version: 66.02
glider: 14
mission: 3
dive: 47
start: 2 25 108 5 36 45
data:
$ID,14
$MISSION,3
$DIVE,47
$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,-132415.06
$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,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
$GPS1,052901,6130.967,-415.468,96,1.2,96,-6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-61.9
$GPS2,053551,6130.893,-415.440,13,1.5,13,-6.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.137,0.190
$KALMAN_X,128504.5,282.3,363.2,-187794.5,-2343.8
$KALMAN_Y,-38251.7,-208.1,-330.9,33119.9,-1000.8
$MHEAD_RNG_PITCHd_Wd,330.9,30976,-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,-60.28,0.000,2,0.000,0.000,37,2326,2740
$GC,97,-1.16,-146.6,4.7,-7.9,3,123,11.52,2.47,-8.45,0.000,4,0.182,0.081,2081,911,3141
$GC,233,-1.16,-146.6,24.2,-9.5,9,237,0.00,2.40,0.00,0.000,6,0.000,0.058,2081,2311,3141
$GC,554,-1.16,-146.6,54.0,-9.5,25,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2311,3141
$GC,864,-1.16,-146.6,83.4,-9.7,40,868,0.00,2.67,0.00,0.000,4,0.000,0.109,2081,3721,3141
$GC,904,-1.16,-146.6,87.3,-10.4,42,908,0.00,2.42,0.00,0.000,6,0.000,0.061,2081,2314,3142
$GC,1231,-1.16,-146.6,119.1,-9.1,58,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2314,3142
$GC,1541,-1.16,-146.6,149.2,-9.8,73,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2313,3143
$GC,1849,-1.16,-146.6,178.1,-9.1,88,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2313,3143
$GC,2158,-1.16,-146.6,206.1,-9.3,103,2163,0.00,2.70,0.00,0.000,4,0.000,0.108,2081,3720,3143
$GC,2222,-1.16,-146.6,211.9,-9.0,106,2226,0.00,2.40,0.00,0.000,6,0.000,0.064,2081,2322,3143
$GC,2549,-1.16,-146.6,241.3,-9.2,122,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2320,3143
$GC,2858,-1.16,-146.6,267.7,-8.0,137,2862,0.00,2.53,0.00,0.000,4,0.000,0.080,2081,911,3144
$GC,2898,-1.16,-146.6,271.1,-8.2,139,2903,0.00,2.40,0.00,0.000,6,0.000,0.060,2081,2319,3144
$GC,3226,-1.16,-146.6,298.8,-7.9,155,3230,0.00,2.70,0.00,0.000,4,0.000,0.116,2081,3721,3144
$GC,3270,-1.16,-146.6,302.5,-7.4,157,3274,0.00,2.42,0.00,0.000,6,0.000,0.064,2081,2320,3144
$GC,3591,-1.16,-146.6,328.0,-7.9,173,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2320,3144
$GC,3901,-1.16,-146.6,351.1,-7.6,188,3906,0.00,2.70,0.00,0.000,4,0.000,0.113,2081,3722,3144
$GC,3974,-1.16,-146.6,357.3,-8.3,191,3978,0.00,2.45,0.00,0.000,6,0.000,0.066,2081,2318,3145
$GC,4291,-1.16,-146.6,383.5,-8.3,206,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3144
$GC,4600,-1.16,-146.6,409.5,-8.3,221,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3144
$GC,4909,-1.16,-146.6,436.8,-8.8,236,4913,0.00,2.70,0.00,0.000,4,0.000,0.114,2081,3720,3144
$GC,4976,-1.16,-146.6,442.8,-8.7,239,4980,0.00,2.45,0.00,0.000,6,0.000,0.067,2081,2320,3144
$GC,5297,-1.16,-146.6,468.6,-7.7,255,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2320,3144
$GC,5606,-1.16,-146.6,491.3,-7.1,270,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2320,3143
$GC,5915,-1.16,-146.6,514.6,-7.5,285,5920,0.00,2.72,0.00,0.000,4,0.000,0.118,2081,3720,3142
$GC,5965,-1.16,-146.6,518.9,-8.6,287,5969,0.00,2.47,0.00,0.000,6,0.000,0.068,2081,2315,3142
$GC,6281,-1.16,-146.6,545.0,-8.5,302,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2309,3141
$GC,6590,-1.16,-146.6,570.2,-8.1,317,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2309,3140
$GC,6900,-1.16,-146.6,593.9,-7.4,332,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2309,3140
$GC,7210,-1.16,-146.6,617.5,-7.7,347,7214,0.00,2.75,0.00,0.000,4,0.000,0.119,2081,3720,3139
$GC,7253,-1.16,-146.6,621.1,-8.2,349,7258,0.00,2.47,0.00,0.000,6,0.000,0.067,2081,2312,3139
