version: 66.02
glider: 14
mission: 3
dive: 7
start: 2 15 108 6 52 56
data:
$ID,14
$MISSION,3
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,240
$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,300
$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,-131545.92
$T_RSLEEP,12
$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,2300
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,21
$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,20
$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
$GPS1,064638,6134.633,-255.438,31,1.3,31,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-57.6
$GPS2,065159,6134.654,-255.064,11,2.8,30,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.249,-0.060
$KALMAN_X,16060.7,480.1,789.9,-5124.4,6135.1
$KALMAN_Y,2595.4,120.7,477.4,-1904.4,545.2
$MHEAD_RNG_PITCHd_Wd,262.3,333598,-17.8,-10.000
$D_GRID,600
$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,23,begin dive
$GC,27,-1.38,-146.6,0.0,0.0,0,109,0.00,0.00,-79.97,0.000,2,0.000,0.000,38,2177,3101
$GC,114,-1.38,-146.6,4.5,-5.4,4,136,11.27,2.33,-0.70,0.000,4,0.183,0.081,2034,899,3142
$GC,231,-1.38,-146.6,33.1,-13.9,9,235,0.00,2.45,0.00,0.000,6,0.000,0.062,2034,2301,3143
$GC,554,-1.38,-146.6,67.4,-10.5,25,558,0.00,2.67,0.00,0.000,4,0.000,0.108,2034,3703,3143
$GC,594,-1.38,-146.6,71.9,-10.3,27,599,0.00,2.40,0.00,0.000,6,0.000,0.061,2034,2312,3143
$GC,922,-1.38,-146.6,107.4,-11.2,43,926,0.00,2.65,0.00,0.000,4,0.000,0.103,2034,3703,3144
$GC,972,-1.38,-146.6,113.1,-10.8,45,976,0.00,2.45,0.00,0.000,6,0.000,0.064,2034,2301,3144
$GC,1288,-1.38,-146.6,147.1,-10.9,60,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2301,3144
$GC,1597,-1.38,-146.6,181.7,-11.2,75,1602,0.00,2.70,0.00,0.000,4,0.000,0.107,2034,3706,3145
$GC,1641,-1.38,-146.6,186.8,-10.9,77,1645,0.00,2.47,0.00,0.000,6,0.000,0.065,2034,2292,3145
$GC,1962,-1.38,-146.6,222.5,-10.9,93,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2292,3145
$GC,2271,-1.38,-146.6,255.2,-10.2,108,2276,0.00,2.72,0.00,0.000,4,0.000,0.110,2034,3703,3145
$GC,2298,-1.38,-146.6,258.2,-10.5,109,2303,0.00,2.47,0.00,0.000,6,0.000,0.067,2034,2294,3145
$GC,2614,-1.38,-146.6,290.1,-10.1,124,2619,0.00,2.72,0.00,0.000,4,0.000,0.110,2034,3705,3145
$GC,2670,-1.38,-146.6,296.2,-11.3,126,2675,0.00,2.50,0.00,0.000,6,0.000,0.068,2034,2295,3145
$GC,2985,-1.38,-146.6,328.7,-10.1,142,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2295,3146
$GC,3295,-1.38,-146.6,359.8,-10.0,157,3299,0.00,2.72,0.00,0.000,4,0.000,0.115,2034,3702,3146
$GC,3344,-1.38,-146.6,365.2,-10.3,159,3349,0.00,2.47,0.00,0.000,6,0.000,0.071,2034,2299,3146
$GC,3660,-1.38,-146.6,396.4,-10.1,174,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2300,3146
$GC,3971,-1.38,-146.6,426.4,-9.8,189,3975,0.00,2.72,0.00,0.000,4,0.000,0.120,2034,3702,3147
$GC,4055,-1.38,-146.6,434.7,-9.7,193,4060,0.00,2.50,0.00,0.000,6,0.000,0.074,2034,2293,3146
$GC,4383,-1.38,-146.6,465.0,-9.0,209,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2293,3145
$GC,4692,-1.38,-146.6,493.1,-9.2,224,4697,0.00,2.80,0.00,0.000,4,0.000,0.125,2035,3705,3144
$GC,4770,-1.38,-146.6,500.8,-10.1,227,4775,0.00,2.53,0.00,0.000,6,0.000,0.075,2034,2301,3143
$GC,5086,-1.38,-146.6,529.8,-9.2,243,5090,0.00,2.80,0.00,0.000,4,0.000,0.129,2034,3705,3142
$GC,5126,-1.38,-146.6,533.5,-9.9,245,5130,0.00,2.53,0.00,0.000,6,0.000,0.076,2034,2293,3141
$GC,5453,-1.38,-146.6,562.9,-9.1,261,5458,0.00,2.80,0.00,0.000,4,0.000,0.128,2034,3702,3140
