version: 66.02
glider: 14
mission: 3
dive: 10
start: 2 15 108 17 9 11
data:
$ID,14
$MISSION,3
$DIVE,10
$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,-131616.61
$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,23
$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,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
$GPS1,170239,6133.315,-249.126,26,2.0,27,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-58.9
$GPS2,170814,6133.342,-248.822,12,1.7,29,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.225,-0.121
$KALMAN_X,32512.0,-1012.2,-328.2,-13422.3,6898.7
$KALMAN_Y,2102.7,-897.4,306.3,-2652.0,1188.0
$MHEAD_RNG_PITCHd_Wd,247.8,339207,-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,28,-1.38,-146.6,0.0,0.0,0,109,0.00,0.00,-79.78,0.000,2,0.000,0.000,39,2309,3109
$GC,114,-1.38,-146.6,6.8,-8.9,4,129,11.43,0.00,-0.50,0.000,6,0.183,0.000,2035,2308,3141
$GC,440,-1.38,-146.6,56.8,-11.3,20,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2308,3143
$GC,748,-1.38,-146.6,91.2,-11.0,35,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2308,3143
$GC,1057,-1.38,-146.6,125.3,-10.7,50,1062,0.00,2.65,0.00,0.000,4,0.000,0.106,2035,3697,3144
$GC,1108,-1.38,-146.6,131.0,-10.5,52,1112,0.00,2.42,0.00,0.000,6,0.000,0.062,2035,2299,3145
$GC,1424,-1.38,-146.6,164.3,-10.4,67,1428,0.00,2.50,0.00,0.000,4,0.000,0.076,2034,894,3145
$GC,1451,-1.38,-146.6,167.6,-11.5,68,1455,0.00,2.42,0.00,0.000,6,0.000,0.059,2035,2295,3145
$GC,1767,-1.38,-146.6,201.3,-10.7,83,1772,0.00,2.70,0.00,0.000,4,0.000,0.113,2035,3705,3146
$GC,1823,-1.38,-146.6,207.8,-11.2,85,1829,0.00,2.42,0.00,0.000,6,0.000,0.064,2036,2301,3146
$GC,2139,-1.38,-146.6,241.5,-10.7,101,2143,0.00,2.53,0.00,0.000,4,0.000,0.078,2035,888,3146
$GC,2167,-1.38,-146.6,244.9,-12.0,102,2171,0.00,2.42,0.00,0.000,6,0.000,0.059,2035,2302,3146
$GC,2483,-1.38,-146.6,277.3,-9.7,117,2488,0.00,2.70,0.00,0.000,4,0.000,0.114,2035,3702,3146
$GC,2524,-1.38,-146.6,281.3,-9.7,119,2528,0.00,2.45,0.00,0.000,6,0.000,0.065,2035,2295,3147
$GC,2851,-1.38,-146.6,311.0,-9.0,135,2855,0.00,2.70,0.00,0.000,4,0.000,0.109,2035,3699,3146
$GC,2901,-1.38,-146.6,315.8,-9.6,137,2905,0.00,2.45,0.00,0.000,6,0.000,0.066,2035,2302,3146
$GC,3217,-1.38,-146.6,347.6,-10.6,152,3221,0.00,2.70,0.00,0.000,4,0.000,0.111,2035,3699,3146
$GC,3249,-1.38,-146.6,351.1,-10.6,153,3255,0.00,2.47,0.00,0.000,6,0.000,0.067,2035,2297,3146
$GC,3566,-1.38,-146.6,382.5,-9.6,169,3570,0.00,2.72,0.00,0.000,4,0.000,0.114,2035,3699,3146
$GC,3632,-1.38,-146.6,389.2,-9.5,172,3637,0.00,2.47,0.00,0.000,6,0.000,0.069,2035,2299,3146
$GC,3954,-1.38,-146.6,420.2,-9.5,188,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2299,3146
$GC,4264,-1.38,-146.6,450.6,-10.1,203,4268,0.00,2.72,0.00,0.000,4,0.000,0.116,2035,3699,3146
$GC,4364,-1.38,-146.6,461.1,-10.0,207,4370,0.00,2.50,0.00,0.000,6,0.000,0.073,2035,2299,3146
$GC,4680,-1.38,-146.6,494.0,-10.2,223,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2299,3146
$GC,4990,-1.38,-146.6,523.6,-9.0,238,4994,0.00,2.78,0.00,0.000,4,0.000,0.123,2035,3702,3146
$GC,5040,-1.38,-146.6,528.5,-9.9,240,5044,0.00,2.53,0.00,0.000,6,0.000,0.074,2035,2294,3146
$GC,5356,-1.38,-146.6,557.1,-8.7,255,5361,0.00,2.80,0.00,0.000,4,0.000,0.128,2035,3699,3145
$GC,5429,-1.38,-146.6,563.8,-9.6,258,5433,0.00,2.53,0.00,0.000,6,0.000,0.076,2035,2302,3145
