version: 66.02
glider: 14
mission: 3
dive: 11
start: 2 15 108 20 40 40
data:
$ID,14
$MISSION,3
$DIVE,11
$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,330
$T_MISSION,360
$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,-131630.86
$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,2380
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,32
$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
$GPS1,202437,6132.263,-246.021,36,1.1,42,-5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.5
$GPS2,203945,6132.161,-245.229,12,1.2,12,-5.9
$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,37024.5,-920.0,871.5,-16061.7,7414.6
$KALMAN_Y,565.7,-495.5,594.3,-3982.1,-1351.8
$MHEAD_RNG_PITCHd_Wd,289.4,342495,-17.8,-10.000
$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,-1.38,-146.6,0.0,0.0,0,112,0.00,0.00,-78.47,0.000,6,0.000,0.000,34,2312,3139
$GC,117,-1.38,-146.6,7.6,-9.9,4,133,11.35,2.42,0.00,0.000,4,0.183,0.066,2036,972,3141
$GC,247,-1.38,-146.6,36.0,-14.1,9,252,0.00,2.42,0.00,0.000,6,0.000,0.061,2036,2366,3143
$GC,575,-1.38,-146.6,74.3,-10.8,25,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3144
$GC,884,-1.38,-146.6,105.4,-10.3,40,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3144
$GC,1193,-1.38,-146.6,136.8,-10.5,55,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3145
$GC,1502,-1.38,-146.6,170.6,-10.6,70,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3145
$GC,1811,-1.38,-146.6,206.0,-11.9,85,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3145
$GC,2121,-1.38,-146.6,240.5,-11.2,100,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3146
$GC,2430,-1.38,-146.6,273.7,-10.5,115,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2367,3146
$GC,2739,-1.38,-146.6,305.5,-10.5,130,2743,0.00,2.50,0.00,0.000,4,0.000,0.073,2036,968,3146
$GC,2772,-1.38,-146.6,309.2,-11.1,131,2777,0.00,2.45,0.00,0.000,6,0.000,0.062,2036,2379,3146
$GC,3088,-1.38,-146.6,342.2,-10.3,147,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2378,3146
$GC,3397,-1.38,-146.6,373.5,-10.2,162,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2378,3146
$GC,3706,-1.38,-146.6,408.4,-11.2,177,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2378,3146
$GC,4016,-1.38,-146.6,441.9,-10.8,192,4020,0.00,2.53,0.00,0.000,4,0.000,0.077,2036,976,3147
$GC,4055,-1.38,-146.6,446.3,-11.2,194,4060,0.00,2.47,0.00,0.000,6,0.000,0.065,2036,2381,3147
$GC,4382,-1.38,-146.6,481.1,-10.5,210,4386,0.00,2.85,0.00,0.000,4,0.000,0.140,2036,3785,3147
$GC,4467,-1.38,-146.6,490.5,-11.4,214,4471,0.00,2.47,0.00,0.000,6,0.000,0.072,2036,2383,3147
$GC,4795,-1.38,-146.6,526.0,-10.4,230,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2383,3146
$GC,5103,-1.38,-146.6,556.4,-9.8,245,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2383,3145
$GC,5412,-1.38,-146.6,586.1,-9.4,260,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2383,3145
$GC,5721,-1.38,-146.6,615.9,-9.5,275,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2383,3143
$GC,6031,-1.38,-146.6,646.2,-10.0,290,6035,0.00,2.62,0.00,0.000,4,0.000,0.097,2036,976,3141
