version: 66.02
glider: 14
mission: 3
dive: 70
start: 2 28 108 11 52 32
data:
$ID,14
$MISSION,3
$DIVE,70
$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,440
$T_MISSION,480
$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,-132902.53
$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,29
$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
$GPS1,113908,6127.646,-445.035,26,1.3,26,-6.9
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.4
$GPS2,115139,6127.588,-444.869,20,1.3,20,-6.9
$SPEED_LIMITS,0.130,0.228
$TGT_NAME,SSEC_SE
$TGT_LATLONG,6016.000,-359.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.090,-0.210
$KALMAN_X,113494.2,1274.8,831.6,-200232.3,-18538.0
$KALMAN_Y,-73623.9,-200.5,-222.0,62240.5,4294.5
$MHEAD_RNG_PITCHd_Wd,163.6,139114,-13.5,-7.500
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-60.40,0.000,2,0.000,0.000,40,2328,2804
$GC,96,-1.10,-146.6,5.1,-8.7,3,121,11.55,2.65,-6.65,0.000,4,0.183,0.110,2093,3710,3140
$GC,268,-1.10,-146.6,29.5,-7.3,10,275,0.00,2.40,0.00,0.000,6,0.000,0.060,2093,2312,3141
$GC,586,-1.10,-146.6,53.8,-9.0,26,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2311,3141
$GC,894,-1.10,-146.6,81.7,-10.7,41,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2311,3141
$GC,1204,-1.10,-146.6,105.5,-7.4,56,1208,0.00,2.65,0.00,0.000,4,0.000,0.100,2093,3715,3141
$GC,1259,-1.10,-146.6,110.0,-8.3,58,1265,0.00,2.40,0.00,0.000,6,0.000,0.061,2093,2321,3141
$GC,1576,-1.10,-146.6,133.2,-7.4,74,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2322,3141
$GC,1884,-1.10,-146.6,156.1,-7.3,89,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2322,3141
$GC,2194,-1.10,-146.6,178.7,-7.7,104,2198,0.00,2.65,0.00,0.000,4,0.000,0.104,2093,3715,3141
$GC,2234,-1.10,-146.6,181.9,-7.7,106,2238,0.00,2.40,0.00,0.000,6,0.000,0.063,2092,2319,3141
$GC,2561,-1.10,-146.6,209.1,-9.5,122,2565,0.00,2.50,0.00,0.000,4,0.000,0.078,2093,917,3141
$GC,2601,-1.10,-146.6,213.0,-9.4,124,2605,0.00,2.38,0.00,0.000,6,0.000,0.058,2093,2317,3141
$GC,2927,-1.10,-146.6,242.5,-8.5,140,2931,0.00,2.65,0.00,0.000,4,0.000,0.110,2093,3719,3141
$GC,2960,-1.10,-146.6,245.6,-9.4,141,2965,0.00,2.42,0.00,0.000,6,0.000,0.063,2092,2318,3141
$GC,3276,-1.10,-146.6,270.7,-7.4,157,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2318,3141
$GC,3585,-1.10,-146.6,290.4,-6.3,172,3590,0.00,2.67,0.00,0.000,4,0.000,0.108,2092,3720,3141
$GC,3635,-1.10,-146.6,294.3,-7.6,174,3640,0.00,2.45,0.00,0.000,6,0.000,0.064,2093,2313,3141
$GC,3952,-1.10,-146.6,320.1,-8.7,189,3956,0.00,2.67,0.00,0.000,4,0.000,0.108,2093,3720,3141
$GC,3995,-1.10,-146.6,324.0,-8.7,191,4000,0.00,2.45,0.00,0.000,6,0.000,0.065,2092,2313,3141
$GC,4317,-1.10,-146.6,349.6,-7.8,207,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2309,3142
$GC,4627,-1.10,-146.6,372.8,-7.0,222,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2309,3142
$GC,4936,-1.10,-146.6,393.8,-6.9,237,4940,0.00,2.70,0.00,0.000,4,0.000,0.107,2093,3721,3142
$GC,4969,-1.10,-146.6,396.2,-6.8,238,4974,0.00,2.42,0.00,0.000,6,0.000,0.065,2093,2319,3142
$GC,5285,-1.10,-146.6,417.8,-6.7,254,5290,0.00,2.67,0.00,0.000,4,0.000,0.108,2092,3720,3141
$GC,5326,-1.10,-146.6,420.9,-7.9,256,5331,0.00,2.42,0.00,0.000,6,0.000,0.065,2093,2318,3142
$GC,5654,-1.10,-146.6,443.9,-6.8,272,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2318,3142
