version: 66.02
glider: 14
mission: 3
dive: 56
start: 2 26 108 22 47 57
data:
$ID,14
$MISSION,3
$DIVE,56
$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,-132582.88
$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,21
$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
$GPS1,223225,6135.581,-436.674,42,1.9,60,-6.9
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-53.8
$GPS2,224703,6135.439,-436.619,11,1.8,11,-6.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,0.226
$KALMAN_X,128681.3,-516.6,65.8,-205545.2,1692.9
$KALMAN_Y,-76299.9,1579.6,1360.0,76043.9,-24175.9
$MHEAD_RNG_PITCHd_Wd,351.4,11208,-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,-59.97,0.000,2,0.000,0.000,41,2327,2664
$GC,97,-1.16,-146.6,3.5,-5.9,3,123,11.57,0.00,-11.27,0.000,6,0.181,0.000,2080,2327,3141
$GC,424,-1.16,-146.6,34.8,-8.6,19,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2326,3141
$GC,732,-1.16,-146.6,62.0,-9.9,34,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2326,3141
$GC,1042,-1.16,-146.6,91.3,-7.0,49,1046,0.00,2.60,0.00,0.000,4,0.000,0.104,2080,3708,3141
$GC,1108,-1.16,-146.6,96.6,-8.9,52,1112,0.00,2.40,0.00,0.000,6,0.000,0.061,2080,2308,3141
$GC,1430,-1.16,-146.6,127.0,-9.2,68,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2309,3141
$GC,1738,-1.16,-146.6,155.2,-9.5,83,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2308,3141
$GC,2047,-1.16,-146.6,184.3,-10.0,98,2052,0.00,2.65,0.00,0.000,4,0.000,0.104,2080,3708,3142
$GC,2098,-1.16,-146.6,189.4,-9.6,100,2102,0.00,2.40,0.00,0.000,6,0.000,0.062,2080,2316,3142
$GC,2414,-1.16,-146.6,222.8,-10.9,115,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3142
$GC,2723,-1.16,-146.6,259.0,-11.9,130,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2316,3142
$GC,3032,-1.16,-146.6,291.9,-10.1,145,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2315,3142
$GC,3341,-1.16,-146.6,320.3,-8.2,160,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2315,3142
$GC,3650,-1.16,-146.6,345.6,-8.3,175,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2314,3142
$GC,3960,-1.16,-146.6,369.5,-8.0,190,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2314,3143
$GC,4270,-1.16,-146.6,391.6,-6.7,205,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2310,3143
$GC,4579,-1.16,-146.6,412.2,-6.3,220,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2310,3143
$GC,4888,-1.16,-146.6,431.0,-6.7,235,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2310,3143
$GC,5197,-1.16,-146.6,453.0,-7.2,250,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2310,3143
$GC,5506,-1.16,-146.6,477.0,-7.7,265,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2310,3143
$STATE,5688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5688,begin apogee
$GC,5697,-0.32,0.0,491.9,8.5,274,5822,0.90,0.00,121.47,1.068,6,0.099,0.000,2267,2120,2540
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5826,1.16,146.6,497.9,0.0,280,5952,1.48,2.67,116.95,1.035,4,0.081,0.097,2593,720,1942
$GC,6144,1.23,185.9,490.2,6.5,294,6183,0.00,2.40,32.80,1.006,6,0.000,0.056,2593,2124,1781
$GC,6504,1.26,205.7,466.0,7.2,312,6527,0.00,2.72,17.02,0.975,4,0.000,0.101,2593,3510,1702
$GC,6681,1.26,205.7,450.0,9.7,320,6686,0.00,2.42,0.00,0.000,6,0.000,0.064,2593,2119,1700
$GC,7009,1.26,205.7,422.5,8.2,336,7013,0.00,2.55,0.00,0.000,4,0.000,0.084,2593,719,1699
$GC,7076,1.26,205.7,416.4,9.3,339,7081,0.00,2.40,0.00,0.000,6,0.000,0.056,2594,2126,1699
$GC,7398,1.26,205.7,389.2,8.3,355,7402,0.00,2.60,0.00,0.000,4,0.000,0.098,2594,3516,1699
$GC,7505,1.26,205.7,379.7,9.0,360,7509,0.00,2.42,0.00,0.000,6,0.000,0.063,2593,2115,1698
$GC,7832,1.26,205.7,350.7,8.5,376,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2115,1698
$GC,8142,1.26,207.0,324.9,8.0,391,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2115,1697
$GC,8451,1.26,207.0,299.1,8.4,406,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2115,1697
$GC,8760,1.26,207.0,272.9,8.3,421,8764,0.00,2.60,0.00,0.000,4,0.000,0.089,2593,3518,1697
$GC,8815,1.26,207.0,267.9,8.7,423,8820,0.00,2.40,0.00,0.000,6,0.000,0.061,2593,2120,1697
$GC,9131,1.26,208.3,243.0,7.9,439,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2120,1697
$GC,9440,1.26,208.3,215.3,8.2,454,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2120,1697
$GC,9749,1.26,208.3,190.1,8.5,469,9753,0.00,2.58,0.00,0.000,4,0.000,0.088,2594,3513,1697
$GC,9867,1.26,208.3,179.1,10.1,474,9871,0.00,2.40,0.00,0.000,6,0.000,0.061,2593,2122,1697
$GC,10183,1.29,226.2,155.9,7.3,489,10202,0.12,0.00,16.85,0.805,6,0.069,0.000,2632,2122,1617
$GC,10513,1.29,226.2,129.2,8.2,505,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2121,1616
$GC,10822,1.29,226.2,105.7,8.8,520,10826,0.00,2.58,0.00,0.000,4,0.000,0.087,2632,3515,1616
$GC,10940,1.29,226.2,95.7,8.7,525,10944,0.00,2.45,0.00,0.000,6,0.000,0.064,2632,2116,1616
$GC,11257,1.29,226.2,72.2,8.2,540,11261,0.00,2.53,0.00,0.000,4,0.000,0.085,2632,718,1616
$GC,11335,1.29,226.2,63.6,10.7,543,11341,0.00,2.38,0.00,0.000,6,0.000,0.056,2632,2126,1616
$GC,11651,1.29,226.2,23.6,12.9,559,11656,0.00,2.53,0.00,0.000,4,0.000,0.091,2631,3507,1616
$GC,11715,1.29,226.2,15.1,12.1,562,11719,0.00,2.40,0.00,0.000,6,0.000,0.063,2632,2114,1617
$STATE,11812,end climb,SURFACE_DEPTH_REACHED
$STATE,11812,begin surface coast
$FINISH,0.1,1.006078
$STATE,11835,end surface coast,CONTROL_FINISHED_OK
$STATE,11835,begin surface
$SM_CCo,11860,12.25,0.677,0,0,1518,250.21
$SM_GC,2.09,0.00,0.00,12.25,0.000,0.000,0.677,34,2330,1518,-10.61,0.28,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1751
$TCM_TEMP,1.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,451.4,49.8
$24V_AH,23.8,11.903
$10V_AH,10.2,6.069
$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,25.400,55.725,305.100,12.250,0.000,97.620,116.966,402.025,4.500,0.000,0.000,13.388,1051.658,9463.310,430.758,927.477,887.919,33.360,1009.941,0.000,647.326,0.000,30.773
$DEVICE_MAMPS,181.012,104.312,1068.431,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.638,527.469,408.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28605,568
$CFSIZE,254472192,249053184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,270208,020707,6135.899,-438.969,37,1.1,37,-6.9