version: 66.02
glider: 14
mission: 3
dive: 12
start: 2 16 108 2 6 51
data:
$ID,14
$MISSION,3
$DIVE,12
$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,-131646.81
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,015908,6131.315,-246.844,27,1.4,27,-5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-60.7
$GPS2,020556,6131.290,-246.491,8,1.5,13,-5.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.239,-0.093
$KALMAN_X,42487.5,-553.2,-1325.5,-20804.8,10101.8
$KALMAN_Y,-1031.5,-124.6,-1055.3,-2727.2,1437.2
$MHEAD_RNG_PITCHd_Wd,254.7,341508,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-57.58,0.000,2,0.000,0.000,42,2396,2776
$GC,94,-1.38,-146.6,4.9,-8.7,3,119,11.25,2.65,-7.35,0.000,4,0.181,0.117,2035,3761,3140
$GC,153,-1.38,-146.6,18.0,-10.2,5,160,0.00,2.38,0.00,0.000,6,0.000,0.061,2034,2383,3141
$GC,470,-1.38,-146.6,53.8,-10.1,21,474,0.00,2.53,0.00,0.000,4,0.000,0.074,2034,974,3142
$GC,519,-1.38,-146.6,59.6,-11.3,23,524,0.00,2.40,0.00,0.000,6,0.000,0.061,2035,2358,3142
$GC,837,-1.38,-146.6,96.4,-11.6,38,842,0.00,2.78,0.00,0.000,4,0.000,0.116,2034,3784,3142
$GC,878,-1.38,-146.6,101.0,-10.6,40,882,0.00,2.42,0.00,0.000,6,0.000,0.062,2034,2381,3142
$GC,1206,-1.38,-146.6,135.7,-10.0,56,1210,0.00,2.53,0.00,0.000,4,0.000,0.075,2034,976,3142
$GC,1250,-1.38,-146.6,140.1,-8.7,58,1255,0.00,2.45,0.00,0.000,6,0.000,0.061,2035,2380,3142
$GC,1572,-1.38,-146.6,173.0,-10.2,74,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3142
$GC,1881,-1.38,-146.6,202.3,-9.1,89,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3143
$GC,2190,-1.38,-146.6,233.0,-10.5,104,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3143
$GC,2499,-1.38,-146.6,268.1,-11.5,119,2504,0.00,2.53,0.00,0.000,4,0.000,0.073,2035,975,3143
$GC,2527,-1.38,-146.6,271.4,-12.2,120,2531,0.00,2.45,0.00,0.000,6,0.000,0.061,2034,2384,3143
$GC,2843,-1.38,-146.6,306.3,-10.9,135,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2384,3143
$GC,3152,-1.38,-146.6,341.2,-11.1,150,3156,0.00,2.53,0.00,0.000,4,0.000,0.075,2034,976,3144
$GC,3196,-1.38,-146.6,346.2,-11.3,152,3200,0.00,2.45,0.00,0.000,6,0.000,0.063,2035,2379,3144
$GC,3517,-1.38,-146.6,382.3,-11.2,168,3521,0.00,2.53,0.00,0.000,4,0.000,0.074,2034,979,3144
$GC,3544,-1.38,-146.6,385.5,-12.5,169,3548,0.00,2.45,0.00,0.000,6,0.000,0.064,2035,2378,3144
$GC,3860,-1.38,-146.6,419.3,-10.5,184,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2380,3145
$GC,4169,-1.38,-146.6,452.7,-10.6,199,4173,0.00,2.80,0.00,0.000,4,0.000,0.131,2035,3785,3145
$GC,4247,-1.38,-146.6,460.7,-9.9,202,4252,0.00,2.45,0.00,0.000,6,0.000,0.067,2035,2382,3144
$GC,4563,-1.38,-146.6,491.2,-10.0,218,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2382,3145
$GC,4873,-1.38,-146.6,522.8,-9.7,233,4877,0.00,2.75,0.00,0.000,4,0.000,0.121,2034,3785,3145
$GC,4937,-1.38,-146.6,529.0,-9.8,236,4942,0.00,2.47,0.00,0.000,6,0.000,0.071,2034,2378,3145
$GC,5265,-1.38,-146.6,559.6,-9.7,252,5269,0.00,2.60,0.00,0.000,4,0.000,0.091,2035,970,3145
$GC,5337,-1.38,-146.6,566.7,-9.4,255,5341,0.00,2.47,0.00,0.000,6,0.000,0.064,2034,2384,3145
$GC,5653,-1.38,-146.6,596.4,-9.4,270,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2384,3145
$GC,5963,-1.38,-146.6,625.1,-9.3,285,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2385,3144
