version: 66.02
glider: 14
mission: 3
dive: 43
start: 2 24 108 2 26 16
data:
$ID,14
$MISSION,3
$DIVE,43
$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,-132341.53
$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,15
$R_STBD_OVSHOOT,31
$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
$GPS1,020508,6127.944,-350.652,33,1.7,34,-6.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-40.9
$GPS2,022523,6127.868,-350.433,10,3.4,29,-6.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.124,0.199
$KALMAN_X,135241.6,-345.4,827.9,-172295.1,-426.9
$KALMAN_Y,-29594.6,-146.5,919.7,17536.2,-3299.6
$MHEAD_RNG_PITCHd_Wd,334.6,52964,-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,-146.6,0.0,0.0,0,163,0.00,0.00,-129.88,0.000,2,0.000,0.000,37,2313,2570
$GC,167,-1.16,-146.6,3.2,-2.9,7,199,11.48,2.53,-14.10,0.000,4,0.179,0.086,2082,899,3138
$GC,309,-1.16,-146.6,19.8,-4.9,13,313,0.00,2.42,0.00,0.000,6,0.000,0.058,2082,2308,3139
$GC,627,-1.16,-146.6,44.0,-10.6,28,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2308,3139
$GC,935,-1.16,-146.6,71.5,-8.8,43,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2308,3139
$GC,1244,-1.16,-146.6,94.9,-9.4,58,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2308,3139
$GC,1553,-1.16,-146.6,130.8,-13.7,73,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2308,3139
$GC,1862,-1.16,-146.6,155.1,-9.4,88,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2307,3139
$GC,2171,-1.16,-146.6,184.6,-9.5,103,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2308,3139
$GC,2480,-1.16,-146.6,209.7,-8.5,118,2485,0.00,2.72,0.00,0.000,4,0.000,0.115,2083,3719,3139
$GC,2536,-1.16,-146.6,215.3,-9.7,120,2542,0.00,2.42,0.00,0.000,6,0.000,0.063,2083,2311,3140
$GC,2852,-1.16,-146.6,244.7,-8.9,136,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3140
$GC,3162,-1.16,-146.6,273.3,-9.4,151,3166,0.00,2.72,0.00,0.000,4,0.000,0.109,2083,3724,3140
$GC,3228,-1.16,-146.6,279.8,-9.6,154,3232,0.00,2.45,0.00,0.000,6,0.000,0.064,2082,2312,3141
$GC,3549,-1.16,-146.6,307.8,-8.8,170,3553,0.00,2.70,0.00,0.000,4,0.000,0.110,2082,3722,3140
$GC,3593,-1.16,-146.6,312.0,-9.2,172,3597,0.00,2.45,0.00,0.000,6,0.000,0.064,2083,2314,3140
$GC,3914,-1.16,-146.6,342.7,-9.9,188,3918,0.00,2.53,0.00,0.000,4,0.000,0.084,2083,917,3140
$GC,4002,-1.16,-146.6,351.4,-9.7,192,4007,0.00,2.42,0.00,0.000,6,0.000,0.060,2082,2329,3140
$GC,4325,-1.16,-146.6,374.5,-6.9,208,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2329,3141
$GC,4633,-1.16,-146.6,397.4,-7.2,223,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2329,3141
$GC,4943,-1.16,-146.6,425.6,-9.4,238,4948,0.00,2.55,0.00,0.000,4,0.000,0.082,2082,914,3141
$GC,5007,-1.16,-146.6,431.6,-9.1,241,5011,0.00,2.42,0.00,0.000,6,0.000,0.062,2083,2326,3141
$GC,5333,-1.16,-146.6,458.9,-8.2,257,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2329,3141
$GC,5643,-1.16,-146.6,486.5,-9.3,272,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2329,3141
$GC,5952,-1.16,-146.6,511.6,-7.8,287,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2328,3140
$GC,6262,-1.16,-146.6,535.5,-7.3,302,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2328,3139
$GC,6570,-1.16,-146.6,559.1,-8.0,317,6575,0.00,2.55,0.00,0.000,4,0.000,0.084,2083,918,3138
$GC,6626,-1.16,-146.6,564.2,-9.4,319,6632,0.00,2.42,0.00,0.000,6,0.000,0.061,2083,2321,3138
$GC,6942,-1.16,-146.6,589.5,-8.1,335,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3136
$GC,7251,-1.16,-146.6,615.2,-8.3,350,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2320,3135
