version: 66.02
glider: 104
mission: 4
dive: 3
start: 2 14 108 23 45 57
data:
$ID,104
$MISSION,4
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1090
$D_NO_BLEED,100
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35039.84
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,607
$VBD_MAX,3934
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-16.564281
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043062796
$SEABIRD_T_H,0.0006289829
$SEABIRD_T_I,2.2033064e-05
$SEABIRD_T_J,2.057111e-06
$SEABIRD_C_G,-10.442612
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.0015124022
$SEABIRD_C_J,0.00022414648
$GPS1,234003,6133.843,-308.916,12,1.5,12,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.8
$GPS2,234508,6133.835,-308.803,30,1.6,31,-6.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.248,0.090
$KALMAN_X,152.9,152.9,152.9,-83.9,1099.7
$KALMAN_Y,-71.4,-71.4,-71.4,-56.4,-513.4
$MHEAD_RNG_PITCHd_Wd,296.0,321669,-18.1,-10.000
$D_GRID,300
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.39,-146.6,0.0,0.0,0,117,0.00,0.00,-91.75,0.000,2,0.000,0.000,41,2070,3400
$GC,120,-1.39,-146.6,3.4,-2.8,5,142,11.90,2.60,-2.65,0.000,4,0.156,0.074,2145,650,3513
$GC,395,-1.39,-146.6,39.0,-10.9,17,399,0.00,2.42,0.00,0.000,6,0.000,0.037,2144,2053,3514
$GC,716,-1.39,-146.6,73.6,-11.4,33,720,0.00,2.58,0.00,0.000,4,0.000,0.063,2145,649,3514
$GC,832,-1.39,-146.6,87.4,-11.8,38,837,0.00,2.40,0.00,0.000,6,0.000,0.038,2145,2050,3514
$GC,1154,-1.39,-146.6,124.3,-11.3,54,1159,0.00,2.58,0.00,0.000,4,0.000,0.064,2145,643,3514
$GC,1210,-1.39,-146.6,130.6,-10.8,56,1216,0.00,2.47,0.00,0.000,6,0.000,0.038,2145,2055,3514
$GC,1525,-1.39,-146.6,162.7,-10.5,72,1529,0.00,2.58,0.00,0.000,4,0.000,0.063,2144,646,3514
$GC,1647,-1.39,-146.6,176.9,-11.5,77,1653,0.00,2.42,0.00,0.000,6,0.000,0.039,2145,2053,3514
$GC,1963,-1.39,-146.6,212.9,-11.5,93,1967,0.00,2.58,0.00,0.000,4,0.000,0.063,2144,643,3514
$GC,2051,-1.39,-146.6,223.7,-12.2,97,2056,0.00,2.45,0.00,0.000,6,0.000,0.039,2144,2062,3514
$GC,2372,-1.39,-146.6,258.4,-10.5,113,2377,0.00,2.58,0.00,0.000,4,0.000,0.062,2144,649,3514
$GC,2435,-1.39,-146.6,265.3,-11.1,116,2439,0.00,2.42,0.00,0.000,6,0.000,0.039,2144,2053,3514
$GC,2761,-1.39,-146.6,299.5,-9.6,132,2766,0.00,2.58,0.00,0.000,4,0.000,0.063,2145,641,3514
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2777,-0.33,0.0,300.6,9.6,132,2900,1.10,0.00,119.05,0.890,6,0.090,0.000,2370,2051,2915
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2901,begin climb
$GC,2904,1.39,146.6,304.6,0.0,138,3030,1.75,2.60,118.18,0.856,4,0.057,0.059,2750,3455,2317
$GC,3198,1.39,146.6,283.2,10.3,151,3204,0.00,2.47,0.00,0.000,6,0.000,0.041,2750,2051,2317
$GC,3514,1.39,146.6,250.9,10.2,167,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2051,2317
$GC,3825,1.39,146.6,218.8,10.4,182,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2051,2316
$GC,4133,1.40,159.5,189.0,9.4,197,4146,0.00,0.00,11.93,0.771,6,0.000,0.000,2750,2051,2263
$GC,4442,1.42,175.0,159.3,9.3,212,4461,0.00,0.00,13.93,0.766,6,0.000,0.000,2750,2051,2200
$GC,4771,1.42,175.0,124.7,11.5,228,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2051,2200
$GC,5080,1.42,175.0,88.3,11.5,243,5085,0.00,2.55,0.00,0.000,4,0.000,0.065,2750,648,2200
$GC,5192,1.46,209.2,77.0,8.4,248,5230,0.00,2.42,28.05,0.746,6,0.000,0.036,2750,2057,2062
$GC,5539,1.46,209.2,41.8,11.1,265,5544,0.00,2.58,0.00,0.000,4,0.000,0.064,2750,650,2062
$GC,5602,1.46,209.2,31.9,14.5,268,5607,0.00,2.42,0.00,0.000,6,0.000,0.038,2750,2056,2062
$STATE,5845,end climb,SURFACE_DEPTH_REACHED
$STATE,5845,begin surface coast
$FINISH,0.3,1.017598
$STATE,5867,end surface coast,CONTROL_FINISHED_OK
$STATE,5867,begin surface
$SM_CCo,5889,48.50,0.668,1,0,1692,300.00
$SM_GC,0.86,0.00,0.00,48.50,0.000,0.000,0.668,41,2057,1692,-11.08,0.14,300.00
$IRIDIUM_FIX,6108.28,-305.28,100597,232318
$TT8_MAMPS,0.026845
$HUMID,1677
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$24V_AH,23.3,3.627
$10V_AH,10.1,1.913
$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,26.825,50.175,291.125,48.500,0.000,41.338,33.274,114.183,2.000,0.000,0.000,33.010,566.916,4110.347,437.868,825.207,326.355,30.182,845.597,0.000,798.410,0.000,15.638
$DEVICE_MAMPS,156.468,74.399,889.720,668.057,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.839,187.338,312.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12827,281
$CFSIZE,260165632,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,150208,012605,6133.631,-307.752,8,4.6,28,-6.1