$GC,6272,-1.38,-146.6,653.5,-9.2,300,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2385,3143
$GC,6581,-1.38,-146.6,682.1,-9.3,315,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2385,3142
$GC,6890,-1.38,-146.6,710.5,-9.2,330,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2385,3140
$GC,7200,-1.38,-146.6,738.7,-9.0,345,7204,0.00,2.60,0.00,0.000,4,0.000,0.085,2035,974,3139
$GC,7244,-1.38,-146.6,743.3,-9.8,347,7248,0.00,2.50,0.00,0.000,6,0.000,0.066,2034,2380,3139
$GC,7566,-1.38,-146.6,771.3,-8.5,363,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3138
$GC,7874,-1.38,-146.6,798.5,-9.0,378,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3137
$GC,8185,-1.38,-146.6,826.2,-8.9,393,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2380,3136
$GC,8493,-1.38,-146.6,854.0,-8.9,408,8498,0.00,2.58,0.00,0.000,4,0.000,0.081,2035,970,3135
$GC,8538,-1.38,-146.6,858.4,-9.6,410,8542,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2381,3134
$GC,8860,-1.38,-146.6,887.4,-9.0,426,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3132
$GC,9169,-1.38,-146.6,916.3,-9.6,441,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2381,3131
$GC,9479,-1.38,-146.6,945.3,-9.3,456,9483,0.00,2.58,0.00,0.000,4,0.000,0.080,2034,974,3130
$GC,9512,-1.38,-146.6,948.6,-9.7,457,9517,0.00,2.50,0.00,0.000,6,0.000,0.064,2035,2386,3130
$GC,9828,-1.38,-146.6,978.0,-9.4,473,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2387,3129
$STATE,9968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9968,begin apogee
$GC,9977,-0.32,0.0,991.4,9.1,480,10104,1.15,0.00,123.15,1.390,6,0.110,0.000,2267,2151,2540
$STATE,10105,end apogee,CONTROL_FINISHED_OK
$STATE,10105,begin climb
$GC,10108,1.38,146.6,997.1,0.0,486,10240,1.67,2.83,122.57,1.352,4,0.074,0.109,2641,3573,1941
$GC,10458,1.43,173.4,987.3,8.7,503,10487,0.00,2.50,24.17,1.335,6,0.000,0.067,2641,2168,1832
$GC,10807,1.45,191.0,956.8,9.2,520,10825,0.00,0.00,16.15,1.303,6,0.000,0.000,2641,2168,1761
$GC,11134,1.46,197.3,925.2,9.7,536,11147,0.00,2.72,6.82,1.120,4,0.000,0.092,2641,766,1735
$GC,11183,1.47,200.8,920.1,9.8,538,11193,0.00,2.50,4.53,0.915,6,0.000,0.059,2641,2177,1721
$GC,11504,1.47,203.4,888.1,9.9,553,11510,0.00,0.00,4.28,0.893,6,0.000,0.000,2641,2177,1710
$GC,11813,1.47,203.4,857.2,10.1,568,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2179,1709
$GC,12122,1.47,203.4,825.5,10.3,583,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2179,1708
$GC,12432,1.47,203.4,794.1,10.1,598,12436,0.00,2.62,0.00,0.000,4,0.000,0.085,2641,769,1708
$GC,12516,1.47,203.4,785.1,10.5,602,12520,0.00,2.47,0.00,0.000,6,0.000,0.061,2641,2172,1708
$GC,12843,1.49,216.4,753.9,9.4,618,12857,0.10,0.00,11.88,1.169,6,0.081,0.000,2666,2173,1657
$GC,13153,1.49,216.4,721.7,10.8,633,13157,0.00,2.62,0.00,0.000,4,0.000,0.085,2666,765,1656
$GC,13216,1.49,216.4,714.8,11.2,636,13220,0.00,2.47,0.00,0.000,6,0.000,0.061,2666,2170,1655
$GC,13543,1.49,216.4,679.8,10.8,652,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2172,1656
$GC,13852,1.49,216.4,648.2,10.1,667,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2172,1655
$GC,14161,1.49,216.4,616.3,10.6,682,14165,0.00,2.72,0.00,0.000,4,0.000,0.115,2666,3568,1655
$GC,14200,1.49,216.4,611.7,12.0,684,14205,0.00,2.47,0.00,0.000,6,0.000,0.068,2666,2170,1655