$GC,7560,-1.16,-146.6,640.7,-8.3,365,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2320,3134
$GC,7870,-1.16,-146.6,666.2,-8.2,380,7874,0.00,2.55,0.00,0.000,4,0.000,0.082,2082,916,3134
$GC,7910,-1.16,-146.6,669.5,-8.1,382,7914,0.00,2.42,0.00,0.000,6,0.000,0.061,2082,2322,3134
$GC,8237,-1.16,-146.6,694.6,-7.5,398,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2320,3133
$GC,8546,-1.16,-146.6,718.7,-7.6,413,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2321,3132
$GC,8856,-1.16,-146.6,742.5,-7.6,428,8860,0.00,2.50,0.00,0.000,4,0.000,0.077,2082,916,3131
$GC,8905,-1.16,-146.6,746.9,-8.5,430,8910,0.00,2.42,0.00,0.000,6,0.000,0.061,2082,2323,3130
$GC,9222,-1.16,-146.6,771.4,-7.8,445,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3130
$GC,9531,-1.16,-146.6,794.6,-7.3,460,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2325,3129
$GC,9840,-1.16,-146.6,817.3,-7.2,475,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2325,3128
$GC,10150,-1.16,-146.6,838.9,-7.0,490,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2325,3127
$GC,10459,-1.16,-146.6,861.6,-7.5,505,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2325,3127
$GC,10768,-1.16,-146.6,885.1,-7.7,520,10772,0.00,2.53,0.00,0.000,4,0.000,0.076,2082,908,3126
$GC,10808,-1.16,-146.6,888.2,-8.4,522,10812,0.00,2.42,0.00,0.000,6,0.000,0.059,2082,2320,3127
$GC,11135,-1.16,-146.6,913.1,-7.6,538,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2321,3126
$GC,11444,-1.16,-146.6,936.6,-7.5,553,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2320,3125
$GC,11754,-1.16,-146.6,959.2,-7.4,568,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2320,3125
$GC,12063,-1.16,-146.6,981.8,-7.3,583,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3124
$STATE,12182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12183,begin apogee
$GC,12191,-0.32,0.0,990.1,6.6,589,12317,0.93,0.00,122.80,1.378,6,0.114,0.000,2267,2111,2540
$STATE,12318,end apogee,CONTROL_FINISHED_OK
$STATE,12318,begin climb
$GC,12322,1.16,146.6,995.5,0.0,595,12453,1.50,2.60,122.47,1.346,4,0.077,0.083,2592,726,1942
$GC,12706,1.20,172.0,982.9,7.0,613,12735,0.00,2.42,22.92,1.323,6,0.000,0.058,2592,2128,1838
$GC,13067,1.20,172.0,954.9,8.1,631,13072,0.00,2.62,0.00,0.000,4,0.000,0.101,2592,3515,1837
$GC,13118,1.21,173.5,950.2,7.9,633,13122,0.00,2.45,0.00,0.000,6,0.000,0.061,2592,2122,1837
$GC,13434,1.21,173.5,925.0,8.1,648,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2122,1837
$GC,13743,1.23,185.2,900.4,7.6,663,13761,0.00,0.00,12.50,1.220,6,0.000,0.000,2591,2122,1784
$GC,14072,1.23,189.5,873.9,7.8,679,14079,0.00,0.00,5.05,0.964,6,0.000,0.000,2592,2122,1767
$GC,14381,1.25,199.1,850.2,7.6,694,14393,0.00,0.00,9.88,1.160,6,0.000,0.000,2592,2122,1727
$GC,14690,1.26,204.4,826.1,7.8,709,14698,0.00,0.00,6.20,1.029,6,0.000,0.000,2591,2122,1706
$GC,14999,1.26,204.4,801.5,8.1,724,15004,0.00,2.65,0.00,0.000,4,0.000,0.097,2592,3520,1706
$GC,15043,1.26,204.4,797.8,8.1,726,15048,0.00,2.47,0.00,0.000,6,0.000,0.062,2592,2112,1705
$GC,15365,1.26,206.4,772.4,7.9,742,15367,0.10,0.00,0.00,0.000,6,0.079,0.000,2618,2113,1705
$GC,15674,1.26,206.4,745.1,8.9,757,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2112,1705
$GC,15983,1.26,206.4,717.7,8.7,772,15984,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2112,1705
$GC,16293,1.26,206.4,690.7,8.9,787,16294,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2113,1705
$GC,16602,1.26,206.4,662.6,9.3,802,16603,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2112,1705