$GC,5963,-1.10,-146.6,466.1,-7.1,287,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2318,3142
$STATE,6001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6001,begin apogee
$GC,6009,-0.32,0.0,469.3,7.6,289,6134,0.82,0.00,121.07,1.058,6,0.096,0.000,2266,2116,2540
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6138,1.10,146.6,475.2,0.0,295,6263,1.40,2.75,116.55,1.027,4,0.081,0.097,2577,3523,1942
$GC,6490,1.20,206.2,467.5,5.4,311,6547,0.10,2.47,48.12,1.015,6,0.073,0.067,2607,2124,1697
$GC,6856,1.20,206.2,437.2,9.6,329,6861,0.00,2.65,0.00,0.000,4,0.000,0.097,2607,711,1697
$GC,6906,1.20,206.2,431.9,9.8,331,6911,0.00,2.45,0.00,0.000,6,0.000,0.056,2607,2136,1697
$GC,7223,1.20,206.2,403.0,8.5,346,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2136,1696
$GC,7532,1.20,206.2,378.2,7.9,361,7536,0.00,2.58,0.00,0.000,4,0.000,0.097,2607,3519,1695
$GC,7644,1.20,206.2,369.1,8.0,366,7648,0.00,2.45,0.00,0.000,6,0.000,0.062,2607,2109,1695
$GC,7965,1.21,211.1,345.7,7.3,382,7972,0.00,0.00,4.90,0.759,6,0.000,0.000,2607,2109,1679
$GC,8274,1.22,219.9,324.1,7.2,397,8285,0.00,0.00,8.70,0.884,6,0.000,0.000,2607,2109,1643
$GC,8584,1.22,219.9,299.5,8.3,412,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2110,1642
$GC,8893,1.22,219.9,275.5,7.8,427,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2109,1641
$GC,9202,1.22,219.9,247.8,9.6,442,9206,0.00,2.60,0.00,0.000,4,0.000,0.089,2607,3519,1641
$GC,9257,1.22,219.9,242.0,10.4,444,9263,0.00,2.42,0.00,0.000,6,0.000,0.061,2607,2118,1640
$GC,9573,1.22,219.9,212.3,9.1,460,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2119,1641
$GC,9882,1.22,219.9,185.7,8.6,475,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2119,1641
$GC,10192,1.25,241.8,162.8,6.7,490,10211,0.00,0.00,18.27,0.825,6,0.000,0.000,2607,2119,1554
$GC,10523,1.25,241.8,132.6,10.0,506,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2119,1554
$GC,10831,1.25,241.8,100.6,10.1,521,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2119,1554
$GC,11140,1.25,241.8,71.3,9.1,536,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2119,1554
$GC,11449,1.25,241.8,41.1,9.1,551,11451,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2119,1554
$GC,11758,1.25,241.8,11.3,9.3,566,11763,0.00,2.58,0.00,0.000,4,0.000,0.089,2607,3519,1553
$STATE,11842,end climb,SURFACE_DEPTH_REACHED
$STATE,11843,begin surface coast
$FINISH,0.6,1.027546
$STATE,11868,end surface coast,CONTROL_FINISHED_OK
$STATE,11868,begin surface
$SM_CCo,11895,5.12,0.588,0,0,1520,250.21
$SM_GC,3.18,0.00,0.00,5.12,0.000,0.000,0.588,37,2309,1520,-10.59,-0.31,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1758
$TCM_TEMP,1.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.7,78.4
$24V_AH,23.8,13.415
$10V_AH,10.2,6.775
$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,25.175,70.975,317.625,5.125,0.000,97.620,147.755,215.145,3.500,0.000,0.000,21.822,1062.224,9456.237,445.801,939.787,757.838,33.353,1039.906,0.000,658.005,0.000,21.749
$DEVICE_MAMPS,182.546,110.448,1058.460,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.306,535.441,413.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28531,571
$CFSIZE,254472192,248573952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,280208,151228,6125.223,-444.027,35,3.5,54,-6.9