version: 66.02
glider: 14
mission: 3
dive: 17
start: 2 17 108 6 9 29
data:
$ID,14
$MISSION,3
$DIVE,17
$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,330
$T_MISSION,360
$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,-131739.88
$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,2380
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,24
$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
$GPS1,060038,6134.002,-257.573,41,1.1,41,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-45.4
$GPS2,060835,6134.202,-257.136,11,3.6,30,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.251,-0.050
$KALMAN_X,53413.5,654.3,-8.3,-43654.4,1822.5
$KALMAN_Y,-1853.9,32.9,165.4,2093.4,70.5
$MHEAD_RNG_PITCHd_Wd,264.8,41317,-17.8,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.38,-146.6,0.0,0.0,0,149,0.00,0.00,-119.55,0.000,2,0.000,0.000,33,2392,2628
$GC,154,-1.38,-146.6,3.3,-2.6,6,185,11.30,2.53,-13.65,0.000,4,0.181,0.083,2033,978,3139
$GC,237,-1.38,-146.6,14.7,-10.1,10,242,0.00,2.45,0.00,0.000,6,0.000,0.061,2033,2382,3139
$GC,565,-1.38,-146.6,53.2,-11.1,26,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3139
$GC,874,-1.38,-146.6,90.3,-11.8,41,879,0.00,2.53,0.00,0.000,4,0.000,0.069,2033,970,3140
$GC,953,-1.38,-146.6,99.6,-11.4,44,959,0.00,2.47,0.00,0.000,6,0.000,0.061,2033,2380,3140
$GC,1269,-1.38,-146.6,137.8,-12.1,60,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3140
$GC,1578,-1.38,-146.6,173.3,-11.1,75,1582,0.00,2.53,0.00,0.000,4,0.000,0.072,2033,978,3140
$GC,1650,-1.38,-146.6,181.7,-11.1,78,1654,0.00,2.45,0.00,0.000,6,0.000,0.063,2033,2380,3140
$GC,1966,-1.38,-146.6,212.6,-9.9,93,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3140
$GC,2275,-1.38,-146.6,244.8,-10.6,108,2279,0.00,2.53,0.00,0.000,4,0.000,0.073,2033,977,3140
$GC,2325,-1.38,-146.6,250.2,-10.0,110,2330,0.00,2.45,0.00,0.000,6,0.000,0.062,2033,2380,3140
$GC,2641,-1.38,-146.6,282.6,-10.4,125,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2379,3140
$GC,2950,-1.38,-146.6,316.5,-11.1,140,2955,0.00,2.53,0.00,0.000,4,0.000,0.074,2033,979,3140
$GC,2984,-1.38,-146.6,320.4,-11.4,141,2989,0.00,2.45,0.00,0.000,6,0.000,0.063,2033,2380,3140
$GC,3299,-1.38,-146.6,355.0,-10.9,157,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2379,3140
$GC,3609,-1.38,-146.6,386.8,-10.4,172,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2379,3140
$GC,3918,-1.38,-146.6,417.4,-9.7,187,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3140
$GC,4228,-1.38,-146.6,446.6,-8.7,202,4232,0.00,2.80,0.00,0.000,4,0.000,0.135,2033,3781,3140
$GC,4261,-1.38,-146.6,449.7,-9.0,203,4267,0.00,2.42,0.00,0.000,6,0.000,0.068,2033,2386,3140
$GC,4577,-1.38,-146.6,478.1,-9.3,219,4582,0.00,2.60,0.00,0.000,4,0.000,0.091,2034,976,3140
$GC,4673,-1.38,-146.6,488.2,-10.5,223,4677,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2380,3140
$GC,4988,-1.38,-146.6,520.2,-10.2,238,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2380,3140
$GC,5299,-1.38,-146.6,550.7,-9.6,253,5304,0.00,2.83,0.00,0.000,4,0.000,0.140,2033,3783,3140
$GC,5349,-1.38,-146.6,555.8,-9.7,255,5353,0.00,2.47,0.00,0.000,6,0.000,0.071,2033,2379,3140
$GC,5666,-1.38,-146.6,584.1,-9.0,270,5670,0.00,2.60,0.00,0.000,4,0.000,0.091,2033,972,3139
$GC,5750,-1.38,-146.6,592.3,-9.9,274,5755,0.00,2.47,0.00,0.000,6,0.000,0.066,2033,2384,3139