$GC,14528,1.49,216.4,577.1,10.4,700,14532,0.00,2.72,0.00,0.000,4,0.000,0.109,2666,3572,1655
$GC,14560,1.49,216.4,573.2,10.6,701,14566,0.00,2.50,0.00,0.000,6,0.000,0.067,2666,2165,1655
$GC,14876,1.49,216.4,539.6,10.6,717,14880,0.00,2.62,0.00,0.000,4,0.000,0.096,2666,766,1654
$GC,15028,1.49,216.4,522.3,10.8,724,15032,0.00,2.45,0.00,0.000,6,0.000,0.061,2666,2172,1654
$GC,15354,1.49,216.4,486.7,10.1,740,15359,0.00,2.70,0.00,0.000,4,0.000,0.110,2666,3572,1654
$GC,15630,1.50,222.1,458.1,9.7,752,15641,0.00,2.47,5.95,0.926,6,0.000,0.066,2666,2167,1634
$GC,15951,1.50,222.1,424.0,11.7,768,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2167,1634
$GC,16260,1.50,222.1,388.9,11.3,783,16264,0.00,2.65,0.00,0.000,4,0.000,0.098,2666,3568,1634
$GC,16293,1.50,222.1,384.8,11.8,784,16298,0.00,2.47,0.00,0.000,6,0.000,0.064,2666,2164,1634
$GC,16608,1.50,222.1,349.5,11.2,800,16609,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2164,1634
$GC,16918,1.50,222.1,314.6,11.7,815,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2164,1635
$GC,17227,1.50,222.1,277.8,12.0,830,17231,0.00,2.58,0.00,0.000,4,0.000,0.091,2666,770,1636
$GC,17271,1.50,222.1,272.1,11.5,832,17275,0.00,2.40,0.00,0.000,6,0.000,0.057,2664,2174,1636
$GC,17592,1.50,222.1,231.9,12.4,848,17596,0.00,2.60,0.00,0.000,4,0.000,0.095,2666,3568,1636
$GC,17641,1.50,222.1,225.6,11.7,850,17646,0.00,2.45,0.00,0.000,6,0.000,0.062,2666,2158,1637
$GC,17957,1.50,222.1,190.2,11.2,865,17958,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2161,1638
$GC,18267,1.50,222.1,154.9,11.5,880,18271,0.00,2.53,0.00,0.000,4,0.000,0.084,2666,772,1638
$GC,18306,1.50,222.1,149.9,13.4,882,18311,0.00,2.38,0.00,0.000,6,0.000,0.057,2665,2176,1638
$GC,18636,1.50,222.1,110.2,12.2,898,18640,0.00,2.53,0.00,0.000,4,0.000,0.073,2666,768,1640
$GC,18669,1.50,222.1,105.4,13.0,899,18675,0.00,2.42,0.00,0.000,6,0.000,0.058,2666,2177,1640
$GC,18987,1.50,222.1,65.7,13.1,915,18991,0.00,2.53,0.00,0.000,4,0.000,0.074,2666,770,1641
$GC,19009,1.50,222.1,62.8,11.4,916,19013,0.00,2.40,0.00,0.000,6,0.000,0.058,2666,2174,1641
$GC,19330,1.50,222.1,24.8,11.6,932,19335,0.00,2.50,0.00,0.000,4,0.000,0.072,2666,772,1641
$GC,19358,1.50,222.1,20.5,15.0,933,19362,0.00,2.38,0.00,0.000,6,0.000,0.061,2666,2169,1641
$STATE,19490,end climb,SURFACE_DEPTH_REACHED
$STATE,19490,begin surface coast
$FINISH,0.7,1.027363
$STATE,19512,end surface coast,CONTROL_FINISHED_OK
$STATE,19512,begin surface
$SM_CCo,19537,15.23,0.703,0,0,1519,250.21
$SM_GC,2.44,0.00,0.00,15.23,0.000,0.000,0.703,35,2390,1519,-10.59,0.28,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1726
$TCM_TEMP,3.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,23.5,4.823
$10V_AH,10.1,1.938
$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,25.525,142.825,319.500,15.225,0.000,32.542,38.951,194.714,8.750,0.000,0.000,15.323,1731.062,15611.925,518.491,1444.814,659.236,33.345,1449.833,0.000,1044.420,0.000,57.595
$DEVICE_MAMPS,181.012,131.157,1389.804,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,916.180,891.878,491.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47327,941
$CFSIZE,254472192,251826176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,160208,073407,6130.007,-247.134,37,1.9,42,-5.9