version: 66.02
glider: 14
mission: 3
dive: 54
start: 2 26 108 16 5 15
data:
$ID,14
$MISSION,3
$DIVE,54
$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,-132531.77
$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,28
$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
$GPS1,155102,6136.022,-432.081,78,1.1,78,-6.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-59.3
$GPS2,160421,6135.845,-431.961,13,1.1,13,-6.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.100,0.212
$KALMAN_X,126975.7,940.7,51.4,-201202.3,-509.3
$KALMAN_Y,-66858.4,1235.8,757.7,68304.6,-15616.9
$MHEAD_RNG_PITCHd_Wd,341.8,13805,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-60.20,0.000,2,0.000,0.000,36,2322,2675
$GC,97,-1.16,-146.6,3.3,-5.1,3,122,11.55,0.00,-10.88,0.000,6,0.179,0.000,2082,2321,3140
$GC,424,-1.16,-146.6,38.8,-9.4,19,429,0.00,2.62,0.00,0.000,4,0.000,0.101,2082,3714,3141
$GC,474,-1.16,-146.6,43.3,-8.4,21,479,0.00,2.40,0.00,0.000,6,0.000,0.059,2082,2312,3141
$GC,792,-1.16,-146.6,70.3,-8.5,36,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2311,3141
$GC,1100,-1.16,-146.6,98.3,-9.5,51,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2312,3141
$GC,1410,-1.16,-146.6,125.3,-8.5,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2311,3141
$GC,1719,-1.16,-146.6,153.9,-9.7,81,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3142
$GC,2029,-1.16,-146.6,184.7,-10.6,96,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3142
$GC,2338,-1.16,-146.6,210.0,-7.7,111,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2311,3142
$GC,2647,-1.16,-146.6,236.9,-9.7,126,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3142
$GC,2956,-1.16,-146.6,265.6,-8.6,141,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2311,3142
$GC,3265,-1.16,-146.6,292.9,-9.1,156,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2311,3142
$GC,3575,-1.16,-146.6,318.2,-7.9,171,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2309,3143
$GC,3884,-1.16,-146.6,343.9,-8.6,186,3889,0.00,2.70,0.00,0.000,4,0.000,0.112,2083,3715,3142
$GC,3928,-1.16,-146.6,348.2,-9.8,188,3932,0.00,2.40,0.00,0.000,6,0.000,0.064,2083,2324,3143
$GC,4250,-1.16,-146.6,376.9,-9.3,204,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2324,3143
$GC,4558,-1.16,-146.6,407.5,-10.3,219,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2323,3142
$GC,4867,-1.16,-146.6,435.8,-8.2,234,4872,0.00,2.67,0.00,0.000,4,0.000,0.110,2082,3715,3143
$GC,4901,-1.16,-146.6,438.4,-7.8,235,4907,0.00,2.42,0.00,0.000,6,0.000,0.064,2082,2319,3143
$GC,5218,-1.16,-146.6,461.4,-7.6,251,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3143
$GC,5527,-1.16,-146.6,484.8,-7.6,266,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2320,3143
$GC,5836,-1.16,-146.6,508.1,-7.4,281,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2320,3144
$GC,6146,-1.16,-146.6,530.7,-7.6,296,6150,0.00,2.58,0.00,0.000,4,0.000,0.094,2083,915,3143
$GC,6196,-1.16,-146.6,535.1,-8.4,298,6200,0.00,2.40,0.00,0.000,6,0.000,0.061,2082,2310,3143
$GC,6512,-1.16,-146.6,559.7,-7.2,313,6516,0.00,2.78,0.00,0.000,4,0.000,0.125,2082,3727,3143
$GC,6585,-1.16,-146.6,565.7,-8.0,316,6589,0.00,2.47,0.00,0.000,6,0.000,0.067,2083,2310,3143
$STATE,6630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6631,begin apogee
$GC,6639,-0.32,0.0,569.2,7.4,318,6766,0.90,0.00,123.00,1.144,6,0.098,0.000,2270,2101,2540
$STATE,6766,end apogee,CONTROL_FINISHED_OK
$STATE,6766,begin climb
$GC,6770,1.16,146.6,570.8,0.0,324,6896,1.45,2.78,117.80,1.114,4,0.078,0.106,2594,3525,1942
$GC,7169,1.52,371.3,570.8,-0.5,342,7358,0.35,2.50,178.07,1.124,6,0.065,0.068,2678,2117,1026
$GC,7674,1.52,371.3,509.1,18.0,367,7678,0.00,2.65,0.00,0.000,4,0.000,0.097,2678,3525,1022
$GC,7909,1.52,371.3,469.3,17.7,377,7914,0.00,2.50,0.00,0.000,6,0.000,0.066,2678,2115,1020
$GC,8225,1.52,371.3,418.1,17.0,393,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2115,1018
$GC,8534,1.52,371.3,368.8,15.6,408,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2115,1016
$GC,8843,1.52,371.3,316.8,17.1,423,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2115,1016
$GC,9152,1.52,371.3,263.6,17.2,438,9157,0.00,2.58,0.00,0.000,4,0.000,0.090,2678,712,1016
$GC,9199,1.52,371.3,255.6,17.6,440,9203,0.00,2.42,0.00,0.000,6,0.000,0.056,2678,2138,1016
$GC,9521,1.52,371.3,199.0,18.2,456,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2138,1016
$GC,9830,1.52,371.3,143.6,17.5,471,9834,0.00,2.55,0.00,0.000,4,0.000,0.078,2679,711,1016
$GC,9874,1.52,371.3,135.0,18.9,473,9878,0.00,2.40,0.00,0.000,6,0.000,0.057,2678,2124,1016
$GC,10196,1.52,371.3,80.7,16.6,489,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2125,1017
$GC,10505,1.52,371.3,30.2,16.2,504,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2125,1018
$STATE,10667,end climb,SURFACE_DEPTH_REACHED
$STATE,10667,begin surface coast
$FINISH,0.9,1.027527
$STATE,10688,end surface coast,CONTROL_FINISHED_OK
$STATE,10688,begin surface
$SM_CCo,10774,0.00,0.000,0,0,1018,373.10
$SM_GC,0.79,11.52,0.00,0.00,0.058,0.000,0.000,38,2333,1018,-10.52,0.37,373.10
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1754
$TCM_TEMP,0.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,475.4,102.9
$24V_AH,23.7,11.652
$10V_AH,10.2,5.943
$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,25.775,46.475,418.875,0.000,0.000,65.080,77.362,456.242,4.000,0.000,0.000,14.638,942.618,8451.865,499.664,833.336,849.226,33.362,1035.536,0.000,589.123,0.000,26.674
$DEVICE_MAMPS,178.711,125.021,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.903,477.365,345.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25401,513
$CFSIZE,254472192,249135104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260208,190622,6135.561,-434.261,36,3.9,55,-6.9