$GC,6078,-1.38,-146.6,623.3,-9.6,290,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2387,3137
$GC,6387,-1.38,-146.6,653.6,-10.0,305,6391,0.00,2.60,0.00,0.000,4,0.000,0.084,2033,969,3135
$GC,6426,-1.38,-146.6,657.8,-10.4,307,6431,0.00,2.47,0.00,0.000,6,0.000,0.066,2033,2383,3135
$GC,6753,-1.38,-146.6,690.0,-9.7,323,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3134
$GC,7063,-1.38,-146.6,718.7,-8.7,338,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2383,3133
$GC,7372,-1.38,-146.6,745.7,-8.7,353,7376,0.00,2.58,0.00,0.000,4,0.000,0.082,2033,972,3131
$GC,7406,-1.38,-146.6,748.9,-9.8,354,7411,0.00,2.50,0.00,0.000,6,0.000,0.065,2033,2382,3131
$GC,7722,-1.38,-146.6,777.0,-8.8,370,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3130
$GC,8031,-1.38,-146.6,805.4,-9.3,385,8035,0.00,2.58,0.00,0.000,4,0.000,0.081,2033,967,3129
$GC,8094,-1.38,-146.6,811.5,-9.4,388,8098,0.00,2.50,0.00,0.000,6,0.000,0.064,2033,2385,3129
$GC,8421,-1.38,-146.6,841.7,-9.3,404,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3128
$GC,8730,-1.38,-146.6,869.6,-9.0,419,8734,0.00,2.58,0.00,0.000,4,0.000,0.080,2035,974,3127
$GC,8774,-1.38,-146.6,873.9,-10.0,421,8778,0.00,2.50,0.00,0.000,6,0.000,0.064,2033,2386,3128
$GC,9096,-1.38,-146.6,903.1,-9.1,437,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2386,3127
$GC,9405,-1.38,-146.6,930.8,-8.7,452,9409,0.00,2.58,0.00,0.000,4,0.000,0.079,2033,968,3127
$GC,9472,-1.38,-146.6,937.0,-8.7,455,9476,0.00,2.50,0.00,0.000,6,0.000,0.064,2033,2388,3126
$GC,9794,-1.38,-146.6,963.7,-8.0,471,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2388,3125
$GC,10103,-1.38,-146.6,988.4,-8.0,486,10108,0.00,2.58,0.00,0.000,4,0.000,0.078,2033,966,3124
$STATE,10122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10122,begin apogee
$GC,10133,-0.32,0.0,990.4,8.2,487,10259,1.12,0.00,122.62,1.385,6,0.108,0.000,2265,2182,2540
$STATE,10260,end apogee,CONTROL_FINISHED_OK
$STATE,10260,begin climb
$GC,10263,1.38,146.6,994.8,0.0,493,10395,1.70,2.72,123.12,1.353,4,0.073,0.108,2642,3568,1942
$GC,10615,1.42,171.5,979.9,8.8,510,10644,0.00,2.50,22.67,1.335,6,0.000,0.066,2642,2170,1839
$GC,10962,1.42,171.5,945.2,10.3,527,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2170,1838
$GC,11271,1.42,171.5,913.7,10.3,542,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2170,1837
$GC,11580,1.43,177.5,883.2,9.7,557,11588,0.00,0.00,6.50,1.074,6,0.000,0.000,2642,2170,1816
$GC,11889,1.45,191.3,853.5,9.4,572,11910,0.00,2.70,13.00,1.216,4,0.000,0.091,2642,769,1759
$GC,11944,1.47,203.7,848.0,9.4,574,11962,0.00,2.50,11.98,1.182,6,0.000,0.060,2642,2174,1709
$GC,12287,1.47,203.7,812.5,10.4,591,12291,0.00,2.62,0.00,0.000,4,0.000,0.084,2642,758,1707
$GC,12326,1.47,203.7,808.1,10.3,593,12331,0.00,2.50,0.00,0.000,6,0.000,0.060,2642,2171,1707
$GC,12653,1.47,203.7,774.4,10.1,609,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2171,1707
$GC,12963,1.47,203.7,743.1,10.2,624,12967,0.00,2.60,0.00,0.000,4,0.000,0.084,2642,766,1707
$GC,13057,1.47,203.7,732.9,10.4,628,13062,0.00,2.47,0.00,0.000,6,0.000,0.061,2642,2168,1706
$GC,13373,1.50,220.2,702.7,9.2,643,13392,0.12,0.00,14.73,1.152,6,0.074,0.000,2674,2169,1642
$GC,13702,1.50,220.2,666.9,11.3,659,13706,0.00,2.60,0.00,0.000,4,0.000,0.084,2674,766,1641
$GC,13752,1.50,220.2,661.0,11.6,661,13756,0.00,2.47,0.00,0.000,6,0.000,0.060,2674,2170,1641