$GC,5494,-1.38,-146.6,566.5,-9.1,263,5498,0.00,2.50,0.00,0.000,6,0.000,0.076,2034,2301,3140
$GC,5821,-1.38,-146.6,596.2,-8.9,279,5825,0.00,2.80,0.00,0.000,4,0.000,0.130,2034,3702,3140
$GC,5848,-1.38,-146.6,598.6,-9.6,280,5852,0.00,2.53,0.00,0.000,6,0.000,0.076,2035,2295,3140
$STATE,5874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5874,begin apogee
$GC,5882,-0.32,0.0,600.9,9.0,281,6005,1.15,0.00,119.60,1.095,6,0.110,0.000,2268,2195,2540
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6010,1.38,146.6,605.7,0.0,287,6136,1.70,2.83,117.50,1.056,4,0.077,0.115,2645,3603,1942
$GC,6408,1.47,203.3,592.4,7.4,305,6462,0.00,2.58,46.83,1.206,6,0.000,0.077,2645,2196,1711
$GC,6794,1.48,205.1,554.5,9.9,324,6799,0.00,2.78,0.00,0.000,4,0.000,0.113,2645,3602,1710
$GC,6849,1.48,205.1,548.0,10.9,326,6855,0.00,2.58,0.00,0.000,6,0.000,0.074,2645,2195,1709
$GC,7165,1.51,225.7,517.8,9.0,342,7187,0.10,0.00,18.98,1.083,6,0.079,0.000,2671,2196,1619
$GC,7494,1.51,225.7,482.0,11.0,358,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1617
$GC,7803,1.51,225.7,449.7,10.3,373,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2195,1616
$GC,8113,1.51,225.7,416.8,10.7,388,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,1615
$GC,8422,1.51,225.7,384.2,10.4,403,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,1614
$GC,8731,1.51,225.7,349.8,11.3,418,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,1613
$GC,9041,1.51,225.7,316.2,10.9,433,9045,0.00,2.72,0.00,0.000,4,0.000,0.105,2671,3605,1612
$GC,9203,1.51,225.7,297.8,12.2,440,9207,0.00,2.53,0.00,0.000,6,0.000,0.070,2671,2193,1613
$GC,9518,1.51,225.7,261.6,11.9,455,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2193,1612
$GC,9828,1.51,225.7,226.5,11.4,470,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2193,1612
$GC,10137,1.51,225.7,192.8,11.1,485,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2193,1612
$GC,10446,1.51,225.7,158.4,11.2,500,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2193,1612
$GC,10756,1.51,225.7,124.2,11.1,515,10761,0.00,2.65,0.00,0.000,4,0.000,0.097,2671,3604,1613
$GC,10802,1.51,225.7,118.9,11.5,517,10806,0.00,2.47,0.00,0.000,6,0.000,0.066,2671,2196,1613
$GC,11124,1.51,225.7,83.8,10.5,533,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2196,1613
$GC,11435,1.51,229.0,51.8,9.8,548,11439,0.00,2.62,0.00,0.000,4,0.000,0.091,2671,3604,1614
$GC,11520,1.51,229.0,41.8,11.5,552,11524,0.00,2.45,0.00,0.000,6,0.000,0.064,2671,2199,1614
$STATE,11844,end climb,SURFACE_DEPTH_REACHED
$STATE,11844,begin surface coast
$FINISH,1.2,1.027414
$STATE,11870,end surface coast,CONTROL_FINISHED_OK
$STATE,11870,begin surface
$SM_CCo,11895,37.05,0.759,0,0,1316,300.00
$SM_GC,1.30,0.00,0.00,37.05,0.000,0.000,0.759,38,2325,1316,-10.59,0.71,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1791
$TCM_TEMP,2.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$24V_AH,23.6,4.174
$10V_AH,10.1,1.585
$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,25.775,88.800,302.900,37.050,0.000,32.536,41.413,117.100,5.500,0.000,0.000,32.663,1078.065,9277.709,493.314,968.341,453.721,33.333,1098.740,0.000,676.990,0.000,38.682
$DEVICE_MAMPS,182.546,130.390,1205.724,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,546.015,526.412,367.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28551,569
$CFSIZE,254472192,252145664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,150208,101308,6133.389,-253.149,40,1.3,40,-6.0