version: 66.02
glider: 14
mission: 3
dive: 8
start: 2 15 108 10 19 52
data:
$ID,14
$MISSION,3
$DIVE,8
$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,-131562.83
$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,20
$R_STBD_OVSHOOT,27
$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
$GPS1,101308,6133.389,-253.149,40,1.3,40,-6.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-57.1
$GPS2,101857,6133.371,-252.829,14,1.3,14,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.226,0.120
$KALMAN_X,21703.7,181.0,405.3,-8080.0,4050.0
$KALMAN_Y,1425.2,57.8,9.6,-2573.9,-1526.5
$MHEAD_RNG_PITCHd_Wd,304.0,335698,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.38,-146.6,0.0,0.0,0,90,0.00,0.00,-60.35,0.000,2,0.000,0.000,38,2323,2550
$GC,94,-1.38,-146.6,3.2,-4.9,3,126,11.25,2.60,-14.80,0.000,4,0.182,0.089,2036,892,3138
$GC,292,-1.38,-146.6,30.4,-8.7,12,297,0.00,2.45,0.00,0.000,6,0.000,0.061,2036,2298,3138
$GC,621,-1.38,-146.6,65.9,-10.7,28,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2298,3139
$GC,929,-1.38,-146.6,98.7,-10.8,43,934,0.00,2.70,0.00,0.000,4,0.000,0.110,2036,3702,3141
$GC,980,-1.38,-146.6,104.2,-10.6,45,984,0.00,2.45,0.00,0.000,6,0.000,0.062,2035,2296,3140
$GC,1297,-1.38,-146.6,137.0,-10.7,60,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2295,3140
$GC,1605,-1.38,-146.6,168.3,-9.7,75,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2296,3141
$GC,1914,-1.38,-146.6,199.7,-10.3,90,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2296,3141
$GC,2223,-1.38,-146.6,231.8,-10.7,105,2228,0.00,2.72,0.00,0.000,4,0.000,0.112,2035,3702,3142
$GC,2263,-1.38,-146.6,236.1,-10.7,107,2268,0.00,2.45,0.00,0.000,6,0.000,0.066,2036,2297,3142
$GC,2591,-1.38,-146.6,269.2,-10.1,123,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2297,3142
$GC,2900,-1.38,-146.6,301.0,-10.6,138,2905,0.00,2.72,0.00,0.000,4,0.000,0.113,2036,3705,3142
$GC,2940,-1.38,-146.6,305.2,-10.8,140,2945,0.00,2.47,0.00,0.000,6,0.000,0.067,2036,2294,3142
$GC,3267,-1.38,-146.6,339.1,-10.5,156,3272,0.00,2.55,0.00,0.000,4,0.000,0.084,2035,889,3142
$GC,3301,-1.38,-146.6,343.0,-11.0,157,3306,0.00,2.45,0.00,0.000,6,0.000,0.061,2036,2301,3142
$GC,3617,-1.38,-146.6,375.2,-10.2,173,3622,0.00,2.72,0.00,0.000,4,0.000,0.120,2036,3702,3143
$GC,3682,-1.38,-146.6,381.4,-10.1,176,3686,0.00,2.45,0.00,0.000,6,0.000,0.067,2036,2300,3143
$GC,4010,-1.38,-146.6,411.9,-9.3,192,4014,0.00,2.58,0.00,0.000,4,0.000,0.087,2036,893,3143
$GC,4060,-1.38,-146.6,416.9,-9.3,194,4064,0.00,2.47,0.00,0.000,6,0.000,0.062,2036,2302,3143
$GC,4376,-1.38,-146.6,447.0,-9.4,209,4380,0.00,2.75,0.00,0.000,4,0.000,0.127,2036,3702,3143
$GC,4460,-1.38,-146.6,455.3,-10.0,213,4465,0.00,2.47,0.00,0.000,6,0.000,0.071,2036,2302,3143
$GC,4788,-1.38,-146.6,487.3,-9.9,229,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2302,3143
$GC,5097,-1.38,-146.6,518.4,-10.2,244,5101,0.00,2.78,0.00,0.000,4,0.000,0.124,2036,3703,3142
$GC,5141,-1.38,-146.6,523.0,-10.3,246,5145,0.00,2.50,0.00,0.000,6,0.000,0.073,2036,2300,3142
$GC,5462,-1.38,-146.6,553.5,-9.2,262,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2300,3140
$GC,5772,-1.38,-146.6,580.9,-9.1,277,5776,0.00,2.80,0.00,0.000,4,0.000,0.128,2036,3702,3139
$GC,5812,-1.38,-146.6,584.6,-9.4,279,5816,0.00,2.50,0.00,0.000,6,0.000,0.075,2037,2301,3140
