,117.4,-11.6,70,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3139
$GC,1789,-1.16,-146.6,143.7,-9.3,85,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3140
$GC,2097,-1.16,-146.6,172.7,-10.3,100,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3140
$GC,2407,-1.16,-146.6,195.3,-7.0,115,2411,0.00,2.67,0.00,0.000,4,0.000,0.109,2079,3715,3140
$GC,2463,-1.16,-146.6,199.7,-7.4,117,2469,0.00,2.42,0.00,0.000,6,0.000,0.064,2079,2322,3140
$GC,2778,-1.16,-146.6,227.1,-9.0,133,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2322,3140
$GC,3088,-1.16,-146.6,252.9,-7.7,148,3093,0.00,2.55,0.00,0.000,4,0.000,0.082,2079,907,3141
$GC,3139,-1.16,-146.6,256.9,-7.7,150,3143,0.00,2.42,0.00,0.000,6,0.000,0.059,2079,2319,3141
$GC,3455,-1.16,-146.6,284.4,-9.2,165,3459,0.00,2.70,0.00,0.000,4,0.000,0.114,2079,3719,3141
$GC,3499,-1.16,-146.6,288.8,-9.6,167,3503,0.00,2.42,0.00,0.000,6,0.000,0.064,2079,2320,3141
$GC,3822,-1.16,-146.6,319.1,-9.3,183,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3141
$GC,4129,-1.16,-146.6,346.3,-9.1,198,4134,0.00,2.70,0.00,0.000,4,0.000,0.113,2079,3721,3141
$GC,4163,-1.16,-146.6,349.6,-9.4,199,4169,0.00,2.42,0.00,0.000,6,0.000,0.067,2079,2322,3141
$GC,4479,-1.16,-146.6,374.8,-7.4,215,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2322,3141
$GC,4789,-1.16,-146.6,400.1,-8.1,230,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2322,3141
$GC,5098,-1.16,-146.6,425.7,-8.5,245,5103,0.00,2.70,0.00,0.000,4,0.000,0.115,2079,3721,3141
$GC,5176,-1.16,-146.6,433.3,-9.5,248,5182,0.00,2.45,0.00,0.000,6,0.000,0.068,2079,2323,3141
$GC,5492,-1.16,-146.6,457.8,-7.2,264,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2323,3141
$GC,5801,-1.16,-146.6,481.2,-8.1,279,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2317,3140
$GC,6110,-1.16,-146.6,507.3,-8.7,294,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2317,3138
$GC,6420,-1.16,-146.6,532.9,-8.0,309,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2317,3137
$GC,6729,-1.16,-146.6,557.2,-7.8,324,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2317,3136
$GC,7039,-1.16,-146.6,581.5,-7.8,339,7043,0.00,2.72,0.00,0.000,4,0.000,0.117,2079,3721,3136
$GC,7088,-1.16,-146.6,585.8,-8.5,341,7092,0.00,2.47,0.00,0.000,6,0.000,0.068,2079,2321,3136
$GC,7405,-1.16,-146.6,610.2,-7.6,356,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2321,3135
$GC,7714,-1.16,-146.6,634.6,-8.1,371,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2321,3133
$GC,8023,-1.16,-146.6,661.8,-8.9,386,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2321,3133
$GC,8333,-1.16,-146.6,688.5,-8.5,401,8337,0.00,2.72,0.00,0.000,4,0.000,0.120,2079,3721,3132
$GC,8382,-1.16,-146.6,693.0,-8.9,403,8387,0.00,2.47,0.00,0.000,6,0.000,0.070,2079,2316,3131
$GC,8698,-1.16,-146.6,718.7,-8.1,418,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2316,3130
$GC,9007,-1.16,-146.6,743.8,-8.5,433,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2313,3130
$GC,9316,-1.16,-146.6,769.5,-8.3,448,9321,0.00,2.75,0.00,0.000,4,0.000,0.118,2079,3721,3130
$GC,9357,-1.16,-146.6,772.9,-8.5,450,9362,0.00,2.45,0.00,0.000,6,0.000,0.066,2079,2315,3130
