version: 66.02
glider: 104
mission: 4
dive: 7
start: 2 15 108 7 3 49
data:
$ID,104
$MISSION,4
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,240
$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,-35143.57
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,065423,6133.690,-258.419,12,6.0,31,-6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.3
$GPS2,070259,6133.728,-257.902,15,5.0,34,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,0.013
$KALMAN_X,7016.4,6401.4,1966.5,-5415.0,-976.3
$KALMAN_Y,-157.1,-217.0,410.4,-508.3,105.6
$MHEAD_RNG_PITCHd_Wd,278.8,331218,-18.1,-10.000
$D_GRID,600
$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,-81.65,0.000,2,0.000,0.000,42,2043,3242
$GC,110,-1.39,-146.6,3.5,-3.9,4,135,11.90,2.60,-6.53,0.000,4,0.159,0.073,2141,652,3515
$GC,268,-1.39,-146.6,26.0,-9.8,11,272,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2055,3515
$GC,594,-1.39,-146.6,59.7,-11.1,27,599,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,650,3516
$GC,650,-1.39,-146.6,66.1,-11.3,29,656,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2049,3515
$GC,966,-1.39,-146.6,100.1,-10.5,45,970,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,646,3516
$GC,1043,-1.39,-146.6,108.9,-10.8,48,1050,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2058,3516
$GC,1359,-1.39,-146.6,141.6,-10.1,64,1364,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,649,3516
$GC,1403,-1.39,-146.6,146.4,-10.6,66,1408,0.00,2.40,0.00,0.000,6,0.000,0.038,2141,2050,3516
$GC,1726,-1.39,-146.6,180.0,-10.6,82,1730,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,650,3516
$GC,1765,-1.39,-146.6,184.3,-11.0,84,1769,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2057,3516
$GC,2091,-1.39,-146.6,219.0,-10.8,100,2095,0.00,2.58,0.00,0.000,4,0.000,0.062,2141,644,3516
$GC,2168,-1.39,-146.6,227.9,-11.2,103,2174,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2051,3516
$GC,2483,-1.39,-146.6,261.6,-10.2,119,2488,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,650,3516
$GC,2546,-1.39,-146.6,268.0,-10.7,122,2550,0.00,2.42,0.00,0.000,6,0.000,0.039,2141,2057,3516
$GC,2872,-1.39,-146.6,299.7,-9.5,138,2877,0.00,2.55,0.00,0.000,4,0.000,0.063,2141,650,3516
$GC,2949,-1.39,-146.6,307.7,-10.8,141,2954,0.00,2.40,0.00,0.000,6,0.000,0.038,2141,2050,3516
$GC,3266,-1.39,-146.6,338.0,-9.6,156,3270,0.00,2.55,0.00,0.000,4,0.000,0.064,2141,650,3516
$GC,3316,-1.39,-146.6,343.2,-9.9,158,3320,0.00,2.42,0.00,0.000,6,0.000,0.039,2141,2051,3516
$GC,3631,-1.39,-146.6,374.8,-10.6,173,3635,0.00,2.55,0.00,0.000,4,0.000,0.064,2141,646,3515
$GC,3680,-1.39,-146.6,380.4,-11.3,175,3684,0.00,2.42,0.00,0.000,6,0.000,0.041,2141,2053,3515
$GC,4002,-1.39,-146.6,410.6,-9.3,191,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2053,3515
$GC,4310,-1.39,-146.6,440.1,-10.0,206,4315,0.00,2.55,0.00,0.000,4,0.000,0.067,2141,651,3514
$GC,4360,-1.39,-146.6,445.3,-10.4,208,4365,0.00,2.42,0.00,0.000,6,0.000,0.042,2141,2054,3514
$GC,4676,-1.39,-146.6,474.5,-8.8,223,4680,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,651,3514
$GC,4725,-1.39,-146.6,479.0,-9.6,225,4730,0.00,2.45,0.00,0.000,6,0.000,0.043,2141,2055,3514
$GC,5041,-1.39,-146.6,504.7,-7.5,240,5045,0.00,2.60,0.00,0.000,4,0.000,0.068,2141,646,3513
$GC,5175,-1.39,-146.6,516.7,-9.2,246,5179,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2051,3512
$GC,5496,-1.39,-146.6,544.1,-8.7,262,5500,0.00,2.58,0.00,0.000,4,0.000,0.069,2141,651,3510
$GC,5581,-1.39,-146.6,552.0,-9.5,266,5585,0.00,2.45,0.00,0.000,6,0.000,0.045,2141,2053,3510
$GC,5907,-1.39,-146.6,582.1,-9.4,282,5911,0.00,2.60,0.00,0.000,4,0.000,0.070,2141,646,3508
