version: 66.02
glider: 14
mission: 3
dive: 13
start: 2 16 108 7 49 46
data:
$ID,14
$MISSION,3
$DIVE,13
$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,-131662.44
$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,30
$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
$GPS1,073407,6130.007,-247.134,37,1.9,42,-5.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.2
$GPS2,074851,6130.035,-246.463,13,1.9,13,-5.9
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,0.147
$KALMAN_X,45962.8,-885.2,127.0,-25360.1,5706.2
$KALMAN_Y,-3322.2,-238.2,804.3,-4502.0,-3030.6
$MHEAD_RNG_PITCHd_Wd,310.9,341712,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-60.45,0.000,2,0.000,0.000,37,2392,2884
$GC,97,-1.38,-146.6,5.5,-10.0,3,120,11.27,2.53,-4.88,0.000,4,0.180,0.081,2033,981,3139
$GC,189,-1.38,-146.6,27.4,-16.0,7,194,0.00,2.40,0.00,0.000,6,0.000,0.061,2033,2371,3139
$GC,516,-1.38,-146.6,67.9,-14.8,23,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2371,3140
$GC,826,-1.38,-146.6,104.9,-10.8,38,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2371,3140
$GC,1135,-1.38,-146.6,137.2,-9.6,53,1139,0.00,2.47,0.00,0.000,4,0.000,0.071,2033,978,3141
$GC,1186,-1.38,-146.6,142.2,-10.5,55,1190,0.00,2.42,0.00,0.000,6,0.000,0.062,2033,2377,3141
$GC,1502,-1.38,-146.6,174.7,-10.5,70,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3141
$GC,1811,-1.38,-146.6,206.1,-10.1,85,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,2120,-1.38,-146.6,236.3,-9.7,100,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,2430,-1.38,-146.6,266.3,-9.7,115,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,2739,-1.38,-146.6,295.0,-9.5,130,2743,0.00,2.47,0.00,0.000,4,0.000,0.073,2033,982,3142
$GC,2794,-1.38,-146.6,300.8,-10.0,132,2799,0.00,2.42,0.00,0.000,6,0.000,0.063,2033,2379,3142
$GC,3110,-1.38,-146.6,333.1,-9.8,148,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3142
$GC,3420,-1.38,-146.6,363.3,-10.0,163,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3142
$GC,3729,-1.38,-146.6,393.2,-9.5,178,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3142
$GC,4038,-1.38,-146.6,426.2,-11.1,193,4043,0.00,2.53,0.00,0.000,4,0.000,0.075,2033,977,3142
$GC,4072,-1.38,-146.6,430.4,-12.1,194,4077,0.00,2.45,0.00,0.000,6,0.000,0.065,2033,2379,3142
$GC,4388,-1.38,-146.6,465.8,-11.2,210,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3143
$GC,4697,-1.38,-146.6,496.7,-9.4,225,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2379,3142
$GC,5007,-1.38,-146.6,525.4,-9.1,240,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2379,3143
$GC,5315,-1.38,-146.6,554.9,-10.2,255,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3142
$GC,5624,-1.38,-146.6,588.9,-11.2,270,5629,0.00,2.55,0.00,0.000,4,0.000,0.082,2033,982,3142
$GC,5687,-1.38,-146.6,595.8,-10.8,273,5691,0.00,2.45,0.00,0.000,6,0.000,0.066,2033,2386,3141
$GC,6015,-1.38,-146.6,627.1,-9.2,289,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2386,3141
$GC,6324,-1.38,-146.6,656.1,-9.6,304,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2386,3140
