version: 66.02
glider: 14
mission: 3
dive: 50
start: 2 25 108 23 16 17
data:
$ID,14
$MISSION,3
$DIVE,50
$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,-132465.28
$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,41
$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
$GPS1,230440,6133.380,-426.285,53,1.5,53,-6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-61.8
$GPS2,231521,6133.361,-426.248,11,1.9,11,-6.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.012,0.234
$KALMAN_X,128131.1,-529.6,106.4,-195869.7,-861.6
$KALMAN_Y,-48320.1,-529.5,-1.5,47761.3,-4948.6
$MHEAD_RNG_PITCHd_Wd,4.0,20563,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-60.47,0.000,2,0.000,0.000,38,2331,2700
$GC,94,-1.16,-146.6,4.4,-8.4,3,121,11.43,2.58,-9.70,0.000,4,0.179,0.084,2079,914,3140
$GC,391,-1.16,-146.6,44.3,-11.7,16,396,0.00,2.38,0.00,0.000,6,0.000,0.058,2079,2300,3141
$GC,710,-1.16,-146.6,71.9,-8.0,31,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3141
$GC,1017,-1.16,-146.6,98.2,-8.6,46,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3141
$GC,1327,-1.16,-146.6,125.7,-9.3,61,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3141
$GC,1636,-1.16,-146.6,152.5,-8.0,76,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3141
$GC,1945,-1.16,-146.6,180.2,-9.0,91,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3142
$GC,2254,-1.16,-146.6,208.6,-8.9,106,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2300,3142
$GC,2563,-1.16,-146.6,236.9,-9.0,121,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3142
$GC,2873,-1.16,-146.6,264.8,-8.7,136,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3142
$GC,3182,-1.16,-146.6,292.5,-9.2,151,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3143
$GC,3491,-1.16,-146.6,320.7,-8.9,166,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2301,3143
$GC,3801,-1.16,-146.6,346.9,-8.2,181,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2300,3143
$GC,4110,-1.16,-146.6,372.7,-8.4,196,4115,0.00,2.75,0.00,0.000,4,0.000,0.117,2079,3721,3143
$GC,4172,-1.16,-146.6,378.4,-9.4,199,4177,0.00,2.42,0.00,0.000,6,0.000,0.064,2079,2318,3142
$GC,4499,-1.16,-146.6,408.8,-9.5,215,4504,0.00,2.70,0.00,0.000,4,0.000,0.110,2079,3724,3143
$GC,4543,-1.16,-146.6,413.1,-9.6,217,4548,0.00,2.45,0.00,0.000,6,0.000,0.064,2079,2319,3143
$GC,4865,-1.16,-146.6,442.3,-8.9,233,4869,0.00,2.70,0.00,0.000,4,0.000,0.110,2079,3721,3142
$GC,4904,-1.16,-146.6,445.9,-8.8,235,4908,0.00,2.45,0.00,0.000,6,0.000,0.066,2079,2316,3142
$GC,5231,-1.16,-146.6,474.1,-9.0,251,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2316,3142
$GC,5542,-1.16,-146.6,500.4,-8.1,266,5546,0.00,2.70,0.00,0.000,4,0.000,0.114,2079,3719,3142
$GC,5586,-1.16,-146.6,504.4,-8.0,268,5590,0.00,2.45,0.00,0.000,6,0.000,0.067,2079,2319,3141
$GC,5907,-1.16,-146.6,530.1,-8.1,284,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3143
$GC,6216,-1.16,-146.6,555.6,-8.8,299,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2314,3142
$GC,6525,-1.16,-146.6,581.9,-8.3,314,6530,0.00,2.58,0.00,0.000,4,0.000,0.094,2079,915,3142
$GC,6581,-1.16,-146.6,586.9,-8.5,316,6587,0.00,2.42,0.00,0.000,6,0.000,0.060,2079,2319,3142
$GC,6897,-1.16,-146.6,612.4,-8.1,332,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2319,3141
$GC,7207,-1.16,-146.6,637.5,-7.9,347,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2319,3140
$GC,7516,-1.16,-146.6,661.4,-7.8,362,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2319,3140
$GC,7825,-1.16,-146.6,685.0,-7.9,377,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2319,3138
$GC,8134,-1.16,-146.6,708.2,-7.3,392,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2319,3137
$GC,8443,-1.16,-146.6,728.4,-4.7,407,8448,0.00,2.55,0.00,0.000,4,0.000,0.081,2079,906,3136
$STATE,8580,end dive,NO_VERTICAL_VELOCITY
$STATE,8580,begin apogee
$GC,8591,-0.32,0.0,728.4,0.0,413,8716,0.85,0.00,121.68,1.175,6,0.087,0.000,2264,2126,2540
$STATE,8717,end apogee,CONTROL_FINISHED_OK
$STATE,8717,begin climb
$GC,8720,1.16,146.6,728.5,0.0,419,8844,1.48,0.00,118.38,1.135,6,0.081,0.000,2590,2125,1942