$GC,7575,-1.16,-146.6,645.5,-7.6,365,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2312,3138
$GC,7885,-1.16,-146.6,669.6,-7.9,380,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2312,3137
$GC,8193,-1.16,-146.6,694.1,-8.2,395,8198,0.00,2.78,0.00,0.000,4,0.000,0.123,2081,3720,3136
$GC,8237,-1.16,-146.6,698.1,-9.3,397,8242,0.00,2.50,0.00,0.000,6,0.000,0.068,2081,2312,3136
$GC,8560,-1.16,-146.6,725.7,-8.4,413,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2312,3135
$GC,8870,-1.16,-146.6,751.3,-8.4,428,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2310,3134
$GC,9178,-1.16,-146.6,776.2,-8.2,443,9183,0.00,2.78,0.00,0.000,4,0.000,0.121,2081,3721,3134
$GC,9222,-1.16,-146.6,780.2,-9.1,445,9227,0.00,2.47,0.00,0.000,6,0.000,0.067,2081,2310,3133
$GC,9544,-1.16,-146.6,807.9,-8.7,461,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2310,3133
$GC,9854,-1.16,-146.6,834.3,-8.2,476,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2309,3133
$GC,10164,-1.16,-146.6,859.0,-7.7,491,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2309,3132
$GC,10472,-1.16,-146.6,881.7,-7.1,506,10477,0.00,2.72,0.00,0.000,4,0.000,0.114,2081,3720,3131
$GC,10517,-1.16,-146.6,884.9,-7.2,508,10521,0.00,2.42,0.00,0.000,6,0.000,0.062,2081,2318,3131
$GC,10838,-1.16,-146.6,906.3,-6.9,524,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2317,3131
$GC,11147,-1.16,-146.6,928.3,-7.2,539,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3130
$GC,11458,-1.16,-146.6,951.5,-7.7,554,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2315,3128
$GC,11766,-1.16,-146.6,974.1,-7.3,569,11771,0.00,2.70,0.00,0.000,4,0.000,0.110,2081,3721,3129
$GC,11810,-1.16,-146.6,977.4,-7.2,571,11815,0.00,2.42,0.00,0.000,6,0.000,0.059,2081,2307,3128
$STATE,11984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11984,begin apogee
$GC,11992,-0.32,0.0,990.1,7.2,580,12120,0.90,0.00,124.30,1.381,6,0.105,0.000,2265,2120,2540
$STATE,12121,end apogee,CONTROL_FINISHED_OK
$STATE,12121,begin climb
$GC,12125,1.16,146.6,996.7,0.0,586,12255,1.48,2.72,122.57,1.345,4,0.077,0.094,2592,3526,1942
$GC,12475,1.25,201.4,990.0,5.9,603,12531,0.00,2.47,46.78,1.334,6,0.000,0.060,2592,2119,1719
$GC,12846,1.25,201.4,960.2,8.4,621,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2119,1717
$GC,13150,1.25,201.4,932.8,8.9,636,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2119,1717
$GC,13460,1.25,201.4,904.9,8.9,651,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2119,1717
$GC,13769,1.25,201.4,878.1,8.8,666,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2119,1716
$GC,14078,1.25,201.4,851.9,8.4,681,14083,0.00,2.65,0.00,0.000,4,0.000,0.094,2592,3523,1716
$GC,14128,1.25,201.4,847.3,8.5,683,14132,0.00,2.45,0.00,0.000,6,0.000,0.060,2592,2120,1716
$GC,14444,1.25,201.4,820.5,8.2,698,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2121,1716
$GC,14753,1.25,201.4,794.7,8.3,713,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2121,1715
$GC,15062,1.25,201.4,768.4,8.5,728,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2121,1716
$GC,15372,1.25,201.4,742.3,8.2,743,15376,0.00,2.65,0.00,0.000,4,0.000,0.095,2592,3522,1715
$GC,15422,1.25,201.4,737.9,8.1,745,15426,0.00,2.45,0.00,0.000,6,0.000,0.061,2592,2121,1715
$GC,15738,1.25,201.4,712.1,8.4,760,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2121,1715
$GC,16047,1.25,201.4,686.2,8.3,775,16048,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2121,1715
$GC,16357,1.27,212.7,661.6,7.6,790,16373,0.10,2.65,10.60,1.084,4,0.078,0.094,2619,718,1671
$GC,16412,1.27,212.7,656.6,9.1,791,16418,0.00,2.42,0.00,0.000,6,0.000,0.056,2619,2133,1671
$GC,16728,1.27,212.7,628.8,9.2,807,16733,0.00,2.58,0.00,0.000,4,0.000,0.097,2619,3509,1671