$GC,14069,1.50,220.2,627.8,10.3,676,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2170,1641
$GC,14378,1.50,220.2,596.3,10.1,691,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2171,1640
$GC,14687,1.50,220.2,565.7,10.2,706,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2172,1640
$GC,14996,1.50,220.2,533.5,10.7,721,15001,0.00,2.67,0.00,0.000,4,0.000,0.108,2674,3568,1640
$GC,15105,1.50,220.2,520.5,11.8,726,15109,0.00,2.47,0.00,0.000,6,0.000,0.066,2674,2166,1640
$GC,15431,1.50,220.2,482.6,11.0,742,15435,0.00,2.60,0.00,0.000,4,0.000,0.091,2674,768,1640
$GC,15554,1.50,220.2,468.6,10.8,747,15559,0.00,2.47,0.00,0.000,6,0.000,0.060,2674,2176,1640
$GC,15870,1.51,225.0,436.5,9.8,763,15880,0.00,2.67,5.32,0.875,4,0.000,0.105,2674,3568,1621
$GC,15937,1.51,225.0,429.4,10.5,766,15941,0.00,2.47,0.00,0.000,6,0.000,0.064,2674,2167,1622
$GC,16258,1.51,225.0,392.2,12.5,782,16262,0.00,2.67,0.00,0.000,4,0.000,0.100,2674,3568,1621
$GC,16290,1.51,225.0,387.8,13.3,783,16296,0.00,2.47,0.00,0.000,6,0.000,0.064,2673,2167,1621
$GC,16606,1.51,225.0,351.4,10.8,799,16611,0.00,2.58,0.00,0.000,4,0.000,0.090,2674,769,1621
$GC,16859,1.51,225.0,320.7,12.4,810,16863,0.00,2.45,0.00,0.000,6,0.000,0.058,2674,2177,1620
$GC,17174,1.51,225.0,286.1,10.9,825,17179,0.00,2.65,0.00,0.000,4,0.000,0.102,2674,3572,1621
$GC,17214,1.51,225.0,281.5,12.3,827,17219,0.00,2.45,0.00,0.000,6,0.000,0.063,2674,2159,1621
$GC,17541,1.51,225.0,243.3,11.6,843,17546,0.00,2.50,0.00,0.000,4,0.000,0.080,2674,773,1621
$GC,17581,1.51,225.0,238.6,10.7,845,17586,0.00,2.40,0.00,0.000,6,0.000,0.057,2674,2176,1621
$GC,17909,1.51,225.0,203.1,11.1,861,17911,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2177,1621
$GC,18218,1.51,225.0,169.8,10.8,876,18223,0.00,2.53,0.00,0.000,4,0.000,0.076,2674,772,1622
$GC,18274,1.51,225.0,163.4,11.6,878,18280,0.00,2.40,0.00,0.000,6,0.000,0.057,2674,2175,1622
$GC,18591,1.51,225.0,130.5,10.2,894,18595,0.00,2.53,0.00,0.000,4,0.000,0.074,2674,769,1623
$GC,18640,1.51,225.0,125.2,10.8,896,18645,0.00,2.40,0.00,0.000,6,0.000,0.058,2674,2171,1624
$GC,18957,1.51,225.0,90.7,11.0,911,18961,0.00,2.65,0.00,0.000,4,0.000,0.105,2674,3568,1624
$GC,19002,1.51,225.0,85.4,11.5,913,19006,0.00,2.42,0.00,0.000,6,0.000,0.062,2674,2168,1625
$GC,19325,1.51,225.0,45.0,15.1,929,19326,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2170,1626
$GC,19635,1.51,225.0,7.2,12.2,944,19639,0.00,2.53,0.00,0.000,4,0.000,0.080,2674,771,1628
$STATE,19653,end climb,SURFACE_DEPTH_REACHED
$STATE,19654,begin surface coast
$FINISH,0.6,1.027500
$STATE,19677,end surface coast,CONTROL_FINISHED_OK
$STATE,19677,begin surface
$SM_CCo,19704,13.20,0.713,0,0,1519,250.21
$SM_GC,2.04,0.00,0.00,13.20,0.000,0.000,0.713,40,2382,1519,-10.58,0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1739
$TCM_TEMP,1.00
$XPDR_PINGS,0
$24V_AH,23.5,5.628
$10V_AH,10.1,2.390
$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,25.825,157.225,319.950,13.200,0.000,32.540,40.769,242.972,8.500,0.000,0.000,32.635,1748.819,15623.048,595.806,1519.694,708.669,33.357,1570.302,0.000,1096.817,0.000,55.691
$DEVICE_MAMPS,181.012,139.594,1385.202,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,921.076,893.433,497.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47479,946
$CFSIZE,254472192,251494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,170208,113937,6133.826,-259.786,50,1.3,50,-6.0