version: 66.02
glider: 14
mission: 3
dive: 45
start: 2 24 108 15 43 33
data:
$ID,14
$MISSION,3
$DIVE,45
$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,-132368.48
$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,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
$GPS1,153432,6129.125,-404.770,65,1.1,66,-6.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.7
$GPS2,154239,6129.061,-404.829,11,1.4,11,-6.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.110,0.207
$KALMAN_X,131707.8,-409.1,489.4,-181051.8,-1258.5
$KALMAN_Y,-33362.7,37.1,471.0,23786.6,-2850.1
$MHEAD_RNG_PITCHd_Wd,338.6,40708,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-59.95,0.000,2,0.000,0.000,37,2322,2690
$GC,94,-1.16,-146.6,4.5,-6.6,3,124,11.60,2.53,-9.60,0.000,4,0.183,0.084,2082,915,3140
$GC,344,-1.16,-146.6,32.7,-9.5,14,348,0.00,2.42,0.00,0.000,6,0.000,0.059,2082,2325,3141
$GC,665,-1.16,-146.6,61.5,-9.4,30,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3141
$GC,975,-1.16,-146.6,84.2,-5.7,45,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3142
$GC,1284,-1.16,-146.6,103.3,-6.2,60,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3142
$GC,1595,-1.16,-146.6,128.5,-9.1,75,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3142
$GC,1902,-1.16,-146.6,158.1,-9.4,90,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3143
$GC,2211,-1.16,-146.6,187.3,-10.3,105,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3143
$GC,2520,-1.16,-146.6,218.8,-10.3,120,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3143
$GC,2829,-1.16,-146.6,247.4,-8.7,135,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2324,3143
$GC,3140,-1.16,-146.6,276.8,-9.5,150,3144,0.00,2.70,0.00,0.000,4,0.000,0.117,2082,3721,3143
$GC,3240,-1.16,-146.6,286.2,-9.8,154,3246,0.00,2.42,0.00,0.000,6,0.000,0.064,2082,2321,3144
$GC,3556,-1.16,-146.6,313.2,-8.3,170,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2321,3143
$GC,3866,-1.16,-146.6,337.1,-7.5,185,3870,0.00,2.50,0.00,0.000,4,0.000,0.081,2082,916,3144
$GC,3906,-1.16,-146.6,340.4,-8.2,187,3910,0.00,2.40,0.00,0.000,6,0.000,0.060,2082,2320,3144
$GC,4232,-1.16,-146.6,364.5,-6.5,203,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2320,3144
$GC,4542,-1.16,-146.6,386.4,-7.1,218,4546,0.00,2.72,0.00,0.000,4,0.000,0.122,2082,3720,3144
$GC,4586,-1.16,-146.6,389.8,-7.5,220,4591,0.00,2.42,0.00,0.000,6,0.000,0.064,2082,2320,3144
$GC,4909,-1.16,-146.6,415.0,-8.1,236,4913,0.00,2.72,0.00,0.000,4,0.000,0.115,2082,3723,3144
$GC,4959,-1.16,-146.6,419.0,-7.8,238,4963,0.00,2.45,0.00,0.000,6,0.000,0.066,2082,2319,3144
$GC,5275,-1.16,-146.6,441.9,-7.5,253,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2321,3144
$GC,5584,-1.16,-146.6,464.5,-7.4,268,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2314,3143
$GC,5894,-1.16,-146.6,486.4,-7.0,283,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2314,3142
$GC,6203,-1.16,-146.6,509.0,-7.6,298,6207,0.00,2.70,0.00,0.000,4,0.000,0.117,2082,3720,3142
$GC,6265,-1.16,-146.6,513.9,-8.2,301,6270,0.00,2.45,0.00,0.000,6,0.000,0.068,2082,2318,3141
$GC,6593,-1.16,-146.6,541.6,-8.8,317,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2318,3141
$GC,6902,-1.16,-146.6,567.8,-8.4,332,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2318,3140
$GC,7211,-1.16,-146.6,593.2,-8.2,347,7216,0.00,2.75,0.00,0.000,4,0.000,0.118,2082,3722,3140
$GC,7255,-1.16,-146.6,597.1,-9.0,349,7260,0.00,2.47,0.00,0.000,6,0.000,0.067,2082,2313,3139
$GC,7577,-1.16,-146.6,623.1,-7.9,365,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2313,3138
$GC,7887,-1.16,-146.6,646.9,-7.5,380,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2313,3137
