version: 66.02
glider: 14
mission: 3
dive: 53
start: 2 26 108 11 58 27
data:
$ID,14
$MISSION,3
$DIVE,53
$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,-132516.5
$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,26
$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
$GPS1,114807,6135.366,-431.837,29,1.2,29,-6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.9
$GPS2,115733,6135.375,-431.640,14,1.1,14,-6.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.062,0.227
$KALMAN_X,124429.5,778.4,897.0,-199058.8,-4559.0
$KALMAN_Y,-63866.4,1019.9,1337.5,64101.3,-17884.7
$MHEAD_RNG_PITCHd_Wd,351.7,14535,-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,-79.88,0.000,2,0.000,0.000,39,2327,3052
$GC,114,-1.16,-146.6,6.8,-9.0,4,136,11.45,2.53,-1.55,0.000,4,0.180,0.082,2081,914,3142
$GC,198,-1.16,-146.6,26.8,-8.8,7,204,0.00,2.42,0.00,0.000,6,0.000,0.059,2081,2317,3143
$GC,516,-1.16,-146.6,55.9,-9.2,23,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3143
$GC,824,-1.16,-146.6,86.3,-9.5,38,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3143
$GC,1133,-1.16,-146.6,113.2,-9.2,53,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3143
$GC,1442,-1.16,-146.6,141.2,-8.8,68,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3143
$GC,1751,-1.16,-146.6,169.0,-8.8,83,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3144
$GC,2060,-1.16,-146.6,196.8,-8.6,98,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3144
$GC,2370,-1.16,-146.6,224.5,-8.8,113,2374,0.00,2.45,0.00,0.000,4,0.000,0.074,2081,921,3144
$GC,2415,-1.16,-146.6,228.5,-8.9,115,2420,0.00,2.38,0.00,0.000,6,0.000,0.059,2081,2318,3143
$GC,2743,-1.16,-146.6,257.8,-8.6,131,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3144
$GC,3053,-1.16,-146.6,284.1,-8.3,146,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2318,3144
$GC,3363,-1.16,-146.6,309.1,-7.7,161,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3144
$GC,3671,-1.16,-146.6,332.5,-7.6,176,3676,0.00,2.50,0.00,0.000,4,0.000,0.075,2081,917,3145
$GC,3716,-1.16,-146.6,336.1,-7.6,178,3721,0.00,2.42,0.00,0.000,6,0.000,0.061,2081,2326,3145
$GC,4038,-1.16,-146.6,360.2,-7.6,194,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2326,3145
$GC,4347,-1.16,-146.6,384.7,-8.5,209,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2327,3145
$GC,4656,-1.16,-146.6,410.9,-8.5,224,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2327,3145
$GC,4966,-1.16,-146.6,436.5,-8.2,239,4970,0.00,2.50,0.00,0.000,4,0.000,0.074,2081,911,3145
$GC,5028,-1.16,-146.6,441.6,-7.5,242,5032,0.00,2.42,0.00,0.000,6,0.000,0.061,2081,2325,3145
$GC,5355,-1.16,-146.6,467.7,-8.3,258,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2326,3145
$GC,5664,-1.16,-146.6,491.3,-7.5,273,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2326,3145
$GC,5974,-1.16,-146.6,515.5,-7.8,288,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2326,3145
$GC,6283,-1.16,-146.6,539.6,-7.6,303,6287,0.00,2.75,0.00,0.000,4,0.000,0.130,2081,3721,3145
$GC,6333,-1.16,-146.6,543.6,-8.0,305,6337,0.00,2.45,0.00,0.000,6,0.000,0.067,2081,2317,3145
$GC,6649,-1.16,-146.6,567.6,-8.0,320,6653,0.00,2.58,0.00,0.000,4,0.000,0.091,2081,915,3145
$GC,6698,-1.16,-146.6,572.0,-9.0,322,6703,0.00,2.42,0.00,0.000,6,0.000,0.061,2081,2324,3145
$STATE,6805,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6805,begin apogee
$GC,6813,-0.32,0.0,580.4,7.7,327,6940,0.90,0.00,123.43,1.152,6,0.100,0.000,2268,2108,2540
$STATE,6941,end apogee,CONTROL_FINISHED_OK
$STATE,6941,begin climb
