version: 66.02
glider: 104
mission: 4
dive: 5
start: 2 15 108 3 21 6
data:
$ID,104
$MISSION,4
$DIVE,5
$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,-35089.457
$T_RSLEEP,12
$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,27
$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
$GPS1,031347,6133.910,-305.996,8,3.3,28,-6.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,4
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-60.9
$GPS2,032017,6134.005,-305.591,11,2.8,30,-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,-0.089
$KALMAN_X,1377.2,4788.8,83.8,-3056.4,1284.8
$KALMAN_Y,53.7,-234.1,-724.5,934.3,548.0
$MHEAD_RNG_PITCHd_Wd,256.3,324459,-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,25,-1.39,-146.6,0.0,0.0,0,107,0.00,0.00,-79.88,0.000,2,0.000,0.000,40,2057,3196
$GC,110,-1.39,-146.6,3.2,-3.7,4,136,11.88,2.55,-8.30,0.000,4,0.156,0.070,2146,649,3515
$GC,231,-1.39,-146.6,20.7,-12.9,9,237,0.00,2.42,0.00,0.000,6,0.000,0.038,2145,2057,3515
$GC,547,-1.39,-146.6,54.5,-10.3,25,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2057,3515
$GC,856,-1.39,-146.6,88.9,-11.7,40,860,0.00,2.58,0.00,0.000,4,0.000,0.061,2145,648,3516
$GC,896,-1.39,-146.6,93.8,-12.7,42,900,0.00,2.42,0.00,0.000,6,0.000,0.038,2145,2055,3516
$GC,1228,-1.39,-146.6,132.3,-11.7,58,1233,0.00,2.55,0.00,0.000,4,0.000,0.062,2145,649,3516
$GC,1313,-1.39,-146.6,142.8,-12.6,62,1318,0.00,2.42,0.00,0.000,6,0.000,0.038,2145,2050,3516
$GC,1640,-1.39,-146.6,180.9,-11.1,78,1644,0.00,2.55,0.00,0.000,4,0.000,0.062,2145,650,3516
$GC,1717,-1.39,-146.6,189.9,-10.8,81,1723,0.00,2.42,0.00,0.000,6,0.000,0.038,2145,2057,3516
$GC,2033,-1.39,-146.6,222.5,-10.2,97,2037,0.00,2.58,0.00,0.000,4,0.000,0.063,2145,646,3516
$GC,2099,-1.39,-146.6,229.6,-10.5,100,2103,0.00,2.42,0.00,0.000,6,0.000,0.039,2145,2053,3516
$GC,2421,-1.39,-146.6,261.7,-9.8,116,2425,0.00,2.58,0.00,0.000,4,0.000,0.063,2145,641,3516
$GC,2483,-1.39,-146.6,268.3,-10.8,119,2487,0.00,2.42,0.00,0.000,6,0.000,0.038,2145,2052,3516
$STATE,2808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2808,begin apogee
$GC,2813,-0.33,0.0,301.1,10.3,135,2937,1.12,0.00,119.70,0.888,6,0.085,0.000,2375,2053,2915
$STATE,2937,end apogee,CONTROL_FINISHED_OK
$STATE,2938,begin climb
$GC,2940,1.39,146.6,305.4,0.0,141,3066,1.73,2.60,118.07,0.856,4,0.054,0.058,2751,3460,2317
$GC,3219,1.39,146.6,286.2,10.6,154,3223,0.00,2.47,0.00,0.000,6,0.000,0.040,2751,2043,2317
$GC,3545,1.40,158.2,254.2,9.5,170,3561,0.00,2.60,11.10,0.771,4,0.000,0.066,2751,647,2269
$GC,3594,1.40,158.2,249.2,10.3,171,3599,0.00,2.45,0.00,0.000,6,0.000,0.038,2751,2059,2269
$GC,3910,1.40,158.2,217.3,10.0,186,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2059,2269
$GC,4220,1.40,158.2,185.1,10.6,201,4224,0.00,2.58,0.00,0.000,4,0.000,0.063,2751,651,2269
$GC,4286,1.40,158.2,177.5,11.8,204,4290,0.00,2.42,0.00,0.000,6,0.000,0.038,2750,2055,2269
$GC,4607,1.40,158.2,142.6,11.2,220,4611,0.00,2.58,0.00,0.000,4,0.000,0.062,2750,650,2268
$GC,4639,1.40,158.2,138.8,11.1,221,4646,0.00,2.42,0.00,0.000,6,0.000,0.038,2751,2056,2269
$GC,4956,1.40,158.2,105.4,10.5,237,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2056,2268
$GC,5265,1.40,158.2,73.8,10.2,252,5269,0.00,2.50,0.00,0.000,4,0.000,0.057,2750,3456,2268
$GC,5394,1.40,158.2,60.1,10.6,258,5399,0.00,2.45,0.00,0.000,6,0.000,0.039,2751,2049,2269
$GC,5722,1.40,158.2,24.5,11.9,274,5726,0.00,2.55,0.00,0.000,4,0.000,0.064,2751,644,2268
$GC,5799,1.40,158.2,15.1,12.0,277,5806,0.00,2.42,0.00,0.000,6,0.000,0.037,2751,2045,2268
$STATE,5927,end climb,SURFACE_DEPTH_REACHED
$STATE,5928,begin surface coast
$FINISH,0.4,1.010557
$STATE,5949,end surface coast,CONTROL_FINISHED_OK
$STATE,5949,begin surface
$SM_CCo,5971,70.45,0.680,0,0,1692,300.00
$SM_GC,0.95,0.00,0.00,70.45,0.000,0.000,0.680,42,2046,1692,-11.08,-0.14,300.00
$IRIDIUM_FIX,6108.28,-309.54,110597,010124
$TT8_MAMPS,0.026845
$HUMID,1696
$INTERNAL_PRESSURE,8.41072
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$24V_AH,23.3,3.803
$10V_AH,10.1,1.994
$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,26.825,59.975,248.875,70.450,0.000,41.256,36.852,196.052,2.250,0.000,0.000,32.748,577.686,4232.866,413.859,813.586,405.692,32.340,815.763,0.000,784.786,0.000,16.689
$DEVICE_MAMPS,155.701,69.797,888.186,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,209.066,190.355,318.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12780,285
$CFSIZE,260165632,256909312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,150208,050307,6133.960,-302.516,37,1.5,43,-6.1