$GC,8196,-1.16,-146.6,669.9,-7.6,395,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2313,3136
$GC,8504,-1.16,-146.6,694.4,-8.0,410,8509,0.00,2.78,0.00,0.000,4,0.000,0.123,2082,3720,3135
$GC,8572,-1.16,-146.6,700.0,-8.6,413,8576,0.00,2.47,0.00,0.000,6,0.000,0.068,2082,2313,3135
$GC,8893,-1.16,-146.6,723.9,-7.2,429,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2314,3134
$GC,9203,-1.16,-146.6,746.6,-7.3,444,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2312,3134
$GC,9512,-1.16,-146.6,767.8,-6.8,459,9516,0.00,2.75,0.00,0.000,4,0.000,0.120,2082,3720,3134
$GC,9552,-1.16,-146.6,770.5,-6.8,461,9557,0.00,2.45,0.00,0.000,6,0.000,0.066,2082,2312,3134
$GC,9880,-1.16,-146.6,792.7,-6.7,477,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2312,3133
$GC,10189,-1.16,-146.6,813.5,-6.6,492,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2312,3133
$GC,10498,-1.16,-146.6,834.5,-6.6,507,10503,0.00,2.75,0.00,0.000,4,0.000,0.117,2082,3722,3132
$GC,10549,-1.16,-146.6,838.1,-7.0,509,10554,0.00,2.45,0.00,0.000,6,0.000,0.064,2082,2313,3132
$GC,10865,-1.16,-146.6,858.3,-6.3,524,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2314,3131
$GC,11175,-1.16,-146.6,876.7,-5.7,539,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2313,3131
$GC,11484,-1.16,-146.6,894.8,-6.0,554,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2312,3130
$GC,11793,-1.16,-146.6,913.6,-6.3,569,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2312,3130
$GC,12102,-1.16,-146.6,934.0,-6.5,584,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2311,3129
$GC,12412,-1.16,-146.6,954.5,-6.6,599,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2306,3128
$GC,12722,-1.16,-146.6,975.5,-7.0,614,12726,0.00,2.72,0.00,0.000,4,0.000,0.113,2082,3724,3128
$GC,12762,-1.16,-146.6,978.5,-7.9,616,12767,0.00,2.42,0.00,0.000,6,0.000,0.061,2082,2311,3128
$STATE,12942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12942,begin apogee
$GC,12950,-0.32,0.0,991.5,7.0,625,13078,0.90,0.00,124.35,1.381,6,0.101,0.000,2268,2114,2540
$STATE,13079,end apogee,CONTROL_FINISHED_OK
$STATE,13079,begin climb
$GC,13083,1.16,146.6,996.9,0.0,631,13213,1.48,2.67,122.53,1.348,4,0.083,0.093,2591,717,1942
$GC,13365,1.24,197.1,993.8,6.1,645,13414,0.00,2.45,43.20,1.335,6,0.000,0.056,2591,2135,1736
$GC,13735,1.26,204.9,965.4,7.7,663,13746,0.10,0.00,8.15,1.212,6,0.077,0.000,2619,2135,1704
$GC,14041,1.26,204.9,938.0,9.1,678,14042,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2136,1704
$GC,14351,1.26,204.9,910.4,9.1,693,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2136,1704
$GC,14660,1.26,204.9,882.9,8.8,708,14661,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2136,1703
$GC,14969,1.26,204.9,854.1,9.4,723,14970,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2137,1704
$GC,15278,1.26,204.9,824.9,9.5,738,15279,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2137,1703
$GC,15588,1.26,204.9,796.4,9.1,753,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2138,1703
$GC,15897,1.26,204.9,768.6,8.7,768,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2139,1703
$GC,16206,1.26,204.9,740.6,9.3,783,16210,0.00,2.60,0.00,0.000,4,0.000,0.084,2618,717,1703
$GC,16256,1.26,204.9,735.6,9.9,785,16260,0.00,2.40,0.00,0.000,6,0.000,0.057,2619,2116,1703
$GC,16572,1.26,204.9,704.8,10.0,800,16573,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2117,1702
$GC,16881,1.26,204.9,674.1,10.1,815,16885,0.00,2.65,0.00,0.000,4,0.000,0.104,2618,3516,1703
$GC,16943,1.26,204.9,667.7,10.1,818,16948,0.00,2.45,0.00,0.000,6,0.000,0.062,2619,2112,1702
$GC,17270,1.26,204.9,635.3,9.7,834,17275,0.00,2.58,0.00,0.000,4,0.000,0.093,2619,719,1702