$GC,6071,-1.38,-146.6,650.4,-10.9,292,6075,0.00,2.47,0.00,0.000,6,0.000,0.066,2036,2380,3141
$GC,6398,-1.38,-146.6,681.5,-9.4,308,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2380,3139
$GC,6707,-1.38,-146.6,709.9,-9.0,323,6711,0.00,2.58,0.00,0.000,4,0.000,0.084,2036,973,3139
$GC,6740,-1.38,-146.6,713.1,-9.4,324,6746,0.00,2.50,0.00,0.000,6,0.000,0.066,2036,2382,3139
$GC,7056,-1.38,-146.6,741.7,-9.2,340,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2382,3138
$GC,7365,-1.38,-146.6,770.2,-9.1,355,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2382,3136
$GC,7675,-1.38,-146.6,800.4,-10.2,370,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2382,3135
$GC,7984,-1.38,-146.6,831.1,-9.8,385,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2382,3135
$GC,8293,-1.38,-146.6,862.6,-10.2,400,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2382,3133
$GC,8602,-1.38,-146.6,894.9,-10.4,415,8607,0.00,2.58,0.00,0.000,4,0.000,0.081,2036,970,3133
$GC,8636,-1.38,-146.6,898.6,-10.5,416,8641,0.00,2.47,0.00,0.000,6,0.000,0.064,2036,2383,3133
$GC,8952,-1.38,-146.6,930.7,-10.1,432,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2383,3132
$GC,9261,-1.38,-146.6,961.1,-9.5,447,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2384,3131
$GC,9571,-1.38,-146.6,989.7,-9.0,462,9574,0.00,1.85,0.00,0.000,3,0.000,0.074,2036,1336,3130
$STATE,9575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9575,begin apogee
$GC,9585,-0.32,0.0,990.3,9.0,462,9712,1.08,0.00,123.30,1.396,6,0.113,0.000,2265,2180,2540
$STATE,9712,end apogee,CONTROL_FINISHED_OK
$STATE,9712,begin climb
$GC,9716,1.38,146.6,996.2,0.0,468,9847,1.67,2.75,122.53,1.359,4,0.072,0.112,2644,3568,1942
$GC,10116,1.45,187.5,982.9,8.1,486,10157,0.00,2.53,35.50,1.338,6,0.000,0.067,2644,2160,1775
$GC,10476,1.47,201.0,949.6,9.4,504,10492,0.00,0.00,12.70,1.265,6,0.000,0.000,2644,2160,1719
$GC,10802,1.48,204.8,917.2,9.8,520,10809,0.00,0.00,5.18,0.992,6,0.000,0.000,2643,2160,1704
$GC,11112,1.48,205.1,886.3,10.0,535,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2160,1704
$GC,11421,1.49,215.0,856.1,9.5,550,11432,0.00,0.00,10.00,1.174,6,0.000,0.000,2644,2160,1663
$GC,11730,1.49,215.0,825.2,10.1,565,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2160,1662
$GC,12039,1.49,215.0,793.3,10.0,580,12044,0.00,2.72,0.00,0.000,4,0.000,0.104,2644,3568,1662
$GC,12079,1.50,219.1,789.2,9.8,582,12089,0.00,2.47,4.95,0.942,6,0.000,0.067,2644,2168,1647
$GC,12405,1.50,222.8,756.4,9.8,598,12413,0.12,0.00,4.95,0.929,6,0.074,0.000,2675,2168,1631
$GC,12714,1.50,222.8,723.6,10.5,613,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2168,1631
$GC,13024,1.50,223.1,691.6,10.0,628,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2167,1630
$GC,13333,1.51,223.3,660.9,10.0,643,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2168,1631
$GC,13642,1.53,237.3,631.6,9.3,658,13661,0.00,0.00,13.30,1.105,6,0.000,0.000,2675,2168,1572
$GC,13971,1.53,237.3,597.8,10.5,674,13976,0.00,2.62,0.00,0.000,4,0.000,0.097,2675,765,1571
$GC,14038,1.53,237.3,590.0,11.6,677,14043,0.00,2.47,0.00,0.000,6,0.000,0.060,2675,2169,1571