$GC,9686,-1.16,-146.6,800.1,-8.5,466,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2314,3129
$GC,9995,-1.16,-146.6,826.1,-8.5,481,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2313,3129
$GC,10305,-1.16,-146.6,851.0,-8.3,496,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2312,3128
$GC,10615,-1.16,-146.6,876.1,-8.0,511,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2312,3127
$GC,10923,-1.16,-146.6,899.8,-7.7,526,10927,0.00,2.67,0.00,0.000,4,0.000,0.117,2079,3722,3127
$GC,10963,-1.16,-146.6,903.0,-7.7,528,10967,0.00,2.42,0.00,0.000,6,0.000,0.061,2079,2314,3127
$GC,11290,-1.16,-146.6,928.2,-7.6,544,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2314,3126
$GC,11599,-1.16,-146.6,952.5,-7.9,559,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2314,3126
$GC,11908,-1.16,-146.6,977.5,-8.1,574,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2312,3125
$STATE,12069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12069,begin apogee
$GC,12078,-0.32,0.0,991.1,8.2,582,12205,0.93,0.00,123.28,1.385,6,0.107,0.000,2268,2115,2540
$STATE,12205,end apogee,CONTROL_FINISHED_OK
$STATE,12205,begin climb
$GC,12209,1.16,146.6,997.8,0.0,588,12339,1.45,2.67,122.25,1.348,4,0.074,0.091,2596,717,1942
$GC,12565,1.27,213.8,991.9,5.4,604,12629,0.00,2.45,56.90,1.336,6,0.000,0.058,2596,2127,1668
$GC,12947,1.27,213.8,961.2,8.8,623,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2128,1666
$GC,13256,1.27,213.8,933.5,9.0,638,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2128,1666
$GC,13566,1.27,213.8,905.6,9.5,653,13567,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2128,1666
$GC,13875,1.27,213.8,876.2,9.6,668,13879,0.00,2.60,0.00,0.000,4,0.000,0.098,2596,3516,1665
$GC,13914,1.27,213.8,872.2,10.3,670,13919,0.00,2.42,0.00,0.000,6,0.000,0.061,2596,2123,1665
$GC,14243,1.27,213.8,841.8,9.1,686,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2123,1665
$GC,14552,1.27,213.8,814.4,8.7,701,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2123,1665
$GC,14861,1.27,213.8,787.8,8.7,716,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2122,1664
$GC,15170,1.27,213.8,760.9,8.9,731,15174,0.00,2.65,0.00,0.000,4,0.000,0.095,2596,3521,1664
$GC,15225,1.27,213.8,755.5,9.7,733,15231,0.00,2.45,0.00,0.000,6,0.000,0.061,2596,2121,1664
$GC,15541,1.27,213.8,726.1,9.3,749,15542,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2121,1664
$GC,15850,1.27,213.8,697.9,9.1,764,15855,0.00,2.62,0.00,0.000,4,0.000,0.097,2596,3514,1664
$GC,15884,1.27,213.8,694.6,9.6,765,15890,0.00,2.45,0.00,0.000,6,0.000,0.062,2596,2121,1664
$GC,16200,1.27,213.8,666.6,8.7,781,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2121,1664
$GC,16510,1.27,213.8,641.0,8.1,796,16514,0.00,2.62,0.00,0.000,4,0.000,0.095,2596,3516,1663
$GC,16554,1.29,228.0,637.2,7.5,798,16573,0.12,2.45,12.43,1.088,6,0.074,0.062,2628,2121,1610
$GC,16904,1.29,228.0,606.7,8.7,815,16905,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2121,1609
$GC,17210,1.29,228.0,579.8,9.2,830,17211,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2120,1609
$GC,17520,1.29,228.0,549.7,10.4,845,17521,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2121,1609
