version: 66.02
glider: 14
mission: 3
dive: 51
start: 2 26 108 4 34 3
data:
$ID,14
$MISSION,3
$DIVE,51
$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,577.19092
$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,-132482.75
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,040507,6134.878,-428.313,33,1.5,33,-6.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.9
$GPS2,043309,6134.603,-428.546,15,2.0,15,-6.8
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,ESEC_NW
$TGT_LATLONG,6140.000,-445.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.012,0.234
$KALMAN_X,126558.7,-325.9,-304.4,-196121.6,-288.4
$KALMAN_Y,-52330.6,-98.7,109.4,53504.0,-5398.6
$MHEAD_RNG_PITCHd_Wd,3.9,17581,-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,-60.28,0.000,2,0.000,0.000,36,2320,2640
$GC,97,-1.16,-146.6,3.4,-5.4,3,127,11.48,2.47,-12.62,0.000,4,0.180,0.082,2081,915,3138
$GC,397,-1.16,-146.6,32.6,-8.7,16,401,0.00,2.42,0.00,0.000,6,0.000,0.060,2081,2317,3139
$GC,715,-1.16,-146.6,64.4,-9.9,31,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3139
$GC,1023,-1.16,-146.6,97.3,-10.4,46,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3139
$GC,1332,-1.16,-146.6,127.4,-9.8,61,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3140
$GC,1642,-1.16,-146.6,155.9,-9.3,76,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3140
$GC,1951,-1.16,-146.6,185.0,-9.0,91,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3140
$GC,2260,-1.16,-146.6,211.7,-8.6,106,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3140
$GC,2569,-1.16,-146.6,238.9,-8.9,121,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3140
$GC,2878,-1.16,-146.6,266.5,-9.2,136,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3140
$GC,3188,-1.16,-146.6,293.4,-9.3,151,3192,0.00,2.70,0.00,0.000,4,0.000,0.115,2081,3719,3140
$GC,3243,-1.16,-146.6,299.8,-11.3,153,3250,0.00,2.40,0.00,0.000,6,0.000,0.064,2081,2322,3140
$GC,3559,-1.16,-146.6,330.6,-10.5,169,3564,0.00,2.70,0.00,0.000,4,0.000,0.111,2081,3721,3141
$GC,3604,-1.16,-146.6,335.5,-11.0,171,3608,0.00,2.42,0.00,0.000,6,0.000,0.064,2081,2319,3140
$GC,3925,-1.16,-146.6,364.7,-8.6,187,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2319,3140
$GC,4234,-1.16,-146.6,390.8,-8.8,202,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2319,3140
$GC,4543,-1.16,-146.6,417.9,-8.9,217,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2319,3140
$GC,4853,-1.16,-146.6,445.1,-8.6,232,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3140
$GC,5162,-1.16,-146.6,471.0,-8.6,247,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3140
$GC,5471,-1.16,-146.6,495.9,-8.0,262,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3140
$GC,5781,-1.16,-146.6,521.2,-7.8,277,5785,0.00,2.70,0.00,0.000,4,0.000,0.115,2081,3719,3140
$GC,5836,-1.16,-146.6,525.8,-8.1,279,5842,0.00,2.45,0.00,0.000,6,0.000,0.067,2082,2322,3141
$GC,6152,-1.16,-146.6,549.5,-7.5,295,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2322,3141
$GC,6462,-1.16,-146.6,574.1,-8.4,310,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2318,3141
$GC,6775,-1.16,-146.6,600.1,-8.4,325,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2317,3141
$GC,7080,-1.16,-146.6,625.9,-8.1,340,7084,0.00,2.72,0.00,0.000,4,0.000,0.119,2081,3720,3139
$GC,7142,-1.16,-146.6,631.2,-8.5,343,7147,0.00,2.45,0.00,0.000,6,0.000,0.068,2081,2320,3139
$GC,7469,-1.16,-146.6,656.7,-7.8,359,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2320,3139
$STATE,7507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7507,begin apogee
$GC,7516,-0.32,0.0,659.9,7.8,361,7641,0.90,0.00,121.45,1.110,6,0.101,0.000,2267,2114,2540
$STATE,7641,end apogee,CONTROL_FINISHED_OK
$STATE,7642,begin climb
$GC,7645,1.16,146.6,665.4,0.0,367,7771,1.48,2.72,117.38,1.067,4,0.083,0.106,2591,716,1942
$GC,7800,1.46,329.5,664.7,1.1,374,7958,0.30,2.45,147.23,1.196,6,0.064,0.056,2662,2138,1196
$GC,8286,1.46,329.5,602.7,15.0,398,8290,0.00,2.60,0.00,0.000,4,0.000,0.102,2662,3510,1193
$GC,8473,1.46,329.5,574.1,15.4,406,8477,0.00,2.47,0.00,0.000,6,0.000,0.065,2663,2117,1192
$GC,8790,1.46,329.5,526.0,15.3,421,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2116,1190
$GC,9099,1.46,329.5,479.6,15.4,436,9103,0.00,2.60,0.00,0.000,4,0.000,0.090,2662,714,1189
$GC,9165,1.46,329.5,468.9,16.1,439,9170,0.00,2.40,0.00,0.000,6,0.000,0.056,2662,2121,1189
$GC,9487,1.46,329.5,424.6,14.7,455,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2121,1187
$GC,9796,1.46,329.5,379.1,14.3,470,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2122,1186
$GC,10105,1.46,329.5,333.9,14.2,485,10110,0.00,2.50,0.00,0.000,4,0.000,0.077,2662,715,1186
$GC,10168,1.46,329.5,324.8,14.8,488,10172,0.00,2.40,0.00,0.000,6,0.000,0.056,2662,2127,1186
$GC,10495,1.46,329.5,277.9,14.7,504,10499,0.00,2.58,0.00,0.000,4,0.000,0.097,2662,3510,1186
$GC,10557,1.46,329.5,268.4,15.6,507,10561,0.00,2.40,0.00,0.000,6,0.000,0.062,2662,2113,1186
$GC,10883,1.46,329.5,219.9,14.8,523,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2113,1187
$GC,11192,1.46,329.5,174.1,14.8,538,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2113,1188
$GC,11503,1.46,329.5,127.5,15.2,553,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2113,1188
$GC,11813,1.46,329.5,79.6,15.7,568,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2113,1189
$GC,12121,1.46,329.5,39.3,13.8,583,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2113,1188
$STATE,12345,end climb,SURFACE_DEPTH_REACHED
$STATE,12345,begin surface coast
$FINISH,0.2,1.027503
$STATE,12366,end surface coast,CONTROL_FINISHED_OK
$STATE,12366,begin surface
$SM_CCo,12392,119.47,0.700,0,0,187,577.19
$SM_GC,0.72,0.00,0.00,119.47,0.000,0.000,0.700,36,2333,187,-10.60,0.37,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1718
$TCM_TEMP,1.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,600.1,69.3
$24V_AH,23.6,11.221
$10V_AH,10.1,5.748
$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,25.650,51.275,386.050,119.475,0.000,162.698,283.504,833.515,6.250,0.000,0.000,16.837,1069.974,10020.910,596.264,937.048,1573.683,33.363,1192.024,0.000,658.823,0.000,37.630
$DEVICE_MAMPS,180.245,118.885,1195.753,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.284,555.077,372.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28618,595
$CFSIZE,254472192,249237504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260208,080355,6134.784,-430.845,23,1.5,40,-6.8