version: 66.02
glider: 14
mission: 3
dive: 52
start: 2 26 108 8 19 32
data:
$ID,14
$MISSION,3
$DIVE,52
$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,-132500.11
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,080355,6134.784,-430.845,23,1.5,40,-6.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-47.9
$GPS2,081838,6134.732,-430.844,10,2.0,15,-6.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.091,0.216
$KALMAN_X,123870.4,179.9,68.3,-196334.7,-3864.3
$KALMAN_Y,-58357.2,596.4,-119.8,59314.9,-10718.8
$MHEAD_RNG_PITCHd_Wd,343.9,15811,-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,-139.95,0.000,2,0.000,0.000,37,2335,2727
$GC,175,-1.16,-146.6,3.8,-3.5,7,202,11.60,2.53,-9.05,0.000,4,0.185,0.083,2081,915,3138
$GC,337,-1.16,-146.6,26.3,-9.3,14,341,0.00,2.40,0.00,0.000,6,0.000,0.060,2080,2307,3141
$GC,654,-1.16,-146.6,55.1,-9.8,29,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2308,3141
$GC,964,-1.16,-146.6,83.2,-10.1,44,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2308,3141
$GC,1272,-1.16,-146.6,110.9,-9.6,59,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2307,3141
$GC,1582,-1.16,-146.6,140.3,-10.0,74,1586,0.00,2.70,0.00,0.000,4,0.000,0.111,2081,3721,3142
$GC,1622,-1.16,-146.6,144.2,-9.7,76,1626,0.00,2.42,0.00,0.000,6,0.000,0.062,2081,2311,3141
$GC,1948,-1.16,-146.6,173.9,-8.8,92,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2312,3141
$GC,2258,-1.16,-146.6,201.7,-9.1,107,2263,0.00,2.70,0.00,0.000,4,0.000,0.106,2081,3721,3141
$GC,2298,-1.16,-146.6,205.7,-9.9,109,2302,0.00,2.42,0.00,0.000,6,0.000,0.063,2081,2317,3141
$GC,2624,-1.16,-146.6,236.5,-8.9,125,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3141
$GC,2934,-1.16,-146.6,261.6,-8.4,140,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3141
$GC,3243,-1.16,-146.6,289.0,-8.9,155,3248,0.00,2.70,0.00,0.000,4,0.000,0.109,2081,3721,3141
$GC,3298,-1.16,-146.6,294.3,-9.8,157,3304,0.00,2.42,0.00,0.000,6,0.000,0.064,2081,2322,3142
$GC,3614,-1.16,-146.6,322.3,-8.6,173,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2322,3142
$GC,3923,-1.16,-146.6,349.5,-8.7,188,3927,0.00,2.53,0.00,0.000,4,0.000,0.085,2081,917,3143
$GC,3962,-1.16,-146.6,353.3,-9.7,189,3968,0.00,2.42,0.00,0.000,6,0.000,0.060,2080,2329,3142
$GC,4278,-1.16,-146.6,383.0,-9.4,205,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2329,3142
$GC,4587,-1.16,-146.6,409.7,-8.6,220,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2329,3142
$GC,4896,-1.16,-146.6,435.3,-8.3,235,4901,0.00,2.50,0.00,0.000,4,0.000,0.075,2081,916,3142
$GC,4969,-1.16,-146.6,441.8,-8.6,238,4973,0.00,2.40,0.00,0.000,6,0.000,0.060,2080,2320,3142
$GC,5285,-1.16,-146.6,469.7,-9.2,253,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2321,3142
$GC,5594,-1.16,-146.6,495.8,-8.5,268,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2321,3143
$GC,5904,-1.16,-146.6,519.0,-7.0,283,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2321,3143
$GC,6213,-1.16,-146.6,541.1,-7.5,298,6218,0.00,2.75,0.00,0.000,4,0.000,0.125,2081,3724,3142
$GC,6269,-1.16,-146.6,546.0,-9.4,300,6275,0.00,2.45,0.00,0.000,6,0.000,0.067,2082,2320,3142
$GC,6586,-1.16,-146.6,572.5,-7.5,316,6590,0.00,2.58,0.00,0.000,4,0.000,0.093,2080,918,3142