$STATE,5991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,6000,-0.32,0.0,601.1,9.1,288,6123,1.12,0.00,119.25,1.103,6,0.108,0.000,2265,2190,2540
$STATE,6123,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6127,1.38,146.6,606.6,0.0,294,6255,1.70,2.78,118.25,1.050,4,0.073,0.107,2645,793,1942
$GC,6526,1.48,210.2,592.8,7.0,313,6588,0.00,2.50,52.65,1.168,6,0.000,0.062,2645,2212,1683
$GC,6902,1.48,210.2,554.8,10.4,331,6907,0.00,2.65,0.00,0.000,4,0.000,0.084,2645,796,1682
$GC,6987,1.48,210.2,544.4,11.4,335,6992,0.00,2.50,0.00,0.000,6,0.000,0.061,2645,2208,1682
$GC,7315,1.49,213.9,511.2,9.8,351,7321,0.00,0.00,4.22,0.805,6,0.000,0.000,2645,2208,1668
$GC,7625,1.50,218.7,480.8,9.8,366,7636,0.00,2.67,6.10,0.952,4,0.000,0.087,2645,797,1647
$GC,7692,1.50,218.7,473.9,10.4,369,7696,0.00,2.50,0.00,0.000,6,0.000,0.061,2645,2208,1647
$GC,8013,1.51,223.4,442.5,9.8,385,8021,0.10,0.00,5.12,0.871,6,0.077,0.000,2671,2208,1629
$GC,8322,1.51,223.4,409.6,10.5,400,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,1628
$GC,8631,1.51,223.4,377.9,10.6,415,8636,0.00,2.62,0.00,0.000,4,0.000,0.084,2671,789,1626
$GC,8739,1.51,223.4,366.2,11.0,420,8743,0.00,2.45,0.00,0.000,6,0.000,0.060,2671,2202,1625
$GC,9066,1.51,223.4,333.0,10.5,436,9070,0.00,2.60,0.00,0.000,4,0.000,0.081,2671,788,1625
$GC,9110,1.51,223.4,327.8,11.0,438,9114,0.00,2.47,0.00,0.000,6,0.000,0.059,2671,2211,1625
$GC,9431,1.51,223.4,291.7,11.2,454,9435,0.00,2.60,0.00,0.000,4,0.000,0.079,2671,789,1624
$GC,9508,1.51,223.4,282.2,11.6,457,9514,0.00,2.45,0.00,0.000,6,0.000,0.059,2671,2203,1624
$GC,9824,1.51,223.4,246.6,11.5,473,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,1624
$GC,10134,1.51,223.4,212.3,11.0,488,10138,0.00,2.55,0.00,0.000,4,0.000,0.077,2671,794,1624
$GC,10174,1.51,223.4,207.8,11.1,490,10178,0.00,2.42,0.00,0.000,6,0.000,0.058,2671,2202,1624
$GC,10501,1.51,223.4,171.7,11.2,506,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,1625
$GC,10811,1.51,229.2,139.8,9.7,521,10819,0.00,0.00,5.95,0.723,6,0.000,0.000,2671,2203,1605
$GC,11121,1.51,229.2,107.0,10.7,536,11126,0.00,2.55,0.00,0.000,4,0.000,0.075,2671,793,1606
$GC,11171,1.51,229.2,100.8,11.9,538,11176,0.00,2.42,0.00,0.000,6,0.000,0.058,2671,2202,1605
$GC,11490,1.52,232.0,65.7,9.9,553,11499,0.00,2.55,4.25,0.588,4,0.000,0.075,2671,793,1594
$GC,11631,1.52,232.0,44.5,14.8,559,11636,0.00,2.42,0.00,0.000,6,0.000,0.058,2671,2198,1594
$STATE,11944,end climb,SURFACE_DEPTH_REACHED
$STATE,11944,begin surface coast
$FINISH,1.8,1.027410
$STATE,11969,end surface coast,CONTROL_FINISHED_OK
$STATE,11969,begin surface
$SM_CCo,11994,34.95,0.718,0,0,1317,300.00
$SM_GC,1.50,0.00,0.00,34.95,0.000,0.000,0.718,35,2306,1317,-10.60,0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.021476
$HUMID,1791
$TCM_TEMP,2.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.9
$24V_AH,23.6,4.291
$10V_AH,10.1,1.646
$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,25.700,97.650,315.800,34.950,0.000,32.540,40.259,149.681,5.000,0.000,0.000,16.284,1103.425,9308.875,503.487,976.993,496.225,33.376,1134.793,0.000,704.469,0.000,33.309
$DEVICE_MAMPS,181.779,128.089,1168.141,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.770,542.384,367.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28569,575
$CFSIZE,254472192,252096512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,150208,134157,6133.491,-251.926,36,2.2,55,-6.0