version: 66.02
glider: 14
mission: 3
dive: 14
start: 2 16 108 13 27 28
data:
$ID,14
$MISSION,3
$DIVE,14
$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,-131675.73
$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,25
$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
$GPS1,132007,6130.805,-250.550,76,1.7,76,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.1
$GPS2,132633,6130.843,-250.336,11,1.8,11,-6.0
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.256,-0.015
$KALMAN_X,48212.5,-1403.3,-846.9,-29532.3,6424.1
$KALMAN_Y,-3778.7,148.7,-557.8,-1590.9,183.6
$MHEAD_RNG_PITCHd_Wd,272.7,338210,-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,-146.6,0.0,0.0,0,92,0.00,0.00,-59.58,0.000,2,0.000,0.000,36,2393,2877
$GC,96,-1.38,-146.6,5.6,-9.5,3,119,11.27,2.55,-4.90,0.000,4,0.180,0.081,2033,972,3140
$GC,188,-1.38,-146.6,26.0,-11.8,7,193,0.00,2.45,0.00,0.000,6,0.000,0.061,2033,2378,3140
$GC,516,-1.38,-146.6,60.4,-10.8,23,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,825,-1.38,-146.6,95.9,-10.8,38,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,1135,-1.38,-146.6,128.9,-10.8,53,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,1443,-1.38,-146.6,157.9,-9.0,68,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3142
$GC,1753,-1.38,-146.6,186.8,-8.7,83,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3143
$GC,2062,-1.38,-146.6,216.4,-9.9,98,2067,0.00,2.50,0.00,0.000,4,0.000,0.071,2033,974,3144
$GC,2118,-1.38,-146.6,222.5,-11.1,100,2124,0.00,2.45,0.00,0.000,6,0.000,0.061,2033,2379,3144
$GC,2435,-1.38,-146.6,253.4,-9.2,116,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3144
$GC,2744,-1.38,-146.6,283.0,-10.0,131,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2378,3145
$GC,3053,-1.38,-146.6,314.4,-9.8,146,3058,0.00,2.53,0.00,0.000,4,0.000,0.073,2033,967,3144
$GC,3098,-1.38,-146.6,319.2,-10.3,148,3102,0.00,2.47,0.00,0.000,6,0.000,0.063,2033,2383,3144
$GC,3419,-1.38,-146.6,345.3,-7.5,164,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3144
$GC,3728,-1.38,-146.6,372.2,-9.3,179,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3144
$GC,4037,-1.38,-146.6,404.8,-10.9,194,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2383,3144
$GC,4346,-1.38,-146.6,436.9,-10.4,209,4351,0.00,2.55,0.00,0.000,4,0.000,0.077,2033,971,3144
$GC,4397,-1.38,-146.6,442.4,-11.0,211,4401,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2384,3144
$GC,4713,-1.38,-146.6,474.2,-10.1,226,4718,0.00,2.80,0.00,0.000,4,0.000,0.137,2033,3787,3144
$GC,4753,-1.38,-146.6,478.9,-12.1,228,4758,0.00,2.45,0.00,0.000,6,0.000,0.068,2033,2374,3143
$GC,5080,-1.38,-146.6,514.0,-10.7,244,5085,0.00,2.53,0.00,0.000,4,0.000,0.084,2033,977,3143
$GC,5193,-1.38,-146.6,526.4,-11.7,249,5197,0.00,2.45,0.00,0.000,6,0.000,0.064,2033,2382,3143
$GC,5514,-1.38,-146.6,558.3,-9.6,265,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2382,3144
$GC,5823,-1.38,-146.6,584.6,-8.2,280,5828,0.00,2.55,0.00,0.000,4,0.000,0.081,2033,974,3143
$GC,5868,-1.38,-146.6,588.4,-8.9,282,5873,0.00,2.45,0.00,0.000,6,0.000,0.065,2033,2380,3143
$GC,6190,-1.38,-146.6,614.8,-8.2,298,6195,0.00,2.83,0.00,0.000,4,0.000,0.139,2033,3782,3143
$GC,6230,-1.38,-146.6,618.3,-8.6,300,6235,0.00,2.47,0.00,0.000,6,0.000,0.073,2033,2376,3143