$GC,14360,1.53,237.3,551.8,12.4,693,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2170,1571
$GC,14669,1.53,237.3,514.3,11.6,708,14673,0.00,2.70,0.00,0.000,4,0.000,0.114,2675,3567,1570
$GC,14736,1.53,237.3,506.2,11.5,711,14740,0.00,2.47,0.00,0.000,6,0.000,0.067,2675,2171,1570
$GC,15056,1.53,237.3,467.7,12.9,727,15061,0.00,2.62,0.00,0.000,4,0.000,0.096,2675,766,1570
$GC,15123,1.53,237.3,458.7,12.9,730,15128,0.00,2.45,0.00,0.000,6,0.000,0.060,2675,2169,1570
$GC,15446,1.53,237.3,421.6,10.8,746,15450,0.00,2.60,0.00,0.000,4,0.000,0.085,2675,768,1570
$GC,15546,1.53,237.3,409.4,11.7,750,15552,0.00,2.45,0.00,0.000,6,0.000,0.059,2675,2173,1570
$GC,15862,1.53,237.3,375.9,10.6,766,15867,0.00,2.67,0.00,0.000,4,0.000,0.106,2675,3572,1569
$GC,15963,1.53,238.8,365.2,9.9,770,15969,0.00,2.47,0.00,0.000,6,0.000,0.064,2675,2167,1569
$GC,16280,1.54,244.9,334.4,9.7,786,16293,0.00,2.65,7.70,0.923,4,0.000,0.087,2675,770,1540
$GC,16324,1.54,244.9,329.6,10.3,788,16329,0.00,2.42,0.00,0.000,6,0.000,0.057,2675,2173,1540
$GC,16652,1.55,254.4,295.9,9.6,804,16663,0.00,0.00,9.55,0.917,6,0.000,0.000,2675,2173,1501
$GC,16961,1.55,254.4,261.9,11.6,819,16965,0.00,2.55,0.00,0.000,4,0.000,0.077,2675,770,1501
$GC,17045,1.55,254.4,251.5,11.3,823,17049,0.00,2.40,0.00,0.000,6,0.000,0.057,2675,2174,1502
$GC,17372,1.55,254.4,211.0,11.6,839,17373,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2174,1502
$GC,17681,1.55,254.4,175.0,12.7,854,17682,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2174,1503
$GC,17991,1.55,254.4,131.9,13.8,869,17995,0.00,2.55,0.00,0.000,4,0.000,0.077,2675,767,1504
$GC,18054,1.55,254.4,122.6,14.8,872,18058,0.00,2.40,0.00,0.000,6,0.000,0.058,2675,2176,1504
$GC,18383,1.55,254.4,78.3,14.4,888,18387,0.00,2.60,0.00,0.000,4,0.000,0.100,2675,3565,1505
$GC,18460,1.55,254.4,67.5,12.5,891,18467,0.00,2.45,0.00,0.000,6,0.000,0.061,2675,2160,1505
$GC,18778,1.55,254.4,27.8,13.9,907,18782,0.00,2.50,0.00,0.000,4,0.000,0.077,2675,769,1506
$GC,18851,1.55,254.4,16.1,16.4,910,18855,0.00,2.40,0.00,0.000,6,0.000,0.057,2675,2172,1506
$STATE,18937,end climb,SURFACE_DEPTH_REACHED
$STATE,18937,begin surface coast
$FINISH,0.5,1.027381
$STATE,18959,end surface coast,CONTROL_FINISHED_OK
$STATE,18960,begin surface
$SM_CCo,19045,0.00,0.000,0,0,1505,253.89
$SM_GC,1.44,11.57,0.00,0.00,0.060,0.000,0.000,42,2394,1505,-10.52,0.40,253.89
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1737
$TCM_TEMP,2.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.6
$24V_AH,23.5,4.682
$10V_AH,10.1,1.852
$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,25.800,99.950,349.650,0.000,0.000,130.163,190.139,281.888,9.500,0.000,0.000,13.629,1646.401,15477.222,521.035,1357.747,957.342,33.354,1385.602,0.000,980.904,0.000,57.567
$DEVICE_MAMPS,182.546,140.361,1395.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,892.925,864.933,467.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47455,915
$CFSIZE,254472192,251904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,160208,015908,6131.315,-246.844,27,1.4,27,-5.9