$GC,6633,-1.38,-146.6,685.8,-9.7,319,6637,0.00,2.58,0.00,0.000,4,0.000,0.084,2033,978,3138
$GC,6688,-1.38,-146.6,691.7,-11.0,321,6694,0.00,2.50,0.00,0.000,6,0.000,0.067,2033,2384,3138
$GC,7004,-1.38,-146.6,723.6,-10.1,337,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3137
$GC,7314,-1.38,-146.6,753.3,-9.4,352,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3135
$GC,7623,-1.38,-146.6,780.5,-8.6,367,7627,0.00,2.55,0.00,0.000,4,0.000,0.081,2033,982,3134
$GC,7667,-1.38,-146.6,784.5,-9.4,369,7672,0.00,2.47,0.00,0.000,6,0.000,0.065,2033,2384,3134
$GC,7989,-1.38,-146.6,810.7,-8.0,385,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3133
$GC,8298,-1.38,-146.6,835.9,-7.9,400,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3131
$GC,8608,-1.38,-146.6,861.5,-8.3,415,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3130
$GC,8917,-1.38,-146.6,888.3,-8.6,430,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3130
$GC,9226,-1.38,-146.6,914.6,-8.5,445,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2384,3128
$GC,9535,-1.38,-146.6,939.8,-8.1,460,9540,0.00,2.55,0.00,0.000,4,0.000,0.080,2033,975,3127
$GC,9586,-1.38,-146.6,944.1,-8.8,462,9590,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2383,3127
$GC,9902,-1.38,-146.6,970.3,-8.3,477,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3126
$STATE,10125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10125,begin apogee
$GC,10134,-0.32,0.0,990.1,8.9,488,10260,1.15,0.00,122.55,1.386,6,0.110,0.000,2267,2160,2540
$STATE,10261,end apogee,CONTROL_FINISHED_OK
$STATE,10261,begin climb
$GC,10264,1.38,146.6,995.0,0.0,494,10396,1.70,2.80,122.62,1.348,4,0.080,0.110,2644,3572,1942
$GC,10607,1.45,188.9,984.5,8.0,510,10652,0.00,2.53,36.97,1.333,6,0.000,0.067,2644,2171,1769
$GC,10965,1.45,188.9,950.2,10.1,528,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2172,1769
$GC,11272,1.45,188.9,918.9,10.0,543,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2172,1768
$GC,11581,1.45,188.9,887.4,10.1,558,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2171,1767
$GC,11890,1.45,188.9,855.2,10.4,573,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2170,1766
$GC,12200,1.45,188.9,824.1,10.1,588,12204,0.00,2.72,0.00,0.000,4,0.000,0.108,2644,3573,1766
$GC,12249,1.45,188.9,819.0,10.4,590,12254,0.00,2.50,0.00,0.000,6,0.000,0.065,2644,2169,1766
$GC,12565,1.45,188.9,787.5,10.2,605,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,1766
$GC,12874,1.45,188.9,755.9,10.4,620,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,1766
$GC,13184,1.45,190.9,724.5,9.9,635,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2169,1766
$GC,13493,1.46,197.2,693.7,9.7,650,13506,0.00,2.70,7.93,1.052,4,0.000,0.096,2644,769,1735
$GC,13565,1.46,197.2,686.0,11.2,653,13569,0.00,2.47,0.00,0.000,6,0.000,0.060,2644,2181,1735
$GC,13886,1.47,203.1,654.2,9.7,669,13899,0.00,2.70,6.65,0.989,4,0.000,0.085,2644,767,1711
$GC,13963,1.47,203.1,646.0,10.4,672,13967,0.00,2.47,0.00,0.000,6,0.000,0.061,2644,2174,1711
$GC,14279,1.49,211.2,615.5,9.6,687,14292,0.00,2.75,8.12,1.014,4,0.000,0.113,2644,3567,1679
$GC,14395,1.49,211.6,603.7,10.0,692,14400,0.00,2.50,0.00,0.000,6,0.000,0.068,2644,2169,1678