$GC,6558,-1.38,-146.6,644.1,-7.8,316,6563,0.00,2.58,0.00,0.000,4,0.000,0.091,2033,975,3142
$GC,6615,-1.38,-146.6,649.1,-8.8,318,6620,0.00,2.47,0.00,0.000,6,0.000,0.066,2032,2380,3142
$GC,6932,-1.38,-146.6,675.9,-8.9,334,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3142
$GC,7240,-1.38,-146.6,704.1,-9.5,349,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3140
$GC,7550,-1.38,-146.6,734.2,-9.9,364,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3138
$GC,7859,-1.38,-146.6,763.4,-9.4,379,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2380,3137
$GC,8168,-1.38,-146.6,791.5,-9.1,394,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3136
$GC,8477,-1.38,-146.6,820.2,-9.2,409,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2381,3134
$GC,8786,-1.38,-146.6,849.0,-9.3,424,8791,0.00,2.58,0.00,0.000,4,0.000,0.082,2033,968,3133
$GC,8832,-1.38,-146.6,853.7,-10.4,426,8837,0.00,2.50,0.00,0.000,6,0.000,0.064,2033,2385,3133
$GC,9154,-1.38,-146.6,884.0,-9.4,442,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2385,3131
$GC,9464,-1.38,-146.6,913.4,-9.8,457,9468,0.00,2.58,0.00,0.000,4,0.000,0.081,2033,966,3130
$GC,9497,-1.38,-146.6,917.0,-9.5,458,9503,0.00,2.50,0.00,0.000,6,0.000,0.064,2033,2387,3130
$GC,9813,-1.38,-146.6,947.9,-9.8,474,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2387,3130
$GC,10122,-1.38,-146.6,978.0,-9.5,489,10127,0.00,2.55,0.00,0.000,4,0.000,0.079,2033,974,3129
$GC,10156,-1.38,-146.6,981.5,-10.3,490,10162,0.00,2.47,0.00,0.000,6,0.000,0.064,2033,2384,3129
$STATE,10263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10263,begin apogee
$GC,10271,-0.32,0.0,991.6,9.3,496,10398,1.17,0.00,123.43,1.379,6,0.120,0.000,2267,2157,2540
$STATE,10399,end apogee,CONTROL_FINISHED_OK
$STATE,10399,begin climb
$GC,10403,1.38,146.6,997.3,0.0,502,10534,1.70,2.62,122.82,1.346,4,0.076,0.084,2646,770,1942
$GC,10763,1.47,199.2,987.4,7.5,519,10815,0.00,2.50,45.38,1.341,6,0.000,0.061,2646,2176,1727
$GC,11128,1.47,199.5,952.1,10.0,537,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2176,1725
$GC,11434,1.47,203.8,921.3,9.8,552,11445,0.00,2.62,5.32,1.034,4,0.000,0.084,2646,777,1709
$GC,11496,1.47,203.8,914.8,10.8,555,11501,0.00,2.45,0.00,0.000,6,0.000,0.061,2646,2171,1709
$GC,11824,1.50,217.8,883.4,9.3,571,11842,0.00,0.00,12.80,1.221,6,0.000,0.000,2646,2171,1653
$GC,12153,1.50,217.8,850.4,10.2,587,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2173,1653
$GC,12462,1.50,217.8,818.0,10.6,602,12466,0.00,2.60,0.00,0.000,4,0.000,0.083,2644,774,1652
$GC,12512,1.50,217.8,812.5,10.5,604,12516,0.00,2.47,0.00,0.000,6,0.000,0.061,2646,2172,1652
$GC,12828,1.50,217.8,779.7,10.3,619,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2172,1652
$GC,13137,1.50,220.8,748.8,9.9,634,13143,0.00,0.00,4.57,0.887,6,0.000,0.000,2646,2175,1638
$GC,13446,1.50,220.8,717.4,10.3,649,13450,0.00,2.58,0.00,0.000,4,0.000,0.084,2646,776,1639
$GC,13487,1.50,220.8,712.9,12.3,651,13491,0.00,2.45,0.00,0.000,6,0.000,0.061,2646,2171,1638
$GC,13813,1.50,220.8,677.7,10.9,667,13817,0.00,2.70,0.00,0.000,4,0.000,0.110,2645,3573,1638
$GC,13868,1.50,220.8,670.9,12.8,669,13874,0.00,2.47,0.00,0.000,6,0.000,0.066,2646,2174,1638
$GC,14184,1.50,220.8,634.8,11.3,685,14188,0.00,2.62,0.00,0.000,4,0.000,0.094,2646,767,1638