$GC,17326,1.26,204.9,629.4,10.9,836,17332,0.00,2.40,0.00,0.000,6,0.000,0.057,2619,2123,1702
$GC,17642,1.26,204.9,599.5,9.5,852,17643,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2124,1702
$GC,17951,1.26,204.9,571.4,9.1,867,17956,0.00,2.62,0.00,0.000,4,0.000,0.103,2618,3512,1702
$GC,18006,1.26,204.9,566.1,10.0,869,18012,0.00,2.42,0.00,0.000,6,0.000,0.061,2619,2121,1702
$GC,18322,1.26,204.9,538.4,8.8,885,18326,0.00,2.58,0.00,0.000,4,0.000,0.091,2619,721,1702
$GC,18384,1.26,204.9,532.6,9.1,888,18389,0.00,2.38,0.00,0.000,6,0.000,0.057,2619,2124,1702
$GC,18711,1.26,204.9,503.1,9.2,904,18713,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2124,1702
$GC,19021,1.26,204.9,475.8,8.4,919,19022,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2124,1702
$GC,19330,1.26,204.9,449.6,8.2,934,19331,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2125,1702
$GC,19639,1.26,204.9,423.3,8.7,949,19644,0.00,2.60,0.00,0.000,4,0.000,0.100,2619,3509,1702
$GC,19718,1.26,204.9,416.3,8.8,952,19723,0.00,2.42,0.00,0.000,6,0.000,0.061,2619,2116,1702
$GC,20034,1.27,212.7,391.9,7.7,968,20047,0.00,2.67,7.78,0.950,4,0.000,0.094,2619,3510,1672
$GC,20206,1.32,242.0,377.7,6.9,975,20236,0.00,2.42,24.17,0.949,6,0.000,0.062,2618,2123,1553
$GC,20568,1.32,242.0,346.4,9.2,993,20569,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2123,1552
$GC,20874,1.32,242.0,319.6,8.2,1008,20878,0.00,2.60,0.00,0.000,4,0.000,0.093,2619,3512,1552
$GC,20969,1.32,242.0,311.2,8.5,1012,20973,0.00,2.45,0.00,0.000,6,0.000,0.062,2619,2115,1552
$GC,21285,1.32,242.0,284.6,8.8,1027,21286,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2115,1552
$GC,21594,1.32,242.0,255.6,9.8,1042,21598,0.00,2.55,0.00,0.000,4,0.000,0.090,2619,719,1552
$GC,21656,1.32,242.0,249.0,11.5,1045,21660,0.00,2.38,0.00,0.000,6,0.000,0.056,2619,2121,1552
$GC,21984,1.32,242.0,219.3,8.7,1061,21988,0.00,2.55,0.00,0.000,4,0.000,0.080,2619,714,1552
$GC,22080,1.32,242.0,210.3,8.8,1065,22084,0.00,2.38,0.00,0.000,6,0.000,0.055,2619,2120,1552
$GC,22396,1.32,242.0,181.7,9.6,1080,22397,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2120,1551
$GC,22705,1.32,242.0,151.4,9.7,1095,22706,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2120,1552
$GC,23016,1.32,242.0,120.8,9.8,1110,23020,0.00,2.58,0.00,0.000,4,0.000,0.097,2619,3510,1552
$GC,23060,1.32,242.0,116.2,9.5,1112,23064,0.00,2.42,0.00,0.000,6,0.000,0.061,2619,2112,1553
$GC,23382,1.32,242.0,85.0,10.1,1128,23383,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2112,1553
$GC,23691,1.32,242.0,55.0,9.1,1143,23692,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2112,1554
$GC,24000,1.32,242.0,24.3,10.9,1158,24001,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2112,1555
$STATE,24204,end climb,SURFACE_DEPTH_REACHED
$STATE,24204,begin surface coast
$FINISH,0.4,1.027539
$STATE,24225,end surface coast,CONTROL_FINISHED_OK
$STATE,24225,begin surface
$SM_CCo,24250,5.80,0.624,0,0,1519,250.21
$SM_GC,2.51,0.00,0.00,5.80,0.000,0.000,0.624,42,2322,1519,-10.57,0.06,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1743
$TCM_TEMP,0.50
$XPDR_PINGS,0
$24V_AH,23.5,10.264
$10V_AH,10.1,5.210
$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,25.300,117.375,330.175,5.800,0.000,32.540,37.254,275.120,8.500,0.000,0.000,12.569,2076.867,19653.850,512.195,1715.788,784.727,33.371,1585.314,0.000,1223.640,0.000,55.936
$DEVICE_MAMPS,183.313,122.720,1380.600,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.080,1106.838,619.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56887,1169
$CFSIZE,254472192,249536512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240208,222930,6130.111,-411.181,42,1.5,60,-6.7