$GC,6944,1.16,146.6,583.8,0.0,333,7071,1.48,2.75,118.00,1.122,4,0.077,0.104,2595,3525,1942
$GC,7256,1.24,191.3,573.9,6.3,347,7303,0.00,2.47,37.42,1.099,6,0.000,0.067,2596,2129,1760
$GC,7616,1.24,191.3,545.9,8.0,365,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2129,1758
$GC,7922,1.25,198.6,522.5,7.7,380,7931,0.00,0.00,6.95,0.954,6,0.000,0.000,2595,2129,1730
$GC,8231,1.28,216.4,501.0,7.3,395,8253,0.00,2.67,15.57,1.084,4,0.000,0.092,2596,715,1657
$GC,8293,1.28,217.6,496.1,8.0,397,8299,0.00,2.42,0.00,0.000,6,0.000,0.056,2595,2130,1657
$GC,8609,1.28,217.6,469.5,8.1,413,8613,0.00,2.60,0.00,0.000,4,0.000,0.099,2596,3513,1655
$GC,8709,1.28,217.6,461.0,9.2,417,8715,0.00,2.45,0.00,0.000,6,0.000,0.064,2595,2115,1654
$GC,9025,1.28,217.6,436.2,8.1,433,9027,0.10,0.00,0.00,0.000,6,0.074,0.000,2624,2114,1653
$GC,9334,1.28,217.6,408.9,8.7,448,9339,0.00,2.55,0.00,0.000,4,0.000,0.087,2624,718,1652
$GC,9424,1.28,217.6,400.5,9.4,452,9428,0.00,2.40,0.00,0.000,6,0.000,0.056,2624,2128,1651
$GC,9745,1.28,217.6,372.6,8.3,468,9749,0.00,2.55,0.00,0.000,4,0.000,0.095,2624,3512,1651
$GC,9800,1.28,217.6,367.4,10.0,470,9806,0.00,2.42,0.00,0.000,6,0.000,0.061,2624,2109,1651
$GC,10117,1.28,217.6,339.5,8.9,486,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2109,1651
$GC,10426,1.28,217.6,311.9,9.1,501,10430,0.00,2.60,0.00,0.000,4,0.000,0.088,2624,3513,1651
$GC,10488,1.28,217.6,306.2,8.9,504,10492,0.00,2.40,0.00,0.000,6,0.000,0.061,2624,2115,1651
$GC,10814,1.28,217.6,277.0,8.8,520,10818,0.00,2.53,0.00,0.000,4,0.000,0.083,2624,717,1651
$GC,10870,1.28,217.6,271.6,10.3,522,10876,0.00,2.38,0.00,0.000,6,0.000,0.055,2624,2126,1651
$GC,11186,1.28,217.6,241.2,9.7,538,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2126,1651
$GC,11495,1.28,217.6,211.7,9.6,553,11499,0.00,2.53,0.00,0.000,4,0.000,0.074,2624,709,1652
$GC,11539,1.28,217.6,207.1,10.2,555,11543,0.00,2.38,0.00,0.000,6,0.000,0.055,2624,2124,1652
$GC,11861,1.28,217.6,176.6,9.7,571,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2125,1653
$GC,12170,1.28,217.6,146.6,9.5,586,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2125,1653
$GC,12479,1.28,217.6,118.4,9.0,601,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2126,1653
$GC,12788,1.28,217.6,91.7,8.8,616,12793,0.00,2.50,0.00,0.000,4,0.000,0.075,2624,717,1654
$GC,12829,1.28,217.6,87.7,10.5,618,12834,0.00,2.38,0.00,0.000,6,0.000,0.057,2623,2122,1654
$GC,13157,1.28,217.6,57.1,9.1,634,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2121,1655
$GC,13467,1.28,217.6,28.1,9.3,649,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2121,1655
$STATE,13752,end climb,SURFACE_DEPTH_REACHED
$STATE,13752,begin surface coast
$FINISH,-0.1,1.007805
$STATE,13794,end surface coast,CONTROL_FINISHED_OK
$STATE,13794,begin surface
$SM_CCo,13819,16.55,0.694,0,0,1519,250.21
$SM_GC,2.13,0.00,0.00,16.55,0.000,0.000,0.694,36,2319,1519,-10.60,-0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1736
$TCM_TEMP,1.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.4,63.8
$24V_AH,23.7,11.485
$10V_AH,10.2,5.883
$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,25.200,75.450,301.375,16.550,0.000,65.077,81.892,220.185,4.500,0.000,0.000,15.766,1202.798,11053.891,467.755,1023.868,662.646,33.355,1115.564,0.000,717.426,0.000,29.813
$DEVICE_MAMPS,180.245,129.623,1152.034,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.510,628.088,437.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31850,665
$CFSIZE,254472192,249159680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,260208,155102,6136.022,-432.081,78,1.1,78,-6.9