$GC,14302,1.50,220.8,620.8,12.5,690,14307,0.00,2.45,0.00,0.000,6,0.000,0.061,2646,2172,1638
$GC,14618,1.50,220.8,584.8,11.1,705,14623,0.00,2.60,0.00,0.000,4,0.000,0.085,2646,760,1638
$GC,14658,1.50,220.8,580.1,12.3,707,14663,0.00,2.45,0.00,0.000,6,0.000,0.061,2646,2174,1638
$GC,14985,1.50,220.8,541.5,12.1,723,14990,0.00,2.60,0.00,0.000,4,0.000,0.084,2646,762,1637
$GC,15035,1.50,220.8,535.1,12.5,725,15040,0.00,2.47,0.00,0.000,6,0.000,0.061,2645,2177,1637
$GC,15351,1.50,220.8,501.0,10.8,740,15355,0.00,2.58,0.00,0.000,4,0.000,0.084,2646,763,1637
$GC,15625,1.50,220.8,472.4,10.3,752,15630,0.00,2.45,0.00,0.000,6,0.000,0.060,2646,2177,1637
$GC,15941,1.54,246.7,444.0,8.8,767,15969,0.12,2.62,21.58,1.023,4,0.074,0.079,2678,760,1534
$GC,16005,1.54,246.7,437.0,12.3,770,16009,0.00,2.47,0.00,0.000,6,0.000,0.058,2678,2171,1534
$GC,16332,1.54,246.7,399.5,11.8,786,16333,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2171,1533
$GC,16641,1.54,246.7,359.3,14.0,801,16646,0.00,2.55,0.00,0.000,4,0.000,0.077,2678,762,1533
$GC,16686,1.54,246.7,352.5,15.6,803,16690,0.00,2.42,0.00,0.000,6,0.000,0.058,2678,2174,1533
$GC,17007,1.54,246.7,304.6,14.4,819,17011,0.00,2.55,0.00,0.000,4,0.000,0.074,2678,757,1533
$GC,17073,1.54,246.7,294.4,16.0,822,17078,0.00,2.42,0.00,0.000,6,0.000,0.057,2678,2170,1534
$GC,17395,1.54,246.7,250.5,13.5,838,17399,0.00,2.53,0.00,0.000,4,0.000,0.074,2679,763,1534
$GC,17445,1.54,246.7,243.4,13.7,840,17449,0.00,2.40,0.00,0.000,6,0.000,0.057,2678,2171,1534
$GC,17760,1.54,246.7,206.8,11.5,855,17764,0.00,2.53,0.00,0.000,4,0.000,0.073,2678,758,1536
$GC,17850,1.54,246.7,195.4,12.3,859,17854,0.00,2.42,0.00,0.000,6,0.000,0.058,2678,2174,1536
$GC,18171,1.54,246.7,156.5,12.2,875,18175,0.00,2.53,0.00,0.000,4,0.000,0.074,2678,764,1536
$GC,18226,1.54,246.7,149.2,13.9,877,18232,0.00,2.40,0.00,0.000,6,0.000,0.058,2678,2167,1537
$GC,18542,1.54,246.7,108.8,13.9,893,18544,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2166,1537
$GC,18852,1.54,246.7,66.1,13.1,908,18857,0.00,2.65,0.00,0.000,4,0.000,0.105,2678,3572,1538
$GC,18907,1.54,246.7,57.8,13.7,910,18914,0.00,2.45,0.00,0.000,6,0.000,0.061,2678,2157,1538
$GC,19224,1.54,246.7,10.7,18.5,926,19228,0.00,2.47,0.00,0.000,4,0.000,0.076,2678,769,1540
$GC,19242,1.54,246.7,7.9,17.8,927,19246,0.00,2.38,0.00,0.000,6,0.000,0.057,2678,2175,1540
$STATE,19277,end climb,SURFACE_DEPTH_REACHED
$STATE,19277,begin surface coast
$FINISH,0.7,1.027356
$STATE,19299,end surface coast,CONTROL_FINISHED_OK
$STATE,19299,begin surface
$SM_CCo,19324,2.65,0.346,0,0,1519,250.21
$SM_GC,2.07,0.00,0.00,2.65,0.000,0.000,0.346,40,2380,1519,-10.58,0.00,250.21
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1734
$TCM_TEMP,3.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,16.8
$24V_AH,23.5,5.122
$10V_AH,10.1,2.116
$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,25.725,146.925,335.900,2.650,0.000,32.540,34.813,178.915,8.750,0.000,0.000,12.665,1723.829,15370.965,528.165,1454.567,638.555,33.354,1472.020,0.000,1061.824,0.000,57.573
$DEVICE_MAMPS,180.245,138.827,1379.066,345.917,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,897.314,872.016,478.416,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47389,930
$CFSIZE,254472192,251695104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160208,185138,6131.355,-253.427,83,1.2,83,-6.0