$GC,17829,1.29,228.0,516.4,10.6,860,17833,0.00,2.65,0.00,0.000,4,0.000,0.100,2628,713,1609
$GC,17863,1.29,228.0,512.8,10.4,861,17869,0.00,2.42,0.00,0.000,6,0.000,0.056,2628,2125,1609
$GC,18179,1.29,228.0,481.2,9.8,877,18180,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2126,1609
$GC,18488,1.29,228.0,448.8,10.7,892,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2126,1609
$GC,18797,1.29,228.0,414.6,11.0,907,18802,0.00,2.58,0.00,0.000,4,0.000,0.080,2628,709,1609
$GC,18842,1.29,228.0,409.3,12.1,909,18846,0.00,2.42,0.00,0.000,6,0.000,0.056,2628,2130,1608
$GC,19163,1.29,228.0,377.9,9.1,925,19164,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2130,1609
$GC,19472,1.29,228.0,348.3,9.8,940,19476,0.00,2.60,0.00,0.000,4,0.000,0.104,2628,3509,1608
$GC,19505,1.29,228.0,344.7,10.3,941,19510,0.00,2.42,0.00,0.000,6,0.000,0.061,2628,2111,1608
$GC,19821,1.29,228.0,316.7,8.9,957,19822,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2110,1609
$GC,20130,1.29,228.0,288.5,8.8,972,20131,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2110,1608
$GC,20440,1.31,238.7,264.1,7.6,987,20455,0.00,2.65,10.30,0.926,4,0.000,0.091,2628,3514,1566
$GC,20550,1.31,238.7,253.9,10.7,991,20555,0.00,2.42,0.00,0.000,6,0.000,0.062,2628,2124,1565
$GC,20872,1.31,238.7,222.4,9.5,1007,20876,0.00,2.58,0.00,0.000,4,0.000,0.091,2628,3513,1566
$GC,20938,1.31,238.7,215.8,11.6,1010,20943,0.00,2.42,0.00,0.000,6,0.000,0.062,2628,2121,1566
$GC,21260,1.31,238.7,185.3,9.5,1026,21262,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2121,1564
$GC,21570,1.31,238.7,156.4,10.2,1041,21574,0.00,2.58,0.00,0.000,4,0.000,0.087,2628,711,1566
$GC,21609,1.31,238.7,152.3,11.1,1043,21614,0.00,2.38,0.00,0.000,6,0.000,0.055,2628,2121,1566
$GC,21937,1.31,238.7,114.0,10.7,1059,21939,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2120,1566
$GC,22247,1.31,238.7,85.8,10.7,1074,22251,0.00,2.53,0.00,0.000,4,0.000,0.077,2628,712,1567
$GC,22297,1.31,238.7,80.7,8.1,1076,22301,0.00,2.38,0.00,0.000,6,0.000,0.056,2628,2118,1567
$GC,22615,1.31,238.7,50.0,12.6,1091,22616,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2118,1569
$GC,22923,1.31,238.7,17.2,10.9,1106,22927,0.00,2.58,0.00,0.000,4,0.000,0.097,2628,3510,1570
$STATE,23031,end climb,SURFACE_DEPTH_REACHED
$STATE,23031,begin surface coast
$FINISH,0.3,1.027543
$STATE,23063,end surface coast,CONTROL_FINISHED_OK
$STATE,23063,begin surface
$SM_CCo,23089,169.15,0.703,0,0,186,577.19
$SM_GC,0.82,0.00,0.00,169.15,0.000,0.000,0.703,37,2315,186,-10.59,-0.14,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1697
$TCM_TEMP,0.50
$XPDR_PINGS,4
$24V_AH,23.5,9.789
$10V_AH,10.1,4.900
$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,25.450,121.800,325.150,169.150,0.000,165.457,209.400,536.725,9.500,0.000,0.000,14.795,1968.564,18935.748,684.950,1623.933,1377.967,33.370,1703.256,0.000,1153.490,0.000,55.967
$DEVICE_MAMPS,177.944,119.652,1385.202,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1084.440,1052.245,594.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56814,1112
$CFSIZE,254472192,249729024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,240208,020508,6127.944,-350.652,33,1.7,34,-6.5