$GC,16911,1.26,206.4,634.0,9.4,817,16912,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2113,1705
$GC,17220,1.26,206.4,604.1,9.6,832,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2113,1705
$GC,17530,1.26,206.4,577.0,8.5,847,17531,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2113,1705
$GC,17839,1.27,212.0,551.8,7.8,862,17848,0.00,0.00,7.55,0.963,6,0.000,0.000,2618,2112,1675
$GC,18148,1.27,212.0,526.0,8.4,877,18149,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2113,1675
$GC,18457,1.27,212.0,499.5,8.7,892,18458,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2112,1675
$GC,18767,1.27,212.0,471.9,9.0,907,18771,0.00,2.65,0.00,0.000,4,0.000,0.097,2618,3514,1675
$GC,18856,1.27,212.0,463.1,10.0,911,18860,0.00,2.45,0.00,0.000,6,0.000,0.064,2618,2114,1675
$GC,19176,1.27,212.0,433.1,9.3,927,19178,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2114,1675
$GC,19486,1.27,212.0,404.5,8.6,942,19490,0.00,2.62,0.00,0.000,4,0.000,0.094,2618,3515,1675
$GC,19525,1.27,212.0,401.1,8.9,944,19530,0.00,2.42,0.00,0.000,6,0.000,0.062,2618,2117,1675
$GC,19852,1.27,212.0,373.7,8.4,960,19857,0.00,2.60,0.00,0.000,4,0.000,0.097,2618,720,1675
$GC,19937,1.27,212.0,366.1,9.1,964,19942,0.00,2.38,0.00,0.000,6,0.000,0.057,2618,2126,1675
$GC,20265,1.31,236.4,340.5,7.1,980,20290,0.00,2.67,20.48,0.961,4,0.000,0.101,2618,3512,1577
$GC,20335,1.31,236.4,334.5,8.4,983,20340,0.00,2.45,0.00,0.000,6,0.000,0.061,2618,2116,1576
$GC,20651,1.31,236.4,303.7,9.6,998,20652,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2115,1576
$GC,20961,1.31,236.4,274.0,10.1,1013,20962,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2115,1577
$GC,21270,1.31,236.4,242.6,10.2,1028,21274,0.00,2.55,0.00,0.000,4,0.000,0.085,2618,716,1576
$GC,21333,1.31,236.4,235.9,10.8,1031,21337,0.00,2.38,0.00,0.000,6,0.000,0.056,2618,2121,1576
$GC,21660,1.31,236.4,204.5,9.2,1047,21661,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2122,1576
$GC,21969,1.31,236.4,177.5,9.1,1062,21973,0.00,2.53,0.00,0.000,4,0.000,0.077,2618,718,1577
$GC,22013,1.31,236.4,173.2,9.5,1064,22017,0.00,2.38,0.00,0.000,6,0.000,0.055,2618,2121,1576
$GC,22335,1.36,271.9,146.4,6.7,1080,22367,0.00,0.00,29.98,0.855,6,0.000,0.000,2618,2121,1431
$GC,22665,1.36,271.9,113.6,11.1,1096,22666,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2121,1431
$GC,22973,1.36,271.9,77.0,11.9,1111,22974,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2121,1431
$GC,23282,1.36,271.9,41.3,12.4,1126,23283,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2122,1431
$GC,23591,1.36,271.9,4.8,12.5,1141,23592,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2121,1431
$STATE,23609,end climb,SURFACE_DEPTH_REACHED
$STATE,23609,begin surface coast
$FINISH,0.2,1.027535
$STATE,23630,end surface coast,CONTROL_FINISHED_OK
$STATE,23631,begin surface
$SM_CCo,23716,0.00,0.000,0,0,1429,272.53
$SM_GC,0.87,11.43,0.00,0.00,0.061,0.000,0.000,36,2321,1429,-10.53,0.03,272.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1739
$TCM_TEMP,0.50
$XPDR_PINGS,3
$24V_AH,23.5,9.964
$10V_AH,10.1,5.008
$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,25.425,96.125,359.825,0.000,0.000,130.160,169.225,540.850,9.250,0.000,0.000,31.314,2007.276,19400.320,587.767,1646.749,1282.976,33.370,1613.064,0.000,1161.931,0.000,56.273
$DEVICE_MAMPS,178.711,115.050,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.153,1081.742,598.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56891,1143
$CFSIZE,254472192,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,240208,090253,6128.799,-358.511,27,1.2,43,-6.5