$GC,5973,-1.39,-146.6,589.0,-10.4,285,5977,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2053,3508
$STATE,6106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6106,begin apogee
$GC,6112,-0.33,0.0,601.7,9.4,292,6238,1.15,0.00,122.55,1.176,6,0.096,0.000,2372,2053,2915
$STATE,6239,end apogee,CONTROL_FINISHED_OK
$STATE,6239,begin climb
$GC,6242,1.39,146.6,605.7,0.0,298,6373,1.75,2.67,122.75,1.128,4,0.060,0.064,2748,3455,2317
$GC,6477,1.39,146.6,591.4,10.7,309,6481,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,2054,2316
$GC,6803,1.39,146.6,557.6,10.3,325,6807,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,3454,2316
$GC,6852,1.39,146.6,552.2,10.8,327,6856,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,2050,2316
$GC,7173,1.39,146.6,519.5,10.2,343,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2049,2315
$GC,7483,1.39,146.6,488.3,10.2,358,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2049,2314
$GC,7792,1.39,146.6,456.0,11.0,373,7796,0.00,2.58,0.00,0.000,4,0.000,0.062,2749,3455,2314
$GC,7863,1.39,146.6,448.1,10.8,376,7868,0.00,2.50,0.00,0.000,6,0.000,0.047,2749,2051,2313
$GC,8180,1.39,146.6,415.9,10.0,391,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2051,2313
$GC,8489,1.41,162.9,386.8,9.3,406,8511,0.00,2.60,14.25,1.035,4,0.000,0.062,2748,3454,2250
$GC,8602,1.41,162.9,374.8,11.2,411,8606,0.00,2.50,0.00,0.000,6,0.000,0.047,2748,2052,2250
$GC,8928,1.41,162.9,339.6,10.8,427,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2052,2250
$GC,9237,1.41,162.9,307.1,10.4,442,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2052,2249
$GC,9546,1.41,162.9,273.1,11.4,457,9550,0.00,2.55,0.00,0.000,4,0.000,0.058,2748,3463,2249
$GC,9608,1.41,162.9,265.3,13.0,460,9612,0.00,2.47,0.00,0.000,6,0.000,0.043,2748,2052,2249
$GC,9935,1.41,162.9,227.9,11.5,476,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2052,2249
$GC,10244,1.41,162.9,193.8,10.8,491,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2052,2250
$GC,10553,1.41,162.9,159.3,11.7,506,10558,0.00,2.53,0.00,0.000,4,0.000,0.054,2748,3463,2251
$GC,10654,1.41,162.9,147.1,12.0,510,10661,0.00,2.47,0.00,0.000,6,0.000,0.040,2748,2040,2251
$GC,10970,1.41,162.9,112.2,10.6,526,10974,0.00,2.53,0.00,0.000,4,0.000,0.054,2748,3455,2252
$GC,11020,1.41,162.9,106.6,11.2,528,11024,0.00,2.45,0.00,0.000,6,0.000,0.039,2749,2046,2252
$GC,11336,1.41,162.9,74.6,10.1,543,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2046,2253
$GC,11645,1.41,162.9,39.8,11.5,558,11650,0.00,2.53,0.00,0.000,4,0.000,0.054,2749,3456,2254
$GC,11746,1.41,162.9,27.3,12.5,562,11752,0.00,2.45,0.00,0.000,6,0.000,0.041,2749,2051,2254
$STATE,11997,end climb,SURFACE_DEPTH_REACHED
$STATE,11997,begin surface coast
$FINISH,0.2,1.027402
$STATE,12019,end surface coast,CONTROL_FINISHED_OK
$STATE,12019,begin surface
$SM_CCo,12041,74.20,0.693,1,0,1692,300.00
$SM_GC,1.06,0.00,0.00,74.20,0.000,0.000,0.693,44,2048,1692,-11.07,-0.11,300.00
$IRIDIUM_FIX,6108.28,-247.01,110597,070738
$TT8_MAMPS,0.026845
$HUMID,1746
$INTERNAL_PRESSURE,8.38143
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.9
$24V_AH,23.1,4.006
$10V_AH,10.1,2.098
$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,26.900,115.300,259.550,74.200,0.000,73.092,78.427,183.619,5.000,0.000,0.000,36.558,1108.085,9073.994,471.806,1459.915,535.941,33.344,1180.104,0.000,1412.001,0.000,33.306
$DEVICE_MAMPS,158.769,72.865,1175.811,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.767,388.058,432.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28605,576
$CFSIZE,260165632,256786432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,150208,102708,6132.680,-256.280,40,1.6,40,-6.0