$GC,14717,1.50,221.2,573.4,9.6,708,14732,0.10,2.65,9.65,1.017,4,0.080,0.095,2670,768,1638
$GC,14766,1.50,221.2,568.0,11.2,709,14771,0.00,2.47,0.00,0.000,6,0.000,0.060,2670,2175,1638
$GC,15082,1.50,221.2,534.3,10.6,724,15086,0.00,2.70,0.00,0.000,4,0.000,0.112,2670,3567,1637
$GC,15171,1.50,221.2,523.9,10.6,728,15175,0.00,2.50,0.00,0.000,6,0.000,0.067,2670,2164,1637
$GC,15492,1.52,232.8,492.4,9.5,744,15505,0.00,0.00,10.82,1.002,6,0.000,0.000,2670,2163,1590
$GC,15824,1.52,232.8,456.0,11.1,760,15828,0.00,2.60,0.00,0.000,4,0.000,0.094,2670,768,1589
$GC,16098,1.52,232.8,422.6,11.8,772,16102,0.00,2.42,0.00,0.000,6,0.000,0.058,2670,2173,1588
$GC,16414,1.52,232.8,386.3,11.5,787,16418,0.00,2.58,0.00,0.000,4,0.000,0.081,2670,763,1588
$GC,16463,1.52,232.8,380.3,12.2,789,16468,0.00,2.42,0.00,0.000,6,0.000,0.057,2670,2174,1588
$GC,16779,1.52,232.8,346.5,10.7,804,16783,0.00,2.55,0.00,0.000,4,0.000,0.077,2670,766,1588
$GC,16829,1.52,232.8,340.4,12.0,806,16833,0.00,2.42,0.00,0.000,6,0.000,0.057,2670,2173,1588
$GC,17145,1.52,232.8,304.0,11.5,821,17146,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2173,1589
$GC,17455,1.52,232.8,269.5,11.1,836,17459,0.00,2.53,0.00,0.000,4,0.000,0.075,2670,764,1590
$GC,17517,1.52,232.8,262.1,10.7,839,17521,0.00,2.40,0.00,0.000,6,0.000,0.058,2670,2169,1590
$GC,17844,1.52,232.8,225.5,11.3,855,17848,0.00,2.53,0.00,0.000,4,0.000,0.074,2670,764,1591
$GC,17883,1.52,232.8,220.4,12.2,857,17888,0.00,2.40,0.00,0.000,6,0.000,0.058,2670,2173,1591
$GC,18211,1.52,232.8,178.8,12.4,873,18212,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2174,1592
$GC,18520,1.52,232.8,143.6,11.1,888,18522,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2174,1593
$GC,18830,1.52,232.8,106.5,12.6,903,18834,0.00,2.53,0.00,0.000,4,0.000,0.074,2670,759,1594
$GC,18875,1.52,232.8,100.7,12.1,905,18880,0.00,2.42,0.00,0.000,6,0.000,0.058,2670,2174,1594
$GC,19197,1.52,232.8,62.1,11.8,921,19199,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2174,1595
$GC,19508,1.52,232.8,24.6,12.4,936,19509,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2174,1596
$STATE,19647,end climb,SURFACE_DEPTH_REACHED
$STATE,19648,begin surface coast
$FINISH,0.4,1.027353
$STATE,19670,end surface coast,CONTROL_FINISHED_OK
$STATE,19670,begin surface
$SM_CCo,19695,9.68,0.655,0,0,1519,250.21
$SM_GC,2.65,0.00,0.00,9.68,0.000,0.000,0.655,36,2391,1519,-10.60,0.31,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1720
$TCM_TEMP,3.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,17.2
$24V_AH,23.5,4.980
$10V_AH,10.1,2.029
$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,25.700,106.825,325.325,9.675,0.000,97.620,124.982,381.663,9.250,0.000,0.000,14.996,1708.382,15974.840,489.238,1423.227,995.739,33.350,1394.442,0.000,1026.035,0.000,57.568
$DEVICE_MAMPS,180.245,112.749,1385.969,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,915.988,889.869,485.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47437,944
$CFSIZE,254472192,251768832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,160208,132007,6130.805,-250.550,76,1.7,76,-6.0