$GC,9153,1.26,204.2,712.1,5.8,440,9204,0.10,0.00,48.47,1.263,6,0.077,0.000,2617,2125,1708
$GC,9502,1.26,204.2,680.6,9.5,457,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2125,1705
$GC,9811,1.26,204.2,652.7,8.7,472,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2126,1704
$GC,10120,1.26,204.2,626.5,8.6,487,10125,0.00,2.62,0.00,0.000,4,0.000,0.099,2618,3517,1704
$GC,10171,1.26,204.2,621.8,9.0,489,10175,0.00,2.47,0.00,0.000,6,0.000,0.063,2617,2117,1703
$GC,10486,1.26,204.2,594.3,9.0,504,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2117,1703
$GC,10796,1.26,204.2,566.5,8.6,519,10800,0.00,2.60,0.00,0.000,4,0.000,0.091,2617,714,1702
$GC,10845,1.26,204.2,561.8,9.8,521,10850,0.00,2.42,0.00,0.000,6,0.000,0.056,2617,2128,1702
$GC,11162,1.26,204.2,534.5,8.9,536,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2127,1702
$GC,11472,1.26,206.7,509.0,7.9,551,11476,0.00,2.58,0.00,0.000,4,0.000,0.097,2617,3511,1701
$GC,11583,1.26,206.7,499.7,8.9,556,11587,0.00,2.42,0.00,0.000,6,0.000,0.061,2617,2119,1700
$GC,11904,1.26,206.7,472.0,8.3,572,11908,0.00,2.55,0.00,0.000,4,0.000,0.086,2617,719,1699
$GC,12094,1.26,206.7,455.4,8.4,580,12100,0.00,2.40,0.00,0.000,6,0.000,0.055,2618,2125,1698
$GC,12410,1.26,206.7,430.1,8.1,596,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2125,1698
$GC,12720,1.26,206.7,403.4,8.8,611,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2124,1698
$GC,13029,1.26,206.7,377.2,8.1,626,13033,0.00,2.55,0.00,0.000,4,0.000,0.094,2617,3510,1698
$GC,13091,1.26,206.7,371.8,8.1,629,13095,0.00,2.42,0.00,0.000,6,0.000,0.061,2618,2107,1698
$GC,13417,1.26,206.7,344.4,8.6,645,13422,0.00,2.60,0.00,0.000,4,0.000,0.089,2617,3510,1698
$GC,13502,1.26,206.7,336.6,9.3,649,13507,0.00,2.38,0.00,0.000,6,0.000,0.061,2617,2122,1698
$GC,13830,1.26,206.7,307.6,8.7,665,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2122,1699
$GC,14139,1.26,206.7,282.3,8.6,680,14143,0.00,2.55,0.00,0.000,4,0.000,0.087,2617,3513,1700
$GC,14256,1.26,206.7,271.7,8.0,685,14260,0.00,2.40,0.00,0.000,6,0.000,0.061,2618,2121,1701
$GC,14572,1.27,214.1,245.4,7.7,700,14586,0.00,2.58,8.80,0.836,4,0.000,0.086,2617,3510,1667
$GC,14626,1.27,214.1,240.5,9.2,701,14632,0.00,2.42,0.00,0.000,6,0.000,0.061,2617,2114,1667
$GC,14942,1.27,214.1,211.7,9.1,717,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2115,1668
$GC,15251,1.27,214.1,182.9,9.3,732,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2115,1667
$GC,15561,1.27,214.1,154.2,9.3,747,15562,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2114,1667
$GC,15871,1.27,214.1,124.5,9.5,762,15872,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2115,1668
$GC,16180,1.27,214.1,94.9,9.7,777,16184,0.00,2.53,0.00,0.000,4,0.000,0.086,2618,718,1668
$GC,16258,1.27,214.1,87.5,9.2,780,16264,0.00,2.38,0.00,0.000,6,0.000,0.056,2617,2127,1669
$GC,16574,1.27,214.1,61.1,8.1,796,16575,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2127,1669
$GC,16884,1.27,214.1,34.0,8.9,811,16885,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2127,1670
$STATE,17189,end climb,SURFACE_DEPTH_REACHED
$STATE,17190,begin surface coast
$FINISH,0.8,1.027511
$STATE,17213,end surface coast,CONTROL_FINISHED_OK
$STATE,17213,begin surface
$SM_CCo,17238,19.00,0.698,0,0,1520,250.21
$SM_GC,2.44,0.00,0.00,19.00,0.000,0.000,0.698,36,2319,1520,-10.60,-0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1727
$TCM_TEMP,1.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.3,91.3
$24V_AH,23.6,11.005
$10V_AH,10.1,5.673
$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,25.100,80.425,297.325,19.000,0.000,65.079,75.189,278.765,5.750,0.000,0.000,16.023,1482.324,13918.501,457.082,1266.541,777.683,33.372,1247.217,0.000,895.008,0.000,37.965
$DEVICE_MAMPS,178.711,117.351,1263.249,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.304,777.034,492.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41058,827
$CFSIZE,254472192,249278464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,260208,040507,6134.878,-428.313,33,1.5,33,-6.8