$GC,16795,1.27,212.7,622.3,9.4,810,16799,0.00,2.45,0.00,0.000,6,0.000,0.061,2619,2112,1671
$GC,17117,1.27,212.7,592.8,9.3,826,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2112,1671
$GC,17426,1.27,212.7,564.6,9.0,841,17427,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2112,1671
$GC,17735,1.27,212.7,537.0,8.8,856,17736,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2112,1671
$GC,18045,1.27,212.7,509.7,9.0,871,18046,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2112,1670
$GC,18354,1.27,212.7,483.1,8.4,886,18355,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2110,1670
$GC,18663,1.27,212.7,457.0,8.5,901,18667,0.00,2.60,0.00,0.000,4,0.000,0.094,2619,3509,1670
$GC,18780,1.27,212.7,446.0,9.9,906,18784,0.00,2.42,0.00,0.000,6,0.000,0.062,2619,2119,1670
$GC,19097,1.27,215.1,419.4,7.9,921,19101,0.00,2.58,0.00,0.000,4,0.000,0.091,2619,719,1669
$GC,19175,1.27,215.1,412.7,8.4,924,19180,0.00,2.38,0.00,0.000,6,0.000,0.056,2619,2120,1669
$GC,19491,1.29,226.0,390.2,7.6,940,19504,0.00,0.00,11.73,0.998,6,0.000,0.000,2619,2121,1618
$GC,19817,1.29,226.0,360.4,9.7,955,19821,0.00,2.60,0.00,0.000,4,0.000,0.099,2619,3508,1618
$GC,19879,1.29,226.0,354.0,10.1,958,19883,0.00,2.42,0.00,0.000,6,0.000,0.061,2619,2109,1618
$GC,20205,1.29,226.0,323.6,8.5,974,20207,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2109,1617
$GC,20514,1.29,226.0,299.3,8.3,989,20515,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2109,1618
$GC,20824,1.29,226.0,270.9,9.4,1004,20825,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2108,1618
$GC,21133,1.29,226.0,241.8,9.1,1019,21137,0.00,2.60,0.00,0.000,4,0.000,0.090,2619,3515,1618
$GC,21240,1.29,226.0,231.4,9.4,1024,21244,0.00,2.40,0.00,0.000,6,0.000,0.061,2619,2122,1618
$GC,21566,1.29,226.0,203.3,8.2,1040,21568,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2122,1618
$GC,21876,1.29,226.0,176.7,8.3,1055,21880,0.00,2.58,0.00,0.000,4,0.000,0.091,2619,3509,1618
$GC,21942,1.29,226.0,170.5,10.1,1058,21946,0.00,2.42,0.00,0.000,6,0.000,0.062,2619,2116,1618
$GC,22264,1.29,226.0,140.5,9.3,1074,22266,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2116,1619
$GC,22574,1.29,226.0,113.8,8.2,1089,22578,0.00,2.55,0.00,0.000,4,0.000,0.088,2619,717,1620
$GC,22614,1.29,228.1,110.5,7.9,1091,22623,0.00,2.38,4.12,0.601,6,0.000,0.056,2619,2126,1609
$GC,22942,1.29,228.1,79.3,9.8,1107,22943,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2126,1609
$GC,23251,1.29,228.1,49.0,10.7,1122,23252,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2126,1610
$GC,23560,1.29,228.1,20.8,9.1,1137,23564,0.00,2.53,0.00,0.000,4,0.000,0.075,2619,715,1610
$GC,23601,1.29,228.1,17.0,9.8,1139,23605,0.00,2.38,0.00,0.000,6,0.000,0.056,2619,2121,1610
$STATE,23739,end climb,SURFACE_DEPTH_REACHED
$STATE,23739,begin surface coast
$FINISH,0.3,1.015003
$STATE,23782,end surface coast,CONTROL_FINISHED_OK
$STATE,23782,begin surface
$SM_CCo,23807,11.48,0.675,0,0,1519,250.21
$SM_GC,2.51,0.00,0.00,11.48,0.000,0.000,0.675,33,2322,1519,-10.61,0.03,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1730
$TCM_TEMP,1.00
$XPDR_PINGS,0
$24V_AH,23.5,10.556
$10V_AH,10.1,5.419
$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,25.300,127.575,320.100,11.475,0.000,32.541,40.810,183.652,8.750,0.000,0.000,14.615,2053.626,19283.605,513.789,1679.761,696.209,33.365,1575.980,0.000,1204.120,0.000,58.828
$DEVICE_MAMPS,181.779,122.720,1380.600,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.826,1086.868,602.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56821,1148
$CFSIZE,254472192,249401344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,250208,121525,6132.607,-418.348,43,1.2,61,-6.7