$GC,6686,-1.16,-146.6,580.4,-7.6,320,6693,0.00,2.42,0.00,0.000,6,0.000,0.061,2081,2324,3142
$STATE,6978,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6978,begin apogee
$GC,6987,-0.32,0.0,603.2,7.9,335,7112,0.88,0.00,121.80,1.170,6,0.081,0.000,2271,2107,2540
$STATE,7113,end apogee,CONTROL_FINISHED_OK
$STATE,7113,begin climb
$GC,7116,1.16,146.6,603.4,0.0,341,7243,1.48,2.78,118.03,1.138,4,0.082,0.107,2593,3523,1942
$GC,7336,1.37,274.1,601.9,3.2,351,7449,0.20,2.47,102.62,1.127,6,0.066,0.067,2643,2125,1421
$GC,7758,1.37,274.1,556.2,12.2,372,7763,0.00,2.62,0.00,0.000,4,0.000,0.093,2643,714,1419
$GC,8033,1.37,274.1,518.0,14.7,384,8037,0.00,2.45,0.00,0.000,6,0.000,0.058,2643,2133,1419
$GC,8349,1.37,274.1,476.4,12.5,399,8353,0.00,2.55,0.00,0.000,4,0.000,0.077,2643,718,1417
$GC,8483,1.37,274.1,459.0,12.7,405,8487,0.00,2.40,0.00,0.000,6,0.000,0.057,2641,2124,1416
$GC,8804,1.37,274.1,420.4,11.5,421,8809,0.00,2.53,0.00,0.000,4,0.000,0.076,2643,715,1414
$GC,8890,1.37,274.1,409.6,12.3,425,8894,0.00,2.40,0.00,0.000,6,0.000,0.057,2643,2122,1414
$GC,9217,1.37,274.1,371.4,12.0,441,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2122,1413
$GC,9526,1.37,274.1,334.2,12.2,456,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2122,1413
$GC,9836,1.37,274.1,296.3,12.4,471,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2122,1413
$GC,10145,1.37,274.1,258.3,12.1,486,10149,0.00,2.50,0.00,0.000,4,0.000,0.073,2643,714,1413
$GC,10211,1.37,274.1,249.5,13.4,489,10216,0.00,2.38,0.00,0.000,6,0.000,0.057,2643,2118,1413
$GC,10533,1.37,274.1,211.6,11.7,505,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2118,1413
$GC,10842,1.37,274.1,174.0,12.2,520,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2118,1414
$GC,11152,1.37,274.1,138.4,11.2,535,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2119,1414
$GC,11461,1.37,274.1,102.4,11.8,550,11466,0.00,2.50,0.00,0.000,4,0.000,0.076,2643,717,1416
$GC,11502,1.37,274.1,97.2,12.8,552,11507,0.00,2.40,0.00,0.000,6,0.000,0.058,2643,2118,1415
$GC,11830,1.37,274.1,61.9,9.6,568,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2118,1417
$GC,12139,1.37,274.1,28.4,11.0,583,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2118,1417
$STATE,12342,end climb,SURFACE_DEPTH_REACHED
$STATE,12342,begin surface coast
$FINISH,0.1,1.027492
$STATE,12364,end surface coast,CONTROL_FINISHED_OK
$STATE,12364,begin surface
$SM_CCo,12449,0.00,0.000,0,0,1416,275.96
$SM_GC,0.67,11.32,0.00,0.00,0.057,0.000,0.000,39,2323,1416,-10.52,0.08,275.96
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1754
$TCM_TEMP,1.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.1,86.4
$24V_AH,23.7,11.366
$10V_AH,10.2,5.815
$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,25.475,71.000,342.450,0.000,0.000,97.623,115.662,400.763,4.750,0.000,0.000,16.733,1093.308,9841.416,527.580,984.532,890.323,33.360,1166.750,0.000,703.963,0.000,29.876
$DEVICE_MAMPS,184.847,125.021,1169.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,566.970,549.917,401.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28549,594
$CFSIZE,254472192,249212928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,260208,114807,6135.366,-431.837,29,1.2,29,-6.9