$GC,5745,-1.38,-146.6,593.0,-9.5,273,5749,0.00,2.80,0.00,0.000,4,0.000,0.130,2035,3698,3144
$STATE,5814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5814,begin apogee
$GC,5825,-0.32,0.0,600.4,9.7,276,5949,1.10,0.00,120.60,1.116,6,0.107,0.000,2262,2198,2540
$STATE,5950,end apogee,CONTROL_FINISHED_OK
$STATE,5950,begin climb
$GC,5954,1.38,146.6,606.3,0.0,282,6081,1.73,2.78,117.25,1.064,4,0.077,0.106,2646,789,1942
$GC,6357,1.50,221.8,596.9,6.5,301,6426,0.00,2.53,62.12,1.162,6,0.000,0.063,2647,2208,1635
$GC,6750,1.51,228.9,560.1,9.7,320,6760,0.10,0.00,7.28,0.981,6,0.079,0.000,2673,2208,1606
$GC,7059,1.51,228.9,527.6,10.8,335,7064,0.00,2.72,0.00,0.000,4,0.000,0.114,2673,3601,1605
$GC,7122,1.51,228.9,520.6,11.4,338,7127,0.00,2.53,0.00,0.000,6,0.000,0.072,2673,2197,1603
$GC,7448,1.51,228.9,484.7,11.2,354,7453,0.00,2.65,0.00,0.000,4,0.000,0.096,2673,792,1603
$GC,7544,1.51,228.9,473.2,12.1,358,7548,0.00,2.50,0.00,0.000,6,0.000,0.061,2673,2200,1602
$GC,7859,1.51,228.9,437.4,11.6,373,7864,0.00,2.72,0.00,0.000,4,0.000,0.114,2673,3599,1601
$GC,7983,1.51,228.9,421.9,13.1,378,7988,0.00,2.50,0.00,0.000,6,0.000,0.069,2673,2198,1601
$GC,8298,1.51,228.9,384.3,12.1,394,8303,0.00,2.62,0.00,0.000,4,0.000,0.094,2673,797,1600
$GC,8361,1.51,228.9,376.7,11.8,397,8365,0.00,2.45,0.00,0.000,6,0.000,0.059,2673,2201,1599
$GC,8688,1.51,228.9,337.8,11.8,413,8692,0.00,2.67,0.00,0.000,4,0.000,0.107,2673,3600,1598
$GC,8810,1.51,228.9,322.5,12.2,418,8816,0.00,2.47,0.00,0.000,6,0.000,0.066,2673,2197,1598
$GC,9126,1.51,228.9,285.1,11.6,434,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,1598
$GC,9435,1.51,228.9,249.8,11.2,449,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,1598
$GC,9744,1.51,228.9,216.7,10.3,464,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,1598
$GC,10054,1.51,228.9,184.2,11.2,479,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,1599
$GC,10364,1.51,228.9,147.1,11.7,494,10368,0.00,2.65,0.00,0.000,4,0.000,0.095,2672,3600,1600
$GC,10449,1.51,228.9,136.2,12.4,498,10454,0.00,2.45,0.00,0.000,6,0.000,0.064,2673,2202,1600
$GC,10777,1.51,228.9,101.1,10.7,514,10781,0.00,2.58,0.00,0.000,4,0.000,0.087,2673,792,1600
$GC,10864,1.51,228.9,90.5,12.6,518,10868,0.00,2.40,0.00,0.000,6,0.000,0.057,2673,2206,1600
$GC,11192,1.51,228.9,48.8,13.0,534,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,1601
$GC,11500,1.51,228.9,10.7,14.1,549,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2206,1602
$STATE,11559,end climb,SURFACE_DEPTH_REACHED
$STATE,11559,begin surface coast
$FINISH,0.4,1.017852
$STATE,11582,end surface coast,CONTROL_FINISHED_OK
$STATE,11582,begin surface
$SM_CCo,11607,35.65,0.718,0,0,1316,300.00
$SM_GC,0.90,0.00,0.00,35.65,0.000,0.000,0.718,34,2311,1316,-10.61,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1760
$TCM_TEMP,2.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.2
$24V_AH,23.6,4.521
$10V_AH,10.1,1.764
$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,25.850,103.500,307.250,35.650,0.000,32.541,34.634,130.753,5.000,0.000,0.000,33.781,1069.217,8974.485,503.334,977.300,466.713,33.351,1130.761,0.000,697.399,0.000,33.310
$DEVICE_MAMPS,183.313,130.390,1162.005,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.859,515.903,353.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28555,553
$CFSIZE,254472192,252006400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,150208,202437,6132.263,-246.021,36,1.1,42,-5.9