version: 66.02
glider: 14
mission: 3
dive: 60
start: 2 27 108 10 5 37
data:
$ID,14
$MISSION,3
$DIVE,60
$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,-132668.42
$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,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
$GPS1,095857,6135.601,-444.467,34,3.4,53,-7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-59.0
$GPS2,100441,6135.571,-444.349,14,2.1,33,-7.0
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,0.232
$KALMAN_X,122915.5,271.8,483.8,-207819.7,-7679.9
$KALMAN_Y,-86664.9,1389.2,1779.9,86406.1,-39010.0
$MHEAD_RNG_PITCHd_Wd,15.6,8223,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-59.45,0.000,2,0.000,0.000,36,2331,2788
$GC,93,-1.16,-146.6,6.0,-11.0,3,117,11.45,2.53,-6.97,0.000,4,0.183,0.084,2080,925,3141
$GC,183,-1.16,-146.6,23.6,-13.0,7,187,0.00,2.40,0.00,0.000,6,0.000,0.059,2080,2320,3141
$GC,510,-1.16,-146.6,57.4,-10.9,23,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3141
$GC,820,-1.16,-146.6,91.5,-11.2,38,824,0.00,2.47,0.00,0.000,4,0.000,0.071,2080,915,3141
$GC,883,-1.16,-146.6,99.6,-12.7,41,887,0.00,2.42,0.00,0.000,6,0.000,0.060,2080,2327,3141
$GC,1210,-1.16,-146.6,132.5,-9.6,57,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2327,3141
$GC,1519,-1.16,-146.6,159.8,-8.3,72,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2327,3141
$GC,1829,-1.16,-146.6,183.3,-7.3,87,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2327,3141
$GC,2138,-1.16,-146.6,204.1,-5.7,102,2142,0.00,2.50,0.00,0.000,4,0.000,0.071,2080,913,3141
$GC,2188,-1.16,-146.6,207.9,-7.4,104,2192,0.00,2.40,0.00,0.000,6,0.000,0.059,2080,2318,3141
$GC,2504,-1.16,-146.6,229.7,-6.0,119,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2319,3141
$GC,2814,-1.16,-146.6,250.6,-7.5,134,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2319,3141
$GC,3122,-1.16,-146.6,273.6,-7.5,149,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2319,3141
$GC,3433,-1.16,-146.6,300.0,-8.7,164,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2320,3141
$GC,3741,-1.16,-146.6,323.4,-7.6,179,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2321,3141
$GC,4050,-1.16,-146.6,347.8,-8.4,194,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2321,3141
$GC,4359,-1.16,-146.6,373.7,-8.8,209,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2321,3141
$STATE,4438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4439,begin apogee
$GC,4447,-0.32,0.0,380.7,8.6,213,4570,0.90,0.00,119.53,0.974,6,0.097,0.000,2268,2115,2540
$STATE,4571,end apogee,CONTROL_FINISHED_OK
$STATE,4571,begin climb
$GC,4575,1.16,146.6,385.9,0.0,219,4698,1.45,2.65,115.50,0.946,4,0.067,0.082,2594,718,1943
$GC,4969,1.25,198.8,375.1,6.0,237,5017,0.00,2.42,42.62,0.923,6,0.000,0.057,2594,2127,1728
$GC,5344,1.26,204.2,347.1,7.8,255,5355,0.00,2.60,5.93,0.732,4,0.000,0.075,2593,716,1706
$GC,5400,1.26,204.2,341.8,9.1,257,5406,0.00,2.40,0.00,0.000,6,0.000,0.057,2594,2121,1706
$GC,5716,1.26,204.2,316.0,8.0,273,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2121,1706
$GC,6025,1.26,204.2,290.0,8.2,288,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2122,1706
$GC,6334,1.26,204.2,264.5,8.6,303,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2121,1705
$GC,6644,1.26,204.2,235.1,9.6,318,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2121,1705
$GC,6953,1.26,204.2,205.9,9.3,333,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2122,1705
$GC,7262,1.26,204.2,175.4,10.7,348,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2121,1705
$GC,7572,1.26,204.2,142.2,10.3,363,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2122,1705
$GC,7882,1.26,204.2,114.2,9.0,378,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2122,1705
$GC,8191,1.26,204.2,85.5,8.6,393,8195,0.00,2.58,0.00,0.000,4,0.000,0.096,2593,3516,1705
$GC,8246,1.26,204.2,80.3,9.5,395,8252,0.00,2.40,0.00,0.000,6,0.000,0.061,2594,2122,1705
$GC,8563,1.31,235.3,56.7,6.8,411,8594,0.12,2.60,24.80,0.747,4,0.067,0.085,2632,3522,1580
$GC,8639,1.31,235.3,48.8,11.6,414,8646,0.00,2.45,0.00,0.000,6,0.000,0.061,2632,2119,1580
$GC,8956,1.31,235.3,17.5,12.4,430,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2119,1579
$STATE,9077,end climb,SURFACE_DEPTH_REACHED
$STATE,9077,begin surface coast
$FINISH,1.1,1.027541
$STATE,9098,end surface coast,CONTROL_FINISHED_OK
$STATE,9098,begin surface
$SM_CCo,9123,11.45,0.585,1,0,1519,250.21
$SM_GC,2.77,0.00,0.00,11.45,0.000,0.000,0.585,36,2337,1519,-10.60,0.48,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1746
$TCM_TEMP,1.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.2,38.6
$24V_AH,23.8,12.321
$10V_AH,10.2,6.267
$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,25.325,35.500,308.375,11.450,0.000,32.537,46.269,126.805,2.500,0.000,0.000,35.489,805.652,7131.623,417.614,731.011,413.628,33.357,857.349,0.000,482.330,0.000,18.403
$DEVICE_MAMPS,182.546,95.875,974.090,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.420,400.070,346.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22290,437
$CFSIZE,254472192,248942592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,270208,123938,6136.291,-443.279,61,1.8,61,-7.0