version: 66.02
glider: 104
mission: 4
dive: 6
start: 2 15 108 5 8 20
data:
$ID,104
$MISSION,4
$DIVE,6
$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,-35106.387
$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,24
$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
$GPS1,050307,6133.960,-302.516,37,1.5,43,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-60.2
$GPS2,050727,6134.013,-302.246,14,1.8,14,-6.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,-0.145
$KALMAN_X,3582.6,7179.5,-287.3,-4329.9,2201.2
$KALMAN_Y,128.3,-279.6,-197.6,399.6,815.9
$MHEAD_RNG_PITCHd_Wd,242.7,327384,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-81.22,0.000,2,0.000,0.000,41,2047,3210
$GC,110,-1.39,-146.6,3.1,-3.4,4,135,11.85,2.55,-8.05,0.000,4,0.156,0.072,2140,649,3514
$GC,298,-1.39,-146.6,26.6,-9.5,12,302,0.00,2.45,0.00,0.000,6,0.000,0.038,2140,2060,3515
$GC,614,-1.39,-146.6,61.3,-10.8,27,618,0.00,2.58,0.00,0.000,4,0.000,0.061,2140,646,3515
$GC,676,-1.39,-146.6,68.7,-12.1,30,680,0.00,2.40,0.00,0.000,6,0.000,0.037,2140,2050,3515
$GC,1002,-1.39,-146.6,102.8,-10.2,46,1006,0.00,2.50,0.00,0.000,4,0.000,0.056,2140,3457,3515
$GC,1035,-1.39,-146.6,106.3,-10.0,47,1039,0.00,2.42,0.00,0.000,6,0.000,0.038,2140,2049,3515
$GC,1357,-1.39,-146.6,137.6,-9.2,63,1362,0.00,2.50,0.00,0.000,4,0.000,0.053,2140,3460,3515
$GC,1384,-1.39,-146.6,140.5,-10.6,64,1389,0.00,2.45,0.00,0.000,6,0.000,0.038,2140,2043,3515
$GC,1706,-1.39,-146.6,171.3,-9.8,80,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2043,3515
$GC,2017,-1.39,-146.6,201.9,-10.1,95,2021,0.00,2.53,0.00,0.000,4,0.000,0.054,2140,3456,3516
$GC,2049,-1.39,-146.6,205.5,-10.8,96,2055,0.00,2.45,0.00,0.000,6,0.000,0.039,2140,2047,3515
$GC,2365,-1.39,-146.6,236.7,-10.0,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2047,3515
$GC,2674,-1.39,-146.6,267.3,-9.7,127,2679,0.00,2.53,0.00,0.000,4,0.000,0.054,2140,3463,3515
$GC,2709,-1.39,-146.6,270.7,-9.8,128,2715,0.00,2.45,0.00,0.000,6,0.000,0.039,2140,2048,3515
$STATE,3023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3023,begin apogee
$GC,3029,-0.33,0.0,301.8,9.7,144,3152,1.15,0.00,119.68,0.884,6,0.086,0.000,2374,2048,2914
$STATE,3153,end apogee,CONTROL_FINISHED_OK
$STATE,3153,begin climb
$GC,3155,1.39,146.6,304.8,0.0,150,3286,1.75,2.62,118.78,0.853,4,0.054,0.055,2752,3455,2317
$GC,3321,1.39,146.6,296.5,10.9,158,3326,0.00,2.47,0.00,0.000,6,0.000,0.040,2751,2054,2316
$GC,3636,1.39,146.6,263.2,10.9,173,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2054,2316
$GC,3946,1.39,152.5,232.1,9.7,188,3959,0.00,2.60,6.45,0.686,4,0.000,0.054,2752,3463,2292
$GC,4013,1.39,152.5,225.3,10.6,191,4017,0.00,2.47,0.00,0.000,6,0.000,0.040,2752,2050,2292
$GC,4339,1.39,152.5,192.3,10.3,207,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2051,2292
$GC,4648,1.40,160.6,162.3,9.6,222,4662,0.00,2.58,7.88,0.709,4,0.000,0.054,2752,3455,2260
$GC,4742,1.40,160.6,152.1,11.8,226,4746,0.00,2.47,0.00,0.000,6,0.000,0.039,2752,2043,2260
$GC,5063,1.40,160.6,117.0,11.0,242,5068,0.00,2.55,0.00,0.000,4,0.000,0.054,2752,3465,2260
$GC,5141,1.40,160.6,108.1,10.6,245,5148,0.00,2.47,0.00,0.000,6,0.000,0.039,2752,2047,2260
$GC,5458,1.42,171.2,77.9,9.5,261,5469,0.00,0.00,9.93,0.696,6,0.000,0.000,2752,2047,2217
$GC,5767,1.42,171.2,42.2,11.9,276,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2047,2216
$GC,6076,1.43,183.0,12.1,9.5,291,6089,0.00,0.00,11.05,0.669,6,0.000,0.000,2752,2047,2167
$STATE,6176,end climb,SURFACE_DEPTH_REACHED
$STATE,6176,begin surface coast
$FINISH,0.5,1.013140
$STATE,6198,end surface coast,CONTROL_FINISHED_OK
$STATE,6198,begin surface
$SM_CCo,6220,62.62,0.651,2,0,1691,300.00
$SM_GC,1.14,0.00,0.00,62.62,0.000,0.000,0.651,42,2044,1691,-11.08,-0.23,300.00
$IRIDIUM_FIX,6112.75,-310.04,110597,030306
$TT8_MAMPS,0.026845
$HUMID,1694
$INTERNAL_PRESSURE,8.41072
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.8,16.9
$24V_AH,23.3,3.889
$10V_AH,10.1,2.033
$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,26.900,50.050,273.750,62.625,0.000,39.964,33.728,96.491,2.000,0.000,0.000,16.304,582.691,4502.666,449.080,740.038,294.010,33.326,817.588,0.000,730.437,0.000,13.872
$DEVICE_MAMPS,155.701,72.098,884.351,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.883,198.496,331.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12808,297
$CFSIZE,260165632,256880640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,150208,065423,6133.690,-258.419,12,6.0,31,-6.0